Pan0093 PDF

Operating Instructions (Basic)
AC Servo Motor & Driver

MINAS 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 image is 1.5kW type of A5-series.
English
If you are the first user of this product, please be sure to read the downloaded
Operating Instructions (Overall) from our Web Site.
[Web address of Motor Company, Panasonic Corporation]
http://industrial.panasonic.com/ww/i_e/25000/motor_fa_e/motor_fa_e.html
Make sure to forward these Operating Instructions for safety to the final user.
<Contents> page page

1. Introduction.................................. B2 Wiring to the Connector, X5 . ........................ B27
On Opening the Product Package................... B2 Wiring to the Connector, X6 . ........................ B28
Check of the Driver Model............................... B2 Wiring to the Connector, X7 . ........................ B30
Check of the Motor Model............................... B3 4. Parameter................................... B31
2. Installation................................... B4 Outline / Setup / Connection.......................... B31
Driver............................................................... B4 Composition of Parameters........................... B33
Motor................................................................ B6 5. Protective Functions................. B34
3. System Configuration and Protective Function (What Is Error Code ?)....... B34
Wiring............................................ B8 6. Maintenance and Inspections..... B36
Overall Wiring (Connector type)...................... B8 7. Conformity to EC Directives
Overall Wiring (Terminal block type)..................B10 and UL Standards...................... B38
Driver and List of Applicable Peripheral Equipments..... B12 Composition of Peripheral Equipments......... B40
Wiring of the Main Circuit (Connector type)......... B14 8. Built-in Holding Brake............... B44
Wiring of the Main Circuit (Terminal block type).... B16
Wiring method to connector.............................. B17
9. Dynamic Brake.......................... B46
Wiring Diagram.............................................. B19 10. Check of the Combination of
Wiring of connector for motor and brake....... B21 the Driver and the Motor............. B47
Wiring to the Connector, X1 . ........................ B22 Incremental Specifications, 20-bit................ B47
Wiring to the Connector, X2 . ........................ B22 Absolute Specifications, 17-bit.................... B48
Wiring to the Connector, X3 . ........................ B23 11. Specifications.......................... B49
Wiring to the Connector, X4 . ........................ B24 After-Sale Service (Repair)........... B52
IMD88
1. Introduction
Check of the Motor Model
1. Introduction Contents of Name Plate

On Opening the Product Package Model Serial Number
e.g.) : 09 0 4 0001N
Rated input
Make sure that the model is what you have ordered. voltage/current Lot number
Check if the product is damaged or not during transportation. Month of production
Rated output Year of production
Check if the Operating Instructions (safety) are included or not. (Lower 2 digits of AD year)
Check if the power connector, motor connectors, connector for external regenerative Rated frequency
Manufacture date
resistor connection (only E-frame) and safety by-pass plug are included or not. Rated e.g.) : 2009 0 4 0 1
(Neither the power connector nor motor connector are included to F-frame.) rotational speed Manufacture year Manufacture date
Manufacture month
1. Introduction Model Designation

Check of the Driver Model M S M E 5 A Z S 1 S
1 to 4 5 to 6 7 8 9 10 11 to 12
Contents of Name Plate
English
Motor rated output Special specifications
Model number Serial Number Symbol Output
Motor structure
Input/output voltage e.g.) : P09040001N 5A 50W
Lot number 01 100W Design order 1: Standard
Number of phase 02 200W
Type
Month of production 04 400W
Rated input/output Symbol Specifications
current Year of production 08 750W
(Lower 2 digits of AD year) Low inertia 09 900W Voltage specifications
Input/output frequency MSME (50W to 5.0kW) 10 1.0kW Symbol Specifications
Manufacture date Middle inertia 15 1.5kW
Rated output of e.g.) : 20090401 MDME (1.0kW to 5.0kW)
1 100 V
applicable motor 20 2.0kW
Manufacture year Manufacture date 30 3.0kW 2 200 V
MGME Middle inertia
Manufacture month (900W to 3.0kW) 40 4.0kW 100/200 common
Z (50W only)
High inertia 50 5.0kW
MHME
Model Designation (1.0kW to 5.0kW) Rotary encoder specifications
M A D H T 1 5 0 5
Specifications
Symbol
Format Pulse count Resolution Wire count
1 to 4 5 to 6 7 8 to 9 10 to 12 Special specifications G Incremental 20bit 1,048,576 5-wire
Max. current rating (letters and numbers) S Absolute 17bit 131,072 7-wire
Frame-size symbol of power device Current detector rating Motor structure
MSME (50W to 750W) MSME (1.0kW to 5.0kW), MDME, MGME, MHME
Symbol Frame Symbol Current Symbol Current rating
Shaft Holding brake Oil seal Shaft Holding brake Oil seal
rating Power supply 05 5A
MADH A5-series, A-frame Symbol Symbol
T1 10A 07 7.5A Round Key way Without With Without With*1 Round Key way Without With Without With
MBDH A5-series, B-frame Symbol Specifications
T2 15A 10 10A A C
MCDH A5-series, C-frame T3 30A 1 Single phase, 100V B D
20 20A
MDDH A5-series, D-frame T5 50A 3 3-phase, 200V S *2 G
30 30A
T7 70A T *2 H
MEDH A5-series, E-frame 5 Single/3-phase, 40 40A
MFDH A5-series, F-frame TA 100A 200V 64 64A *1 The product with oil seal is a special order product. *2 Key way with center tap
TB 150A 90 90A [Products are standard stock items or manufactured by order. For details, inquire the dealer.]
A2 120A
B B
2. Installation 2. Installation
Driver
Driver
Install the driver properly to avoid a breakdown or an accident. Mounting Direction and Spacing
Installation Place Reserve enough surrounding space for effective cooling.
1) Install the driver in a control panel enclosed in noncombustible material and placed indoor Install fans to provide uniform distribution of temperature in the control panel.
where the product is not subjected to rain or direct sunlight. The products are not waterproof. D/E/F frame is provided with a cooling fan at the bottom.
2) Where the products are not subjected to corrosive atmospheres such as hydrogen Observe the environmental conditions of the control panel described in the previous page.
sulfide, sulfurous acid, chlorine, ammonia, sulfur, chloric gas, sulfuric gas, acid, al-
kaline 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. Fan Control panel Fan 100mm
or more
4) Well-ventilated and low humidity and dust-free place.
5) Vibration-free place.
Environmental Conditions
Item Conditions
Ambient temperature 0C to 55C (free from freezing) 40mm 10mm 10mm 10mm 40mm
or or or or or
Ambient humidity 20% to 85% RH (free from condensation) more more more more more
Storage temperature*1 20C to 65C (Max.temperature guarantee: 80C for 72 hours)
English
Storage humidity 20% to 85% RH (free from condensation)
Vibration Lower than 5.88m/s2 (0.6G), 10 to 60Hz Direction of air flowing 100mm
from the internal or more
Altitude Lower than 1000m cooling fan (D/E/F frame)
*1 Extreme temperatures are permissible only for short period such as during transportation. Note It is recommended to use the conductive paint when you make your own
How to Install mounting fixture, or repaint after peeling off the paint on the machine for
installing the products, in order to make noise countermeasure.
1) Rack-mount type. Install in vertical position, and reserve enough space around the
servo driver for ventilation. Caution on Installation
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 We have been making the best effort to ensure the highest quality, however, application
fixture. For choosing the correct optional mounting fixture, refer to the Operating In- of exceptionally large external noise disturbance and static electricity, or failure in input
structions (Overall). power, wiring and components may result in unexpected action. It is highly recommend-
4) For the dimensions and mass of the product, which are necessary design data of ed that you make a fail-safe design and secure the safety in the operative range.
the mounting section, refer to the dimensional outline drawing on the Operating In-
structions (Overall) or the Delivery Specification. If stranded wires are used as the cable, bunch the conductors of the cable using a ferrule.
A to D-frame E, F-frame If stranded wires are used as they are, unexpected accidents such as an electric shock
Basemount (Standard) Frontmount Front or Basemount and short circuit or injury may result. (Refer to P.B17. Wiring method to connector.)
[Rear mount] [Use mounting fixture] [Use mounting fixture] 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 ground the protective earth terminal.
If the product is grounded insufficiently, not only the driver may not deliver its perfor-
mance sufficiently, but also safety hazards such as a malfunction due to a electrifi-
cation or a disturbance may be caused.
If electric wires are bound and run through metal duct, they cannot carry the rated
Mounting current due to temperature rise. If they are forced to carry the rated current, they may
Mounting fixture fixture
(optional parts) burn. When determining size of the wire, check the current decreasing coefficient by
Fastening torque of earth screws (M4) (Attachment)
to be 0.7 to 0.8 N m. Fastening torque of earth screws (M5)
referring to the Operating Instructions (Overall).
to be 1.4 to 1.6 N m.
B B
2. Installation 2. Installation
Motor
Motor
Install the motor properly to avoid a breakdown or an accident. 2) Vertical mounting
Use the motor with oil seal (make-to-order in case of motor 750W or less) when
Installation Place mounting the motor with gear reducer to prevent the reducer oil/grease from enter-
Since the conditions of location affect a lot to the motor life, select a place ing to the motor.
which meets the conditions below. 3) For the dimensions and mass of the product, which are necessary design data of
1) Indoors, where the products are not subjected to rain or direct sun beam. The prod- the mounting section, refer to the dimensional outline drawing on the Operating In-
structions (Overall) or the Delivery Specification.
ucts are not waterproof.
2) Where the products are not subjected to corrosive atmospheres such as hydrogen Oil/Water Protection
sulfide, sulfurous acid, chlorine, ammonia, sulfur, chloric gas, sulfuric gas, acid, al-
1) Don't submerge the motor cable to water or oil.
kaline and salt and so on, and are free from splash of inflammable gas. 2) Install the motor with the cable outlet facing Cable Motor
3) Where the motor is free from grinding oil, oil mist, iron powder or chips. downward.
4) Well-ventilated and humid and dust-free place, far apart from the heat source such 3) Avoid a place where the motor is always sub-
as a furnace. jected to oil or water.
4) Use the motor with an oil seal when used with Oil / Water
5) Easy-to-access place for inspection and cleaning
6) Vibration-free place. the gear reducer, so that the oil may not enter to the motor through shaft.
7) Avoid enclosed place. Motor may gets hot in those enclosure and shorten the motor life. Stress to Cables
English
Environmental Conditions 1) Avoid a stress application to the cable outlet and connecting portion by bending or
self-weight.
Item Conditions 2) Especially in an application where the motor itself travels, fix the attached cable and
Ambient temperature*1 0C to 40C (free from freezing) contain the extension junction cable into the bearer so that the stress by bending
Ambient humidity 20% to 85% RH (free from condensation) can be minimized.
Storage temperature*2 20C to 65C (Max.temperature guarantee: 80C for 72 hours) 3) Take the cable bending radius as large as possible. (Minimum R20mm)
Storage humidity 20% to 85% RH (free from condensation)
Permissible Load to Output Shaft
Vibration Motor only Lower than 49m/s2 (5G) at running, 24.5m/s2 (2.5G) at stall
Impact Motor only Lower than 98m/s2 (10G) 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
Enclosure Motor only IP67 (except rotating portion of output shaft and connecting pin
value specified to each model.
rating (Connector type) part of the motor connector and the encoder connector)*3*4
2) Pay an extra attention when you use a rigid coupling. (Excess bending load may
Altitude Lower than 1000m
damage the shaft or deteriorate the bearing life.)
*1 Ambient temperature to be measured at 5cm away from the motor. 3) Use a flexible coupling with high stiffness designed exclusively for servo application in order
*2 Permissible temperature for short duration such as transportation. to make a radial thrust caused by micro misalignment smaller than the permissible value.
*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 Notes on Installation
required such as continuous wash-down operation. 1) Do not apply direct impact to the shaft by hammer
*4 This condition is applied when the connector mounting screw in case of motor 750W or while attaching/detaching a coupling to and from Motor
less are tightened to the recommended tightening torque (Refer to P.B21, 28, 29). Be the motor shaft.
sure to use mounting screw supplied with the connector. (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 electrolytic corrosion to
1) Horizontal mounting the bearing depending on the condition of the machine and its mounting environment,
Mount the motor with cable outlet facing downward for water/oil countermeasure. and may result in the bearing noise. Check and verification by customer is required.
B B
3. System Configuration and Wiring 3. System Configuration and Wiring
Overall Wiring (Connector type)
Overall Wiring (Connector type)
Connecting Example of A to D-frame : High voltage PC (to be supplied by customer)
Wiring of Main Connector (XA) Mains Wiring to Connector, X7

Residual Monitor output
Circuit Breaker (MCCB) current device
Handle lever
To protect power supply line from
Use this for connector
overloading, install a wiring circuit connection. Store this after
breaker rated to the capacity of the connection for other occa- Setup support software PANATERM
power supply. sions. (Refer to P.B18 for Please download from our web site.
Wiring to Connector, XA connection.)
Noise Filter (NF)
Wiring to Connector, X1
Removes external noise from the Connection to input power
power lines. And reduces an effect L1 (Pin-5) Connection to PC or host controller
of the noise generated by the servo L2 (Pin-4)
Wiring to Connector, X2
driver. Connection to RS232, RS485
L3 (Pin-3) or host controller
Magnetic Contactor (MC) L1C (Pin-2)
Turns on/off the main power of the Wiring to Connector, X3
L2C (Pin-1)
English
servo driver. Connection to Safety by-pass plug
Use coil surge suppression units Charg lamp (Refer to P.B23)
(LED)*1
together with this.
Short circuit wire
Never start nor stop the servo (B2-B3) Wiring to Connector, X4
motor with this Magnetic
Contactor. U-phase Connection to host controller
(red)
Reactor (L) Wiring to Connector, XB V-phase Wiring to Connector, X5
Reduces harmonic current of the Connection to external components
(white) Connection to feedback scale
main power. W-phase
B1 (Pin-6) (black) Wiring to Connector, X6
Wiring of Motor Connector (XB) B2 (Pin-4) Protective earth Ground Connection to encoder
terminals (earth)
Pin B1 (6-pin), B2 (4-pin), and
B3 (5-pin) Junction cable for encoder
Junction cable for motor
B2 and B3 to be kept shorted for
Wiring to Connector, XB
normal operation.
Connection to motor driving phase
When you connect an external and ground
Regenerative resistor (optional)
regenerative resistor, disconnect
Remarks Junction cable
a short circuit wire between B2 for brake
and B3, then connect the external When you use an external regenerative
resistor, install an external protective
regenerative resistor between B1
apparatus, such as thermal fuse without fail.
and B2, set up Pr0.16 to 1 or 2. Thermal fuse and thermostat are built in to
Note the regenerative resistor (Option). If the
Note that no regenerative resistor is thermal fuse is activated, it will not resume.
equipped in Frame A and B type. Mount the regenerative resistor on DC Power supply for brake
incombustible material such as metal. *1 Do not make displacement, wiring or inspection DC24V
while the LED is lit - cause of electric shock. (to be supplied by customer)
B B
Overall Wiring (Terminal block type)
Overall Wiring (Terminal block type)
Connecting Example of F-frame : High voltage PC (to be supplied by customer)
Wiring of Main Connector (XA) Mains

Residual
Circuit Breaker (MCCB) current device
To protect power supply line from
overloading, install a wiring circuit
breaker rated to the capacity of the Wiring to Connector, X7
Setup support software PANATERM
power supply. Monitor output Please download from our web site.
Noise Filter (NF) Wiring to Connector, X1
Removes external noise from the
Connection to PC or host controller
power lines. And reduces an effect Connection with input
of the noise generated by the servo power supply Wiring to Connector, X2
driver. L1 Connection to RS232, RS485
or host controller
Magnetic Contactor (MC) L2
Turns on/off the main power of the L3 Wiring to Connector, X3
English
servo driver. L1C Connection to Safety by-pass plug
Use coil surge suppression units L2C (Refer to P.B23)
together with this.
Never start nor stop the servo Short bar Wiring to Connector, X4
motor with this Magnetic (B2-B3) Connection to host controller
Contactor. U-phase Wiring to Connector, X5
Reactor (L) (red) Connection to feedback scale
Reduces harmonic current of the Connection to external V-phase
components (white)
main power. Wiring to Connector, X6
W-phase
B1 Connection to encoder
(black)
Wiring of the Main Circuit B2
Pin B1, B2 and B3
B1 and B2 to be kept shorted for Junction cable
Protective
normal operation. earth Ground Charg lamp
for encoder
When you connect an external terminals (earth) (LED)*1
regenerative resistor, disconnect Regenerative resistor (optional)
a short bar between B1 and B2, Junction cable for motor
Remarks
then connect the external Junction cable Connection to motor driving
When you use an external regenerative for brake
regenerative resistor between P phase and ground
resistor, install an external protective
and B2, set up Pr0.16 to 1 or 2. apparatus, such as thermal fuse without fail.
Pin NC Thermal fuse and thermostat are built in to
Do not connect anything. the regenerative resistor (Option). If the
thermal fuse is activated, it will not resume. DC Power supply for brake
Mount the regenerative resistor on DC24V (to be supplied by customer)
incombustible material such as metal. *1 Do not make displacement, wiring or inspection
while the LED is lit - cause of electric shock.
B10 B11
Driver and List of Applicable Peripheral Equipments
Driver and List of Applicable Peripheral Equipments
Required Circuit
Noise *1
Cable Cable Select peripheral equipments for single/3phase common specification according to
Applicable Rated Power breaker Noise Surge Magnetic diameter diameter
Driver
motor
Voltage
output (at the rated (rated filter absorber
filter for
contactor (main (control
Connection the power source.
signal
load) current) circuit) circuit) [For details of peripheral equipments]
Single 50W to approx. BMFT61041N
phase, DV0P4170 DV0P4190 Noise filter.............................. P.B41
MSME 100V 100W 0.4kVA (3P+1a)
MADH MSMD*2 Surge absover........................ P.B42
Single/ DV0P4170
MHMD*2 3-phase, 50W to approx. DV0P4190 BMFT61542N

Noise filter for signal lines...... P.B43
DV0PM
200V 200W 0.5kVA DV0P1450 (3P+1a)
20042 About circuit breaker and magnetic contactor
Single
phase, 200W
approx.
10A DV0P4170 DV0P4190
BMFT61041N To comply to EC Directives, install a circuit breaker between the power and the
MSME 100V 0.5kVA (3P+1a) 0.75mm2/
MBDH MSMD*2
noise filter without fail, and the circuit breaker should conform to IEC Standards and
Single/ DV0P4170 AWG18
MHMD*2 3-phase, 400W approx. DV0P4190 BMFT61542N UL recognized (Listed and marked).
Connection to exclusive connector

0.9kVA DV0PM DV0P1450 (3P+1a)
200V 20042 Suitable for use on a circuit capable of delivering not more than 5,000 rms symmetri-
Single approx. BMFT61541N cal amperes, below the maximum input voltage of the product.
MSME phase, 400W DV0P4190
100V 0.9kVA DV0PM (3P+1a)
MCDH MSMD*2
Single/ 20042 Remarks
MHMD*2 approx. BMFT61542N
3-phase, 750W
1.3kVA (3P+1a) Select a circuit breaker and noise filter which match to the capacity of power supply
English
200V 15A
MDME approx. (including a load condition).
1.0kW
MHME 1.8kVA
Terminal block and protective earth terminals
approx. DV0P4190
MGME 900W
1.8kVA Use a copper conductor cables with temperature rating of 60C or higher.
Single/ DV0P1450 BMFT61842N
MDDH MSME 3-phase, 1.0kW approx. DV0P4220 0.75mm2/
The screws of protective earth terminals for Frame A to D are M4 and M5 for
200V 1.8kVA DV0P1460 (3P+1a)
20A 2.0mm2/ AWG18 Frame E, F.
MHME
approx. AWG14 Tighten the terminal block screw on frame F with a torque between 1.0 and 2.0
MDME 1.5kW
2.3kVA
MSME Nm. Application of overtorque (more than 2.0 Nm) will cause damage to terminal
MDME block. Maximum allowable torque to the screw securing terminal block cover is 0.2
approx. DV0PM
MEDH MSME 3-phase, Nm.
200V 2.0kW 30A
3.3kVA 20043
MHME The cable diameter of an earth cable.
approx. Use an earth cable with the same diameter or larger as that of the main circuit
MGME 2.0kW BMF6352N
3.8kVA
MDME
(3P+2a2b) cable.
MHME approx. If the diameter of the main circuit cable is 1.6mm2 or less, use an earth cable with
3.0kW 11mm or
MSME 4.5kVA
DV0P1450
3.5mm2/ smaller
a diameter of 2.0mm2 (AWG14).
AWG12
MGME Use the attached exclusive connector for A to E-frame, and maintain the peeled off
MFDH MDME 3-phase, 50A DV0P3410 5.3
200V Terminal length of 8 to 9mm. (Refer to P.B17)
approx.
MHME 4.0kW block
6kVA
M5
Tighten the screws of the connector, Connector X4 for the host controller with the
MSME BMF6652N
(3P+2a2b)
torque of 0.3 to 0.35 Nm.
MDME
MHME 5.0kW
approx. 5.3mm2/ Larger torque than 0.35Nm may damage the connector at the driver side.
7.5kVA AWG10
MSME Caution
*1 The model number of Magnetic contactor is the one of Panasonic Electric Works. Do not turn on power without tightening all terminal block screws properly, otherwise, loose
*2 Can drive 20-bit incremental encoder type MINAS-A4 motor. (PN: M*MD***G1*)
contacts may generate heat (smoking, firing).
B12 B13
Wiring of the Main Circuit (Connector type)
Wiring of the Main Circuit (Connector type)
A to D-frame, 100 V / 200 V type E-frame, 200 V type

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
1) Wire connector (XA and XB). 1) Wire connector (XA, XB and XC).
2) Connect the wired connector to the driver. 2) Connect the wired connector to the driver.
Check the name plate of the driver for power Check the name plate of the driver for power
specifications. specifications.
Provide a residual current device. The Provide a residual current device. The
residual current device to be the one residual current device to be the one
designed for "Inverter" and is equipped with designed for "Inverter" and is equipped with
countermeasures for harmonics. countermeasures for harmonics.
Provide a circuit breaker.
Power RCD MCCB
5 L1 Provide a circuit breaker.
Make sure to provide a noise filter. NF MC L Make sure to provide a noise filter.
5 L1 Provide coil surge suppression units to the
supply 4 L2
Provide coil surge suppression units to the
Power RCD MCCB
supply
NF MC L
4 L2 coil of the Magnetic Contactor recommended 3 L3 coil of the Magnetic Contactor recommended
by manufacturer.
2 by manufacturer.
English
L1C
3 L3 Never start/stop the motor with this Never start/stop the motor with this
2 L1C Magnetic Contactor. 1 L2C Magnetic Contactor.
Provide an AC Reactor. XA Provide an AC Reactor.
1 L2C Connect L1 and L1C, and L3 and L2C at Connect L1 and L1C, and L3 and L2C at
XA single phase use (100V and 200V), and 4 B1 single phase use (100V and 200V), and
don't use L2. 3 B3 don't use L2.
6 B1 Match the colors of the motor lead wires to those
2 B2 Don't disconnect the shorting cable between B2
of the corresponding motor output terminals and B3. Disconnect this only when the external
5 B3
(U,V,W). 1 NC regenerative register is used.
Yellow
(X2)
4 B2 Don't disconnect the shorting cable between B2
Yellow
XC Do not connect anything to NC.
and B3 (C and D frame type). Disconnect this only
Red
U
3 U
when the external regenerative register is used.
(X2)
Red
U
3 U Match the colors of the motor lead wires to those of
White
V 2 V Avoid shorting and grounding. Don't
V 2 V
the corresponding motor output terminals (U,V,W).
Avoid shorting and grounding. Don't connect
connect the main power.
W
1 W White
1 W the main power.
Black XB Earth-ground this. W
Black XB Earth-ground this.
Make sure to connect the protective earth terminal
Green or E Make sure to connect the protective earth terminal
Green/yellow ( ) of the driver and the protective earth (earth Green
E
plate) of the control panel to prevent electrical shock. ( ) of the driver and the protective earth (earth
Don't co-clamp the earth wires to the protective plate) of the control panel to prevent electrical shock.
earth terminal ( ) . Two terminals are Don't co-clamp the earth wires to the protective
Motor provided. Motor earth terminal ( ) . Two terminals are provided.
Ground resistance: 100 max. Don't connect the earth cable to other Ground resistance: 100 max. Don't connect the earth cable to other
For applicable wire, inserting slot, nor make them touch. For applicable wire, refer to P.B13. inserting slot, nor make them touch.
refer to P.B13.
Compose a duplex Brake Control Circuit so that Compose a duplex Brake Control Circuit so that
DC power supply the brake can also be activated by an external the brake can also be activated by an external
DC DC power supply immediate stop signal.
immediate stop signal. DC
24V for brake 24V for brake The Electromagnetic Brake has no polarity.
The Electromagnetic Brake has no polarity.
For the capacity of the electromagnetic brake For the capacity of the electromagnetic brake
Varistor and how to use it, refer to P.B44, and how to use it, refer to P.B44, "Specifications
Varistor of Built-in Holding Brake".
"Specifications of Built-in Holding Brake".
Fuse (5A) Provide a varistor. Fuse (5A) Provide a varistor.
Connect a 5A fuse in series with the varistor. Connect a 5A fuse in series with the varistor.
B14 B15
Wiring of the Main Circuit (Terminal block type) Wiring method to connector
F-frame, 200 V type Follow the procedures below for the wiring connection to the Connector XA , XB
and XC .
Wiring should be performed by a specialist or an authorized personnel.
Do not turn on the power until the wiring is completed. How to connect
Tips on Wiring 1. Peel off the insulation cover of the cable.
1) Take off the cover fixing screws, and detach the terminal cover. For single wire (Please obey the length in figure.)
2) Make wiring
Use clamp type terminals of round shape with insulation cover for wiring to the 8 to 9 mm
terminal block. For cable diameter and size, reter to "Driver and List of Applicable
Peripheral Equipments" (P.B12).
Tighten the terminal block screw with a torque between 1.0 and 2.0 N m.
3) Attach the terminal cover, and fix with screws.
Tighten the screw securing the cover with a torque between 0.1 and 0.2 N m. For stranded wires (ferrules must be used as illustrated below).
Check the name plate of the driver for power Example: Ferrules with plastic insulating sleeve (AI series, Phoenix Contact, Ltd.)
specifications.
Provide a residual current device. The residual
current device to be the one designed for "Inverter"
L1 and is equipped with countermeasures for harmonics.
English
Power RCD MCCB Provide a circuit breaker.
NF MC L L2 Make sure to provide a noise filter.
supply
Provide coil surge suppression units to the coil of
L3 the Magnetic Contactor recommended by manufac-
turer. Never start/stop the motor with this 1) Peel off the sheath so that the
L1C A B
Magnetic Contactor. conductor portion of the cable will AB
L2C Provide an AC Reactor.
protrude from the tip of the ferrule.
B1 Don't disconnect the short bar between B1 and B2. (It should protrude 1 mm or more
Disconnect this only when an external regenerative
B3 from the ferrule.) 1mm or more
register is used.
B2 Do not connect anything to NC. 2) Insert the cable into the ferrule
Match the colors of the motor lead wires to those of
Yellow NC the corresponding motor output terminals (U,V,W). and crimp it with an appropriate
(X2)
U Avoid shorting and grounding.
Red U crimping tool.
V Don't connect the main power.
White V 3) After crimping, cut off the cable
Earth-ground this.
Black
W
W Make sure to connect the protective earth terminal conductor portion protruding from
E
( ) of the driver and the protective earth (earth the ferrule. (The allowable protrud-
Green plate) of the control panel to prevent electrical shock.
Don't co-clamp the earth wires to the protective ing length after cutting should be 0 to 0.5 mm.)
earth terminal ( ) . Two terminals are provided. Part No. of the crimping tool:
Motor Don't connect the earth cable to other inserting
slot, nor make them touch. CRIMPFOX U-D66 (1204436) Available from Phoenix Contact, Ltd.
Ground resistance: 100 max. Compose a duplex Brake Control Circuit so that the Caution When peeling off the sheath of the cable, take care not to damage
For applicable wire, refer to P.B13. brake can also be activated by an external
other portions.
immediate stop signal.
DC power The Electromagnetic Brake has no polarity. When crimping the ferrule, sufficiently check the status of the ferrule
DC supply
24V For the capacity of the electromagnetic brake and and cable. If the conductors of the cable stick out from the insulation
for brake how to use it, refer to P.B44, "Specifications of
Built-in Holding Brake". cover or protrude excessively from the tip of the ferrule, accidents such
Varistor Provide a varistor. as an electric shock and fire from a short circuit may result.
Fuse (5A) Connect a 5A fuse in series with the varistor.
B16 B17
3. System Configuration and Wiring
Wiring method to connector 3. System Configuration and Wiring
Wiring Diagram
2. Insert the cable to the connector in the following 2 methods. Compose the circuit so that the main circuit power will be shut off when an error occurs.
(a) Insert the cable using the supplied handle lever.
In Case of Single Phase, A to D-frame, 100 V / 200 V type
(b) Insert the cable using a flat-blade screwdriver (Edge width: 3.0 to 3.5 mm). +10% +10% +10% +10%
Power supply Single phase, 100V 15% to 120V 15% Single phase, 200V 15% to 240V 15%
(a) Using handle lever Built-in thermostat of an external
Remarks regenerative resistor (light yellow)
MC
1 2 3 When you use single phase, ON OFF ALM
connect the main power Coil surge suppression units
between L1 and L3 terminals.
MCCB L XA
Noise filter
L1
Main power
L2 supply
L3
MC L1C Control power
Use a reactor for L2C supply
3-phase
XB
Attach the handle lever Insert the peeled cable Release the lever. External regenerative resistor B1
B3
to the handling slot on while pressing down the (Remove the short wire when you connect
the external regenerative resistor.) Red
B2
U
the upper portion. Press lever, until it hits the White
V
Motor
connection
Black
down the lever to push insertion slot (round Green or Green/Yellow
W
down the spring. hole).
English
* You can pull out the cable by pushing down the spring as the above. Motor ALM
X4
37
ALM+
DC12 to 24V
(b) Using screw driver (5%) 36
ALM
1 2 3
In Case of 3-Phase, A to D-frame, 200 V type
+10% +10%
Power supply 3-phase, 200V 15% to 240V 15%
Built-in thermostat of an external
regenerative resistor (light yellow)
MC
ON OFF ALM
Coil surge suppression units
Press the screw driver Insert the peeled cable Release the screw
to the handling slot on while pressing down the driver. MCCB L XA
Noise filter
L1
Main power
the upper portion to screw driver, until it hits L2 supply
L3
push down the spring. the insertion slot (round MC L1C Control power
hole). L2C supply
XB
External regenerative resistor B1
B3
Caution Take off the connector from the Servo Driver before making connec- (Remove the short wire when you connect
the external regenerative resistor.) Red
B2
U
tion. White
Black
V
Motor
connection
W
Insert only one cable into each one of cable insertion slot. Green or Green/Yellow
Pay attention to injury by screw driver.

Motor ALM
X4
37
ALM+
DC12 to 24V
(5%) 36
ALM
Note For wiring the motor connector, refer to P.B21.
B18 B19
Wiring Diagram 3. System Configuration and Wiring
Wiring of connector for motor and brake
Compose the circuit so that the main circuit power will be shut off when an error occurs. When the motors of <MSME (50 W to 750 W)> are used, they are connected as
shown below.
In Case of 3-Phase, E-frame, 200 V type
Connector: Made by Japan Aviation Electronics Industry, Ltd.
+10% +10%
Power supply 3-phase, 200V 15% to 230V 15% (The figures below show connectors for the motor.)
Built-in thermostat of an external
ON
MC
<Motor> <Brake>
OFF ALM
PE
Coil surge suppression units 2
3
MCCB L XA
Noise filter
L1
L2
Main power 2
supply
L3
MC L1C
1
L2C
Control power
supply 1
XC
B3
JN8AT04NJ1 JN4AT02PJ1-R
(Remove the short wire when you connect B2
the external regenerative resistor.)
NC
PIN No. Application PIN No. Application
Red XB
1 U-phase 1 Brake
U
White
V
Motor 2 V-phase 2 Brake
Black connection
Green
W 3 W-phase Tightening torque of
English
PE Ground the screw (M2)
Motor ALM
Tightening torque of 0.19 to 0.21 Nm
37
X4 the screw (M2)
ALM+
DC12 to 24V 0.085 to 0.095 Nm (screwed to plastic)
(5%) 36
ALM
* Be sure to use only the screw supplied with the connector, to avoid damage.
In Case of 3-Phase, F-frame, 200 V type When the motors of <MSME (1.0 kW to 5.0 kW), MDME, MGME, MHME> are used,
+10% +10% they are connected as shown below.
Power supply 3-phase, 200V 15% to 230V 15%
Built-in thermostat of an external Connector: Made by Japan Aviation Electronics Industry, Ltd.
ON ALM
MC (The figures below show connectors for the motor.)
OFF
Coil surge suppression units
<with Brake> <without Brake>
MCCB L
G H A A B C
Noise filter
L1 D A
Main power
L2 supply
L3 F I B D E F
MC L1C Control power
L2C supply C B
E D C G H I
B3
(Remove the short wire when you connect B2 JL04V-2E20-4PE-B-R JL04V-2E20-18PE-B-R JL04V-2E24-11PE-B-R
the external regenerative resistor.)
Red
NC JL04HV-2E22-22PE-B-R PIN No. Application PIN No. Application
U
White Motor
Black
V connection PIN No. Application G Brake A Brake
W
Green A U-phase H Brake B Brake
B V-phase A NC C NC
Motor ALM C W-phase F U-phase D U-phase
X4
37
ALM+ D Ground I V-phase E V-phase
DC12 to 24V
(5%) 36
B W-phase F W-phase
ALM
E Ground G Ground
Remarks D Ground H Ground
Note For wiring the motor connector, refer to P.B21. Do not connect anything to NC. C NC I NC
B20 B21
Wiring to the connector, X1 Wiring to the connector, X3
This is used for USB connection to a personal computer. It is possible to change the A safety by-pass plug is supplied as standard equipment. Do not disconnect it in nor-
parameter setting and perform monitoring. mal times.
Since the standard connector cannot be used when controlling the safety function from
Application Symbol Connector Contents
Pin No. the host controller, purchase the optional connector and make connection as shown
VBUS 1 below.
Use for communication with personal
D 2
computer.
USB signal terminal D 3
4 Do not connect.
Caution If the connector is disconnected during operation, an immediate stop will
GND 5 Connected to ground of control circuit.
be caused.
Caution Use commercially available USB mini-B connector for the driver.
Pin No.
3. System Configuration and Wiring 1
English
NC Do not connect.
2
Wiring to the connector, X2
SF1 3
This is used for connection to the host controller when two or more units are used. Safety input 1
RS232 and RS485 interfaces are supplied. SF1+ 4 These are two independent circuits that
turn off the operation signal to the power
Application Symbol Connector Contents SF2 5 module to shut off the motor current.
Pin No. Safety input 2
Signal ground GND 1 Connected to ground of control circuit. SF2+ 6
NC 2 Do not connect. EDM 7 This is an output for monitoring the failure

EDM output
TXD 3 RS232 EDM+ 8 of the safety function.
RS232 signal
RXD 4 The transmission / reception method.
Connected with protective earth terminal in
485 5 Frame ground FG Shell
the servo driver.
485+ 6 RS485 Connector (plug): 2013595-1 (optional, available from Tyco Electronics AMP)
RS485 signal
485 7 The transmission / reception method. [Connector pin assignment]
8 6 4 2
485+ 8 7 5 3 1 (Viewed from cable)
Connected with protective earth terminal in
Frame ground FG Shell
the servo driver.
Connector (plug): 2040008-1 (optional, available from Tyco Electronics AMP)
[Connector pin assignment]
8 6 4 2
7 5 3 1 (Viewed from cable)
B22 B23
In case of open collector I/F (1) When you use the external
7 COM+ 2.2k 1
Command pulse OPC1 resistor with 12V and 24V
inhibition input 33 4.7k 2.2k 3
Deviation counter
INH PULS1 power supply
clear input 30 220 4
CL PULS2 2.2k PULS1 3
Servo-ON input 2.2k 2 Command
29 SRV-ON OPC2
pulse PULS2 4 R
Gain switching input 27 2.2k 5
GAIN SIGN1 input A 220
Electronic gear 220 2.2k SIGN1 5
switching input 1 6 (Use with
28 DIV1 SIGN2 VDC
Damping control 500 kpps or less.)
13 SIGN2 6 R
switching input 1 GND 220
26 VS-SEL1
Control mode
switching input 32 C-MODE 21
OA+ A-phase
Alarm clear input 31 A-CLR 22 output Specifications VDC -1.5 .
Positive direction OA- VDC =10mA
over-travel inhibition input 9 of R R+220 .
POT 48
Negative direction OB+ B-phase 12V 1kW1/2W
over-travel inhibition input 8 49 output
NOT 24V 2kW1/2W
OB-
Divider
Servo-Ready output 23
35 S-RDY+ OZ+ Z-phase (2) When you do not use the
24 output external resistor with 24V
34 S-RDY- OZ-
Servo-Alarm output power supply

37 ALM+
36 2.2k OPC1 1
ALM- 2.2k
Positioning complete output 39 25 PULS2 4
VDC INP+ GND
Z-phase output 220
12 to 24V 38 2.2k OPC1 2
B24
INP- 19 (open collector)
External brake release output 11 CZ 2.2k 24VDC
BRKOFF+ SIGN2 6
10 BRKOFF- 220
Torque in-limit output 40 TLC 20k
Wiring Example of Position Control Mode
47k 47k
( represents twisted pair.)
Zero speed detection output +
12 ZSP 47k 47k 14

SPR/TRQR/SPL
20k
41 COM- 15
GND
20k 20k 14k 16
44 2k 20k + Positive direction torque limit input
PULSH1 P-ATL/TRQR
120 10k 17
45 GND
(0 to +10V)
PULSH2 2k 20k 20k 20k 14k
46 2k 20k 18
SIGNH1 N-ATL Negative direction torque limit input
10k
47 SIGNH2 120 (-10 to +10V)
2k 20k 1k 43
13 GND SP Velocity monitor output
1k 42
Command pulse input B 50 FG IM Torque monitor output
(Use with 4Mpps or less.)
X4 The functions of the following pin can be changed using parameters.
Be sure to connect. Input: 8, 9, 26, 27, 28, 29, 30, 31, 32, 33
Output: 10-11, 12, 34-35, 36-37, 38-39, 40
7 COM+
Selection 1 input of
internal command speed 33 INTSPD1 4.7k
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 21
Speed zero clamp input 26 OA+
ZEROSPD 22 A-phase output
Control mode switching OA-
input 32 C-MODE 48
Alarm clear input OB+
31 A-CLR
49 B-phase output
Positive direction OB-
Divider
over-travel inhibition input 9 POT 23

Negative direction OZ+
over-travel inhibition input 8 Z-phase output
NOT 24
OZ-
Servo-Ready output 35 S-RDY+
34 S-RDY-
Servo alarm output 37 25
ALM+ GND
36 ALM- 19 Z-phase output (open collector)
At-speed output CZ
VDC 39 AT-SPEED+
B25
12 to 24V
38 AT-SPEED-
External brake release output 11 20k
BRKOFF+ 47k 47k

10 BRKOFF- +
Torque in-limit output 47k 47k 14

Wiring Example of Velocity Control Mode
40 TLC SPR/TRQR/SPL Velocity command

20k input (0 to 10V)
GND 15
20k 20k 14k
+
Zero speed detection output 12 16
ZSP P-ATL/TRQR Positive direction torque
10k 17
41 COM- GND limit input (0 to 10V)
20k 20k 14k
+
N-ATL 18 Negative direction torque
10k
limit input (-10 to 0V)
1k 43
SP Velocity monitor output
1k 42
50 FG IM Torque monitor output
X4 ( represents twisted pair.)
The functions of the following pin can be changed using parameters.

Input: 8, 9, 26, 27, 28, 29, 30, 31, 32, 33
Output: 10-11, 12, 34-35, 36-37, 38-39, 40
English
Wiring to the connector, X4 3. System Configuration and Wiring
Wiring Example of Torque Control Mode Connect on to Feedback Scale
Wiring example when control mode Pr0.01=0 or Pr3.17=1

Provide a power supply for the feedback scale on your part or use the following power
Negative direction torque

velocity limit input (0 to 10V)
limit input (0 to 10V)

output (250mA or less).
Torque command input or
Select with Pr3.17.
represents twisted pair.)

Pin No.
Supply the power of feedback
EX5V 1
A-phase
B-phase
Z-phase
scale or A, B, Z phase encoder.
output
output
output
Power supply output
Connected to ground of control
EX0V 2
Velocity monitor output

circuit.
Torque monitor output

19 Z-phase output (open collector)
(
16
17
EXPS 3 Serial signal
I/F of feedback scale
CCWTL/TRQR
The transmission / reception
GND
signals /EXPS 4 method.
EXA 5
English
/EXA 6
21
22
48
49
23
24
25
14
15
P-ATL/TRQR 16
17
N-ATL 18
43
42
SPR/TRQR/SPL
EXB 7
GND
GND
GND
OB+
OZ+
OA+
OA-
OZ-
OB-
A, B, Z phase Endoder Parallel signal
SP
CZ
IM
signal input /EXB 8 reception
1k
1k
10k
10k
20k 20k 14k
20k 20k 14k

47k
47k
EXZ 9
47k
47k
20k
Divider
20k
/EXZ 10
+

X4
Connected with protective earth
Frame ground FG Shell
The functions of the following pin can be changed using parameters. terminal in the servo driver.
4.7k
Connector (plug): MUF-PK10K-X (by J.S.T. Mfg. Co., Ltd.)

Caution
11 BRKOFF+
39 AT-SPEED+
10 BRKOFF-
35 S-RDY+
38 AT-SPEED-
32 C-MODE
29 SRV-ON
34 S-RDY-
26 ZEROSPD
31 A-CLR
7 COM+
41 COM-
ALM+
ALM-
27 GAIN
28 DIV1
NOT
9 POT
ZSP
TLC
INH
FG
CL
1) The manufacturers applicable feedback scales for this product are as follows.
Mitutoyo Corp.
Output: 10-11, 12, 34-35, 36-37, 38-39, 40
33
30
37
36
40
Zero speed detection output 12
50
Input: 8, 9, 26, 27, 28, 29, 30, 31, 32, 33
Sony Manufacturing Systems Corp.

over-travel inhibition input
over-travel inhibition input
External brake release output

Speed zero clamp
Gain switching input
Alarm clear input
For the details of the feedback scale product, contact each company.
Servo-ON input
Negative direction
Servo-Ready output
Torque in-limit output

Positive direction
Servo-Alarm output
2) Recommended feedback scale ratio is 1/40 Feedback scale ratio 160

switching input
At-speed output
Control mode
If you set up the feedback scale ratio to smaller value than 50/position loop gain
input
(Pr1.00 and Pr.1.05), you may not be able to control per 1 pulse unit. Setup of larg-
er scale ratio may result in larger noise.
12 to 24V
VDC
B26 B27
Connection to Encoder
In case of 20-bit incremental encoder In case of 17-bit absolute encoder
MSME 50W to 750W MSME 50W to 750W
X6 X6
Tighten the motor connector +5V Tighten the motor connector +5V
E5V 6 1 E5V 6 1
Regulator
Regulator
E5V E5V
mounting screw (M2) with a mounting screw (M2) with a
E0V 3 2
E0V
0V E0V 3 2
E0V
0V
torque between 0.19 and 3 torque between 0.19 and battery 3
5
0.21 Nm. To avoid damage, 0.21 Nm. To avoid damage, BAT+
4 2 4
be sure to use only the be sure to use only the BAT
7 5 7 5
screw supplied with the PS PS screw supplied with the PS PS
connector. 4 6 connector. 4 6
PS PS PS PS
1 1
[Connector pin assignment] FG Shell (FG) [Connector pin assignment] FG Shell (FG)
Twisted pair Twisted pair
1 1
5 Connector: JN6FR07SM1 5 Connector: JN6FR07SM1
2 2
6 (by Japan Aviation Electronics Ind.) 6 (by Japan Aviation Electronics Ind.)
English
3 3
7 7
4 (Viewed from cable) Motor Encoder cable Driver 4 (Viewed from cable) Motor Encoder cable Driver
MSME 1.0kW to 5.0kW MSME 1.0kW to 5.0kW

MDME 1.0kW to 5.0kW MDME 1.0kW to 5.0kW
MHME 1.0kW to 5.0kW X6 MHME 1.0kW to 5.0kW X6
+5V +5V
E5V 4 1 E5V 4 1
Regulator
Regulator
MGME 900W to 3.0kW E5V MGME 900W to 3.0kW E5V
E0V 1 2
E0V
0V E0V 1 2
E0V
0V
3 6 battery 3
BAT+
4 5 4
BAT
3 5 3 5
PS PS PS PS
7 6 7 6
PS PS PS PS
9 9
FG Shell (FG) FG Shell (FG)
Twisted pair Twisted pair
Connector: JN2DS10SL1-R Connector: JN2DS10SL1-R
(by Japan Aviation Electronics Ind.) (by Japan Aviation Electronics Ind.)
Motor Encoder cable Driver Motor Encoder cable Driver
B28 B29
3. System Configuration and Wiring 4. Parameter
Wiring to the connector, X7 Outline / Setup / Connection
The connector X7 of the front panel is for monitor output. Outline of Parameter
Analogue output : 2 systems
This driver is equipped with various parameters to set up its characteristics and func-
Digital output : 1 systems
tions. This section describes the function and purpose of each parameter. Read and
In both cases, it is possible to switch the output signal by setting parameters.
comprehend very well so that you can adjust this driver in optimum condition for your
running requirements.
You can refer and set up the parameter with either one of the following.
1) front panel of the driver
Connector X7
6 1 2) combination of the setup support software, "PANATERM" and PC.
Manufacturers part No.: 530140610
Manufacturer: Japan Molex Inc.
Setup with the Front Panel
X7
Application Symbol Connector Contents Display LED (6-digit)

Pin No.
Switch to error display screen when error
Analogue monitor occurs, and LED will flash (about 2Hz).
AM1 1
English
output 1 Output the analogue signal for moni- LED will flash slowly (about 1Hz) when
Analogue monitor tor. warning occurs.
AM2 2
output 2 Mode switching button
6 1
Signal ground GND 3 Connected to ground of control circuit. (valid at SELECTION display)
Press this to switch 4 kinds of mode.
Digital monitor output DM 4 Output the digital signal for monitor. X7 1) Monitor Mode
2) Parameter Set up Mode
NC 5 Do not connect.
3) EEPROM Write Mode
NC 6 Do not connect. 4) Auxiliary Function Mode
SET Button (valid at any time)
Press this to switch SELECTION and
EXECUTION display.
Press these to change display and data,
Shifting of the digit for data select parameters and execute actions.
changing to higher digit. (Change/Selection/Execution is valid to the
digit which decimal point flashes.)
X7 Numerical value increases by pressing, ,
Output connector for monitor
decreases by pressing .
B30 B31
4. Parameter
Outline / Setup / Connection 4. Parameter
Composition of Parameters
Setup with the PC The parameter No. is displayed in the form of PrX.YY (X: Classification, YY: No.).
For the details on the parameters, refer to the Operating Instructions (Overall).
It is possible to connect your personal computer to connector X1 of MINAS A5 using a
USB cable for personal computer connection. Downloading the setup support software Parametr No.
Class name Group
PANATERM from our web site and installing it on your personal computer will allow Class No.*
you to perform the following easily.
0 00 to Basic setting Parameter for Basic setting
With the PANATERM, you can execute the followings.
1) Setup and storage of parameters, and writing to the memory (EEPROM). 1 00 to Gain adjustment Parameter for Gain adjustment
2) Monitoring of I/O, pulse input and load factor. 2 00 to Damping control Parameter for Damping control
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. Verocity/ Torque/
3 00 to Parameter for Verocity/ Torque/ Full-closed control
Full-closed control
5) Normal auto-gain tuning
6) Frequency characteristic measurement of the machine system. 4 00 to I/F monitor setting Parameter for I/F monitor setting
Note Because no production software such as CD-ROM is available, down- 5 00 to Enhancing setting Parameter for Enhancing setting
English
load the setup support software from our web site and install it on your
personal computer. 6 00 to Special setting Parameter for Special setting
* The Parameter No. consists of 2 digits.

How to Connect
Connect to X1
(USB mini-B)
Setup support software PANATERM

Please download from our web site and
use after install to the PC.
USB cable
On the driver, use commercially available USB mini-B connector.
The connector on the personal computer side should be in accordance with the
specifications of the PC.
When the cable does not have noise filter, attach a signal line noise filter (DV0P1460)
to both ends of the cable.
B32 B33
5. Protective Functions 5. Protective Functions
Protective Function (What Is Error Code ?)
Protective Function (What Is Error Code ?)
Various protective functions are equipped in the driver. When these are triggered, the Error code Attribute
Protective function
motor will stall due to error, the driver will turn the Servo-Alarm output (ALM) to off (open). Main Sub History Can be cleared Immediate stop
Error status and their measures 3 IF input function number error 2 protection
4 IF output function number error 1 protection
During the error status, the error code No. will be displayed on the front panel
33 5 IF output function number error 2 protection
LED, and you cannot turn Servo-ON.
6 CL fitting error protection
You can clear the error status by Alarm clear input(A-CLR) in 120ms or longer.
7 INH fitting error protection
When overload protection is triggered, you can clear it by Alarm clear input(A-
34 0 Software limit protection
CLR) in 10sec or longer after the error occurs. You can clear the Overload protec- 36 0 to 2 EEPROM parameter error protection
tion time characteristics (refer to P.B38, 39) by turning off the control power supply 37 0 to 2 EEPROM check code error protection
of the driver.*1 38 0 Over-travel inhibit input protection
You can clear the above error by operating the front panel keys and setup support 0 Analog input1 excess protection
softwear "PANATERM". 39 1 Analog input2 excess protection
The error code No. is displayed in the form of ErrXX.Y (X: main, YY: sub). 2 Analog input3 excess protection
<List of error code No.> 40 0 Absolute system down error protection
Error code Attribute 41 0 Absolute counter over error protection
Protective function
English
Main Sub History Can be cleared Immediate stop 42 0 Absolute over-speed error protection
11 0 Control power supply under- voltage protection 43 0 Initialization failure
12 0 Over-voltage protection 44 0 Absolute single turn counter error protection
0 Main power supply under-voltage protection (between P to N) 45 0 Absolute multi-turn counter error protection
13
1 Main power supply under-voltage protection (AC interception detection) 47 0 Absolute status error protection
0 Over-current protection 48 0 Encoder Z-phase error protection
14
1 IPM error protection 49 0 Encoder CS signal error protection
15 0 Over-heat protection 0 Feedback scale connection error protection
50
16 0 Over-load protection *1 1 Feedback scale communication error protection
0 Over-regeneration load protection 0 Feedback scale status 0 error protection
18
1 Over-regeneration Tr error protection 1 Feedback scale status 1 error protection
0 Encoder communication disconnect error protection 2 Feedback scale status 2 error protection
21 51
1 Encoder communication error protection 3 Feedback scale status 3 error protection
23 0 Encoder communication data error protection 4 Feedback scale status 4 error protection
24 0 Position deviation excess protection 5 Feedback scale status 5 error protection
25 0 Hybrid deviation excess error protection 0 A-phase connection error protection
0 Over-speed protection 55 1 B-phase connection error protection
26
1 2nd over-speed protection 2 Z-phase connection error protection
0 Command pulse input frequency error protection 87 0 Compulsory alarm input protection
27
2 Command pulse multiplier error protection 95 0 Motor automatic recognition error protection
28 0 Limit of pulse replay error protection 99 0 Other error
29 0 Deviation counter overflow protection Note History...The error will be stored in the error history.
30 0 Safety detection Can be cleared...To cancel the error, use the alarm clear input (A-CLR).
0 IF overlaps allocation error 1 protection If the alarm clear input is not effective, turn off power, remove the cause of the
error and then turn on power again.
33 1 IF overlaps allocation error 2 protection
Immediate stop...Instantaneous controlled stop upon occurrence of an error.
2 IF input function number error 1 protection (Setting of Pr.5.10 Sequence at alarm is also required.)
B34 B35
6. Maintenance and Inspections 6. Maintenance and Inspections
Maintenance and Inspections
Maintenance and Inspections
Routine maintenance and inspection of the driver and motor are essential for Guideline for Parts Replacement
the proper and safe operation.
Use the table below for a reference. Parts replacement cycle varies depending on the
actual operating conditions. Defective parts should be replaced or repaired when any
Notes on Maintenance and Inspection
error have occurred.
1) Turn on and turn off should be done by operators or inspectors themselves.
2) Internal circuit of the driver is kept charged with high voltage for a while even after Disassembling for inspection and repair should be
power-off. Turn off the power and allow 15 minutes or longer after LED display of carried out only by authorized dealers or service
the front panel has gone off, before performing maintenance and inspection. Prohibited 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
Product Component Note
driver. cycles (hour)
Smoothing condenser Approx. 5 years
Inspection Items and Cycles
2 to 3 years
General and normal running condition Cooling fan
(10,000 to 30,000 hours)
English
Ambient conditions : 30C (annual average), load factor of 80% or Aluminum electrolytic
lower, operating hours of 20 hours or less per day. Approx. 5 years
capacitor (on PCB)
Perform the daily and periodical inspection as per the items below. Driver
Approx. 100,000 times
Rush current
Type Cycles Items to be inspected (depending on working
preventive relay
condition)
Ambient temperature, humidity, speck, dust or foreign object These hours or cycles
Abnormal vibration and noise Approx. 20,000 times
Rush current are reference.
Main circuit voltage (depending on working
preventive resistor When you experience
condition)
Odor any error, replacement
Daily Lint or other particles at air holes 3 to 5 years is required even before
Daily Bearing
inspection Cleanness at front portion of the driver and connector (20,000 to 30,000 hours) this standard replace-
Damage of the cables ment cycle.
Oil seal 5000 hours
Loose connection or misalignment between the motor and
3 to 5 years
machine or equipment Encoder
(20,000 to 30,000 hours)
Pinching of foreign object at the load Motor
Loose tightening Life time varies depending
Trace of overheat on working conditions.
Periodical
Annual Battery Refer to the Operating
inspection Damage to the terminal block
for absolute encoder Instructions attached to
Loose fasteners on terminal block
the battery for absolute
Note Inspection cycle may change when the running conditions of the encoder.
above change.
B36 B37
7. Conformity to EC Directives and UL Standards 7. Conformity to EC Directives and UL Standards
EC Directives / Conformity to UL Standards
EC Directives / Conformity to UL Standards
EC Directives Overload protection time characteristics

The EC Directives apply to all such electronic products as those having specific func-
MSME 50W Time [s]
tions and have been exported to EU and directly sold to general consumers. Those
MSME 100W100V 100
products are required to conform to the EU unified standards and to furnish the CE
marking on the products. 200V
MSME 100W
MSME 200W 10
However, our AC servos meet the relevant EC Directives for Low Voltage Equipment
MSME 400W
so that the machine or equipment comprising our AC servos can meet EC Directives.
MSME 750W
1
EMC Directives MSME 1.0kW5.0kW
MINAS Servo System conforms to relevant standard under EMC Directives setting up MDME 1.0kW5.0kW
certain model (condition) with certain locating distance and wiring of the servo motor MHME 1.0kW5.0kW 0.1
115
and the driver. And actual working condition often differs from this model condition es- MGME 900W3.0kW 100 200 300 400 500
Torque [%]
pecially in wiring and grounding. Therefore, in order for the machine to conform to the
EMC Directives, especially for noise emission and noise terminal voltage, it is neces-
English
sary to examine the machine incorporating our servos.
Conformed Standards
Conformity to UL Standards Driver Motor
EN55011
Observe the following conditions of (1) and (2) to make the system conform to UL508C EMC
EN61000-6-2
(File No. E164620). Directives
EN61800-3
(1) Use the driver in an environment of Pollution Degree 2 or 1 prescribed in Low-Voltage IEC60034-1
EN61800-5-1
IEC60664-1. (e.g. Install in the control box with IP54 enclosure.) Directives IEC60034-5
EC Directives EN954-1 (Cat. 3)
(2) Make sure to install a circuit breaker or fuse which are UL recognized (Listed ISO13849-1 (PL d)
marked) between the power supply and the noise filter. Functional EN61508 (SIL 2)

For the rated current of the circuit breaker or fuse, refer to P.B16, 17, "Driver and safety EN62061 (SIL 2)
EN61800-5-2 (STO)
List of Applicable Peripheral Equipments" of Preparation. IEC61326-3-1
Use a copper cable with temperature rating of 75C or higher. UL Standards UL508C (File No.E164620) UL1004 (File No.E166557)
(3) Over-load protection level CSA Standards C22.2 No.14 C22.2 No.100
Over-load protective function will be activated when the effective current exceeds
IEC : International Electrotechnical Commission
115% or more than the rated current based on the time characteristics (see the EN : Europaischen Normen
next page). Confirm that the effective current of the driver does not exceed the EMC : Electromagnetic Compatibility
UL : Underwriters Laboratories
rated current. Set up the peak permissible current with Pr0.13 (Setup of 1st torque CSA : Canadian Standards Association
limit) and Pr5.22 (Setup 2nd torque limit). 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
B38 B39
Composition of Peripheral Equipments
Composition of Peripheral Equipments
Installation Environment Noise Filter

Use the servo driver in the environment of Pollution Degree 1 or 2 prescribed in When you install one noise filter at the power supply for multi-axes application, consult with
IEC-60664-1 (e.g. Install the driver in control panel with IP54 protection structure.) manufacturer of the noise filter. If sufficient noise margin is required, connect 2 filters in series.
Control box Optional parts
Controller Voltage specifications Manufacturers Applicable
Option part No. Manufacturer
for driver part No. driver (frame)
Safety
Insulated power supply DV0P4170 Single phase 100V/200V SUP-EK5-ER-6 A and B-frame Okaya Electric Ind.
for interface X4 controller
100.02.0 Terminal cover
Driver X3 88.0 (transparent)
Power Noise filter for 7.0 5.0
signal lines Noise filter 75.0 53.11.0
supply
Residual for signal lines
Circuit current device Noise filter XA L1 Motor
Circuit diagram
L2 IN OUT
breaker (RCD) L3 U XB
V M 1 L L 3
2.0 Cy
L1C W
12.0
R
50.0
60.0
Cx Cx
LABEL
Surge L2C RE Cy
absorber X6
10.0
2 4
Protective earth (PE)
English
(11.6)
24.5 x 6.75 24.5 6-M4
(13.0) [Unit: mm]
Caution Use options correctly after reading Operating Instructions of the options
Voltage specifications Manufacturers Applicable
to better understand the precautions. Option part No.
for driver part No. driver (frame)
Manufacturer
Take care not to apply excessive stress to each optional part. 3-phase 200V A, B-frame
DV0PM20042 Single phase 100V/200V 3SUP-HU10-ER-6
Power Supply 3-phase 200V
C-frame
Okaya Electric Ind.
+10% +10% DV0P4220 Single/ 3-phase 200V 3SUP-HU30-ER-6 D-frame
100V type : Single phase, 100V to 120V 50/60Hz
15% 15% DV0PM20043 3-phase 200V 3SUP-HU50-ER-6 E-frame
(A to C-frame)
+10% +10% <DV0PM20042, DV0P4220> <DV0PM20043> H
200V type : Single/3-phase, 200V to 240V 50/60Hz A A
Earth
15% 15% B H B terminal
(A to D-frame) C C M4
+10% +10% Earth terminal
200V type : 3-phase, 200V to 230V 50/60Hz M4
15% 15%
(E, F-frame)
F
10
F
LABEL LABEL
D
E
D
E
(1) This product is designed to be used in over-voltage category (installation category)
Screw for cover
III of EN 61800-5-1:2007. M3
Screw for
cover
M4
(2) Use an insulated power supply of DC12 to 24V which has CE marking or complies M5
M3
with EN60950. Cover

Cover
G
Circuit Breaker
G
Body Body
Install a circuit breaker which complies with IEC Standards and UL recognized (Listed
[Size] [Unit: mm] Circuit IN L1
OUT
and marked) between power supply and noise filter. A B C D E F G H diagram
1 4
Integral solid state short circuit protection does not provide branch circuit protection. DV0PM20042 115 105 95 70 43 10 52 5.5 2 5
DV0P4220 145 135 125 70 50 10 52 5.5

Branch circuit protection must be provided in accordance with the National Electrical DV0PM20043 165 136 165 90 80 40 54 5.5
3 6
Code and any additional local codes. R Cx1 Cx1
Cy1
B40 B41
Composition of Peripheral Equipments Composition of Peripheral Equipments
Voltage specifications Manufacturers Applicable Voltage specifications Manufacturers

Option part No. Manufacturer Option part No. Manufacturer
for driver part No. driver (frame) for driver part No.
DV0P3410 3-phase 200V 3SUP-HL50-ER-6B F-frame Okaya Electric Ind. DV0P4190 Single phase 100V/200V RAV-781BWZ-4 Okaya Electric Ind.
2863.0
5.51
Circuit diagram
111
270
2551.0
IN OUT 4.20.2 Circuit diagram
2-5.5 x 7 2-5.5
150 240
1 4
1 2
28.51
6-6M 2
(13) (18)
5
901.0
120
L A B E L
3 6 UL-1015 AWG16
+30
200 -0
4.50.5
1 2
Recommended components
281
Voltage specifications 411
Model No. Current rating (A) Manufacturer
for driver
RTHN-5010
Single phase 100V/200V
10 Noise Filter for Signal Lines
RTHN-5030 30 TDK-Lambda Corp.
3-phase 200V Install noise filters for signal lines to all cables (power cable, motor cable, encoder
English
RTHN-5050 50
cable and interface cable)
Remarks Select a noise filter whose capacity is commensurate with the power
Manufacturers
source capacity (in consideration of the load condition). Option part No.
part No.
Manufacturer
For the detailed specifications of each noise filter, contact the manufacturer. DV0P1460 ZCAT3035-1330 TDK Corp.
Surge Absorber
391
Provide a surge absorber for the primary side of noise filter. 341 Mass: 62.8g
Voltage specifications Manufacturers

Option part No. Manufacturer
for driver part No.
Caution Fix the signal line noise filter
131
DV0P1450 3-phase 200V RAV-781BXZ-4 Okaya Electric Ind.
301
in order to prevent excessive
stress to the cables.
5.51
111
4.20.2 Circuit diagram

1 2 3 Residual current device
28.51
Install a type B Residual current device (RCD) at primary side of the power supply.
Grounding
UL-1015 AWG16
+30
200 -0
(1) Connect the protective earth terminal ( ) of the driver and the protective earth
4.50.5
1 2 3
281
terminal (PE) of the control box without fail to prevent electrical shocks.
411 (2) Do not make a joint connection to the protective earth terminals ( ). 2 terminals
are provided for protective earth.
Note For driver and applicable peripheral equipments, refer to P.B12 "Driver
and List of Applicable Peripheral Equipments" .
B42 B43
8. Built-in Holding Brake 8. Built-in Holding Brake
Outline / Specifications
Outline / Specifications
In the applications where the motor drives the vertical axis, this brake would be used Specifications of Built-in Holding Brake
to hold and prevent the work (moving load) from falling by gravity while the power to
Static Exciting
the servo is shut off. Rotor Engaging Releasing Permissible Permissible Permissible
Motor Motor friction current Releasing angular
inertia time time work (J) per total work acceleration
series output torque DC A voltage
Use this built-in brake for "Holding" purpose only, that is to hold the stalling x 104 kgm2 ms ms one braking x 103J rad/s2
Nm (at cool-off)
status. Never use this for "Brake" purpose to stop the load in motion. 50W, 100W 0.29 or more 0.002 35 or less 20 or less 0.3 39.2 4.9
DC1V
200W, 400W 1.27 or more 0.018 50 or less 15 or less 0.36 137 44.1
or more
Output Timing of BRK-OFF Signal 750W 2.45 or more 0.075 70 or less 20 or less 0.42 196 147
For the brake release timing at power-on, or braking timing at Servo-OFF/Servo- MSME 1.0kW, 1.5kW, 7.8 or more 50 or less 15 or less 10000
2.0kW 0.33 0.81 392 490
(100) DC2V
Alarm while the motor is in motion, refer to the Operating Instructions (Overall). 3.0kW 11.8 or more 80 or less
or more
With the parameter, Pr4.38 (Setup of mechanical brake action while the motor is in 110 or 50 or less
4.0kW, 5.0kW 16.2 or more 1.35 0.9 1470 2200
motion), you can set up a time between when the motor enters to a free-run from less (130)
energized status and when BRK-OFF signal turns off (brake will be engaged), when 70 or less
1.0kW 4.9 or more 80 or less 0.59 588 780
(200)
the Servo-OFF or alarm occurs while the motor is in motion. Refer to the Operating
100 or
Instructions (Overall) for the details. 1.5kW, 2.0kW 13.7 or more 1.35 0.79 1176 1500 10000
English
less 50 or less DC2V
MDME
110 or (130) or more
Note 1. The lining sound of the brake (chattering and etc.) might be generated 3.0kW 16.1 or more 0.9 1470 2200
less
while running the motor with built-in brake, however this does not af-
25 or less
fect any functionality. 4.0kW, 5.0kW 24.5 or more 4.7 80 or less 1.3 1372 2900 5440
(200)
2. Magnetic flux might be generated through the motor shaft while the 70 or less
1.0kW 4.9 or more 80 or less 0.59 588 780
brake coil is energized (brake is open). Pay an extra attention when (200)
1.35 10000
magnetic sensors are used nearby the motor. 100 or 50 or less DC2V
MHME 1.5kW 13.7 or more 0.79 1176 1500
less (130) or more
2.0kW to 25 or less
24.5 or more 4.7 80 or less 1.3 1372 2900 5440
5.0kW (200)
100 or 50 or less
900W 13.7 or more 1.35 0.79 1176 1500 10000
less (130)
25 or less DC2V
MGME 2.0kW 24.5 or more 80 or less 1.3
(200) or more
4.7 1372 2900 5440
150 or 50 or less
3.0kW 58.8 or more 1.4
less (130)
Excitation voltage is DC24V10%.

Releasing time values represent the ones with DC-cutoff using a varistor.
Values in ( ) represent those measured by using a diode (V03C by Renesas Tech-
nology Corp.)
Above values (except static friction torque, releasing voltage and excitation current)
represent typical values.
Backlash of the built-in holding brake is kept 1or smaller at ex-factory point.
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.)
B44 B45
9. Dynamic Brake 10. Check of the Combination of the Driver and the Motor
Outline Incremental Specifications, 20-bit
This driver is designed to be used in a combination with the motor which are specified
This driver is equipped with a dynamic brake for emergency stop.
by us. Check the series name of the motor, rated output torque, voltage specifications
Pay a special attention to the followings.
and encoder specifications.
Caution 1.Dynamic brake is only for emergency stop.
Caution Do not use in other combinations than those listed below.
Do not start/stop the motor by turning on/off the Servo-ON
Motor Driver
signal (SRV-ON). Power Rated
Rated rotational
Type Model Model Frame
Otherwise it may damage the dynamic brake circuit of the supply speed output
driver. MSME5AZG1* 50W MADHT1105
Single A-frame
MSME011G1* 100W MADHT1107
phase,
The Motor becomes a dynamo when driven externally and 100V MSME021G1* 200W MBDHT2110 B-frame
MSME041G1* 400W MCDHT3120 C-frame
short circuit current occurred while dynamic brake is activat-
MSME5AZG1* 50W
ed may cause smoking or fire. MADHT1505
MSME012G1* 100W A-frame
Single/ MSME022G1* 200W MADHT1507
2. Dynamic brake is a short-duration rating, and designed for only MSME
3-phase, 3000r/min MSME042G1* 400W MBDHT2510 B-frame
emergency stop. Allow approx. 3 minutes pause when the dynamic Low inertia
200V MSME082G1* 750W MCDHT3520 C-frame
English
brake is activated during high-speed running. MSME102G1* 1.0kW
MDDHT5540 D-frame
(In the case of the F-frame driver, when the built-in dynamic brake MSME152G1* 1.5kW
MSME202G1* 2.0kW MEDHT7364 E-frame
circuit overheats, the over current protection (Err14.0) may be acti-
3-phase, MSME302G1* 3.0kW MFDHTA390
vated.) 200V MSME402G1* 4.0kW F-frame
MFDHTB3A2
You can activate the dynamic brake in the following cases. MSME502G1* 5.0kW
Single/3-phase, MDME102G1* 1.0kW MDDHT3530
1) when the main power is turned off 200V
D-frame
MDME152G1* 1.5kW MDDHT5540
2) at Servo-OFF MDME MDME202G1* 2.0kW MEDHT7364 E-frame
2000r/min
3) when one of the protective function is activated. 3-phase, Middle inertia MDME302G1* 3.0kW MFDHTA390
4) when over-travel inhibit input (NOT, POT) of connector X4 is acti- 200V MDME402G1* 4.0kW F-frame
MFDHTB3A2
MDME502G1* 5.0kW
vated
Single/3-phase,
In the above cases from 1) to 4), you can select either activation of MGME092G1* 900W MDDHT5540 D-frame
200V MGME
1000r/min
the dynamic brake or making the motor free-run during decelera- 3-phase, Middle inertia MGME202G1* 2.0kW MFDHTA390
F-frame
tion or after the stop, with parameter. 200V MGME302G1* 3.0kW MFDHTB3A2
Single/3-phase, MHME102G1* 1.0kW MDDHT3530
D-frame
200V MHME152G1* 1.5kW MDDHT5540
MHME MHME202G1* 2.0kW MEDHT7364 E-frame
2000r/min
3-phase, High inertia MHME302G1* 3.0kW MFDHTA390
200V MHME402G1* 4.0kW F-frame
MFDHTB3A2
MHME502G1* 5.0kW
Note Suffix of " * " in the applicable motor model represents the motor structure.
B46 B47
10. Check of the Combination of the Driver and the Motor 11. Specifications
Absolute Specifications, 17-bit Basic Specifications
This driver is designed to be used in a combination with the motor which are specified 10
Main circuit Single phase, 100 to 120V 50/60Hz
by us. Check the series name of the motor, rated output torque, voltage specifications 15
100V
and encoder specifications. 10
Control circuit Single phase, 100 to 120V 50/60Hz
15
Caution Do not use in other combinations than those listed below. A to 10
Input power
Single/3-phase, 200 to 240V 50/60Hz
Motor Driver Main D-frame 15
Power Rated rotational Rated circuit E to 10
Type Model Model Frame 3-phase, 200 to 230V 50/60Hz
supply speed output F-frame 15
MSME5AZS1* 50W MADHT1105 200V
A-frame A to 10
Single MSME011S1* 100W MADHT1107 Single phase, 200 to 240V 50/60Hz
phase, Control D-frame 15
MSME021S1* 200W MBDHT2110 B-frame circuit
100V E to 10
MSME041S1* 400W MCDHT3120 C-frame Single phase, 200 to 230V 50/60Hz
F-frame 15
MSME5AZS1* 50W
MADHT1505 Control method IGBT PWM Sinusoidal wave drive
MSME012S1* 100W A-frame
MSME022S1* 200W MADHT1507 17-bit (131072 resolution) absolute encoder, 7-wire serial
Single/ Encoder feedback
MSME 20-bit (1048576 resolution) incremental encoder, 5-wire serial
3-phase, 3000r/min MSME042S1* 400W MBDHT2510 B-frame
Low inertia A/B phase, initialization signal defferential input.
200V MSME082S1* 750W MCDHT3520 C-frame
English
MSME102S1* 1.0kW Manufacturers that support serial communication scale:
MDDHT5540 D-frame Feedback scale feedback
Mitsutoyo Corp.
MSME152S1* 1.5kW
Sony Manufacturing Systems Corp.
MSME202S1* 2.0kW MEDHT7364 E-frame
MSME302S1* 3.0kW MFDHTA390 General purpose 10 inputs
3-phase, Input
200V Control The function of general-purpose input is selected by parameters.
MSME402S1* 4.0kW F-frame
MFDHTB3A2 signal General purpose 6 outputs
MSME502S1* 5.0kW Output
MDME102S1* 1.0kW MDDHT3530
The function of general-purpose input is selected by parameters.
Single/3-phase,
D-frame Analog Input 3 inputs (16Bit A/D : 1 input, 12Bit A/D : 2 inputs)
200V MDME152S1* 1.5kW MDDHT5540
MDME202S1* 2.0kW MEDHT7364 E-frame /Digital
MDME Output 3 outputs (Analog monitor: 2 output, Digital monitor: 1 output)
2000r/min signal
3-phase, Middle inertia MDME302S1* 3.0kW MFDHTA390
200V MDME402S1* 4.0kW F-frame Pulse Input 2 inputs (Photo-coupler input, Line receiver input
MFDHTB3A2 signal
MDME502S1* 5.0kW Output 4 outputs ( Line driver: 3 outputopen collector: 1 output)
Single/3-phase, USB Connection with PC etc.
MGME092S1* 900W MDDHT5540 D-frame Communication
200V MGME RS232 1 : 1 communication
1000r/min function
3-phase, Middle inertia MGME202S1* 2.0kW MFDHTA390
F-frame RS485 1 : n communication up to 31 axes to a host.
200V MGME302S1* 3.0kW MFDHTB3A2
MHME102S1* 1.0kW MDDHT3530 Safety function Used for IEC61800-5-2: STO.
Single/3-phase,
D-frame (1) 5 keys (MODE, SET, UP, DOWN, SHIFT) (2) LED (6-digit)
200V MHME152S1* 1.5kW MDDHT5540 Front panel
MHME MHME202S1* 2.0kW MEDHT7364 E-frame (3) Analog monitor output (2ch) (4) Digital monitor output (1ch)
2000r/min
3-phase, High inertia MHME302S1* 3.0kW MFDHTA390 A, B-frame:
200V MHME402S1* 4.0kW F-frame no built-in regenerative resistor (external resistor only)
MFDHTB3A2 Regeneration
MHME502S1* 5.0kW C to F-frame:
Built-in regenerative resistor (external resistor is also enabled.)
Note 1) Suffix of " * " in the applicable motor model represents the motor structure. Dynamic brake Built-in
2) Default of the driver is set for the incremental encoder specifications.
Switching among the following 7 mode is enabled,
When you use in absolute, make the following operations.
(1) Position control (2) Velocity control (3) Toque control
a) Install a battery for absolute encoder. Control mode
(4) Position/Velocity control (5) Position/Torque control
b) Switch the parameter Pr0.15 (Absolute encoder setup) from "1 (default)" to "0". (6) Velocity/Torque control (7) Full-closed control
B48 B49
11. Specifications 11. Specifications
Functions
Functions
(1) Deviation counter clear (2) Command pulse inhibition Control input Speed zero clamp, Torque command sign input etc.
Control input (3) Command dividing gradual increase switching
Control output Speed arrival etc.
Torque control
(4) Damping control switching etc.
Control output Positioning complete (In-position) etc. Speed command input can be provided by means of analog
Analog Torque command voltage.
Max. command Exclusive interface for Photo-coupler: 500kpps input input Parameters are used for scale setting and command
pulse frequency Exclusive interface for line driver : 4Mpps polarity.
Input pulse Speed limit function Speed limit value with parameter t is enabled.
Differential input
signal format
Position control
(1) Deviation counter clear (2) Command pulse inhibition

Pulse Electronic gear Control input (3) Command dividing gradual increase switching
input (Division/ (4) Damping control switching etc.
1/1000 to 1000 times
Multiplication of
command pulse) Control output Full-closed positioning complete etc.
Primary delay filter or FIR type filter is adaptable to the Max. command Exclusive interface for Photo-coupler: 500kpps
Smoothing filter pulse frequency Exclusive interface for line driver : 4Mpps
command input
Analog Torque limit Individual torque limit for both positive and negative direction Input pulse
Full-closed control
Differential input
signal format
English
input command input is enabled.
Pulse Electronic gear
Instantaneous Speed input
Available (Division/
Observer 1/1000 to 1000 times
Multiplication of
Damping Control Available command pulse)
(1) Selection of internal velocity setup 1 Primary delay filter or FIR type filter is adaptable to the
Smoothing filter
(2) Selection of internal velocity setup 2 command input
Control input
(3) Selection of internal velocity setup 3
(4) Speed zero clamp etc. Analog Torque limit Individual torque limit for both positive and negative direction
input command input is enabled.
Control output Speed arrival etc.
Setup range of division/
Speed command input can be provided by means of analog multiplication of 1/40 to 160 times
Velocity voltage. feedback scale
Analog command input Parameters are used for scale setting and command
The load inertia is identified in real time by the driving state
Velocity control
input polarity.
of the motor operating according to the command given by
Torque limit Individual torque limit for both positive and negative direction Auto tuning the controlling device and internal amplifier.
command input is enabled. The gain is set automatically in accordance with the rigidity
setting.
Internal velocity command Switching the internal 8speed is enabled by command input.
Division of encoder Set up of any value is enabled (encoder pulses count is the
Common
Individual setup of acceleration and deceleration is enabled, feedback pulse max.).

Soft-start/down function with 0 to 10s/1000r/min. Sigmoid acceleration/deceleration
is also enabled. Over-voltage, under-voltage, over-speed, over-load,
Hard error
Protective over-heat, over-current and encoder error etc.
Zero-speed clamp Speed zero clamp input is enabled.
function Excess position deviation, command pulse division error,
Instantaneous Speed Soft error
Available EEPROM error etc.
Observer
Traceability of alarm data The alarm data history can be referred to.
Velocity Control filter Available
B50 B51
12. After-Sale Service (Repair)

Repair Technical information

Consult to a dealer from whom you have purchased the product for details of repair. Technical information of this product (Operating Instructions, CAD data) can be
When the product is incorporated to the machine or equipment you have purchased, downloaded from the following web site.
consult to the manufacturer or the dealer of the machine or equipment. http://industrial.panasonic.com/ww/i_e/25000/motor_fa_e/motor_fa_e.html
Cautions for Proper Use

This product is intended to be used with a general industrial product, but not de-
signed or manufactured to be used in a machine or system that may cause personal
death when it is failed.
Installation, wiring, operation, maintenance, etc., of the equipment should be done
by qualified and experienced personnel.
Apply adequate tightening torque to the product mounting screw by taking into
consideration strength of the screw and the characteristics of material to which the
product is installed. Overtightening can damage the screw and/or material; under-
tightening can result in loosening.
Example) Steel screw (M5) into steel section: 2.7-3.3 Nm.
English
Install a safety equipments or apparatus in your application, when a serious acci-
dent or loss of property is expected due to the failure of this product.
Consult us if the application of this product is under such special conditions and envi-
ronments as nuclear energy control, aerospace, transportation, medical equipment,
various safety equipments or equipments which require a lesser air contamination.
We have been making the best effort to ensure the highest quality of the products,
however, application of exceptionally larger 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
For your records:
safety in the operative range.
The model number and serial number of this product can be found on either the back or the
If the motor shaft is not electrically grounded, it may cause an electrolytic corrosion
bottom of the unit. Please note them in the space provided and keep for future reference.
to the bearing, depending on the condition of the machine and its mounting environ-
ment, and may result in the bearing noise. Checking and verification by customer is
Model No.
MDH
Serial No.
MME
required.

Failure of this product depending on its content, may generate smoke of about one
cigarette. Take this into consideration when the application of the machine is clean Date of
room related. purchase
Please be careful when using in an environment with high concentrations of sulfur
or sulfric gases, as sulfuration can lead to disconnection from the chip resistor or a Name
poor contact connection.
Take care to avoid inputting a supply voltage which significantly exceeds the rated
Dealer Address
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. Phone ( ) -
The user is responsible for matching between machine and components in terms
of configuration, dimensions, life expectancy, characteristics, when installing the
machine or changing specification of the machine. The user is also responsible for 7-1-1 Morofuku, Daito, Osaka, 574-0044, Japan Phone : +81-72-871-1212
complying with applicable laws and regulations. Panasonic Corporation 2009
B52 B53
MEMO MEMO
7-1-1 Morofuku, Daito, Osaka, 574-0044, Japan Phone : +81-72-871-1212
Panasonic Corporation 2009
Printed in China IMD88
Z0409-0

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Operating Instructions (Basic)

AC Servo Motor & Driver

* This product image is 1.5kW type of A5-series.

<Contents> page page

1. Introduction Contents of Name Plate

1. Introduction Model Designation

Connecting Example of A to D-frame : High voltage PC (to be supplied by customer)

Wiring of Main Connector (XA) Mains Wiring to Connector, X7

Connecting Example of F-frame : High voltage PC (to be supplied by customer)

Wiring of Main Connector (XA) Mains

Connection to exclusive connector

A to D-frame, 100 V / 200 V type E-frame, 200 V type

down the spring. hole).

Pay attention to injury by screw driver.

Note For wiring the motor connector, refer to P.B21.

3. System Configuration and Wiring 1

NC 2 Do not connect. EDM 7 This is an output for monitoring the failure

Servo-Alarm output power supply

12 ZSP 47k 47k 14

Output: 10-11, 12, 34-35, 36-37, 38-39, 40

over-travel inhibition input 9 POT 23

Torque in-limit output 47k 47k 14

40 TLC SPR/TRQR/SPL Velocity command

X4 ( represents twisted pair.)

The functions of the following pin can be changed using parameters.

Wiring Example of Torque Control Mode Connect on to Feedback Scale

Wiring example when control mode Pr0.01=0 or Pr3.17=1

Negative direction torque

limit input (0 to 10V)

Torque command input or

Select with Pr3.17.

represents twisted pair.)

Velocity monitor output

Torque monitor output

A, B, Z phase Endoder Parallel signal

20k 20k 14k

Connector (plug): MUF-PK10K-X (by J.S.T. Mfg. Co., Ltd.)

Zero speed detection output 12

Input: 8, 9, 26, 27, 28, 29, 30, 31, 32, 33

Sony Manufacturing Systems Corp.

External brake release output

Alarm clear input

Torque in-limit output

2) Recommended feedback scale ratio is 1/40 Feedback scale ratio 160

MSME 50W to 750W MSME 50W to 750W

MSME 1.0kW to 5.0kW MSME 1.0kW to 5.0kW

Application Symbol Connector Contents Display LED (6-digit)

* The Parameter No. consists of 2 digits.

Setup support software PANATERM

EC Directives Overload protection time characteristics

Installation Environment Noise Filter

Protective earth (PE)

with EN60950. Cover

DV0P4220 145 135 125 70 50 10 52 5.5

Code and any additional local codes. R Cx1 Cx1

Voltage specifications Manufacturers Applicable Voltage specifications Manufacturers

Voltage specifications Manufacturers

4.20.2 Circuit diagram

Excitation voltage is DC24V10%.

(1) Deviation counter clear (2) Command pulse inhibition

Individual setup of acceleration and deceleration is enabled, feedback pulse max.).

Repair Technical information

Cautions for Proper Use