Technical reference

AC Servo Motor & Driver

MINAS A4-series
• Thank you very much for your
purchase of Panasonic AC Servo
Motor & Driver, MINAS A4-series.
• Before use, refer this technical
reference and safety instructions
to ensure proper use. Keep this
technical reference and read
when necessary.
• Make sure to forward this technical
reference for safety to the final
user.

If you are the first user of this product, please be sure to purchase and read
the optional Engineering Material (DV0P4210), or downloaded Instruction
Manual from our Web Site.
[Web address of Motor Company, Matsushita Electric Industrial Co., Ltd.]
http://industrial.panasonic.com/ww/i_e/25000/motor_fa_e/motor_fa_e.html

<Contents> page page

1. Introduction ................................. B2 4. Parameter .................................. B27
On Opening the Package ............................... B2 Outline of Parameter .................................... B27
Check of the Driver Model .............................. B2 How to Set .................................................... B27
Check of the Motor Model .............................. B3 Setup with the Front Panel ........................... B27
2. Installation .................................. B4 Outline of PANATERM® ....................................................... B28
Driver .............................................................. B4 Setup with the Console ................................ B28
Motor .............................................................. B6 How to Connect ............................................ B29
Console .......................................................... B8 Composition and List of Parameters ............ B30
3. System Configuration and 5. Protective Functions ................ B36
Wiring ........................................ B10 Protective Function (What Is Error Code ?) ..... B36
Overall Wiring (Connecting Example of C-frame, 3- 6. Maintenance and Inspections . B38
phase) .............................................................. B10 7. Conformity to EC Directives
Overall Wiring (Connecting Example of E-frame) .... B12 and UL Standards ..................... B40
Driver and List of Applicable Peripheral Composition of Peripheral Equipments ........ B41
Equipments .................................................. B14 Conformity to UL Standards ......................... B44
Wiring of the Main Circuit (A to D-frame) ..... B16 8. Built-in Holding Brake ............. B45
Wiring of the Main Circuit (E and F-frame) ... B17
9. Dynamic Brake ......................... B47
Wiring method to connector (A to D-frame) .. B18
Wiring to the Connector, CN X6
10. Check of the Combination of
(Connection to Encoder) .............................. B22 the Driver and the Motor ............ B48
Wiring for Typical Control Modes
to the Connector CN X5 ............................... B24 After-Sale Service (Repair) .......... B51
IMC54D
Z0404-6066
1. Introduction
On Opening the Product Package Check of the Motor Model
• Make sure that the model is what you have ordered. Contents of Name Plate
• Check if the product is damaged or not during transportation. Serial Number
Model CONT. TORQUE 0.64 Nm
e.g.) : 04 11 0001
• Check if the instruction manual is attached or not. AC SERVO MOTOR RATING S1
MODEL No. MSMD5AZS1S INS. CLASS B (TÜV) A (UL)
• Check if the power connector and motor connecters (CN X1 and CN X2 connectors) Rated input voltage/current INPUT 3ØAC 92 V IP65
Lot number
1.6 A CONNECTION
RATED OUTPUT 0.2 kW SER No. 04110001
are attached or not (A to D-frame). Rated output RATED FREQ. 200 Hz Month of production
RATED REV. 3000 r/min
Rated rotational speed Year of production
Contact to a dealer if you find any failures. (Lower 2 digits of AD year)

Model Designation
Check of the Driver Model M S M D 5 A Z S 1 S
1 to 4 5 to 6 7 8 9 10 11 to 12
Special specifications
Contents of Name Plate Symbol Type (letters and numbers)
Ultra low inertia Motor structure
Model number
AC SERVO MAMA (100W to 750W)
Model No. MADDT1205 Serial No.P04110001Z
Serial Number Design order
INPUT OUTPUT Low inertia
Rated input/output voltage Voltage 200-240V 69V
e.g.) : P0411 0001Z MQMA (100W to 400W)
1: Standard
Phase 1ø 3ø
F.L.C
Freq.
1.3A
50/60Hz
1.2A
0~333.3Hz Low inertia Motor rated output Voltage specifications
Rated input/output current Power 100W Lot number MSMD (50W to 750W) Symbol Output Symbol Output Symbol Specifications
Rated output of Month of production Low inertia
MSMA (1.0kW to 5.0kW) 5A 50W 15 1.5kW 1 100 V
applicable motor Year of production 01 100W 20 2.0kW 2 200 V
Middle inertia
(Lower 2 digits of AD year) MDMA (1.0kW to 5.0kW) 02 200W 25 2.5kW 100/200 common
High inertia 04 400W 30 3.0kW Z (50W only)
MHMA (500W to 5.0kW) 05 500W 40 4.0kW
Middle inertia 08 750W 45 4.5kW
MFMA (400W to 4.5kW) 09 900W 50 5.0kW
Middle inertia 10 1.0kW
Model Designation MGMA (900W to 4.5kW)
Rotary encoder specifications
Specifications
M A D D T 1 2 0 5 Symbol
Format Pulse count Resolution Wire count
1 to 4 5 to 6 7 8 to 9 10 to 12 P Incremental 2500P/r 10,000 5-wire
Special specifications
S Absolute/Incremental common 17bit 131,072 7-wire
(letters and numbers) Motor structure
Frame-size symbol Current detector rating MSMD, MQMA MAMA
Max. current Shaft Holding brake Oil seal Shaft Holding brake Oil seal
Symbol Frame rating of Symbol Current rating Symbol Symbol
power device Power supply Round Key way Without With Without With*1 Round Key way Without With Without With
MADD A4-series, A-frame 05 5A
A A
MBDD A4-series, B-frame Symbol Current Symbol Specifications 07 7.5A B B
rating
MCDD A4-series, C-frame 1 Single phase, 100V 10 10A S *2 E
T1 10A T *2 F
MDDD A4-series, D-frame 2 Single phase, 200V 15 15A
T2 15A 1 The product with oil seal is a special order MSMA, MDMA, MFMA, MGMA, MHMA
MEDD A4-series, E-frame 3 3-phase, 200V 20 20A *
T3 30A product. Shaft Holding brake Oil seal
MFDD A4-series, F-frame 5 Single/3-phase, 30 30A Symbol
T5 50A 200V *2 Key way with center tap Round Key way Without With Without With
40 40A
T7 70A C
64 64A Products are standard stock items or build to
TA 100A D
90 90A order items. For details, inquire of the dealer. G
TB 150A
A2 120A H

– B2 – – B3 –
2. Installation
Install the driver and the motor properly to avoid a breakdown or an accident. E and F-frame

Driver Mounting bracket

Installation Place
1) Indoors, where the products are not subjected to rain or direct sun beams. The prod-
ucts are not waterproof.
2) Where the products are not subjected to corrosive atmospheres such as hydrogen
sulfide, sulfurous acid, chlorine, ammonia, chloric gas, sulfuric gas, acid, alkaline and
salt and so on, and are free from splash of inflammable gas, grinding oil, oil mist, iron
powder or chips and etc.
3) Well-ventilated and low humidity and dust-free place.
Mounting Direction and Spacing
4) Vibration-free place.
• Reserve enough surround-
Environmental Conditions ing space for effective cool- Fan Fan 100mm
ing. or more
Item Conditions • Install fans to provide uni-
Ambient temperature 0˚C to 55˚C (free from freezing)
form distribution of tem-
Ambient humidity Less than 90% RH (free from condensation)
Storage temperature –20˚C to 80˚C (free from freezing) perature in the control
Storage humidity Less than 90% RH (free from condensation) panel. 10mm 10mm 10mm
40mm or or or 40mm
Vibration Lower than 5.9m/s2 (0.6G), 10 to 60Hz • Observe the environmental or more more more or
Altitude Lower than 1000m more more
conditions of the control
panel described in the next 100mm
How to Install page. or more
1) Rack-mount type. Install in vertical position, and reserve enough space around the
servo driver for ventilation. <Note>
Base mount type (rear mount) is standard (A to D-frame) It is recommended to use the conductive paint when you make your own mounting
2) Use the optional mounting bracket when you want to change the mounting face. bracket, or repaint after peeling off the paint on the machine for installing the products, in
order to make noise countermeasure.
A to D-frame e.g.) In case of C-frame
MADD Caution on Installation
MBDD
Mounting bracket We have been making the best effort to ensure the highest quality, however, application
MCDD
MDDD (optional parts) of exceptionally large external noise disturbance and static electricity, or failure in input
power, wiring and components may result in unexpected action. It is highly recommended
that you make a fail-safe design and secure the safety in the operative range.
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.

Fastening torque of earth screws (M4) to be 0.39 to 0.59N • m.

– B4 – – B5 –
2. Installation
Motor Oil/Water Protection
Installation Place 1) Don't submerge the motor cable to water or oil. Cable Motor
2) Install the motor with the cable outlet facing downward.
Since the conditions of location affect a lot to the motor life, select a place which meets
3) Avoid a place where the motor is subjected to oil or water.
the conditions below.
4) Use the motor with an oil seal when used with the gear re-
1) Indoors, where the products are not subjected to rain or direct sun beam. The prod-
ucts are not waterproof. ducer, so that the oil may not enter to the motor through shaft. Oil / Water

2) Where the products are not subjected to corrosive atmospheres such as hydrogen
Stress to Cables
sulfide, sulfurous acid, chlorine, ammonia, chloric gas, sulfuric gas, acid, alkaline and
salt and so on, and are free from splash of inflammable gas, grinding oil, oil mist, iron 1) Avoid a stress application to the cable outlet and connecting portion by bending or
powder or chips and etc. self-weight.
3) Where the motor is free from grinding oil, oil mist, iron powder or chips. 2) Especially in an application where the motor itself travels, fix the attached cable and
4) Well-ventilated and humid and dust-free place, far apart from the heat source such as contain the extension junction cable into the bearer so that the stress by bending can
a furnace. be minimized.
5) Easy-to-access place for inspection and cleaning 3) Take the cable bending radius as large as possible. (Minimum R20mm)
6) Vibration-free place.
7) Avoid enclosed place. Motor may gets hot in those enclosure and shorten the motor life. Permissible Load to Output Shaft
1) Design the mechanical system so that the applied radial load and/or thrust load to the
Environmental Conditions
motor shaft at installation and at normal operation can meet the permissible value
Item Condition specified to each model.
Ambient temperature 0˚C to 40˚C (free from freezing) *1 2) Pay an extra attention when you use a rigid coupling. (Excess bending load may
Ambient humidity Less than 85% RH (free from condensation)
damage the shaft or deteriorate the bearing life.
Storage temperature –20˚C to 80˚C (free from freezing) *2
Storage humidity Less than 85% RH (free from condensation)
3) Use a flexible coupling with high stiffness designed exclusively for servo application in
Vibration Motor only Lower than 49m/s2 (5G) at running, 24.5m/s2 (2.5G) at stall order to make a radial thrust caused by micro misalignment smaller than the permis-
Impact Motor only Lower than 98m/s2 (10G) sible value.
IP65 (except rotating portion of output shaft and lead wire end) 4) For permissible load of each model, refer to the technical reference. (DV0P4210)
Enclosure • These motors conform to the test conditions specified in EN standards
Motor only (EN60529, EN60034-5). Do not use these motors in application where
rating water proof performance is required such as continuous wash-down
Notes on Installation
operation.
1) Do not apply direct impact to the shaft by hammer while attaching/detaching a cou-
*1 Ambient temperature to be measured at 5cm away from the motor. pling to and from the motor shaft.
*2 Permissible temperature for short duration such as transportation. (Or it may damage the encoder mounted on the other side of the shaft.)
How to Install 2) Make a full alignment. (incomplete alignment may cause vibration and damage the
bearing.)
You can mount the motor either horizontally or vertically as long as you observe the followings.
3) If the motor shaft is not electrically grounded, it may cause
1) Horizontal mounting
electrolytic corrosion to the bearing depending on the condi- Motor
• Mount the motor with cable outlet facing downward for water/oil countermeasure.
2) Vertical mounting tion of the machine and its mounting environment, and may
• Use the motor with oil seal (non-standard) when mounting the motor with gear result in the bearing noise. Check and verification by customer
reducer to prevent the reducer oil/grease from entering to the motor. is required.
3) For mounting dimensions, refer to the technical reference. (DV0P4210)
– B6 – – B7 –
2. Installation
Console How to Connect
Installation Place
1) Indoors, where the products are not subjected to rain or direct sun beam. The prod-
ucts are not waterproof.
2) Where the products are not subjected to corrosive atmospheres such as hydrogen Connect to CN X4. M
MOD
E

SHIF
S

sulfide, sulfurous acid, chlorine, ammonia, chloric gas, sulfuric gas, acid, alkaline and
T
SET

salt and so on, and are free from splash of inflammable gas, grinding oil, oil mist, iron
powder or chips and etc.
3) Well-ventilated and low humidity and dust-free place.
4) Easy-to-access place for inspection and cleaning

Environmental Conditions
Item Condition <Remarks>
Ambient temperature 0˚C to 55˚C (free from freezing) • Connect the console connector securely to CN X4 connector of the driver.
Ambient humidity Less than 90% RH (free from condensation) • Never pull the cable to plug in or plug out.
Storage temperature –20˚C to 80˚C (free from freezing)
Storage humidity Less than 90% RH (free from condensation)
Vibration Lower than 5.9m/s2 (0.6G), 10 to 60Hz
Conform to JISC0044
Impact
(Free fall test, 1m for 2 directions, 2 cycles)
Altitude Lower than 1000m
<Cautions>
• Do not give strong impact to the products.
• Do not drop the products.
• Do not pull the cables with excess force.
• Avoid the place near to the heat source such as a heater or a large winding resistor.

– B8 – – B9 –
3. System Configuration and Wiring
Overall Wiring (Connecting Example of C-frame, 3-phase)
• Wiring of the Main Circuit PC (to be supplied by customer)
Circuit Breaker (NFB)
Use the circuit breaker matching
capacity of the power source to
protect the power lines. Setup support software
"PANATERM® "
Noise Filter (NF)
DV0P4460
Prevents external noise from the pow-
er lines. And reduces an effect of the
noise generated by the servo driver. • Connection to
the Connector, CN X1
Magnetic Contactor (MC) (connection to input power) Console (option)
Turns on/off the main power of the X3 DV0P4420
L1 (Pin-5)
servo driver.
X1
Use a surge absorber together L2 (Pin-4)
X4 • Wiring to Connector, CN X3/X4 (option)
with this. L3 (Pin-3) (Connection to PC or host controller)
• Never start nor stop the servo mo- L1C (Pin-2)
tor with this Magnetic Contactor.
L2C (Pin-1)
Reactor (L)
Reduces harmonic current of the X5 • Wiring to Connector, CN X5
main power. X2
(Connection to host controller)
For specifications, refer to the • Connection to the Connector, CN X2
downloaded Instruction Manual (connection to external components)
from our Web Site. RB1 (Pin-6)
Junction cable for encoder
Pin RB1 (6-pin), RB2 (4-pin), and RB2 (Pin-4)
X6
RB3 (5-pin) Handle lever • Wiring to Connector, CN X6
RB2 and RB3 to be kept shorted for Use this for connector X7 (Connection to encoder)
normal operation. connection. Store this • Wiring to
When the capacity shortage of after connection for other Connector, CN X7
occasions. Ground U-phase (red) (Connection to
the regenerative resister is found,
(see page for connection.) (earth) V-phase (white) external scale)
disconnect a shorting bar be- W-phase (black)
tween RB2 and RB3, then connect Short bar
Regenerative resistor Junction cable for motor
the external regenerative resister • Wiring to Connector,
between RB1 and RB2. (optional)
<Remarks> CN X2
(Note that no regenerative resister (Connection to
When you use an external motor driving
is equipped in Frame A and B type.
regenerative resister, install phase and DC Power supply for brake
Install an external regenerative DC24V
an external protective apparatus, such as ground)
resister on incombustible materi- thermal fuse without fail. (to be supplied by customer)
al, such as metal. Follow the same For resistor value and capacity, refer to the Junction cable
wiring connection as the above.) downloaded Instruction Manual from our Web Site. for brake
When you connect an external re- Thermal fuse and thermostat are built in to the
generative resister, set up Parame- regenerative resistor (Option). If the thermal
: High voltage
ter No. 6C to 1 or 2. fuse is activated, it will not resume.
– B10 – – B11 –
3. System Configuration and Wiring
Overall Wiring (Connecting Example of E-frame)
• Wiring of the Main Circuit
PC (to be supplied by customer)
Circuit Breaker (NFB)
Use the circuit breaker matching Setup support software
capacity of the power source to "PANATERM® "
protect the power lines. DV0P4460
Noise Filter (NF)
Prevents external noise from the pow-
er lines. And reduces an effect of the Console (option)
noise generated by the servo driver. X3 DV0P4420
Magnetic Contactor (MC) • Wiring to Connector, CN X3/X4 (option)
X4
Turns on/off the main power of the • Connection X1 (Connection to PC or host controller)
servo driver. with input
Use a surge absorber together power supply
with this. L1
• Never start nor stop the servo mo- L2 X5 • Wiring to Connector, CN X5
tor with this Magnetic Contactor. (Connection to host controller)
L3
Reactor (L)
r
Reduces harmonic current of the
main power. t X6
• Wiring to Connector, CN X6
(Connection to encoder)
For specifications, refer to the X7
Junction cable
downloaded Instruction Manual for encoder
from our Web Site.
Pin P, B1 and B2... • Connection to external • Wiring to Connector, CN X7
B1 and B2 to be kept shorted for components (Connection to external scale)
P • Connection to motor driving
normal operation. phase and ground
When the capacity shortage of B2 Ground
(earth) Junction cable
the regenerative resister is From a top for motor
Short bar
found, disconnect a short bar U-phase
between B1 and B2, then con- Regenerative resistor V-phase
W-phase
nect the external regenerative (optional)
resister between P and B2. <Remarks> Junction cable for brake
Install an external regenera- When you use an external
regenerative resister, install DC Power supply for brake
tive resister on incombustible DC24V
an external protective apparatus, such as thermal
material, such as metal. Follow (to be supplied by customer)
fuse without fail.
the same wiring connection as For resistor value and capacity, refer to the
the above. downloaded Instruction Manual from our Web Site.
When you connect an external Thermal fuse and thermostat are built in to the
regenerative resister, set up regenerative resistor (Option). If the thermal fuse
Parameter No. 6C to 1 or 2. is activated, it will not resume. : High voltage
– B12 – – B13 –
3. System Configuration and Wiring
Required Circuit Noise Cable Cable
Applicable Rated Noise Surge Magnetic diameter
Driver and List of Applicable Peripheral Equipments Driver
motor
Voltage
output
Power breaker
(at the rated (rated
load) current) filter
filter for diameter Connection
absorber signal contactor (main circuit) (control circuit)
approx.
Applicable Rated Required
Power breaker
Circuit
Noise Surge Noise Cable
Magnetic diameter Cable MGMA 2.0kW 3.8kVA
Driver Voltage (rated filter for diameter Connection
motor output (at the rated
load) current) filter absorber signal contactor (main circuit) (control circuit)
MDMA
approx.
MSMD Single to50W 100W 0.4kVA BMFT61041N BMF6352N
phase, MHMA approx.
approx. (3P+1a) (3P+2a2b)
MQMA 100V 100W 0.4kVA 3.0kW 4.5kVA
MSMA
50W approx. 3.5mm2
MSMD to 200W 0.5kVA AWG12
MADD MGMA Terminal
approx. block
Single 100W 0.3kVA BMFT61542N
MQMA phase, MDMA M5
approx. (3P+1a) 3- phase,
200V 200W 0.5kVA approx. 0.75mm2 11.0 or
smaller
DV0P4170 DV0P4190 MFDD MHMA 200V 4.0kW 6kVA 50A DV0P3410 DV0P1450 DV0P1460
approx. AWG18
MAMA 100W 0.3kVA
10A MSMA
MSMD Single approx. BMFT61041N approx. ø5.3
phase, 200W 0.5kVA MFMA 6.8kVA BMF6652N
(3P+1a) 0.75 to 4.5kW approx.
MQMA 100V 2.0mm2 (3P+2a2b)
MGMA 7.5kVA
AWG
MBDD MSMD approx. 14 to 18 5.3mm2
Single 400W 0.9kVA MDMA

Connection to exclusive connector

BMFT61542N AWG10
MQMA phase, (3P+1a) approx.
200V MHMA 5.0kW 7.5kVA
approx.
MAMA 200W 0.5kVA
MSMA
MQMA Single approx. BMFT61541N
phase, 400W 0.9kVA (3P+1a) • Select a single and 3-phase common specifications according to the power source.
100V
MSMD approx. • Manufacturer of circuit breaker and magnetic contactor : Matsushita Electric Works.
750W 1.3kVA
MCDD DV0P4180 0.75mm2 To comply to EC Directives, install a circuit breaker between the power and the noise
DV0P1460
MAMA Single/ approx. BMFT61542N AWG18
3- phase, 400W 0.9kVA (3P+1a) filter without fail, and the circuit breaker should conform to IEC Standards and UL
MFMA 200V
approx.
recognized (Listed and marked).
MHMA 500W 1.1kVA 15A
5000Arms, 240V is the maximum capacity to be delivered to the circuit of 750W or
approx.
MAMA 750W 1.6kVA
larger model when the maximum current value of the circuit breaker is limited to 20A.
MDMA approx. • For details of noise filters, refer to P.B42, "Noise Filter".
1.0kW 1.8kVA
MHMA <Remarks>
approx. DV0P1450
MGMA 900W 1.8kVA BMFT61842N 2.0mm2 • Select and use the circuit breaker and noise filter with matching capacity to those of
Single/ approx. (3P+1a) AWG14
MDDD MSMA 3- phase, 1.0kW 1.8kVA the power source, considering the load conditions as well.
200V
MHMA • Terminal block and protective earth terminal
20A
MDMA approx.
DV0P4220 Use a copper conductor cable with temperature rating of 60˚C or higher.
1.5kW 2.3kVA
MSMA Protective earth terminal is M4 for A to D-frame, and M5 for E and F-frame.
MFMA Larger tightening torque of the screw than the max. value (M4 : 1.2 N • m, M5 : 2.0 N • m)
MDMA
Terminal may damage the terminal block.
block
MSMA
approx.
2.0kW 3.3kVA
2.0mm2 M5 • Earth cable diameter should be 2.0mm2 (AWG14) or larger for 50W to 2.0kW model,
BMF6352N AWG14 11.0 or
MEDD 3- phase, 30A smaller
MHMA 200V
(3P+2a2b) and 3.5mm2 (AWG12) or larger for 2.5kW to 4.0kW, and 5.3mm2 (AWG10) or larger
approx. 3.5mm2 for 4.5kW to 5kW model.
MFMA 2.5kW 3.8kVA AWG12 ø5.3
• Use the attached exclusive connectors for A to D-frame, and maintain the peeled off
length of 8 to 9mm.
• Tightening torque of the screws for connector (CN X5) for the connection to the host
to be 0.3 to 0.35 N • m. Larger tightening torque than these may damage the connector
at the driver side.
– B14 – – B15 –
3. System Configuration and Wiring
Wiring of the Main Circuit (A to D-frame) Wiring of the Main Circuit (E and F-frame)
• Wiring should be performed by a specialist or an authorized personnel. • Wiring should be performed by a specialist or an authorized personnel.
• Do not turn on the power until the wiring is completed. • Do not turn on the power until the wiring is completed.

Tips on Wiring Tips on Wiring

8~9mm
1) Take off the cover fixing screws, and detach the terminal cover.
1) Peel off the insulation cover of the cable.
2) Make wiring
(Observe the dimension as the right fig. shows.) Use clamp type terminals of round shape with insulation cover for wiring to the termi-
2) Insert the cable to the connector detached nal block. For cable diameter and size, rater to "Driver and List of Applicable Periph-
from the driver.(See P.B18 for details.) eral Equipments" (P.B14 and B15).
3) Connect the wired connector to the driver. 3) Attach the terminal cover, and fix with screws.
Fastening torque of cover fixed screw in less than 0.2 N • m.
• Check the name plate of the driver for power
specifications. • Check the name plate of the driver for power
• Provide a circuit breaker, or a leakage breaker. specifications.
The leakage breaker to be the one designed for • Provide a circuit breaker, or a leakage breaker.
"Inverter" and is equipped with countermeasures The leakage breaker to be the one designed for
for harmonics. "Inverter" and is equipped with countermeasures
• Provide a noise filter without fail. for harmonics.
5 L1 • Provide a surge absorber to a coil of the Magnetic
L1 • Provide a noise filter without fail.
Power NFB NF MC L Contactor. Never start/stop the motor with this Power • Provide a surge absorber to a coil of the
supply 4 L2
Magnetic Contactor. supply NFB NF MC L L2 Magnetic Contactor. Never start/stop the motor
3 L3 Connect a fuse in series with the surge absorber. with this Magnetic Contactor.
Ask the manufacturer of the Magnetic Contactor L3 Connect a fuse in series with the surge absorber.
2 L1C for the fuse rating. Ask the manufacturer of the Magnetic Contactor
1 L2C • Provide an AC Reactor. r for the fuse rating.
• Connect L1 and L1C, and L3 and L2C at single • Provide an AC Reactor.
CN X1 phase use (100V and 200V), and don't use L2. t
• Don't disconnect the short bar between B1 and
6 RB1 • Match the colors of the motor lead wires to those of P B2. Disconnect this only when an external
the corresponding motor output terminals (U,V,W).
regenerative register is used.
5 RB3 • Don't disconnect the shorting cable between RB2 B1 • Match the colors of the motor lead wires to those
and RB3 (C and D frame type). Disconnect this only
Yellow 4 RB2 when the external regenerative register is used. of the corresponding motor output terminals
(X2)
U B2 (U,V,W).
Red
1 3 U • Avoid shorting and ground fault. Don't Yellow
(X2) • Avoid shorting and ground fault.
connect the main power. U U
V 2 V * Connect pin 3 of the connector on the amplifier
Red Don't connect the main power.
White 2 1 W side with pin 1 of the connector on the motor side. V
W White V • Earth-ground this.
Black 3 CN X2 • Earth-ground this. W • Connect the protective earth terminal ( ) of the
Green E • Connect the protective earth terminal ( ) of the Black W driver and the protective earth (earth plate) of the
yellow 4 driver and the protective earth (earth plate) of the
Green E control panel without fail to prevent electrical
control panel without fail to prevent electrical shock. yellow shock.
• Don't co-clamp the earth wires to the protective • Don't co-clamp the earth wires to the protective
earth terminal ( ) . Two terminals are provided. earth terminal ( ) . Two terminals are provided.
Motor • Don't connect the earth cable to other • Don't connect the earth cable to other
inserting slot, nor make them touch. Motor inserting slot, nor make them touch.
Ground resistance : 100Ω max.
For applicable wire, • Compose a duplex Brake Control Circuit so that Ground resistance : 100Ω max.
refer to P.B14 and B15. For applicable wire, • Compose a duplex Brake Control Circuit so that
the brake can also be activated by an external the brake can also be activated by an external
emergency stop signal. refer to P.B14 and B15.
DC DC power supply emergency stop signal.
• The Electromagnetic Brake has no polarity.
24V for brake • For the capacity of the electromagnetic brake and DC • The Electromagnetic Brake has no polarity.
how to use it, refer to P.B45, "Specifications of 24V DC power supply • For the capacity of the electromagnetic brake and
Built-in Holding Brake".
for brake how to use it, refer to P.B47, "Specifications of
Surge absorber Built-in Holding Brake".
• Provide a surge absorber. Surge absorber
Fuse (5A) • Connect a 5A fuse in series with the surge absorber. • Provide a surge absorber.
Fuse (5A) • Connect a 5A fuse in series with the surge absorber.
– B16 – – B17 –
3. System Configuration and Wiring
Wiring method to connector (A to D-frame) Wiring Diagram
• Follow the procedures below for the wiring connection to the Connector CN X1 and X2 . Compose the circuit so that the main circuit power will be shut off when an error occurs.
In Case of Single Phase, 100V (A and B-frame)
How to connect 8 to 9mm
+10% +10%
1. Peel off the insulation cover of the cable. Power supply Single phase, 100V –15% to 115V –15%
Built-in thermostat of an external
(see the right fig for exact length for peeling.) ON OFF ALM
MC
regenerative resistor (light yellow)
MC
Surge absorber
2. Insert the cable to the connecter in the following 2 methods.
NFB MC L CN X1
(a) Using the attached Handle Lever

Noise
L1

filter
Main power
supply
(b) Using a screw driver (blade width of 3.0 to 3.5 mm) L3
L1C Control power
L2C supply

(a) Using handle lever RB1

CN X2
External regenerative resistor
172167-1 RB3
1 2 3 Tyco Electronics AMP RB2
Red
1 1 U
White Motor
2 2 V connection
Black
3 3 W
Green
4 4

Motor
CN X5
Attach the handle lever Insert the peeled cable Release the lever. 172159-1 ALM
37
Tyco Electronics AMP ALM+
to the handling slot on while pressing down the DC12 to 24V
36 ALM–
the upper portion. Press lever, until it hits the (±5%)

down the lever to push insertion slot (round

down the spring. hole).
* You can pull out the cable by pushing down the spring as the above. In Case of Single Phase, 200V (A and B-frame)
+10% +10%
Power supply Single phase, 200V –15% to 240V –15%
(b) Using screw driver Built-in thermostat of an external
ON OFF ALM regenerative resistor (light yellow)
1 2 3 MC
MC

Surge absorber

NFB MC L CN X1

Noise
L1

filter
Main power
L3 supply
L1C Control power
Use a reactor for L2C supply
3-phase
CN X2
External regenerative resistor RB1
172167-1 RB3
Press the screw driver Insert the peeled cable Release the screw Tyco Electronics AMP RB2
to the handling slot on while pressing down the driver. Red
1 1 U
White Motor
the upper portion to screw driver, until it hits the Black
2 2 V connection
3 3 W
push down the spring. insertion slot (round hole). Green
4 4

* You can pull out the cable by pushing down the spring as the above.
Motor
<CAUTION>
172159-1 ALM CN X5
• Peel off the cable with exact length (8 to 9 mm). Tyco Electronics AMP
37
ALM+
• Take off the connector from the Servo Driver before making connection. DC12 to 24V
36 ALM–
(±5%)
• Insert one cable into each one of cable insertion slot.
• Pay attention to injury by screw driver.
– B18 – – B19 –
3. System Configuration and Wiring
In Case of Single Phase, 200V (C and D-frame) * When you use motor model of In Case of 3-Phase, 200V (E and F-frame) [Motor portion]
+10% +10% MSMA, MDMA, MFMA, MHMA +10% +10% Connector : by Japan Aviation Electronics Ind.
Power supply Single phase, 200V –15% to 240V –15% Power supply 3-phase, 200V –15% to 230V –15%
and MGMA, use the connections
<Remarks> Built-in thermostat of an external D A
as the below table shows. Built-in thermostat of an external
When you use single regenerative resistor (light yellow) regenerative resistor (light yellow)
phase, connect the main ON OFF ALM ON OFF ALM
C B
power between L1 and MC
MC
[Motor portion] MC
MC

Surge absorber JL04V-2E20-4PE-B-R

L3 terminals. Connector : by Japan Aviation Electronics Ind. Surge absorber
NFB MC L CN X1 JL04HV-2E22-22PE-B-R
L1 D A NFB MC L
Noise
PIN No. Application
filter
Main power L1
L2 supply

Noise
Main power

filter
Use a reactor for L3 C B L2 supply A U-phase
3-phase L1C L3
Control power
supply JL04V-2E20-4PE-B-R B V-phase
L2C Control power
r
(Remove the short wire when you connect JL04HV-2E22-22PE-B-R supply C W-phase
the external regenerative resistor.) t
External regenerative resistor RB1
CN X2 PIN No. Application D Ground
External regenerative resistor P
172167-1 RB3 A U-phase
Tyco Electronics AMP (Remove the short bar when you connect B1
RB2 B V-phase
Red
1 1
* U
the external regenerative resistor.)
B2 G H A
White Motor C W-phase Red
2 2 V connection U Motor
Black D Ground F I B
3 3 W White connection
Green V
4 4 Black E D C
W
G H A Green
JL04V-2E20-18PE-B-R
F I B
Motor PIN No. Application
172159-1 ALM CN X5 E D C G Brake
Tyco Electronics AMP 37 Motor
ALM+ H Brake
DC12 to 24V
JL04V-2E20-18PE-B-R
(±5%) 36 ALM– ALM A NC
PIN No. Application 37
ALM+
F U-phase
G Brake DC12 to 24V
H Brake
(±5%)
36 ALM–
I V-phase
In Case of 3-Phase, 200V (C and D-frame) A NC B W-phase
+10% +10% F U-phase E Ground
Power supply 3-phase, 200V –15% to 240V –15% D Ground
I V-phase
<Remarks> Built-in thermostat of an external B W-phase C NC
When you use single regenerative resistor (light yellow)
phase, connect the main ON OFF ALM E Ground
MC
MC D Ground
power between L1 and L3 Surge absorber A B C
terminals. C NC
NFB MC L CN X1
D E F
L1
Noise
filter

L2 Main power A B C
supply G H I
L3
D E F
L1C Control power JL04V-2E24-11PE-B-R
L2C supply
(Remove the short wire when you connect G H I PIN No. Application
the external regenerative resistor.)
CN X2 A Brake
External regenerative resistor RB1 JL04V-2E24-11PE-B-R
172167-1 RB3
PIN No. Application
B Brake
Tyco Electronics AMP RB2
Red
1
*1 U A Brake
C NC
White
2 2 V
Motor
B Brake D U-phase
Black connection
3 3 W C NC E V-phase
Green
4 4 F W-phase
D U-phase
E V-phase G Ground
F W-phase H Ground
Motor
G Ground I NC
172159-1 ALM CN X5 Ground
Tyco Electronics AMP 37 H
ALM+
I NC <Remark>
DC12 to 24V
(±5%) 36 ALM– Do not connect anything to NC.
<Remark>
Do not connect anything to NC.

– B20 – – B21 –
3. System Configuration and Wiring
Wiring to the Connector, CN X6 (Connection to Encoder) Wiring Diagram In case of 17-bit absolute/incremental encoder

Wiring Diagram In case of 2500P/r incremental encoder MSMD 50W to 750W

MAMA 100W to 750W
MSMD 50W to 750W
MQMA 100W to 400W
MAMA 100W to 750W CN X6
White 7 1 E5V +5V
MQMA 100W to 400W E5V
Black 8 2 E0V 0V Regulator
E0V
3
CN X6
White 4 1 E5V +5V 4
E5V
Black 5 2 0V Regulator Red 1 battery 5
E0V E0V BAT+ PS
3 Pink 2 6
BAT– PS
4 Light Blue 4
PS
Light Blue 2 5 Purple 5
PS PS PS
Purple 3 6 Yellow/Green 3
PS PS FG
6
FG Case
Twisted pair
Twisted pair Case 172169-1 172161-1
172168-1 172160-1 (by Tyco Electronics, AMP) (by Tyco Electronics, AMP)
(by Tyco Electronics, AMP) (by Tyco Electronics, AMP) motor Junction cable
Motor side Driver side
motor Junction cable
Motor side Driver side

MSMA 1kW to 5kW MFMA 400W to 4.5kW

MDMA 1kW to 5kW MGMA 900W to 4.5kW
MSMA 1kW to 5kW MFMA 400W to 4.5kW MHMA 500W to 5kW
MDMA 1kW to 5kW MGMA 900W to 4.5kW Pin No. of connector CN X6
H 1 E5V +5V
MHMA 500W to 5kW E5V
Regulator
Pin No. of connector CN X6 E0V G 2 0V
E0V
E5V H 1 E5V +5V 3
0V Regulator
E0V G 2 E0V 4
3 T battery 5
BAT+ PS
4 S 6
BAT– PS
K 5 K
PS PS PS
L 6 L
PS PS PS
J J
FG FG
Straight plug N/MS3106B20-29S
Cable clamp N/MS3057-12A Case
Twisted pair
Straight plug N/MS3106B20-29S (Japan Aviation Electronics Industry, Ltd.)
Cable clamp N/MS3057-12A Case
Twisted pair
(by Japan Aviation Electronics Ind.) motor
Junction cable
Motor side Driver side
motor
Junction cable
Motor side Driver side

– B22 – – B23 –
 In case of open collector I/F (1) When you use the external
7 COM+ 1 resistor with 12V and 24V
Command pulse OPC1
4.7kΩ 2.2kΩ 2
inhibition input 33 power supply
Deviation counter
INH OPC2
2.2kΩ 3
clear input 30
CL PULS1 PULS1 3
Servo-ON input 4 Command
29 SRV-ON PULS2 PULS2 4 R
220Ω pulse 220Ω
Gain switching input 27 5
GAIN SIGN1 input A SIGN1 5
Electronic gear
switching input 28 6 (Use with 500kpps
DIV SIGN2 SIGN2 6 R
Damping control 220Ω 13 or less.)
220Ω 13
switching input 26 VS-SEL GND GND VDC
Control mode
switching input 32 C-MODE 21
OA+ A-phase VDC
pecifications VDC -1.5 .
=10mA
Alarm clear input 31 A-CLR 22 330Ω output of R R+220 .
CCW over-travel OA-
inhibition input 9 CCWL 48 12V 1kΩ1/2W
CW over-travel OB+ B-phase 24V 2kΩ1/2W
inhibition input 8 49 330Ω
CWL output
OB-

Divider
Servo-Ready output 23 (2) When you do not use the
35 S-RD Y+ OZ+ Z-phase external resistor with 24V
24 330Ω output power supply
34 S-RDY- OZ-
Servo-Alarm output 37 ALM+ 2.2kΩ OPC1 1

36 ALM- PULS2 4
Positioning complete output 39 25 220Ω
VDC COIN+ GND 2.2kΩ OPC2 2
24VDC

– B24 –
12 to 24V 38 COIN- 19 Z-phase output (open collector) SIGN2 6
Brake release output CZ 220Ω 13
GND
11 BRKOFF+
10 BRKOFF-
Torque in-limit output 40 TLC
(Select with Pr09)
Wiring Example of Position Control Mode

Zero speed detection output 12

ZSP 20kΩ 14
(Select with Pr0A) 41 COM- SPR/TRQR
15
GND
44 2kΩ 43kΩ 10kΩ 16
PULSH1 PULS CCWTL/TRQR CCW torque limit input
220Ω 3.83kΩ
45 (0 to +10V)
PULSH2 2kΩ 43kΩ GND
46 2kΩ 43kΩ 10kΩ 18
SIGNH1 SIGN CWTL CW torque limit input
220Ω 3.83kΩ
47 SIGNH2 (-10 to +10V)
2kΩ 43kΩ 1kΩ 43
Wiring for Typical Control Modes to the Connector CN X5

13 GND SP Velocity monitor output

Command pulse input B 1kΩ 42
50 FG IM Torque monitor output
(Use with 2Mpps or less.)
3. System Configuration and Wiring

CN X5 ( represents twisted pair.)

7 COM+
Selection 1 input of
internal command speed 33 INTSPD1 4.7kΩ
Selection 2 input of
internal command speed 30 INTSPD2
Servo-ON input 29 SRV-ON
Gain switching input 27 GAIN
Slection 3 input of
internal command speed 28 INTSPD3
Speed zero clamp input 26
Control mode switching
ZEROSPD
input 21
32 C-MODE OA+ A-phase output
22 330Ω
Alarm clear input 31 A-CLR OA-
CCW over-travel inhibition 48
input 9 CCWL OB+
CW over-travel inhibition 49 330Ω B-phase output
input 8 OB-
CWL
Divider

23
Servo-Ready output OZ+
35 S-RDY+ 24 330Ω
Z-phase output
OZ-
34 S-RDY-
Servo alarm output 37 ALM+
36 ALM- 25
Positioning complete GND
output
– B25 –

39 AT-SPEED+
VDC
12 to 24V 19 Z-phase output (open collector)
38 AT-SPEED- CZ
Brake release output 11 BRKOFF+
10 BRKOFF-
Torque in-limit output 40 TLC
Wiring Example of Velocity Control Mode

(Select with Pr09)

20kΩ 14
Zero speed detection output SPR/TRQR Velocity command
12 ZSP
GND 15 input (0 to ± 10V)
(Select with Pr0A) 41 COM- 10kΩ 16
CCWTL/TRQR CCW torque limit
3.83kΩ
17 input(0 to ± 10V)
GND
10kΩ
CWTL 18 CW torque limit
3.83kΩ
input(-10 to 0V)
1kΩ 43
SP Velocity monitor output
1kΩ 42
50 FG IM Torque monitor output

CN X5 ( represents twisted pair.)

3. System Configuration and Wiring 4. Parameter
Wiring Example of Torque Control Mode Outline of Parameter

Select with Pr5B.

velocity limit input (0 to ±10V)
Wiring example when control mode Pr02=0 or Pr5B=1,
This driver is equipped with various parameters to set up its characteristics and func-

CW torque limit input

Torque command input or
tions. This section describes the function and purpose of each parameter. Read and

represents twisted pair.)

comprehend very well so that you can adjust this diver in optimum condition for your

(0 to ±10V)
running requirements.
A-phase

B-phase

Z-phase
How to Set
output

output

output
• You can refer and set up the parameter with either one of the following.

Velocity monitor output

Torque monitor output
1) front panel of the driver

19 Z-phase output (open collector)

16
17

(
CCWTL/TRQR
2) combination of the setup support software, "PANATERM®" (Option, DV0P4460: En-

GND
330Ω

330Ω

330Ω

glish/Japanese version) and PC.

3) console (DV0P4420, option)
<Note>
For setup of the parameters on PC screen, refer to the instruction manual of the
21
22
48
49
23
24

25

14
15

CCWTL/TRQR 16
17

CWTL 18

43
42
"PANATERM®".
SPR/TRQR
GND

GND

GND
OB+

OZ+
OA+
OA-

OZ-
OB-

CZ

SP
IM
Setup with the Front Panel
20kΩ

10kΩ

10kΩ

1kΩ

1kΩ
Display LED (6-digit)
3.83kΩ

3.83kΩ

CN X5
Divider All of LED will flash when error occurs,
and switch to error display screen.
All of LED will flash slowly when warning occurs.
Shifting of the digit for data changing to higher digit.
4.7kΩ

(Valid to the digit whose decimal point flashes.)

Press these to change display and data, select
11 BRKOFF+
39 AT-SPEED+

10 BRKOFF-
35 S-RDY+

38 AT-SPEED-
32 C-MODE
29 SRV-ON

34 S-RDY-
26 ZEROSPD

Alarm clear input 31 A-CLR

9 CCWL
7 COM+

parameters and execute actions.

COM-
ALM+
ALM-
Gain switching input 27 GAIN

CWL

ZSP
TLC
INH

DIV

FG
CL

(Change/Selection/Execution is valid to the digit

which decimal point flashes.)
33
30

28

37
36

40

Zero speed detection output 12

41

50

Numerical value increases by pressing , ,

Speed zero clamp
Servo-ON input

decreases by pressing .
CCW over-travel

At-speed signal output

CW over-travel
switching input

4th speed of speed setup (Pr56).

Servo-Alarm output
inhibition input
inhibition input

Servo-Ready output

Torque in-limit output

Control mode

Brake release output

(Select with Pr0A)

(Select with Pr09)

SET Button (valid at any time)

input

enter a speed limit value to

Press this to switch SELECTION and

EXECUTTION display.
Mode switching button (valid at SELECTION display)
In case Pr5B=0,

Press this to switch 5 kinds of mode.

<Remarks>

1) Monitor Mode 4) Auto-Gain Tuning Mode

12 to 24V

2) Parameter Set up Mode 5) Auxiliary Function Mode

VDC

3) EEPROM Write Mode

– B26 – – B27 –
4. Parameter
Outline of PANATERM® How to Connect
With the PANATERM®, you can execute the followings. RS232 connection cable (option)
1) Setup and storage of parameters, and writing to the memory (EEPROM). DV0P1960 (for DOS/V machines)
2) Monitoring of I/O and pulse input and load factor.
3) Display of the present alarm and reference of the error history.
4) Data measurement of the wave-form graphic and bringing of the stored data.
5) Normal auto-gain tuning
6) Frequency characteristic measurement of the machine system.
Connect to CN X4

Setup with the Console

Setup disc of setup support software,
Display LED (6-digit) PANATERM®
All of LED will flash when error occurs, and switch to • DV0P4460 :
error display screen. English/Japanese version (option)

Displays ID No. (address) of selected driver (in 2 digits).

The value set in Pr00(address) is ID No. Parameter No.
is displayed (2 digits) at parameter setup mode.
Connect to CN X4
Press this to shift the digit for data change.

Press these to change data or execute selected action

of parameter.
Numerical value increases by pressing , ,
decreases by pressing .

SET Button Console

Press this to shift each mode which is selected by DV0P4420 (option)
mode switching button to EXECUTION display.

Mode Switching Button Press this to switch 6 kinds of mode. <Remarks>

1) Monitor mode 4) Normal auto-gain tuning mode • Connect the console connector to the connector, CN X4 of the driver securely.
2) Parameter setup mode 5) Auxiliary function mode • Do not pull the cable to insert/unplug.
3) EEPROM write mode 6) Copy mode

– B28 – – B29 –
4. Parameter
Composition and List of Parameters Parameters for Functional Selection
Parameter Related control
Parameter No. No. Set up of parameter Range Default Unit
Group (Pr ) Outline (Pr ) mode
Functional selection 00 to 0F You can select a control mode, designate I/O 00*1 Address of axis 0 to 15 1 – all
signals and set up a baud rate. 01*1 Initial display of LED 0 to 17 1 – all
Adjustment 10 to 1F, You can set up servo gains (1st and 2nd) of 02*1 Setup of control mode 0 to 6 1 – all
27 to 2E position, velocity, integration, etc, and time 03 Selection of torque limit 0 to 3 1 – P, S, F
constants of various filters.
04*1 Setup of over-travel inhibit input 0 to 2 1 – all
20 to 26, 2F Parameters related to Real Time Auto-Gain Tuning. You
can set up a mode and select a mechanical stiffness. 05 Switching of Internal/External speed setup 0 to 3 0 – S
30 to 3F You can set up parameters related to gain 06 Selection of ZEROSPD input 0 to 2 0 – S, T
switching(1st 2nd) 07 Selection of speed monitor (SP) 0 to 9 3 – all
Position (Step) 40 to 4F You can set up an input form, directional selection 08 Selection of torque monitor (IM) 0 to 12 0 – all
Control of command pulses, dividing of encoder output 09 Selection of TLO output 0 to 8 0 – all
pulse and set up a division multiplier ratio of
0A Selection of ZSP output 0 to 8 1 – all
command pulse.
Velocity Control, 50 to 5A, You can set up an input gain of command pulse, 0B*1 Setup of absolute encoder 0 to 2 1 – all
Torque Control 74 to 77 reverse polarity and adjust offset. You can also set 0C*1 Baud rate setup of RS232 0 to 5 2 – all
up internal speeds (1 to 8th speed), acceleration/ 0D*1 Baud rate setup of RS485 0 to 5 2 – all
deceleration time. 0E*1 Setup of front panel lock 0 to 1 0 – all
5B to 5F You can set an input gain, reverse polarity and set
0F (For manufacturer's use) – – – –
up a torque limit of torque command.
Sequence 60 to 6F You can set up detecting conditions of output signals,
such as positioning-complete and zero-speed. Parameters for Adjustment of Time Constant for Gains and Filters
You can also set up a deceleration/stop action at Parameter Default Related control
main power-off, at alarm output and at servo-off,
No.
(Pr )
Set up of parameter Range A to D to Unit mode
C-frame F-frame
and clear condition of the deviation counter. 10 1st gain of position loop 0 to 3000 <63> <32> 1/s P, F
70 to 73 You can set up actions of protective functions. 11 1st gain of velocity loop 1 to 3500 <35> <18> Hz all
Full-Closed Control 78 to 7F You can set up dividing of external scale.
12 1st time constant of velocity loop integration 1 to 1000 <16> <31> ms all
• In this document, following symbols represent each mode. 13 1st filter of velocity detection 0 to 5 <0> – all
14 1st time constant of torque filter 0 to 2500 <65> <126> 0.01ms all
Setup value Setup value
Symbol Control mode Symbol Control mode 15 Velocity feed forward –2000 to 2000 <300> 0.1% P, F
of Pr02 of Pr02
16 Time constant of feed forward filter 0 to 6400 <50> 0.01ms P, F
P Position control 0 P/S Position (1st)/Velocity (2nd) control 3*
17 (For manufacturer's use) – – – –
S Velocity control 1 P/T Position (1st)/Torque (2nd) control 4*
<Notes>
T Torque control 2 S/T Velocity (1st)/Torque (2nd) control 5*
• For parameters with suffix of "*1", change will be validated after the reset of the control power.
F Full-Closed control 6 • For parameters which default values are parenthesized by "< >", default value varies
* When you select the combination mode of 3, 4 or 5, you can select either 1st or 2nd automatically by the real-time auto-gain tuning function. Set up Pr21 (Setup of Real-
with control mode switching input (C-MODE). time auto-gain tuning mode) to 0 (invalid) when you want to adjust manually.
when C-MODE is open : 1st mode selection * In this documentation, each mode is represented by the following symbols
when C-Mode is closed: 2nd mode selection P : Position control, S : Velocity control, T : Torque control, F : Full-closed control,
Do not enter the command 10ms before/after the switching. P/S : Position (1st),/Velocity (2nd) control, P/T : Position (1st)/Torque (2nd) control,
S/T : Velocity (1st)/Torque (2nd) control.
– B30 – – B31 –
4. Parameter
Parameters for Adjustment of Time Constant for Gains and Filters Parameters for Adjustment (2nd Gain Switching Function)
Parameter Default Parameter Related control
No. Set up of parameter Range Related control
Unit No. Set up of parameter Range Default Unit
A to D to mode
(Pr ) C-frame F-frame mode (Pr )
18 2nd gain of position loop 0 to 3000 <73> <38> 1/s P, F 30 Setup of 2nd gain 0 to 1 <1> – all
19 2nd gain of velocity loop 1 to 3500 <35> <18> Hz all 31 1st mode of control switching 0 to 10 <0> – all
1A 2nd Time constant of velocity loop integration 1 to 1000 <1000> ms all 32 1st delay time of control switching 0 to 10000 <30> 166µs all
1B 2nd filter of velocity detection 0 to 5 <0> – all 33 1st level of control switching 0 to 20000 <50> – all
1C 2nd torque filter time constant 0 to 2500 <65> <126> 0.01ms all 34 1st hysteresis of control switching 0 to 20000 <33> – all
(1+Setup value)
1D 1st notch frequency 100 to 1500 1500 Hz all 35 Time for position gain switching 0 to 10000 <20> x 166µs P, F
1E Selection of 1st notch width 0 to 4 2 – all 36 2nd mode of control switching 0 to 5 <0> – S, T
1F (For manufacturer's use) – – – – 37 2nd delay time of control switching 0 to 10000 0 166µs S, T
27 Setup of instantaneous velocity observer 0 to 1 <0> – P, S 38 2nd level of control switching 0 to 20000 0 – S, T
28 2nd notch frequency 100 to 1500 1500 Hz all 39 2nd hysteresis 0f control switching 0 to 20000 0 – S, T
29 Selection of 2nd notch width 0 to 4 2 – all 3A (For manufacturer's use) – – – –
2A Selection of 2nd notch depth 0 to 99 0 – all 3B (For manufacturer's use) – – – –
2B 1st damping frequency 0 to 2000 0 0.1Hz P, F 3C (For manufacturer's use) – – – –
2C Setup of 1st damping filter –200 to 2000 0 – P, F 3D Setup of JOG speed 0 to 500 300 r/min all
2D 2nd damping frequency 0 to 2000 0 0.1Hz P, F 3E (For manufacturer's use) – – – –
2E Setup of 2nd damping filter –200 to 2000 0 – P, F 3F (For manufacturer's use) – – – –

Parameters for Auto-Gain Tuning Parameters for Position Control

Parameter Default Related control Parameter
No. Set up of parameter Range A to D to Unit No. Set up of parameter Range Default Unit Related control
(Pr ) C-frame F-frame mode (Pr ) mode
20 Inertia ratio 0 to 10000 <250> % all 40*1 Selection of command pulse input 0 to 1 0 – P, F
21 Setup of real-time auto-gain tuning mode 0 to 7 1 – all 41*1 setup of rotational direction of command pulse 0 to 1 0 – P, F
22 Mechanical stiffness at real-time auto-gain tuning 0 to 15 4 1 – all 42*1 setup of command pulse input mode 0 to 3 1 – P, F
23 Setup of adaptive filter mode 0 to 2 1 – P, S, F 43 Canceling of command pulse prohibition input 0 to 1 1 – P, F
24 Selection of damping filter switching 0 to 2 0 – P, F 44*1 Numerator of pulse output division 1 to 32767 2500 – all
25 Setup of action at normal mode auto-gain tuning 0 to 7 0 – all 45*1 Denominator of pulse output division 0 to 32767 0 – all
26 Setup of software limit 0 to 1000 10 0.1rev P, F 46*1 Logic reversal of pulse output 0 to 3 0 – all
2F*2 Adaptive filter frequency 0 to 64 0 – P, S, F 47*1 Setup of Z-phase of external scale 0 to 32767 0 – F
*2 this parameter will be automatically set up when the adaptive filter is validated (Pr23, <Notes>
“Setup of adaptive filter mode” is “1”, and you cannot set this up at your discretion. • For parameters with suffix of "*1", change will be validated after the reset of the con-
Set up Pr23, “Setup of adaptive filter mode” to “0” (invalid) to clear this parameter. trol power.
• For parameters which default values are parenthesized by "< >", default value varies
* In this documentation, each mode is represented by the following symbols automatically by the real-time auto-gain tuning function. Set up Pr21 (Setup of Real-
P : Position control, S : Velocity control, T : Torque control, F : Full-closed control, time auto-gain tuning mode) to 0 (invalid) when you want to adjust manually.
P/S : Position (1st),/Velocity (2nd) control, P/T : Position (1st)/Torque (2nd) control,
S/T : Velocity (1st)/Torque (2nd) control.
– B32 – – B33 –
4. Parameter
Parameter Related control
No.
(Pr )
Set up of parameter Range Default Unit mode Parameters for Sequence
48 1st numerator of electronic gear 0 to 10000 0 – P, F Parameter Related control
No.
(Pr )
Set up of parameter Range Default Unit mode
49 2nd numerator of electronic gear 0 to 10000 0 – P, F
60 In-position (positioning complete) range 0 to 32767 131 Pulse P, F
4A Multiplier for numerator of electronic gear 0 to 17 0 – P, F
61 Zero speed 10 to 20000 50 r/min all
4B Denominator of electronic gear 1 to 10000 10000 – P, F
62 At-speed (arrived speed) 10 to 20000 1000 r/min S, T
4C Setup of smoothing filter for primary delay 0 to 7 1 – P, F
63 Setup of in-position output 0 to 3 0 – P, F
4D*1 Setup of FIR smoothing 0 to 31 0 – P, F
64 (For manufacturer's use) – – – –
4E Counter clear input mode 0 to 2 1 – P, F
65 Selection of LV-trip at main power off 0 to 1 1 – all
4F (For manufacturer's use) – – – –
66*1 Sequence at run-prohibition 0 to 2 0 – all
67 Sequence at main power off 0 to 9 0 – all
Parameters for Velocity/Torque control 68 Sequence at alarm 0 to 3 0 – all
Parameter Related control 69 Sequence at servo-off 0 to 9 0 – all
No. Set up of parameter Range Default Unit mode
(Pr ) 6A Setup of mechanical brake action at stall 0 to 100 0 2ms all
50 Input gain of speed command 10 to 2000 500 (r/min)/V S, T 6B Setup of mechanical brake action in motion 0 to 100 0 2ms all
A, B-frame : 3,
51 Input reversal of speed command 0 to 1 1 – S 6C*1 Selection of external regenerative resister 0 to 3 C,D,E-frame : 0 – all
52 Offset of speed command –2047 to 2047 0 0.3mV S, T 6D*1 Detection time of main power shut-off 35 to 1000 35 2ms all
53 1st speed of speed setup –20000 to 20000 0 r/min S 6E Setup to torque at emergency stop 0 to 500 0 – all
54 2nd speed of speed setup –20000 to 20000 0 r/min S 6F (For manufacturer's use) – – – –
55 3rd speed of speed setup –20000 to 20000 0 r/min S 70 Excess setup of positional deviation 0 to 32767 25000 256Pulse P, F
56 4th speed of speed setup –20000 to 20000 0 r/min S, T 71 Excess setup of analog input 0 to 100 0 0.1V S, T
74 5th speed of speed setup –20000 to 20000 0 r/min S 72 Setup of over-load level 0 to 500 0 % all
75 6th speed of speed setup –20000 to 20000 0 r/min S 73 Setup of over-speed level 0 to 20000 0 r/min all
76 7th speed of speed setup –20000 to 20000 0 r/min S
77 8th speed of speed setup –20000 to 20000 0 r/min S Parameters for Full-Closed Control
57 Setup of speed command filter 0 to 6400 0 0.01ms S, T Parameter Related control
2ms/
No.
(Pr )
Set up of parameter Range Default Unit mode
58 Setup of acceleration time 0 to 5000 0 (1000r/min) S
59 Setup of deceleration time 0 to 5000 0 2ms/
S 78*1 Numerator of external scale division 0 to 32767 0 – F
(1000r/min)
5A Setup of sigmoid acceleration/deceleration time 0 to 500 0 2ms S 79*1 Numerator multiplier of external scale division 0 to 17 0 – F
5B Selection of torque command 0 to 1 0 – T 7A*1 Denominator of external scale division 1 to 32767 10000 – F
16 X external
5C Input gain of torque command 10 to 100 30 0.1V /
T 7B*1 Excess setup of hybrid deviation 1 to 10000 100 scale pulses F
rated torque
5D Input reversal of torque command 0 to 1 0 – T 7C*1 Reversal of direction of external scale 0 to 1 0 – F
5E Setup of 1st torque limit 0 to 500 <500>*3 % all 7D (For manufacturer's use) – – – –
5F Setup of 2nd torque limit 0 to 500 <500>*3 % P, S, F 7E (For manufacturer's use) – – – –
7F (For manufacturer's use) – – – –

* In this documentation, each mode is represented by the following symbols <Notes>

P : Position control, S : Velocity control, T : Torque control, F : Full-closed control, • For parameters with suffix of "*1", change will be validated after the reset of the con-
P/S : Position (1st),/Velocity (2nd) control, P/T : Position (1st)/Torque (2nd) control, trol power.
S/T : Velocity (1st)/Torque (2nd) control. *3 Defaults of Pr5E and Pr5F vary depending on the combination of the driver and the motor.
– B34 – – B35 –
5. Protective Functions
Protective Function (What Is Error Code ?) Error Error
code Protective function code Protective function
No. No.
• Various protective functions are equipped in the driver. When these are triggered, the
Control power supply under- voltage
motor will stall due to error, the driver will turn the Servo-Alarm output (ALM) to off 11 39 Analog input excess protection
protection
(open). Absolute system down error
12 Over-voltage protection 40
protection
• Error status ands their measures
Main power supply under-voltage * Absolute counter over error
• During the error status, the error code No. will be displayed on the front panel LED, 13 41
protection protection
and you cannot turn Servo-ON.
• You can clear the error status by turning on the alarm clear input (A-CLR) for 120ms 14 * Over-current protection 42 Absolute over-speed error protection
or longer. * Absolute single turn counter error
15 * Over-heat protection 44
• When overload protection is triggered, you can clear it by turning on the alarm clear protection
signal (A-CLR) 10 sec or longer after the error occurs. You can clear the time charac- * Absolute multi-turn counter error
16 Over-load protection 45
protection
teristics by turning off the connection between L1C and L2C or r and t of the control
power supply of the driver. 18 * Over-regeneration load protection 47 Absolute status error protection
• You can clear the above error by operating the front panel keys.
• You can also clear the above error by operating the "PANATERM®". 21 * Encoder communication error 48 * Encoder Z-phase error protection
protection
* Encoder communication data error
<Remarks> 23 49 * Encoder CS signal error protection
protection
• When the protective function with a prefix of "*" in the protective function table is
triggered, you cannot clear with alarm clear input (A-CLR). For resumption, shut off 24 Position deviation excess protection 50 * External scale status 0 error
protection
the power to remove the cause of the error and re-enter the power.
25 * Hybrid deviation excess error 51 * External scale status 1 error
• Following errors will not be stored in the error history. protection protection
Control power supply under-voltage protection (Error code No. 11) 26 Over-speed protection 52 * External scale status 2 error
Main power supply under-voltage protection (Error code No. 13) protection
EEPROM parameter error protection (Error code No. 36) Electronic gear error protection * External scale status 3 error
27 53
protection
EEPROM check code error protection (Error code No. 37)
Over-travel prohibition input protection (Error code No. 38) 28 * External scale communication data 54 * External scale status 4 error
error protection protection
Motor self-recognition error protection (Error code No. 95) External scale status 5 error
29 Deviation counter overflow protection 55 *
protection

34 Software limit protection 65 CCWTL input excess protection

35 * External scale communication error 66 CWTL input excess protection

protection

36 * EEPROM parameter error protection 95 * Motor automatic recognition error

protection
* EEPROM check code error Other
37 * Other error
protection No.

38 Over-travel inhibit input protection

– B36 – – B37 –
6. Maintenance and Inspections
• Routine maintenance and inspection of the driver and motor are essential for the
Guideline for Parts Replacement
proper and safe operation.
Use the table below for a reference. Parts replacement cycle varies depending on the
Notes on Maintenance and Inspection actual operating conditions. Defective parts should be replaced or repaired when any
1) Turn on and turn off should be done by operators or inspectors themselves. error have occurred.
2) Internal circuit of the driver is kept charged with high voltage for a while even after
Disassembling for inspection and repair should
power-off. Turn off the power and allow 15 minutes or longer after LED display of the
be carried out only by authorized dealers or ser-
front panel has gone off, before performing maintenance and inspection.
Prohibited vice company.
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 Standard replacement
driver. Product Component cycles (hour) Note

Smoothing condenser Approx. 5 years

Inspection Items and Cycles 2 to 3 years
Cooling fan
General and normal running condition (10,000 to 30,000 hours)

Ambient conditions : 30˚C (annual average), load factor of 80% Aluminum electrolytic
Approx. 5 years
or lower, operating hours of 20 hours or less per day. capacitor (on PCB)
Driver
Perform the daily and periodical inspection as per the items below. Approx. 100,000 times
Rush current
(depending on working
Type Cycles Items to be inspected preventive relay
condition)
• Ambient temperature, humidity, speck, dust or foreign object Approx. 20,000 times These hours or cycles are
Rush current
• Abnormal vibration and noise (depending on working reference.
• Main circuit voltage preventive resistor
condition) When you experience any
• Odor error, replacement is re-
Daily 3 to 5 years
Daily • Lint or other particles at air holes Bearing quired even before this
inspection (20,000 to 30,000 hours)
• Cleanness at front portion of the driver and connecter standard replacement cy-
• Damage of the cables Oil seal 5000 hours cle.
• Loose connection or misalignment between the motor and 3 to 5 years
Encoder
machine or equipment (20,000 to 30,000 hours)
• Pinching of foreign object at the load Motor Life time varies depending
• Loose tightening on working conditions.
Periodical
Annual • Trace of overheat Battery Refer to the instruction
inspection
• Damage of the terminals
for absolute encoder manual attached to the
<Notes> battery for absolute
Inspection cycle may change when the running conditions of the above change. encoder.
Motor with
10,000 hours
gear reducer Gear reducer

– B38 – – B39 –
7. Conformity to EC Directives and UL Standards
EC Directives Composition of Peripheral Equipments
The EC Directives apply to all such electronic products as those having specific func-
Installation Environment
tions and have been exported to EU and directly sold to general consumers. Those
products are required to conform to the EU unified standards and to furnish the CE Use the servo driver in the environment of Pollution Degree 1 or 2 prescribed in IEC-
marking on the products. 60664-1 (e.g. Install the driver in control panel with IP54 protection structure.)
However, our AC servos meet the relevant EC Directives for Low Voltage Equipment so Control box
that the machine or equipment comprising our AC servos can meet EC Directives.
Controller
EMC Directives
Insulated
MINAS Servo System conforms to relevant standard under EMC Directives setting up power supply
certain model (condition) with certain locating distance and wiring of the servo motor for interface CN X5
and the driver. And actual working condition often differs from this model condition espe- Driver
cially in wiring and grounding. Therefore, in order for the machine to conform to the EMC Noise filter for Noise filter
Power signal lines for signal
Directives, especially for noise emission and noise terminal voltage, it is necessary to supply CN X1 lines
Circuit Ground-fault L1
examine the machine incorporating our servos. breaker
breaker Noise filter L2 CN X2 Motor
(RCD) L3 U
V M
Conformed Standards L1C
W
RE
Surge L2C
Subject Conformed Standard absorber
CN X6
Motor IEC60034-1 IEC60034-5 UL1004 CSA22.2 No.100 Conforms to
Low-Voltage Protective earth (PE)
EN50178 UL508C Directives
Radio Disturbance Characteristics of Industrial, Scien- Power Supply
EN55011 +10% +10%
tific and Medical (ISM) Radio-Frequency Equipment 100V type : Single phase, 100V to 115V 50/60Hz
–15% –15%
Motor/ EN61000-6-2 Immunity for Industrial Environments (A, B and C-frame)
+10% +10%
Motor IEC61000-4-2 Electrostatic Discharge Immunity Test 200V type : Single phase, 200V to 240V 50/60Hz
Standards –15% –15%
(B, C-frame)
and IEC61000-4-3 Radio Frequency Electromagnetic Field Immunity Test referenced by +10% +10%
EMC Directives 200V type : Single/3-phase, 200V to 240V 50/60Hz
driver IEC61000-4-4 Electric High-Speed Transition Phenomenon/Burst Immunity Test –15% –15%
(C, D-frame)
IEC61000-4-5 Lightening Surge Immunity Test +10% +10%
200V type : 3-phase, 200V to 230V 50/60Hz
IEC61000-4-6 High Frequency Conduction Immunity Test
–15% –15%
(E, F-frame)
IEC61000-4-11 Instantaneous Outage Immunity Test (1) This product is designed to be used at over-voltage category (Installation category) II
IEC : International Electrotechnical commission of EN 50178:1997. If you want to use this product un over-voltage category (Installa-
E N : Europaischen Normen tion category) III, install a surge absorber which complies with EN61634-11:2002 or
EMC : Electromagnetic Compatibility other relevant standards at the power input portion.
UL : Underwriters Laboratories
(2) Use an insulated power supply of DC12 to 24V which has CE marking or complies
CSA : Canadian Standards Association
with EN60950
<Precautions in using options>
Use options correctly after reading operation manuals of the options to better under-
Circuit Breaker
stand the precautions. Install a circuit breaker which complies with IEC Standards and UL recognizes (Listed
Take care not to apply excessive stress to each optional part. and marked) between power supply and noise filter.
– B40 – – B41 –
7. Conformity to EC Directives and UL Standards
Noise Filter Surge Absorber
When you install one noise filter at the power supply for multi-axes application, contact Provide a surge absorber for the primary side of noise filter.
to a manufacture of the noise filter. <Remarks>
Voltage specifications Take off the surge absorber when you execute a dielectric test to the machine or equip-
Option part No. for driver Manufacturer’s part No. Applicable driver (frame) Manufacturer
DV0P4170 Single phase 100V/200V SUP-EK5-ER-6 A and B-frame Okaya Electric Ind.
ment, or it may damage the surge absorber.
Voltage specifications
100.0±2.0 Terminal cover Option part No. for driver Manufacturer's part No. Manufacturer
88.0 (transparent)
7.0 5.0 DV0P1450 3-phase 200V R . A .V-781BXZ-4 Okaya Electric Ind.
75.0 53.1±1.0
Circuit diagram
IN OUT

5.5±1
11±1
1 L
Cy
L 3 ø4.2±0.2
2.0 Circuit diagram
12.0
50.0
60.0
R Cx Cx
LABEL
Cy
1 2 3
10.0

28.5±1
4

6-M4 (11.6)
2–ø4.5 x 6.75 2–ø4.5
(13.0)
UL-1015 AWG16

+30
200 -0
Voltage specifications
Option part No. for driver Manufacturer’s part No. Applicable driver (frame) Manufacturer
DV0P4180 3SUP-HQ10-ER-6 C-frame

4.5±0.5
3-phase 200V Okaya Electric Ind. 1 2 3
DV0P4220 3SUP-HU30-ER-6 D and E-frame

281
A
B H Circuit diagram
C 41±1
IN OUT
Earth terminal
M4 1 L1 4

2 5
10
F

LABEL
D
E

3 6 Voltage specifications
Option part No. for driver Manufacturer's part No. Manufacturer
Screw for cover R Cx1 Cx1
M3
DV0P4190 Single phase 100/200V R . A .V-781BWZ-4 Okaya Electric Ind.
M4 Cy1

5.5±1
11±1
Cover A B C D E F G H K L ø4.2±0.2
DV0P4180 115 105 95 70 43 10 52 5.5 M4 M4 Circuit diagram
G

Body DV0P4220 145 135 125 70 50 10 52 5.5 M4 M4

1 2

28.5±1
Voltage specifications
Option part No. for driver Manufacturer’s part No. Applicable driver (frame) Manufacturer
DV0P3410 Three-phase 200V 3SUP-HL50-ER-6B F-frame Okaya Electric Ind. UL-1015 AWG16

+30
200 -0
286±3.0
Circuit diagram
270 IN OUT
255±1.0

4.5±0.5
2-ø5.5 x 7 2-ø5.5
1 2
150 240 1 4

281
2 5
6-6M
(13) (18)
90±1.0
120

L A B E L 3 6 41±1

– B42 – – B43 –
7. Conformity to EC Directives and UL Standards 8. Built-in Holding Brake
Noise Filter for Signal Lines * In the applications where the motor drives the vertical axis, this brake would be used to
hold and prevent the work (moving load) from falling by gravity while the power to the
Install noise filters for signal lines to all cables (power cable, motor cable, encoder cable
servo is shut off.
and interface cable)
39±1
* In case of D-frame, install 3 noise 34±1 Mass: 62.8g Use this built-in brake for "Holding" purpose only, that is to hold the stalling status.
filters at power line. Never use this for "Brake" purpose to stop the load in motion.
Option part No. DV0P1460

13±1
Output Timing of BRK-OFF Signal

30±1
Manufacturer's part No. ZCAT3035-1330
Manufacturer TDK Corp.
• For the brake release timing at power-on, or braking timing at Servo-OFF/Servo-Alarm
<Caution> Fix the signal line noise filter in place to eliminate excessive stress to the cables. while the motor is in motion, refer to the technical reference. (DV0P4210)
• With the parameter, Pr6B (Setup of mechanical brake action while the motor is in
Ground-Fault Breaker
motion), you can set up a time between when the motor enters to a free-run from
Install a type B ground fault breaker (RCD) at primary side of the power supply. energized status and when BRK-OFF signal turns off (brake will be engaged), when
the Servo-OFF or alarm occurs while the motor is in motion.
Grounding
<Notes>
(1) Connect the protective earth terminal ( ) of the driver and the protective earth
terminal (PE) of the control box without fail to prevent electrical shocks. 1. The lining sound of the brake (chattering and etc.) might be generated while running
(2) Do not make a joint connection to the protective earth terminals ( ). 2 terminals are the motor with built-in brake, however this does not affect any functionality.
provided for protective earth. 2. Magnetic flux might be generated through the motor shaft while the brake coil is ener-
<Note> gized (brake is open). Pay an extra attention when magnetic sensors are used nearby
For driver and applicable peripheral equipments, refer to P.B14 "Driver and List of Ap- the motor.
plicable Peripheral Equipments" .
Specifications of Built-in Holding Brake
Conformity to UL Standards Rotor Engaging Releasing Exciting
Static Permissible Permissible
Motor Motor Releasing
Observe the following conditions of (1) and (2) to make the system conform to UL508C
friction
torque
inertia
x 10 –4 time time current
DC A voltage work (J) per total work
series output
N •m kg • m2 ms ms* (at cool-off) one braking x 103J
(File No. E164620).
50W, 100W 0.29 or more 0.002 35 or less 0.25 39.2 4.9
(1) Use the driver in an environment of Pollution Degree 2 or 1 prescribed in IEC60664- MSMD 10 or less DC2V
200W, 400W 1.27 or more 0.018 50 or less 0.30 137 44.1
1. (e.g. Install in the control box with IP54 enclosure.) MAMA or more
750W 2.45 or more 0.075 70 or less 20 or less 0.35 196 147
(2) Install a circuit breaker or fuse which are UL recognized (Listed marked) between
100W 0.29 or more 0.03 50 or less 0.29 DC1V 137 44.1
the power supply and the noise filter without fail. MQMA 15 or less
200W, 400W 1.27 or more 0.09 60 or less 0.41 or more 196 147
For the rated current of the circuit breaker or fuse, refer to P.32, "Driver and List of
1.0kW 4.9 or more 0.25 0.74 196
Applicable Peripheral Equipments" of Preparation. 50 or less 15 (100)
1.5kW, 2.0kW 7.8 or more 392
Use a copper cable with temperature rating of 60˚C or higher. 0.33 or less 0.81 DC2V 490
MSMA 3.0kW 11.8 or more 80 or less
Tightening torque of more than the max. values (M4:1.2N • m, M5: 2.0N • m) may break or more
50 (130)
the terminal block. 4.0kW, 5.0kW 16.1 or more 1.35 110 or less 0.90 1470 2156
or less
(3) Over-load protection level
Over-load protective function will be activated when the effective current exceeds 115% (Continues to next page)
or more than the rated current based on the time characteristics. Confirm that the effec-
tive current of the driver does not exceed the rated current. Set up the peak permissible
current with Pr5E (Setup of 1st torque limit) and Pr5F (Setup 2nd torque limit).
– B44 – – B45 –
8. Built-in Holding Brake 9. Dynamic Brake
Static Rotor Engaging Releasing Exciting Permissible Permissible This driver is equipped with a dynamic brake for emergency stop.
Motor Motor Releasing
friction
torque
inertia
x 10 –4 time time current
DC A voltage work (J) per total work
series output Pay a special attention to the followings.
N •m kg • m2 ms ms* (at cool-off) one braking x 103J
70 (200) <Caution>
1.0kW 4.9 or more 80 or less 0.59 588 780
or less
1.35 1.Dynamic brake is only for emergency stop.
1.5kW, 2.0kW 13.7 or more 100 or less 50 (130) 0.79 1176 1470
3.0kW 16.1 or more 110 or less or less 0.90 1470 2156 Do not start/stop the motor by turning on/off the Servo-ON signal (SRV-ON).
MDMA
35 (150) Or it may damage the dynamic brake circuit of the driver.
4.0kW 21.5 or more 4.25 90 or less 1.10 1078 2450
or less
The motor becomes a dynamo when driven externally, and shorting current
25 (200)
5.0kW 24.5 or more 4.7 1.30 1372 2940 runs while this dynamic brake is activated and might cause smoking or fire.
or less
80 or less
70 (200) 2. Dynamic brake is a short-duration rating, and designed for only emergency stop. Al-
500W, 1.0kW 4.9 or more 0.59 588 784
or less low approx. 3 minutes pause when the dynamic brake is activated during high-speed
1.35
50 (130) running.
MHMA 1.5kW 13.7 or more 100 or less 0.79 1176 1470
or less
• You can activate the dynamic brake in the following cases.
25 (200) DC2V
2.0kW to 5.0kW 24.5 or more 4.7 1.30 1372 2940 1) when the main power is turned off
or less or more
2) at Servo-OFF
70 (200)
400W 4.9 or more 1.35 80 or less 0.59 588 784 3) when one of the protective function is activated.
or less
35 (150)
4) when over-travel inhibit input (CWL, CCWL) of CN X5 is activated
MFMA 1.5kW 7.8 or more 4.7 0.83 1372 2940 In the above cases from 1) to 4), you can select either activation of the dynamic
or less
2.5kW 21.6 or more 100 (450) 1470 brake or making the motor free-run during deceleration or after the stop, with pa-
8.75 150 or less 0.75 1470
4.5kW 31.4 or more or less 2156 rameter.
50 (130) Note that when the control power is off, the dynamic brake will be kept activated.
900W 13.7 or more 100 or less 0.79 1176 1470
1.35 or less
25 (200)
MGMA 2.0kW 24.5 or more 80 or less 1.3
or less
1372 2940
4.7 50 (130)
3.0kW, 4.5kW 58.8 or more 150 or less 1.4
or less

• Excitation voltage is DC24V±10%.

• Values represent the ones with DC-cutoff using a surge absorber for holding brake.
Values in ( ) represent those measured by using a diode (V03C by Renesas Technol-
ogy Corp.).
• Above values (except static friction torque, releasing voltage and excitation current)
represent typical values.
• Backlash of the built-in holding brake is kept ±1˚o r smaller at ex-factory point.
• Permissible angular acceleration : 30000rad/s2 for MAMA series
10000rad/s2 for MSMD, MQMA, MSMA MDMA,MHMA MFMA and MGMA series
• Service life of the number of acceleration/deceleration with the above permissible
angular acceleration is more than 10 million times.
(Life end is defined as when the brake backlash drastically changes.)
– B46 – – B47 –
10. Check of the Combination of the Driver and the Motor
This drive is designed to be used in a combination with the motor which are specified by us. Applicable motor Applicable driver
Power
Check the series name of the motor, rated output torque, voltage specifications and supply Motor Rated Rated
Model Model Frame
series rotational speed output
encoder specifications.
Single/3-phase, MFMA042P1* 400W MCDDT3520 C-frame
MFMA
200V MFMA152P1* 1.5kW MDDDT5540 D-frame
Incremental Specifications, 2500P/r 3-phase,
Middle 2000r/min
MFMA252P1* 2.5kW MEDDT7364 E-frame
inertia
<Remarks> Do not use in other combinations than those listed below. 200V MFMA452P1* 4.5kW MFDDTB3A2 F-frame
Single/3-phase, 200V MGMA092P1* 900W MDDDT5540 D-frame
Applicable motor Applicable driver MGMA
Power MGMA202P1* 2.0kW MFDDTA390
Motor Rated Rated Middle 1000r/min
supply Model Model Frame 3-phase, 200V MGMA302P1* 3.0kW F-frame
series rotational speed output inertia MFDDTB3A2
MGMA452P1* 4.5kW
Single phase, MAMA012P1* 100W MADDT1207 A-frame
MAMA <Note>
200V MAMA022P1* 200W MBDDT2210 B-frame
Ultra low 5000r/min Suffix of " * " in the applicable motor model represents the motor structure.
3-phase, MAMA042P1* 400W MCDDT3520 C-frame
inertia
200V MAMA082P1* 750W MDDDT5540 D-frame
Single phase,
MQMA011P1* 100W MADDT1107 A-frame Absolute/Incremental Specifications, 17-bit
MQMA021P1* 200W MBDDT2110 B-frame
100V MQMA <Remarks> Do not use in other combinations than those listed below.
MQMA041P1* 400W MCDDT3120 C-frame
Low 3000r/min
MQMA012P1* 100W MADDT1205 A-frame Applicable motor Applicable driver
Single phase, inertia Power
MQMA022P1* 200W MADDT1207 A-frame Motor Rated Rated
200V supply Model Model Frame
MQMA042P1* 400W MBDDT2210 B-frame series rotational speed output
MSMD5AZP1* 50W MADDT1105 Single phase, MAMA012S1* 100W MADDT1207 A-frame
A-frame MAMA
Single phase, MSMD011P1* 100W MADDT1107 200V MAMA022S1* 200W MBDDT2210 B-frame
100V MSMD021P1* 200W MBDDT2110 B-frame Ultra low 5000r/min
3-phase, MAMA042S1* 400W MCDDT3520 C-frame
MSMD MSMD041P1* 400W MCDDT3120 C-frame inertia
200V MAMA082S1* 750W MDDDT5540 D-frame
Low 3000r/min MSMD5AZP1* 50W MQMA011S1* 100W MADDT1107 A-frame
MADDT1205 Single phase,
Single phase, inertia MSMD012P1* 100W A-frame MQMA021S1* 200W MBDDT2110 B-frame
200V MSMD022P1* 200W MADDT1207 100V MQMA
MQMA041S1* 400W MCDDT3120 C-frame
MSMD042P1* 400W MBDDT2210 B-frame Low 3000r/min
MQMA012S1* 100W MADDT1205 A-frame
MSMD082P1* 750W MCDDT3520 C-frame Single phase, inertia
Single/3-phase, MQMA022S1* 200W MADDT1207 A-frame
MSMA102P1* 1.0kW 200V
200V MDDDT5540 D-frame MQMA042S1* 400W MBDDT2210 B-frame
MSMA152P1* 1.5kW MSMD5AZS1* 50W MADDT1105
MSMA A-frame
MSMA202P1* 2.0kW MEDDT7364 E-frame Single phase, MSMD011S1* 100W MADDT1107
Low 3000r/min
3-phase, MSMA302P1* 3.0kW MFDDTA390 100V MSMD021S1* 200W MBDDT2110 B-frame
inertia
200V MSMA402P1* 4.0kW F-frame MSMD MSMD041S1* 400W MCDDT3120 C-frame
MFDDTB3A2
MSMA502P1* 5.0kW Low 3000r/min MSMD5AZS1* 50W
Single/3-phase, MDMA102P1* 1.0kW MDDDT3530 MADDT1205
D-frame Single phase, inertia MSMD012S1* 100W A-frame
200V MDMA152P1* 1.5kW MDDDT5540 200V MSMD022S1* 200W MADDT1207
MDMA
MDMA202P1* 2.0kW MEDDT7364 E-frame MSMD042S1* 400W MBDDT2210 B-frame
Middle 2000r/min
3-phase, MDMA302P1* 3.0kW MFDDTA390 MSMD082S1* 750W MCDDT3520 C-frame
inertia Single/3-phase,
200V MDMA402P1* 4.0kW F-frame MSMA102S1* 1.0kW
MFDDTB3A2 200V MDDDT5540 D-frame
MDMA502P1* 5.0kW MSMA152S1* 1.5kW
MHMA052P1* 500W MCDDT3520 C-frame MSMA
Single/3-phase, MSMA202S1* 2.0kW MEDDT7364 E-frame
MHMA102P1* 1.0kW MDDDT3530 Low 3000r/min
200V D-frame 3-phase, MSMA302S1* 3.0kW MFDDTA390
MHMA MHMA152P1* 1.5kW MDDDT5540 inertia
200V MSMA402S1* 4.0kW F-frame
High 2000r/min MHMA202P1* 2.0kW MEDDT7364 E-frame MFDDTB3A2
MSMA502S1* 5.0kW
3-phase, inertia MHMA302P1* 3.0kW MFDDTA390
200V MHMA402P1* 4.0kW F-frame (continues to next page)
MFDDTB3A2
MHMA502P1* 5.0kW

– B48 – – B49 –
10. Check of the Combination of the Driver and the Motor After-Sale Service (Repair)
Applicable motor Applicable driver
Power Repair
supply Motor Rated Rated
Model Model Frame
series rotational speed output Consult to a dealer from whom you have purchased the product for details of repair.
Single/3-phase, MDMA102S1* 1.0kW MDDDT3530 When the product is incorporated to the machine or equipment you have purchased,
D-frame
200V MDMA152S1* 1.5kW MDDDT5540
MDMA consult to the manufacture or the dealer of the machine or equipment.
MDMA202S1* 2.0kW MEDDT7364 E-frame
Middle 2000r/min
3-phase, MDMA302S1* 3.0kW MFDDTA390
inertia Cautions for Proper Use
200V MDMA402S1* 4.0kW F-frame
MFDDTB3A2
MDMA502S1* 5.0kW
MHMA052S1* 500W MCDDT3520 C-frame
• This product is intended to be used with a general industrial product, but not designed
Single/3-phase, or manufactured to be used in a machine or system that may cause personal death
MHMA102S1* 1.0kW MDDDT3530
200V D-frame
MHMA MHMA152S1* 1.5kW MDDDT5540 when it is failed.
High 2000r/min MHMA202S1* 2.0kW MEDDT7364 E-frame
3-phase, inertia MHMA302S1* 3.0kW MFDDTA390
• Install a safety equipments or apparatus in your application, when a serious accident
200V MHMA402S1* 4.0kW F-frame or loss of property is expected due to the failure of this product.
MFDDTB3A2
MHMA502S1* 5.0kW • Consult us if the application of this product is under such special conditions and envi-
Single/3-phase, MFMA042S1* 400W MCDDT3520 C-frame
MFMA ronments as nuclear energy control, aerospace, transportation, medical equipment,
200V MFMA152S1* 1.5kW MDDDT5540 D-frame
Middle 2000r/min various safety equipments or equipments which require a lesser air contamination.
3-phase, MFMA252S1* 2.5kW MEDDT7364 E-frame
inertia
200V MFMA452S1* 4.5kW MFDDTB3A2 F-frame • We have been making the best effort to ensure the highest quality of the products,
Single/3-phase, 200V MGMA092S1* 900W MDDDT5540 D-frame
MGMA however, application of exceptionally larger external noise disturbance and static elec-
MGMA202S1* 2.0kW MFDDTA390
Middle 1000r/min tricity, or failure in input power, wiring and components may result in unexpected ac-
3-phase, 200V MGMA302S1* 3.0kW F-frame
inertia MFDDTB3A2
MGMA452S1* 4.5kW tion. It is highly recommended that you make a fail-safe design and secure the safety
<Notes> in the operative range.
1) Suffix of " * " in the applicable motor model represents the motor structure. • If the motor shaft is not electrically grounded, it may cause an electrolytic corrosion to
2) Default of the driver is set for the incremental encoder specifications. the bearing, depending on the condition of the machine and its mounting environ-
When you use in absolute, make the following operations. ment, and may result in the bearing noise. Checking and verification by customer is
a) Install a battery for absolute encoder. required.
b) Switch the parameter Pr0B (Absolute encoder setup) from "1 (default)" to "0". • Failure of this product depending on its content, may generate smoke of about one
3) No wiring for back up battery is required when you use the absolute 17-bit encoder in cigarette. Take this into consideration when the application of the machine is clean
incremental. room related.
• Please be careful when using in an environment with high concentrations of sulphur or
sulphuric gases, as sulphuration can lead to disconnection from the chip resistor or a
poor contact connection.
• Take care to avoid inputting a supply voltage which significantly exceeds the rated
range to the power supply of this product. Failure to heed this caution may result in
damage to the internal parts, causing smoking and/or a fire and other trouble.

– B50 –
 Technical information
Technical information of this product (Instruction Manual, CAD data) can be downloaded
from the following web site.
http://industrial.panasonic.com/ww/i_e/25000/motor_fa_e/motor_fa_e.html

MEMO (Fill in the blanks for reference in case of inquiry or repair.)

M DD
Date of
Model No. M MD
purchase
M MA

Dealer

Tel : ( ) -
Motor Company
Matsushita Electric Industrial Co., Ltd.
7-1-1 Morofuku, Daito, Osaka, 574-0044, Japan Tel : (81)-72-871-1212