FPSigma MinasA neu - Motortong.com · Fast processing speed FP2 0.35 µs / basic instruction, ... brake oil seal key shaft 17-bit absolute encoder Driver Product No. Driver Type.

PanasonicPLC Based High Performance Advanced Servo System

2

Motion Control Solution

System Overview

Software: PLC Motion Control Function Blocks

Example of a Function Block:

This function block controls motion at a specific absolute position.

PLC: FP∑ or FP2 with

Positioning modules See page 4/5

Software:

PLC Motion Control

Function BlocksSee below and page 22/23

Motors and Drivers:

MINAS A Servo

See page 3 and 6ff

Function blocks programmed according to theIEC 61131-3 standard secure your investment.

Advantages of PLC programs using Motion Control Library compliant to PLCopen Standard:

Simple Easy programming and installation, even for complex applicationsEfficient In the number of FBs and in design and understandingConsistent Compliant to IEC 61131-3 PLC programming standard and PLCopen specificationUniversal Hardware independent: same FB´s at other, certified vendorsFlexible For future extensions and for the range of applicationComplete Easy solution comprising all components for typical positioning applications.

C

A

A

B

Motion Control Library for FPWIN Pro PLC Programming Software:

Certified Function Blocks according to PLCopen’s motion control specifications.

Motors and Drivers: Panasonic MINAS A Servo


3

The Matsushita Motion Control Solution comprises FP series PLCs, Panasonic MSDA drivers, Panasonic servo motors and appropriate cables.

The latest technological advances in digital control enable motion control solutions to be applied to even the smallest machines.

Features

• High performance motion control • Built-in notch filter suppresses vibration of driven • Power range of 30 to 5000 W mechanism• Velocity control, torque control and position control • High-speed positioning, even with low-stiffness

as standard functions mechanism• High-speed control via 32-bit technology and a velocity • Built-in frequency analysing function detects resonance

response frequency of 500 Hz points of mechanism driven, offering simple adjustment• Digitally controlled by PLC • Auto tuning modes: • Automatic switching between control signals -normal auto tuning mode for setup• Max. motor speed 5,000 rpm -real-time auto tuning mode after setup• Optional high-resolution 17-bit absolute / incremental • For almost all types of machines, including chip

encoder mounting machines and general industrial machines• Resonance suppression function enables high speed • Closed loop control as standard feature

B

4


PLC: Matsushita FP∑ or FP2 with Positioning Modules

Features of FP∑ Positioning Modules

• Transistor or line driver output types• Up to 500 kpps / 4 Mpps output• Clockwise/counterclockwise or pulse/direction• 8 (10 with CPU) independent axis positioning• Pulse range: 32-bit signed

Part No. Output Type Type

FPG-PP11 Transistor output 1-axes type

FPG-PP21 Transistor output 2-axes type

FPG-PP12 Line driver output 1-axes type

FPG-PP22 Line driver output 2-axes type

FP∑ (Sigma) – High-speed, high precision positioning

Enhanced Motion Control functionality using positioning expansion units for FP∑

Part No.

FPG-C28P2 CPU: 16 inputs/12 outputs PNPFPG-C32T2 CPU: 16 inputs/16 outputs NPN

C

The brain of Matsushita’s servo system is the PLC FP∑ or FP2/2SH. Special “intelligent”modules control the Panasonic servo.

General Features of FP∑ (Sigma)

High program capacity 12 k steps

High data memory capacity 32 k words

Strong communication features up to 3 serial interfaces RS232C, RS485

High speed input max. 50 kHz

High speed pulse output max. 100 kHz

High expansion capability up to 384 I/O

Analogue volume inputs 2

Fast processing speed 0.4 µs / basic instruction

Powerful instruction set Floating-Point, String and PID instructions

Small size 30 x 90 x 60 mm (WxHxD)

Positioning Features of FP∑ PLC (only CPU) Operation modes

• Transistor types (PNP or NPN) • Absolute positioning

• Clockwise/counterclockwise output • Relative positioning

or pulse/direction • Home return

• 2-independent axis positioning • JOG operation

• Up to 100 kHz • Emergency stop

• Linear/circular interpolation

Operation modes

• Interpolation• Single speed acceleration / deceleration • Multi-stage acceleration / deceleration • JOG operation• Fast startup of 0.02 or 0.005 ms makes

cycle time reduction possible• 4 types of S-curve acceleration / deceleration

control makes smooth startup and stopping possible: sine, quadratic, cycloid and cubic curve

Up to two axes per Postioning Module:

General Features of FP2 / FP2SH

High program capacity FP2 16 k or 32 k steps, FP2SH 60 k or 120 k steps

High memory capacity Data registers: 6000 words (FP2), 10,240 words (FP2SH)

Additional file registers Up to 30,717 words (FP2) and 3 x 32,765 words (FP2SH)

Serial interfaces 2 RS232C on CPU

Communication modules Serial Data Units or Computer communication modules

with 2 additional ports each available, Profibus DP/FMS,

Ethernet module

High expansion capability Up to 28 modules or 2048 I/O are possible

Fast processing speed FP2 0.35 µs / basic instruction, FP2 SH 0.03 µs

Powerful programming commands Floating point Math, String instructions, PID Control

and more

Small size 140 x 100 x 93 mm (WxHxD) for 5 modules backplane

Extended debugging functions Testmode and Breakpoints can be used


PLC: Matsushita FP∑ or FP2 with Positioning Modules

5

Part No. Output Type Type

FP2-PP21 Transistor output 2 axes

FP2-PP41 Transistor output 4 axes

FP2-PP22 Line driver output 2 axes

FP2-PP42 Line driver output 4 axes

FP2 and FP2SH – Modular, high performance

Up to four axes per Postioning Module:

Positioning Units for FP2 and FP2SH Operation modes

• Extremely fast startup of 0.005 ms • Interpolation

• Up to 500kpps / 4Mpps output • Single speed acceleration / deceleration

for high-speed, high-accuracy positioning • Multi-stage acceleration / deceleration

• Feedback pulse count function (for encoders) • Fast startup of 0.02 or 0.005ms makes cycle

• Transistor / line driver output time reduction possible

• Clockwise / counterclockwise or pulse/direction • Acceleration / deceleration control:

• 64 (88) independent axis positioning linear or 4 types of S-curve: sine, quadratic,

• Pulse range: 32 bits, signed cycloid and cubic curve (for smooth startup

and stopping)

6


Drivers and Motors (30 to 750 W)

MSMA3AZA1AMSMA3AZA1BMSMA3AZA1CMSMA3AZA1D

MSMA5AZA1AMSMA5AZA1BMSMA5AZA1CMSMA5AZA1DMSMA5AZA1EMSMA5AZA1FMSMA5AZC1AMSMA5AZC1C

MSMA012A1AMSMA012A1BMSMA012A1CMSMA012A1DMSMA012A1EMSMA012A1FMSMA012C1AMSMA012C1C

MSMA022A1AMSMA022A1BMSMA022A1CMSMA022A1DMSMA022A1EMSMA022A1FMSMA022C1A



30303030

5050505050505050

100100100100100100100100

200200200200200200200

400400400400400400400

750750750750750750750

0.0950.0950.0950.095

0.160.160.160.160.160.160.160.16

0.320.320.320.320.320.320.320.32

0.640.640.640.640.640.640.64

1.31.31.31.31.31.31.3

2.42.42.42.42.42.42.4

3000300030003000

30003000300030003000300030003000

30003000300030003000300030003000

3000300030003000300030003000

3000300030003000300030003000

3000300030003000300030003000

x

x

x

x

x

x

x

x

x

x

x

x

x

x

x

x

x

xx

xx

x

xx

x

xx

xx

xx

xx

xx

xx

xx

xx

xx

xx

x

x

x

.

MSDA3A5A1A

MSDA5A5A1A

MSDA5A3D1A

MSDA015A1A

MSDA013D1A

MSDA023A1A

MSDA023D1A

MSDA043A1A

MSDA043D1A

MSDA083A1A

MSDA083D1A

1

1

1

1

1

2

2

2

2

3

3

rated

output

[W]

rated

torque

[Nm]

rated

rpm

[min-1]

Servo Motors

Product No.

brake oil

seal

key

shaft

17-bit

absolute

encoder

Driver

Product No.

Driver

Type


Drivers and Motors (1 to 5 kW)

7

MSMA102A1CMSMA102A1DMSMA102A1GMSMA102A1H









1000100010001000

1500150015001500

2000200020002000

2500250025002500

3000300030003000

3500350035003500

4000400040004000

4500450045004500

5000500050005000

3.183.183.183.18

4.774.774.774.77

6.366.366.366.36

7.947.947.947.94

9.549.549.549.54

11.011.011.011.0

12.612.612.612.6

14.314.314.314.3

15.815.815.815.8

3000300030003000

3000300030003000

3000300030003000

3000300030003000

3000300030003000

3000300030003000

3000300030003000

3000300030003000

3000300030003000

x

x

x

x

x

x

x

x

x

x

x

x

x

x

x

x

x

x

xxxx

xxxx

xxxx

xxxx

xxxx

xxxx

xxxx

xxxx

xxxx

xx

xx

xx

xx

xx

xx

xx

xx

xx

MSDA103A1A

MSDA153A1A

MSDA203A1A

MSDA253A1A

MSDA303A1A

MSDA353A1A

MSDA403A1A

MSDA453A1A

MSDA503A1A

4-2

4-2

4-3

4-3

5

5

5

5

5

rated

output

[W]

rated

torque

[Nm]

rated

rpm

[min-1]

Servo Motors

Product No.

brake oil

seal

key

shaft

17-bit

absolute

encoder

Driver

Product No.

Driver

Type

8


Common Specifications for Drivers

Main power

Control power

Type 1 ~ Type 3

Type 4 ~ Type 5

Type 1 ~ Type 5

Max. command pulse frequency

Input pulse signal form

Input pulse type

Electronic gear

(Command pulse scaling)

Control input

Velocity control range

Acceleration/deceleration time setting

External analog velocity command

Internal velocity setting

Control input

External analog torque command

CW/CCW torque limit

IGBT PWM sine wave control

2500 p/r incremental encoder or 17-bit absolute/incremental encoder

Operating temperature: 0 to 55˚C, Storing temperature: –20 to +85˚C

Operating/storing humidity: 90% RH or less (no condensation)

1000 m or lower level above the sea

5.88 m/s 2 max. 10 to 60 Hz (Continuous operation with resonance frequency is not allowed).

Vel

ocity

con

trol

Sig

nal o

utpu

tB

uilt-

in fu

nctio

n

200V

Pow

er s

uppl

y

500 kpps

1) RS422 line drive signal, 2) Open-collector signal (from controller)

1) CW/CCW pulse signal, 2) Pulse signal/rotating direction signal, 3) 90˚phase difference signal

Command pulse scale input = Command pulse frequency x (1 to 10000) x 2 (0 to 17)

1 to 10000

1) Error counter clear, 2) Command pulse inhibit

1:5000

0 to 10 s/1000 rpm, Acceleration time and deceleration time can be separately specified. Sigmoidal acceleration/deceleration is enabled.

Maximum allowable input voltage =±10 V, 6 V / Scale to command voltage at rated velocity (standard

default setting) and direction of motor rotation can be specified with parameters.

Four-level velocities can be specified with parameters.

1) Speed zero clamp, 2) Internal velocity setting selection

Maximum allowable input voltage =±10 V, 3 V / Scale to command voltage at rated velocity (standard

default setting) and direction of motor rotation can be specified with parameters.

With the external analog voltage command, CW and CCW torque limits can be separately specified.

1) Servo alarm, 2) Servo ready, 3) External brake release, 4) At-speed (for velocity/torque control)

/in-position (for position control), 5) Torque in-limit, 6) In-position (for position control)

2500 p/r incremental encoder : 1 to 2500 p/r (parameter setting)

17-bit absolute/incremental encoder : 1 to 16384 p/r (parameter setting)

1) Line drive output (phases A, B and Z), 2) Open-collector output (phase Z)

6-digit, 7-segment LED

SP terminal: Selection of actual motor speed or command velocity, and scale can be specified with parameters.

IM terminal: Selection of torque command, position error, and scale can be specified with parameters.

Type 1 ~ Type 5: Built-in regenerative discharge resistor, Type 6 : External regenerative discharge resistor

Operation sequence at power off, servo off, activation of protective function and overtravel inhibit input can be specified.

1) Overtravel inhibit input, 2) Torque limit input, 3) Command pulse inhibit input, 4) Speed zero clamp input

Estimates load inertia, and defines proper servo gain.

Adaptive to load inertia fluctuations during operation.

Five pushbutton switches on front panel

PANATERM (Applicable OS: Windows95, Windows98, Windows2000, WindowsNT and WindowsME)

Control output

Encoder signal scale

Monitor output

Scale output

Signal output

Digital display

Analog output

Regenerative discharge

Dynamic brake

Unused wiring masking function

Auto tuning function

Setup

Normal

Real-time

Manual

Setup support software

Control method

Feedback

Environment

Control mode

Protective function

Control input

Temperature

Humidity

Altitude

Vibration

Tor

que

cont

rol

1) Position control, 2) Velocity control, 3) Torque control, 4) Position/velocity control, 5) Position/torque control, 6) Velocity/torque control, 7) Semi-closed control *, 8) Full-closed control (first) *, 9) Hybrid control *, 10) Velocity (first)/external encoder (second) control *, 11) Velocity (first)/semi-closed (second) control *Note) The control modes indicated with * can be used for the motor with 17-bit encoder only.

Undervoltage, Overvoltage, Overcurrent, Radiator overheat, Overload, Regenerative discharge overload, Encoder error, Position error excess, Hybrid error excess, Command pulse scale error, Overvelocity, External scale error, EEPROM error, Absolute encoder battery voltage error, Absolute encoder rotation excess, etc.

1)Servo on, 2) Alarm clear 3) Gain switching, 4) Control mode switching, 5) CW overtravel inhibit /Smoothing filter switching, 6) CCW overtravel inhibit /Command pulse scale switching 2, 7) Command pulse scale switching 1

MODE SET

+10%–15%

50 / 60 Hz1 / 3-phase 200 ~ 230V AC

+10%–15%

50 / 60 Hz3-phase 200 ~ 230V AC

+10%–15%

50 / 60 Hz1-phase 200 ~ 230V AC

Pos

ition

con

trol

Sig

nal i

nput

9


Dimensions, Drivers

Type 5, 3 kW to 5 kW

Type 4-3, 2 kW to 2.5 kW

Type 2/3, 200 to 750 WType 1, 30 to 50 W

Type 4-2, 1 kW to 1.5 kW

10


Specifications Motors 30 W to 100 W

200 VAC

3AZA1* 5AZA1* 5AZC1* 012A1* 012C1*

3A5A1A 5A5A1A 5A5D1A 015A1A 013D1A

Note) This amplifier model uses single-phase/3-phase 200 V power supply.

0.016

0.020

0.025

0.030

0.035

0.040

0.062

0.066

0.072

0.076

0.3

30

0.095

0.28

1.0

4.3

0.3

100

0.32

0.95

1.0

4.3

0.3

50

0.16

0.48

1.0

4.3

MSMA

3000

5000

30 or less

10000

IP65 (excluding through hole for motor shaft, and cable connector)

0° to 40° C (no freezing), Storing temperature: –20° to +80° C

85 % RH or less (no condensation)

Indoors (no direct sunlight), free from corrosive gas, inflammable gas, oil mist or dust


10000 131072 10000 131072

0.27 (0.47)

0.29

25

20 (30)

0.26

1 VDC or more

24VDC ±10%

147

88

117

68

58

58

49

29

29

No limitation Note 2)


0.34 (0.53)

49 m/s2 max.

0.40 (0.59) 0.56 (0.76) 0.62 (0.82)

Without optional parts

DV0P1981

MSDA

Type 1Type

Rated rpm

Maximum rpm

Power supply capacity

Rated output

Rated torque

Maximum instantaneous torque

Rated current

Maximum current

(kVA)

(W)

(N •m)

(N •m)

(Arms)

(Ao-p)

Resolution per revolution

Motor model

Applicable amplifier

Regenerative discharge brake frequency(Times/min) Note 1)

Moment of rotor inertia (x 10–4kg•m2)

Without brake

With brake

Allowable load

Static friction torque (N•m) (Min.)

Engaging time (ms) (Max.)

Release time (ms) (Max.) (Note 4)

Exciting current (DC) (A)

Release voltage

Exciting voltage

During

assembly

During

operation

(min–1)

(min–1)

Environment

Enclosure rating

Ambient temperature

Ambient humidity

Installation location

Altitude

Vibration resistance

Weight, ( ): with Holding Brake

(Encoder)Position/velocity detector

Brake specifications (The brake will be released when the holding brake is energized. It cannot be used for braking motor in operation.)

Recommended ratio of moment of load inertia to moment of rotor inertia Note 3)

17-bit absolute/incremental


2500 p/r incremental



(kg)

Radial load (direction P)(N)

Thrust load (direction A)(N)

Thrust load (direction B)(N)




49 m/s2 max. 24 m/ 49 m/s2 max. 24 m/s2 max.s2 max.

11


Tourque Characteristics

MSMA3AZ*1* MSMA5AZ*1*

Wit

hou

t O

il S

eal

Wit

hou

t O

il S

eal

Wit

h O

il S

eal

Wit

h O

il S

eal

MSMA012*1*

Wit

hou

t O

il S

eal

Wit

h O

il S

eal

0.15

0 1000 2000 3000 4000 5000

0.3

Torque[N•m]

Motor rpm [min–1]

50

0 10 20 30 40

100

Ambient temperature [ C]

* Continuous torque vs. ambient temperature

Rated torque ratio [%

]

0.15

0 1000 2000 3000 4000 5000

0.3

Torque[N•m]

Motor rpm [min–1]

605045

0 10 20 30 40

100



With brake

Without brake


]

0.25

0 1000 2000 3000 4000 5000

0.5

Torque[N•m]

Instantaneousoperation range



Motor rpm [min–1]

90

50

0 10 20 30 40

100


* Continuous torque vs. ambient temperature With brakeR

ated torque ratio [%]

0.25

0 1000 2000 3000 4000 5000

0.5

Torque[N•m]

Motor rpm [min–1]

706050

0 10 20 30 40

100



With brake

Without brakeRated torque ratio [%

]

0.5

0 1000 2000 3000 4000 5000

1.0

Torque[N•m]

Motor rpm [min–1]


95

50

0 10 20 30 40

100


With brake


]

757050

0 10 20 30 40

100



0.5

0 1000 2000 3000 4000 5000

1.0

Torque[N•m]

Motor rpm [min–1]

With brake


]

A

B

Thrust load (A or B)

Radial load (P)L

L/2P

Shaft

Motor

Continuous operation range









Note) 1. The regenerative discharge brake frequency indicates the allowable frequency for braking a motor without load, from rated rpm to deceleration to stop. • If a load is connected to the motor, the brake frequency is defined

as 1/(m+1) from the value given in the table. (m= moment of load inertia/moment of rotor inertia)

• If the motor rpm exceeds the rated value, the regenerative discharge brake frequency is inversely proportional to the square of [operating rpm / rated rpm].

The power supply voltage is 230 VAC (when amplifier power supply voltage is 200 VAC).

If the power supply voltage fluctuates, the regenerative discharge brake frequency is inversely proportional to the square of [operating power supply voltage / 230] relative to the value in the table. If the operating rpm frequently changes, or the regenerative discharge brake is frequently activated (e.g. in vertical feed operation), contact us for detailed information.

2. There is no limitation on the regenerative discharge brake frequency, if the effective (root-mean square) torque is within the rated torque range.

3. If the ratio of load inertia moment exceeds the specified value, contact us for detailed information.

4. The specified release time applies to the case where the surge absorber for motor brake (Ishizuka: C-5A2/Z15D151 or equivalent) is used.

( ) indicates the data measured with diode (200V 1A or equivalent).

•

•

Amplifier power supply voltage: 200 VAC

12


Specifications, Motors (200 W to 750 W)

200 VAC

022A1* 022C1* 042A1* 042C1* 082A1* 082C1*

023A1A 023D1A 043A1A 043D1A 083A1A 083D1A

Note) For the 200W and 400 W amplifier models, the model on the upper stage uses 3-phase 200 V power supply, and the model on the lower stage uses single-phase 200 V power supply.

0.5

200

0.64

1.91

1.6

6.9


1.32

1.40

1.31

1.39

0.37

0.40

0.36

0.39

0.18

0.21

0.17

0.20

0.9

400

1.3

3.8

2.5

10.5



1.3

750

2.4

7.1

4.3

18.3



DV0P1981 x 1

DV0P1983 x 1

MSMA

3000

45005000

30 or less 20 or less

10000 131072 10000 131072 10000 131072


0° to 40° C (no freezing), Storing temperature: -20° to +80° C




1.0 (1.4) 1.1 (1.5) 1.6 (2.0) 1.7 (2.1) 3.2 (3.9) 3.3 (4.0)

1.27

50

15 (100)

0.36

1 VDC or more

24VDC ±10%

2.45

60

15 (100)

0.43

392

147

196

245

98

98

686

294

392

392

147

147

MSDA

Type 1Type 2

Type 2Type 3 Type 3

49 m/s2 max. 24 m/s2 max. 49 m/s2 max. 24 m/s2 max. 49 m/s2 max. 24 m/s2 max.

Type

Rated rpm

Maximum rpm


Rated output

Rated torque


Rated current

Maximum current

(kVA)

(W)

(N •m)

(N •m)

(Arms)

(Ao-p)


Motor model



Note)


Without brake

With brake

Allowable load





Release voltage

Exciting voltage

During

assembly

During

operation

(min–1)

(min–1)

Environment

Enclosure rating

Ambient temperature

Ambient humidity


Altitude












(kg)







13



MSMA022*1* MSMA042*1*

Wit

hou

t O

il S

eal

Wit

hou

t O

il S

eal

Wit

h O

il S

eal

Wit

h O

il S

eal

MSMA082*1*

Wit

hou

t O

il S

eal

Wit

h O

il S

eal

1.0

0 1000 2000 3000 4000 5000

2.0

Torque[N•m]

Motor rpm [min–1]

8070

0 10 20 30 40

100



1.0

0 1000 2000 3000 4000 5000

2.0

Torque[N•m]

Motor rpm [min–1]

With brake

Without brake

90

50

0 10 20 30 40

100


* Continuous torque vs. ambient temperatureR



]

2.0

0 1000 2000 3000 4000 5000

4.0

Torque[N•m]

Motor rpm [min–1]

90

50

0 10 20 30 40

100




]

2.0

0 1000 2000 3000 4000 5000

4.0

Torque[N•m]

Motor rpm [min–1]

75

50

0 10 20 30 40

100




]

4.0

8.0

0 1000 2000 3000 4000 5000

Torque[N•m]

Motor rpm [min–1]

50

0 10 20 30 40

100




4.0

0 1000 2000 3000 4000 5000

8.0

Torque[N•m]

Motor rpm [min–1]

50

0 10 20 30 40

100
















A

B


Radial load (P)L

L/2P

Shaft

Motor

Note) 1. The regenerative discharge brake frequency indicates the allowable frequency for braking a motor without load, from rated rpm to deceleration to stop. • If a load is connected to the motor, the brake frequency is defined

as 1/(m+1) from the value given in the table. (m= moment of load inertia/moment of rotor inertia)

• If the motor rpm exceeds the rated value, the regenerative discharge brake frequency is inversely proportional to the square of [operating rpm / rated rpm].The power supply voltage is 230 VAC (when amplifier power supply voltage is 200 VAC).

If the power supply voltage fluctuates, the regenerative discharge brake frequency is inversely proportional to the square of [operating power supply voltage / 230] relative to the value in the table. If the operating rpm frequently changes, or the regenerative discharge brake is frequently activated (e.g. in vertical feed operation), contact us for detailed information. There is no limitation on the regenerative discharge brake frequency, if the effective (root-mean square) torque is within the rated torque range. If the ratio of load inertia moment exceeds the specified value, contact us for detailed information. The specified release time applies to the case where the surge absorber for motor brake (Ishizuka: C-5A2/Z15D151 or equivalent) is used.

( ) indicates the data measured with diode (200V 1A or equivalent).

•

•

2.

3.

4.


(The dotted line indicates the data obtained at 10% power supply voltage drop.)

14


Specifications, Motors (1 kW to 2 kW)

200 VAC

102A1* 152A1* 202A1*

103A1A 153A1A 203A1A

1.69

1.88

2.59

2.84

3.46

3.81

1.8

1000

3.18

9.5

7.2

30

3.3

2000

6.36

19.1

13.0

56

2.3

1500

4.77

14.3

9.4

40


DV0P1983 x 1

MSMA

3000

5000

15 or less

10000






10000 10000

4.5 (5.1)

2 VDC or more

24VDC ±10%

7.8

50

15 (100)

0.81

4.9

50

15 (100)

0.74

686

392

490

392

147

147

980

588

686

490

196

196



5.1 (6.5)

49 m/s2 max.

6.5 (7.9)

MSDA

Type 4–3Type 4–2Type 4–2Type

Rated rpm

Maximum rpm


Rated output

Rated torque


Rated current

Maximum current

(kVA)

(W)

(N •m)

(N •m)

(Arms)

(Ao-p)


Motor model




Without brake

With brake

Allowable load





Release voltage

Exciting voltage

During

assembly

During

operation

(min–1)

(min–1)

Environment

Enclosure rating

Ambient temperature

Ambient humidity


Altitude









(kg)







15




MSMA102*1* MSMA152*1*

MSMA202*1*

5

0 1000 2000 3000 4000 5000

10

Torque[N•m]

Motor rpm [min–1]

50

0 10 20 30 40

100




]

7.5

0 1000 2000 3000 (3500)

4000 5000

15

Torque[N•m]

Motor rpm [min–1]

0 10 20 30 40

10085

50



With brake

Without brake


]

10

0 1000 2000 3000 4000 5000

20

Torque[N•m]

Motor rpm [min–1]

0 10 20 30 40

100857050



With brake

Without brake


]







A

B


Radial load (P)L

L/2P

Shaft

Motor

Note) 1. The regenerative discharge brake frequency indicates the allowable frequency for braking a motor without load, from rated rpm to deceleration to stop. • If a load is connected to the motor, the brake frequency is defined as 1/(m+1) from the value given in the table. (m= moment of load inertia/moment of rotor inertia)• If the motor rpm exceeds the rated value, the regenerative discharge brake frequency is inversely proportional to the square of [operating rpm / rated rpm].• The power supply voltage is 230 VAC (when amplifier power supply voltage is 200 VAC).If the power supply voltage fluctuates, the regenerative discharge brake frequency is inversely proportional to the square of [operating power supply voltage / 230] relative to the value in the table. • If the operating rpm frequently changes, or the regenerative discharge brake is frequently activated (e.g. in vertical feed operation), contact us for detailed information. There is no limitation on the regenerative discharge brake frequency, if the effective (root-mean square) torque is within the rated torque range. If the ratio of load inertia moment exceeds the specified value, contact us for detailed information. The specified release time applies to the case where the surge absorber for motor brake (Ishizuka: C-5A2/Z15D151 or equivalent) is used. ( ) indicates the data measured with diode (200V 1A or equivalent).

2.

3.

4.


16


Specifications, Motors (2.5 kW to 3.5 W)

200 VAC

252A1* 302A1* 352A1*

253A1A 303A1A 353A1A

4.31

4.74

6.77

7.54

7.90

8.69

3.8

2500

7.94

23.8

15.9

68

5.3

3500

11.0

33.2

21.6

92

4.5

3000

9.54

28.6

18.6

80


DV0P1983 x 1

DV0P1983 x 2

MSMA

3000

5000

15 or less

10000






10000 10000

7.5 (8.9)

2 VDC or more

24VDC ±10%

11.8

80

15 (100)

0.81

7.8

50

15 (100)

0.81

980

588

686

490

196

196





9.3 (11.0)

49 m/s2 max.

10.9 (12.6)

MSDA

Type 5Type 4–3 Type 5Type

Rated rpm

Maximum rpm


Rated output

Rated torque


Rated current

Maximum current

(kVA)

(W)

(N •m)

(N •m)

(Arms)

(Ao-p)


Motor model




Without brake

With brake

Allowable load





Release voltage

Exciting voltage

During

assembly

During

operation

(min–1)

(min–1)

Environment

Enclosure rating

Ambient temperature

Ambient humidity


Altitude









(kg)







17




MSMA252*1* MSMA302*1*

MSMA352*1*

10

0 1000 2000 3000 4000 5000

20(23.8)

Torque[N•m]

Motor rpm [min–1]

0 10 20 30 40

100

7050



With brake


]

15

0 1000 2000 3000 4000 5000

30

Torque[N•m]

Motor rpm [min–1]

0 10 20 30 40

100908550



With brake

Without brake


]

15

0 1000 2000 3000 4000 5000

30

Torque[N•m]

Motor rpm [min–1]

0 10 20 30 40

100908550



With brake

Without brake


]







A

B


Radial load (P)L

L/2P

Shaft

Motor

Note) 1. The regenerative discharge brake frequency indicates the allowable frequency for braking a motor without load, from rated rpm to deceleration to stop. • If a load is connected to the motor, the brake frequency is defined as 1/(m+1) from the value given in the table. (m= moment of load inertia/moment of rotor inertia)• If the motor rpm exceeds the rated value, the regenerative discharge brake frequency is inversely proportional to the square of [operating rpm / rated rpm].• The power supply voltage is 230 VAC (when amplifier power supply voltage is 200 VAC).If the power supply voltage fluctuates, the regenerative discharge brake frequency is inversely proportional to the square of [operating power supply voltage / 230] relative to the value in the table. • If the operating rpm frequently changes, or the regenerative discharge brake is frequently activated (e.g. in vertical feed operation), contact us for detailed information. There is no limitation on the regenerative discharge brake frequency, if the effective (root-mean square) torque is within the rated torque range. If the ratio of load inertia moment exceeds the specified value, contact us for detailed information. The specified release time applies to the case where the surge absorber for motor brake (Ishizuka: C-5A2/Z15D151 or equivalent) is used. ( ) indicates the data measured with diode (200V 1A or equivalent).

2.

3.

4.


18


Specifications, Motors (4 kW to 5 W)

200 VAC

402A1* 452A1* 502A1*

403A1A 453A1A 503A1A

12.70

14.10

15.30

17.00

17.80

19.70

6.0

4000

12.6

37.9

24.7

105

7.5

5000

15.8

47.6

28.5

120

326


6.8

4500

14.3

42.9

28.0

118

MSMA

3000

4500

15 or less

10000






10000 10000

12.9 (14.8)

2 VDC or more

24VDC ±10%

16.1

110

50 (130)

0.90

980

588

686

784

343

343



15.1 (17.0)

49 m/s2 max.

17.3 (19.2)

MSDA

Type 5


DV0P1983 x 2

Type

Rated rpm

Maximum rpm


Rated output

Rated torque


Rated current

Maximum current

(kVA)

(W)

(N •m)

(N •m)

(Arms)

(Ao-p)


Motor model




Without brake

With brake

Allowable load





Release voltage

Exciting voltage

During

assembly

During

operation

(min–1)

(min–1)

Environment

Enclosure rating

Ambient temperature

Ambient humidity


Altitude




Brake specifications (The brake will be released when the holding brake is energised. It cannot be used for braking motor in operation.)





(kg)







19





MSMA402*1* MSMA452*1*

MSMA502*1*

20

0 1000 2000 3000 4000 5000

40

Torque[N•m]

Motor rpm [min–1]

0 10 20 30 40

100908550



With brake


]

25

0 1000 2000 3000 4000 5000

50

Torque[N•m]

Motor rpm [min–1]

0 10 20 30 40

100857050



With brake


]

25

0 1000 2000 3000 4000 5000

50

Torque[N•m]

Motor rpm [min–1]

0 10 20 30 40

100

7050




]







A

B


Radial load (P)L

L/2P

Shaft

Motor

Note) 1. The regenerative discharge brake frequency indicates the allowable frequency for braking a motor without load, from rated rpm to deceleration to stop. • If a load is connected to the motor, the brake frequency is defined as 1/(m+1) from the value

given in the table. (m= moment of load inertia/moment of rotor inertia)• If the motor rpm exceeds the rated value, the regenerative discharge brake frequency is

inversely proportional to the square of [operating rpm / rated rpm].• The power supply voltage is 230 VAC (when amplifier power supply voltage is 200 VAC).

If the power supply voltage fluctuates, the regenerative discharge brake frequency is inversely proportional to the square of [operating power supply voltage / 230] relative to the value in the table.

• If the operating rpm frequently changes, or the regenerative discharge brake is frequently activated (e.g. in vertical feed operation), contact us for detailed information.

2. There is no limitation on the regenerative discharge brake frequency, if the effective (root-mean square) torque is within the rated torque range.

3. If the ratio of load inertia moment exceeds the specified value, contact us for detailed information.

4. The specified release time applies to the case where the surge absorber for motor brake (Ishizuka: C-5A2/Z15D151 or equivalent) is used. ( ) indicates the data measured with diode (200V 1A or equivalent).

20


Dimensions, Motors

Dimensions, Motors (30 W to 750 W)

MSMA3AXA1X

MSMA5AZA1XMSMA5AZC1C

MSMA012A1XMSMA012C1X

MSMA022A1XMSMA022C1A



30

5050

100100

200200

400400

750750

65

7389.5

103119.5

94109

123.5138.5

142.5157.5

97

105121.5

135151.5

127142

156.5171.5

177.5192.5

7

8

8

11

14

19

45

45

45

70

70

90

30

30

30

50

50

70

38

38

38

60

60

80

6

6

6

7

7

8

3.4

3.4

3.4

4.5

4.5

6

rated

output

[W]

LL [mm]

brakeno yes

Servo Motors

Product No.

S[mm]

LA[mm]

LB[mm]

LC[mm]

LF[mm]

LZ[mm]

32

32

32

43

43

53

LH[mm]

25

25

25

30

30

35

LR[mm]

21


Dimensions, Motors

Dimensions, Motors (1 kW to 5 kW)

MSMA102A1X

MSMA152A1X

MSMA202A1X

MSMA252A1X

MSMA302A1X

MSMA352A1X

MSMA402A1X

MSMA452A1X

MSMA502A1X

1000

1500

2000

2500

3000

3500

4000

4500

5000

175

180

205

230

217

237

240

260

280

200

205

230

255

242

262

265

285

305

19

19

19

19

22

22

24

24

24

100

115

115

115

130/145(Slot)

130/145(Slot)

145

145

145

80

95

95

95

110

110

110

110

110

90

100

100

100

120

120

130

130

130

7

10

10

10

12

12

12

12

12

6.6

9

9

9

9

9

9

9

9

rated

output

[W]

LL [mm]

brakeno yes

Servo Motors

Product No.

S[mm]

LA[mm]

LB[mm]

LC[mm]

LF[mm]

LZ[mm]

98

103

103

103

111

111

118

118

118

LH[mm]

55

55

55

55

55

55

65

65

65

LR[mm]

22


Motion Control Library for FPWIN Pro

MC_MoveAbsolute Single-axis motion to a specified absolute position.

1) If executed, the current motion is briefly interrupted due to hardware reasons.

PLCopen, an independent international organisation, defined a Motion Control Library. Their goal was to have unified programming for different hardware systems with equivalent Function Blocks.

The Matsushita Motion Cotrol Library includes Function Blocks programmed according to the PLCopen´s specifications. It is easy to use and understand and efficient in design.

MC_MoveVelocity Single-axis motion at a specified velocity.

MC_Home Single-axis motion to the home position.

MC_MoveAdditive1)

Adds a relative motion to a single axis motion. The distance is added to the target position of the previously executed FB.

MC_MoveSuperimposed1)

Superimposes a relative motion to a running single-axis motion.

Example Single-Axis Function Blocks

MC_MoveRelative Single-axis motion to a specified distance relative to the actual position.

23

MC_StopStops a single-axis motion using a specified modus (ramp to stop, emergency stop).

MC_ReadStatusOutputs the motion status (PLCopen definition) of a single-axis motion.

MC_ReadActualPositionOutputs the actual position of a single-axis.

MC_ResetResets all internal errors of a single-axis after a stop due to an error.

MC_PositionProfile Single-axis motion according to a time-position motion profile.

MC_VelocityProfileSingle-axis motion profile according to a time-velocity motion profile.

Order information: NAiS Motion Control Library NCL-MC-LIB


Motion Control Library for FPWIN Pro

24


Software

Software PANATERM

With the Windows-based software PANATERM, drive parameters can be easily accessed, saved and downloaded viaRS232C.

Features: • Set and store of parameters, and write to EEPROM • Monitor input/output status, input and load ratio• Check error status and error history• Measure of wave form graphic data, and save and read data• Auto-tuning • Measure frequency characteristics

Order information: Software PANATERM English version DVOP3180

Other Accessories and Cables

Connector for PLC connection, 50 pins, without cable DVOP0980Connector Kit for Motor and Encoder MSMA 30 W..750 W 2500p/r encoder DVOP0490Connector Kit for Motor and Encoder MSMA 1 kW..2.5 kW, without brake DVOP0960Connector Kit for Motor and Encoder MSMA 3 kW..5 kW, without brake DVOP1510RS232C Communication cable to PC 9 pin Sub-D, 2 m DVOP1960RS485 Communication Cable Mini-DIN8Pin -MD connector, 1 m DVOP1972EMC 1-phase filter 250VAC, 50/60 Hz, 6A FS5739-6/07Cable MSDA to FP-Series, 50-pins / open ends, 0.25 m (2 pieces) AFP3510Cable MSDA to FP-Series, 50-pins / open ends, 0.5 m (2 pieces) AFP3511Cable MSDA to FP-Series, 50-pins / open ends, 1.5 m (2 pieces) AFP3513Cable MSDA to FP-Series, 50-pins / open ends, 5 m (2 pieces) AFP35110I/F Connector Terminal for FP2 - MSDA, 1 axis AFP8501I/F Connector Terminal for FP2 - MSDA, 2 axis AFP8502Cable for connection of FP2 to I/F Terminal, 0.5 m AFP85100Cable for connection of FP2 to I/F Terminal, 1 m AFP85101Cable for connection of MSDA - I/F Terminal, 1 m AFP85111Cable for connection of MSDA - I/F Terminal, 2 m AFP85112

25


Accessories / Cables / Options

Encoder Cables Part No.

For MSMA up to 750 W, 5 m CDE3751For MSMA up to 750 W, 10 m CDE3752For MSMA up to 750 W, 15 m CDE3753For MSMA up to 750 W, 20 m CDE3754For MSMA from 1 to 5 kW, 5 m CDE1501For MSMA from 1 to 5 kW, 10 m CDE1502For MSMA up to 750 W, 5 m, usable for drag chain CDE3751PMFor MSMA up to 750 W, 10 m, usable for drag chain CDE3752PMFor MSMA up to 750 W, 15 m, usable for drag chain CDE3753PMFor MSMA up to 750 W, 20 m, usable for drag chain CDE3754PMFor MSMA from 1 to 5 KW, 5 m, usable for drag chain CDE1501PMFor MSMA from 1 to 5 kW, 10 m, usable for drag chain CDE1502PMMotor Cables

For MSMA up to 750 W without brake, 5 m CDM3751For MSMA up to 750 W without brake, 10 m CDM3752For MSMA up to 750 W without brake, 15 m CDM3753For MSMA up to 750 W without brake, 20 m CDM3754For MSMA up to 750 W with brake, 5 m CFM3751For MSMA up to 750 W with brake, 10 m CFM3752For MSMA up to 750 W with brake, 15 m CFM3753For MSMA up to 750 W with brake, 20 m CFM3754For MSMA from 1 to 2,5 KW without brake, 5 m CDM1251For MSMA from 1 to 2,5 KW without brake, 10 m CDM1252For MSMA up to 750 W without brake, 5 m, usable for drag chain CDM3751PMFor MSMA up to 750 W without brake, 10 m, usable for drag chain CDM3752PMFor MSMA up to 750 W without brake, 15 m, usable for drag chain CDM3753PMFor MSMA up to 750 W without brake, 20 m, usable for drag chain CDM3754PMFor MSMA up to 750 W with brake, 5 m, usable for drag chain CFM3751PMFor MSMA up to 750 W with brake, 10 m, usable for drag chain CFM3752PMFor MSMA up to 750 W with brake, 15 m, usable for drag chain CFM3753PMFor MSMA up to 750 W with brake, 20 m, usable for drag chain CFM3754PMFor MSMA from 1 to 2,5 KW without brake, 5 m, usable for drag chain CDM1251PMFor MSMA from 1 to 2,5 KW without brake, 10 m, usable for drag chain CDM1252PMFor MSMA from 1 to 2,5 KW with brake, 5 m, usable for drag chain CFM1251PMFor MSMA from 3 to 2,5 KW with brake, 10 m, usable for drag chain CFM1252PM

26

Stitching machineFP0T32CP controls 2 MINAS A servos, one for feeding the cloth, one for the needle. Both servos are sychronized accurately by the PLC for achieving good quality.

Machine for ceramic tube cuttingFP ∑ (Sigma) controls the whole machine and offershigh flexibility for production of tubes with variable

length and quantity.

Leather cutting machineFP2 with positioning module and

MINAS A servo control the cutting process with high speed and an

accuracy of 10 µm.

Control cabinet with FP0T32CP, MSDA203A1A and MSDA083A1A


Typical Applications

27

Labelling machine

Quality control in

automotive industry

MINAS A 400W type tooth belt

transmissionMachine for cutting paper750W Panasonic servo controls the cutting blade


Typical Applications

■Packaging machines with several axes■Winding machines■Textile machines■Gate and door control

Other application examples:

Global Network Services

Asia Pacific

MatsushitaElectric Works(Asia Pacific) Pte. Ltd.

China

MatsushitaElectric Works (China) Co., Ltd.

Japan

MatsushitaElectric Works, Ltd.Global Headquarter

North America

AromatCorporation

Europe

MatsushitaElectric Works(Europe) AG

Copyright © 2004 • Printed in Germany4152 eu en 07/04

Please contact our Global Sales Companies in:

Europe

� Europe Matsushita Electric Works (Europe) AG Rudolf-Diesel-Ring 2, 83607 Holzkirchen, Tel. (08024) 648-0, Fax (08024) 648-111, www.mew-europe.com� Austria Matsushita Electric Works Austria GmbH Josef Madersperger Str. 2, 2362 Biedermannsdorf, Tel. (0 22 36) 2 68 46, Fax (0 22 36) 4 61 33, www.matsushita.at

MEW Electronic Materials (Europe) GmbH Industriehafenstraße 9, 4470 Enns, Tel. (0 72 23) 8 83, Fax (0 72 23) 8 83 33, www.mew-europe.com� Benelux Matsushita Electric Works Benelux B.V. De Rijn 4, (Postbus 211), 5684 PJ Best, (5680 AE Best), Netherlands, Tel. (0499) 372727, Fax (0499) 372185, www.matsushita.nl, www.matsushita.be� Czech Republic Matsushita Electric Works (CZ) s.r.o. Prumyslová 1, CZ-34815 Planá, Tel. 374799990, Fax 374799999, www.nais.cz� France Matsushita Electric Works France S.A.R.L. B.P. 44, F-91371 Verrières le Buisson CEDEX, Tél. 01 60135757, Fax 01 60135758, www.matsushita-france.fr

MEW Electronic Materials (France) S.p.A. 26 Allée du Clos des Charmes, 77090 Collegien, Tél. 01 64622919, Fax 01 64622809� Germany Matsushita Electric Works Deutschland GmbH Rudolf-Diesel-Ring 2, 83607 Holzkirchen, Tel. (08024) 648-0, Fax (08024) 648-555, www.matsushita.de� Ireland Matsushita Electric Works UK Ltd. Irish Branch Office, Waverley, Old Naas Road, Bluebell, Dublin 12, Tel: (01) 4600969, Fax: (01) 4601131, www.matsushita.ie� Italy Matsushita Electric Works Italia s.r.l. Via del Commercio 3-5 (Z.I. Ferlina), 37012 Bussolengo (VR), Tel. (045) 6752711, Fax (045) 6700444, www.matsushita.it

MEW Building Materials (Europe) s.r.l. Viale Elvezia 18, 20154 Milano (MI), Tel. (02) 33604525, Fax (02) 33605053MEW Lighting (Europe) s.r.l. Via del Commercio 3-5 (Z.I. Ferlina), 37012 Bussolengo (VR), Tel. (045) 6703882, Fax (045) 6717420

� Portugal Matsushita Electric Works España S.A. Portuguese Branch Office, Avda Adelino Amaro da Costa 728 R/C J, 2750-277 Cascais, Tel. (21) 4812520, Fax (21) 4812529� Scandinavia Matsushita Electric Works Scandinavia AB Sjöängsvägen 10, 19272 Sollentuna, Sweden, Tel. (08) 59476680, Fax (08) 59476690, www.matsushita.se

MEW Fire & Security Technology AB Citadellsvägen 23, 21118 Malmö, (040) 6977000, Fax (040) 6977099, www.mfstech.com� Spain Matsushita Electric Works España S.A. Barajas Park, San Severo 20, 28042 Madrid, Tel. (91) 3293875, Fax (91) 3292976, www.matsushita.es� Switzerland Matsushita Electric Works Schweiz AG Grundstrasse 8, 6343 Rotkreuz, Tel. (041) 7997050, Fax (041) 7997055, www.matsushita.ch� United Kingdom Matsushita Electric Works UK Ltd. Sunrise Parkway, Linford Wood, Milton Keynes, MK14 6LF, Tel. (01908) 231555, Fax (01908) 231599, www.matsushita.co.uk

North & South America

� USA Aromat Corporation Head Office USA 629 Central Avenue, New Providence, N.J. 07974, Tel. 1-908-464-3550, Fax 1-908-464-8513, www.aromat.com

Asia Pacific / China / Japan

� China Matsushita Electric Works (China) Co., Ltd. 2013, Beijing Fortune, Building No. 5, Dong San Huan Bei Lu, Chaoyang District, Beijing, Tel. 86-10-6590-8646, Fax 86-10-6590-8647� Hong Kong Matsushita Electric Works (Hong Kong), Ltd. Rm1601, 16/F, Tower 2, The Gateway, 25 Canton Road, Tsimshatsui, Kowloon, Hong Kong, Tel. (852) 2956-3118, Fax (852) 2956-0398� Japan Matsushita Electric Works, Ltd. 1048 Kadoma, Kadoma-shi, Osaka 571-8686, Japan, Tel. 06-6908-1050, Fax 06-6908-5781, www.mew.co.jp/e-acg/� Singapore Matsushita Electric Works (Asia Pacific) Pte. Ltd. 101 Thompson Road, #25-03/05, United Square, Singapore 307591, Tel. (65) 6255-5473, Fax (65) 6253-5689

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