Operating Instructions (Basic) AC Servo Motor & Driver MINAS A5-series Make sure to forward these Operating Instructions for safety to the final user. • Thank you for purchasing this Panasonic product. • Before operating this product, please read the instructions carefully, and save this manual for future use. 1. Introduction ................................. B2 On Opening the Product Package .................. B2 Check of the Driver Model .............................. B2 Check of the Motor Model............................... B3 2. Installation................................... B4 Driver .............................................................. B4 Motor............................................................... B6 3. System Configuration and Wiring ........................................... B8 Overall Wiring (Connector type) ..................... B8 Overall Wiring (Terminal block type) ................. B12 Driver and List of Applicable Peripheral Equipments .... B14 Wiring of the Main Circuit (Connector type)......... B16 Wiring of the Main Circuit (Terminal block type) ... B18 Wiring method to connector ............................. B19 Wiring Diagram ............................................. B21 Wiring of connector for motor and brake ...... B23 Wiring to the Connector, X1 ......................... B24 Wiring to the Connector, X2 ......................... B24 Wiring to the Connector, X3 ......................... B25 Wiring to the Connector, X4 ......................... B26 Wiring to the Connector, X5 ......................... B29 Wiring to the Connector, X6 ......................... B30 Wiring to the Connector, X7 ......................... B32 4. Parameter .................................. B33 Outline / Setup / Connection......................... B33 Composition of Parameters .......................... B35 5. Protective Functions ................ B36 Protective Function (What Is Error Code ?) ...... B36 6. Maintenance and Inspections .... B38 7. Conformity to EC Directives and UL Standards ..................... B40 Composition of Peripheral Equipments ........ B42 8. Built-in Holding Brake .............. B48 9. Dynamic Brake.......................... B50 10. Check of the Combination of the Driver and the Motor............ B51 Incremental Specifications, 20-bit ............... B51 Absolute Specifications, 17-bit ................... B52 11. Specifications ......................... B53 After-Sale Service (Repair) .......... B56 page page <Contents> If you are the first user of this product, please be sure to read the downloaded Operating Instructions (Overall) from our Web Site. [Web address of Panasonic Corporation] http://industrial.panasonic.com/ww/i_e/25000/motor_fa_e/motor_fa_e.html * This product image is 1.5kW type of A5-series. IMD88+A English
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Operating Instructions (Basic)AC Servo Motor & Driver
MINAS A5-series
Make sure to forward these Operating Instructions for safety to the final user.
6. Maintenance and Inspections .... B387. Conformity to EC Directives and UL Standards ..................... B40
CompositionofPeripheralEquipments........ B428. Built-in Holding Brake .............. B489. Dynamic Brake.......................... B5010. Check of the Combination of the Driver and the Motor ............ B51
Single phase, 100V3-phase, 200VSingle/3-phase, 200V
0507102030406490A2
Current ratingSymbol5A
7.5A10A20A30A40A64A90A
120A
1 to 4 75 to 6 10 to 128 to 9
Serial Numbere.g.) : 09 0 4 0001N
Lot numberMonth of production
Year of production(Lower 2 digits of AD year)
Manufacture datee.g.) : 20090401
Manufacture dateManufacture yearManufacture month
Model
Rated output
Rated inputvoltage/current
Rated frequencyRated
rotational speed
M S M E 5 A Z S 1 S1 to 4 5 to 6 11 to 127 8 9 10
Special specificationsMotor structure
Rotary encoder specifications
Voltage specifications
SpecificationsTypeSymbol
Low inertia(50W to 5.0kW)Middle inertia(1.0kW to 5.0kW)Middle inertia(1.5kW to 4.5kW)Middle inertia(0.9kW to 4.5kW)High inertia(1.0kW to 5.0kW)
GS
IncrementalAbsolute
SpecificationsSymbol Format Pulse count
OutputMotor rated output Symbol
SpecificationsSymbol
Resolution5-wire7-wire
Wire count
Motor structureMSME (50W to 750W)
*1 The product with oil seal is a special order product. *2 Key way with center tap[Products are standard stock items or manufactured by order. For details, inquire the dealer.]
ABST
Shaft Holding brake Oil sealWithout WithRound Key way Without With
Symbol
MSME (1.0kW to 5.0kW), MDME, MFME, MGME, MHME
CDGH
Shaft Holding brake Oil sealWithout WithRound Key way Without With
5) Inconsiderationofstrengthof thescrewsand thematerialof themountingbase,select appropriate fastening torque for theproductmounting screws, so that thescrewswillnotbeloosenedordamaged.
Caution on Installation•Wehavebeenmakingthebestefforttoensurethehighestquality,however,applica-tionofexceptionallylargeexternalnoisedisturbanceandstaticelectricity,orfailureininputpower,wiringandcomponentsmayresultinunexpectedaction.Itishighlyrecommendedthatyoumakeafail-safedesignandsecurethesafetyintheopera-tiverange.
If strandedwiresareusedas theyare, unexpectedaccidents suchasanelectricshockandshortcircuitorinjurymayresult.(RefertoP.B19.“Wiringmethodtocon-nector”.)
•Ifelectricwiresareboundandrunthroughmetalduct,theycannotcarrytheratedcurrentdue to temperature rise. If theyare forced to carry the ratedcurrent, theymayburn.Whendeterminingsizeof thewire,checkthecurrentdecreasingcoeffi-cientbyreferringtotheOperatingInstructions(Overall).
A to D-frame E, F-frameBasemount (Standard)[Rear mount]
Frontmount[Use mounting fixture]
Front or Basemount [Use mounting fixture]
Mountingfixture(Attachment)
Fastening torque of earth screws (M4) to be 0.7 to 0.8 N •m.
<E-frame>Fastening torque of earth screws (M4) to be 0.7 to 0.8 N •m.<F-frame>Fastening torque of earth screws (M5) to be 1.4 to 1.6 N •m.
Install the motor properly to avoid a breakdown or an accident.
Installation PlaceSince the conditions of location affect a lot to the motor life, select a place which meets the conditions below.1)Indoors,wheretheproductsarenotsubjectedtorainordirectsunbeam.Theprod-
How to InstallYoucanmountthemotoreitherhorizontallyorverticallyaslongasyouobservethefollowings.1)Horizontalmounting •Mountthemotorwithcableoutletfacingdownwardforwater/oilcountermeasure.
Cable Motor
Oil / Water
Motor
− B9−− B8−
English
: High voltage PC (to be supplied by customer)
Setup support software “PANATERM”Please download from our web site.
• Connection to input powerWiring to Connector, XA
• Monitor outputWiring to Connector, X7
• Connection to host controllerWiring to Connector, X4
• Connection to external scaleWiring to Connector, X5
• Connection to encoderWiring to Connector, X6
• Connection to motor driving phase and ground
Wiring to Connector, XBJunction cable for motor
• Wiring of Main Connector (XA)
• Wiring of Motor Connector (XB)
Circuit Breaker (MCCB)To protect power supply line from overloading, install a wiring circuit breaker rated to the capacity of the power supply.Noise Filter (NF)Removes external noise from the power lines. And reduces an effect of the noise generated by the servo driver. Magnetic Contactor (MC)Turns on/off the main power of the servo driver.Use coil surge suppression units together with this.• Never start nor stop the servo
motor with this Magnetic Contactor. Reactor (L)Reduces harmonic current of the main power.
Pin B1 (6-pin), B2 (4-pin), andB3 (5-pin)• B2 and B3 to be kept shorted for
normal operation (For C-frame and D-frame).
• When you connect an external regenerative resistor, disconnect a short circuit wire between B2 and B3 (For C-frame and D-frame), then connect the external regenerative resistor between B1 and B2, set up Pr0.16 to 1 or 2.
Note that no regenerative resistor is equipped in Frame A and B type.
Note
Short circuit wire(B2-B3)
Ground terminal
Junction cable for brake
DC Power supply for brakeDC24V(to be supplied by customer)
U-phase(red)V-phase(white)W-phase(black)
Charg lamp(Red LED)*1
*1 Do not make displacement, wiring or inspection while the LED is lit - cause of electric shock.
Ground(earth)
Handle leverUse this for connector connection. Store this after connection for other occasions. (Refer to P.B20 for connection.)
Junction cable for encoder
* These colors are used for optional cable.
MainsResidual
current device
• Apply the voltage designated on the nameplate from the power source.Symmetric current should be 5000 Arms or below. If the short-circuit current on the power source exceeds this value, use a current-limiting device (e.g. current-limiting fuse, current-limiting circuit breaker or transformer).
Regenerative resistor (optional)
• When you use an external regenerative resistor, install an external protective apparatus, such as thermal fuse without fail.
• Thermal fuse and thermostat are built in to the regenerative resistor (Option). If the thermal fuse is activated, it will not resume.
• Mount the regenerative resistor on incombustible material such as metal.
Remarks
• Connection to external componentsWiring to Connector, XB
B1 (Pin-6)B2 (Pin-4)
• X1 to X7 are used for the secondary circuit. To connect these terminals to the primary power supply (particularly, 24 VDC power supply for brake), insulation is required.
Do not connect these terminals to the same power supply.
• Connection to PC or host controllerWiring to Connector, X1
• Connection to RS232, RS485 or host controller
Wiring to Connector, X2
• Connection to Safety by-pass plug (Refer to P.B25)
Wiring to Connector, X3
Remarks
3. System Configuration and WiringOverall Wiring (Connector type)
3. System Configuration and WiringOverall Wiring (Connector type)
Connecting Example of A to D-frame
− B11−− B10−
English
3. System Configuration and WiringOverall Wiring (Connector type)
3. System Configuration and WiringOverall Wiring (Connector type)
Connecting Example of E-frame
Short circuit wire(B2-B3)
Ground terminal
Charg lamp(Red LED)*1
Ground(earth)
*1 Do not make displacement, wiring or inspection while the LED is lit - cause of electric shock.
Junction cable for brake
DC Power supply for brakeDC24V (to be supplied by customer)
Junction cable for encoder
: High voltage PC (to be supplied by customer)
Setup support software “PANATERM”Please download from our web site.
• Connection to input powerWiring to Connector, XA
• Monitor outputWiring to Connector, X7
• Connection to host controllerWiring to Connector, X4
• Connection to external scaleWiring to Connector, X5
• Connection to encoderWiring to Connector, X6
• Connection to motor driving phase and ground
Wiring to Connector, XBJunction cable for motor
• Wiring of Main Connector (XA)
• Wiring of Motor Connector (XC)
Circuit Breaker (MCCB)To protect power supply line from overloading, install a wiring circuit breaker rated to the capacity of the power supply.Noise Filter (NF)Removes external noise from the power lines. And reduces an effect of the noise generated by the servo driver. Magnetic Contactor (MC)Turns on/off the main power of the servo driver.Use coil surge suppression units together with this.• Never start nor stop the servo
motor with this Magnetic Contactor. Reactor (L)Reduces harmonic current of the main power.
Pin B1 (4-pin), B2 (2-pin), andB3 (3-pin)• B2 and B3 to be kept shorted for
normal operation. • When you connect an external
regenerative resistor, disconnect a short circuit wire between B2 and B3, then connect the external regenerative resistor between B1 and B2, set up Pr0.16 to 1 or 2.
U-phase(red)V-phase(white)W-phase(black)
Handle leverUse this for connector connection. Store this after connection for other occasions. (Refer to P.B20 for connection.)
* These colors are used for optional cable.
MainsResidual
current device
• Apply the voltage designated on the nameplate from the power source.Symmetric current should be 5000 Arms or below. If the short-circuit current on the power source exceeds this value, use a current-limiting device (e.g. current-limiting fuse, current-limiting circuit breaker or transformer).
Regenerative resistor (optional)
• When you use an external regenerative resistor, install an external protective apparatus, such as thermal fuse without fail.
• Thermal fuse and thermostat are built in to the regenerative resistor (Option). If the thermal fuse is activated, it will not resume.
• Mount the regenerative resistor on incombustible material such as metal.
Remarks
• Connection to external componentsWiring to Connector, XC
B1 (Pin-6)B2 (Pin-4)
• X1 to X7 are used for the secondary circuit. To connect these terminals to the primary power supply (particularly, 24 VDC power supply for brake), insulation is required.
Do not connect these terminals to the same power supply.
• Connection to PC or host controllerWiring to Connector, X1
• Connection to RS232, RS485 or host controller
Wiring to Connector, X2
• Connection to Safety by-pass plug (Refer to P.B25)
Wiring to Connector, X3
Remarks
− B13−− B12−
English
: High voltage
Connection with input power supply
Connection to external components
Connection to motor driving phase and ground
Regenerative resistor (optional)
• When you use an external regenerative resistor, install an external protective apparatus, such as thermal fuse without fail.
• Thermal fuse and thermostat are built in to the regenerative resistor (Option). If the thermal fuse is activated, it will not resume.
• Mount the regenerative resistor on incombustible material such as metal.
Remarks
Pin B1, B2 and B3• B2 and B3 to be kept shorted
for normal operation. • When you connect an external
regenerative resistor, disconnect a short bar between B2 and B3, then connect the external regenerative resistor between B1 and B2, set up Pr0.16 to 1 or 2.
Pin NC• Do not connect anything.
Junction cable for motor
• Wiring of Main ConnectorCircuit Breaker (MCCB)To protect power supply line from overloading, install a wiring circuit breaker rated to the capacity of the power supply.Noise Filter (NF)Removes external noise from the power lines. And reduces an effect of the noise generated by the servo driver. Magnetic Contactor (MC)Turns on/off the main power of the servo driver.Use coil surge suppression units together with this.• Never start nor stop the servo
motor with this Magnetic Contactor.
Reactor (L)Reduces harmonic current of the main power.
Short bar(B2-B3)
B1B2
U-phase(red)V-phase(white)W-phase(black)
L3L2L1
L2CL1C
Ground(earth)
Ground terminal
Charg lamp(Red LED)*1
*1 Do not make displacement, wiring or inspection while the LED is lit - cause of electric shock.
Junction cable for brake
DC Power supply for brakeDC24V (to be supplied by customer)
Junction cablefor encoder
* These colors are used for optional cable.
MainsResidual
current device
• Apply the voltage designated on the nameplate from the power source.Symmetric current should be 5000 Arms or below. If the short-circuit current on the power source exceeds this value, use a current-limiting device (e.g. current-limiting fuse, current-limiting circuit breaker or transformer).
Setup support software “PANATERM”Please download from our web site.
PC (to be supplied by customer)
• Connection to PC or host controllerWiring to Connector, X1
• Connection to RS232, RS485 or host controller
Wiring to Connector, X2
• Connection to Safety by-pass plug (Refer to P.B25)
Wiring to Connector, X3
• Connection to host controllerWiring to Connector, X4
• Connection to external scaleWiring to Connector, X5
• Connection to encoderWiring to Connector, X6
• Monitor outputWiring to Connector, X7
• X1 to X7 are used for the secondary circuit. To connect these terminals to the primary power supply (particularly, 24 VDC power supply for brake), insulation is required.
Do not connect these terminals to the same power supply.
Remarks
Connecting Example of F-frame
3. System Configuration and WiringOverall Wiring (Terminal block type)
3. System Configuration and WiringOverall Wiring (Terminal block type)
− B15−− B14−
English
3. System Configuration and WiringDriver and List of Applicable Peripheral Equipments
3. System Configuration and WiringDriver and List of Applicable Peripheral Equipments
Reference page Noisefilter.......................P.B43“CompositionofPeripheralEquipments” Surgeabsorber...............P.B45“CompositionofPeripheralEquipments” Noisefilterforsignal.......P.B46“CompositionofPeripheralEquipments” Motor/brakeconnector....P.B23“Wiringofconnectorformotorandbrake”• About circuit breaker and magnetic contactor To comply to EC Directives, install a circuit breaker between the power and
the noise filter without fail, and the circuit breaker should conform to IEC Standards and UL recognized (Listed and marked).
•Tocheckforlooseness,conductperiodicinspectionoffasteningtorqueonceayear.CautionBesure toconductwiringproperlyandsecurely. Insecureor improperwiringmaycausethemotor runningout of control or beingdamaged fromoverheating. In addition, payattentionnot toallowconductivematerials,suchaswirechips,entering thedriverduringtheinstallationandwiring.
English3. System Configuration and WiringWiring of the Main Circuit (Connector type)3. System Configuration and Wiring
Wiring of the Main Circuit (Connector type)
A to D-frame, 100 V / 200 V type•Wiringshouldbeperformedbyaspecialistoranauthorizedpersonnel.•Donotturnonthepoweruntilthewiringiscompleted.•Nevertouchthepowerconnector(XAandXB)towhichhighvoltageisapplied. Thereisariskofelectricshock.• Tips on Wiring1)Wireconnector(XAandXB).2)Connectthewiredconnectortothedriver. Fullyinserttheconnectortothebottomuntilitclicks.
Motor
Varistor
DC 24V
MCCBPowersupply NF MC
U
V
W
E
L
Fuse (125 V 10 A)
• Check the name plate of the driver for power specifications.
• Provide a residual current device. The residual current device to be the one designed for "Inverter" and is equipped with countermeasures for harmonics.
• Provide a circuit breaker.• Make sure to provide a noise filter.• Provide coil surge suppression units to the coil of the Magnetic Contactor recommended by manufacturer.
Never start/stop the motor with this Magnetic Contactor.
• Provide an AC Reactor.• Connect L1 and L1C, and L3 and L2C at single phase use (100V and 200V), and don't use L2.
• Match the colors of the motor lead wires to those of the corresponding motor output terminals (U,V,W).
• Don't disconnect the shorting cable between B2 and B3 (C and D frame type). Shorting cable is not required for A and B frame. Disconnect this only when the external regenerative register is used.
• Avoid shorting and grounding. Don't connect the main power.
• Earth-ground this.• To prevent electric shock, be sure to connect the ground terminal ( ) of the driver, and the ground terminal (ground plate) of the control panel.
• The ground terminal ( ) must not be shared with other equipment.
Two ground terminals are provided.• Don't connect the earth cable to other inserting slot, nor make them touch.
• Compose a duplex Brake Control Circuit so that the brake can also be activated by an external immediate stop signal.
• The holding Brake has no polarity.• For the capacity of the holding brake and how to use it, refer to P.B48, "Specifications of Built-in Holding Brake".
• Provide a varistor. Connect a 10A fuse in series with the varistor.
Ground resistance: 100 Ω max.For applicable wire, refer to P.B14.
L1CL3L2L1
L2C
B1B3B2UVW
XA
XB
2345
1
23456
1
DC power supply for brake
External regenerative resistor
* These colors are used for optional cable.
Red
Black
Green orGreen/yellow
White
RCD
Motor
Varistor
DC 24V
U
V
W
E
Fuse (125 V 10 A)
• Check the name plate of the driver for power specifications.
• Provide a residual current device. The residual current device to be the one designed for "Inverter" and is equipped with countermeasures for harmonics.
• Provide a circuit breaker.• Make sure to provide a noise filter.• Provide coil surge suppression units to the coil of the Magnetic Contactor recommended by manufacturer.
Never start/stop the motor with this Magnetic Contactor.
• Provide an AC Reactor.• Connect L1 and L1C, and L3 and L2C at single phase use (100V and 200V), and don't use L2.
• Don't disconnect the shorting cable between B2 and B3. Disconnect this only when the external regenerative register is used.
• Do not connect anything to NC.• Match the colors of the motor lead wires to those of the corresponding motor output terminals (U,V,W).
• Avoid shorting and grounding. Don't connect the main power.
• Earth-ground this.• To prevent electric shock, be sure to connect the ground terminal ( ) of the driver, and the ground terminal (ground plate) of the control panel.
• The ground terminal ( ) must not be shared with other equipment. Two ground terminals are provided.
• Don't connect the earth cable to other inserting slot, nor make them touch.
• Compose a duplex Brake Control Circuit so that the brake can also be activated by an external immediate stop signal.
• The holding Brake has no polarity.• For the capacity of the holding brake and how to use it, refer to P.B48, "Specifications of Built-in Holding Brake".
• Provide a varistor. Connect a 10A fuse in series with the varistor.
Ground resistance: 100 Ω max.For applicable wire, refer to P.B14.
L1CL3L2L1
L2C
B1B3
NC
UVW
XA
XC
XB
2345
1
23
1
3B22
4
1
DC power supply for brake
Red
Black
Green
White
MCCBPowersupply NF MC LRCD
External regenerative resistor
* These colors are used for optional cable.
E-frame, 200 V type•Wiringshouldbeperformedbyaspecialistoranauthorizedpersonnel.•Donotturnonthepoweruntilthewiringiscompleted.•Nevertouchthepowerconnector(XA,XBandXC)towhichhighvoltageisapplied. Thereisariskofelectricshock.• Tips on Wiring1)Wireconnector(XA,XBandXC).2)Connectthewiredconnectortothedriver. Fullyinserttheconnectortothebottomuntilitclicks.
− B19−− B18−
English
3. System Configuration and WiringWiring of the Main Circuit (Terminal block type)
F-frame, 200 V type•Wiringshouldbeperformedbyaspecialistoranauthorizedpersonnel.•Donotturnonthepoweruntilthewiringiscompleted.•Nevertouchtheterminaltowhichhighvoltageisapplied.Thereisariskofelectricshock.
• Tips on Wiring1)Takeoffthecoverfixingscrews,anddetachtheterminalcover.2)Makewiring Useclamptypeterminalsofroundshapewithinsulationcoverforwiringtotheter-
• Check the name plate of the driver for power specifications.
• Provide a residual current device. The residual current device to be the one designed for "Inverter" and is equipped with countermeasures for harmonics.
• Provide a circuit breaker.• Make sure to provide a noise filter.• Provide coil surge suppression units to the coil of the Magnetic Contactor recommended by manufacturer. Never start/stop the motor with this Magnetic Contactor.
• Provide an AC Reactor.• Don't disconnect the short bar between B1 and B2. Disconnect this only when an external regenerative register is used.
• Do not connect anything to NC.• Match the colors of the motor lead wires to those of the corresponding motor output terminals (U,V,W).
• Avoid shorting and grounding. Don't connect the main power.• Earth-ground this.• To prevent electric shock, be sure to connect the ground terminal ( ) of the driver, and the ground terminal (ground plate) of the control panel.
• The ground terminal ( ) must not be shared with other equipment.
Two ground terminals are provided.• Don't connect the earth cable to other inserting slot, nor make them touch.
• Compose a duplex Brake Control Circuit so that the brake can also be activated by an external immediate stop signal.
• The holding Brake has no polarity.• For the capacity of the holding brake and how to use it, refer to P.B48, "Specifications of Built-in Holding Brake".
• Provide a varistor.• Connect a 10A fuse in series with the varistor.
Ground resistance: 100 Ω max.For applicable wire, refer to P.B14.
DC powersupply for brake
Fuse (125 V 10 A)
Red
Black
Green
White
MCCBPowersupply NF MC LRCD
External regenerative resistor
* These colors are used for optional cable.
3. System Configuration and WiringWiring method to connector
•FollowtheproceduresbelowforthewiringconnectiontotheConnector XA , XB and XC .
How to connect1.Peelofftheinsulationcoverofthecable.•Forsinglewire(Pleaseobeythelengthinfigure.)
•Forstrandedwires(ferrulesmustbeusedasillustratedbelow). Example: Ferrules with plastic insulating sleeve (AI series, Phoenix Contact, Ltd.)1)Peel off the sheath so that the conduc-
3)Aftercrimping,cutoff thecableconduc-tor portionprotruding from the ferrule.(Theallowableprotruding lengthaftercuttingshouldbe0to0.5mm.)•PartNo.ofthecrimpingtool:CRIMPFOXU-D66(1204436)AvailablefromPhoenixContact,Ltd.
•PartNo.ofthecrimpingtool:YNT-1614AvailablefromJ.S.T.Mfg.Co.,Ltd<Cables Compatible with Connector>ConductorSize AWG18to12SheathOutline φ2.1toφ4.2mm<Recommended Connector Bar Terminal>ConductorSize AWG18TerminalModelNumber AI0.75-8GY(PhoenixContact,Ltd.)ConductorSize AWG16to14TerminalModelNumber VTUB-2orNTUB-2(J.S.T.Mfg.Co.,Ltd)
Caution •Whenpeelingoff the sheathof the cable, take carenot to damageotherportions.
•Whencrimping the ferrule, sufficientlycheck thestatusof the ferruleandcable. If theconductorsof thecablestickout fromthe insulationcoverorprotrudeexcessivelyfromthetipoftheferrule,accidentssuchasanelectricshockandfirefromashortcircuitmayresult.
3. System Configuration and WiringWiring to the connector, X3
Asafetyby-passplugissuppliedasstandardequipment.Donotdisconnectitinnor-maltimes.When controlling the safety function from the connectedhost controller, accessoryconnectorcannotbeused.Prepareandwire theconnector (option)asspecifiedbe-low.Sincethestandardconnectorcannotbeusedwhencontrollingthesafetyfunctionfrom thehost controller, purchase theoptional connector andmake connectionasshownbelow.
Forthedetailsoftheexternalscaleproduct,contacteachcompany.2) Recommended external scale ratio is 1/40 ≤ External scale ratio ≤ 160 If you set up theexternal scale ratio to smaller value than50/position loopgain
3. System Configuration and WiringWiring to the connector, X6
Connection to Encoder•Incaseof20-bitincrementalencoder
MSME 50W to 750W
MSME 1.0kW to 5.0kWMDME 1.0kW to 5.0kWMFME 1.5kW to 4.5kWMGME 0.9kW to 4.5kWMHME 1.0kW to 5.0kW
Shell (FG)
+5V0V
123456
41
37
Twisted pair
Encoder cable
Connector: JN2DS10SL1-R(by Japan Aviation Electronics Ind.)
Motor Driver
E5VE0V
PSPS
9
PSPSFG
E5VE0V
X6
Reg
ulat
orR
egul
ator
Shell (FG)
+5V0V
123456
63
74
Twisted pair
Encoder cable
Connector: JN6FR07SM1(by Japan Aviation Electronics Ind.)
Motor Driver
E5VE0V
PSPS
1
PSPSFG
E5VE0V
X6
• Tighten the motor connector mounting screw (M2) with a torque between 0.19 and 0.21 N•m.
To avoid damage, be sure to use only the screw supplied with the connector.
• Do not remove the gasket supplied with the junction cable connector. Securely install the gasket in place. Otherwise, the degree of protection of IP67 will not be guaranteed.
[Connector pin assignment]
(Viewed from cable)
2 51
3 6
4 7
Caution
Shell (FG)
+5V0V
123456
41
37
Twisted pair
Encoder cable
Connector: JN2DS10SL1-R(by Japan Aviation Electronics Ind.)
Motor Driver
E5VE0V
PSPS
9
PS
5BAT−
6BAT+
PSFG
E5VE0V
X6
Shell (FG)
+5V0V
123456
63
725
4
Twisted pair
Encoder cable
Connector: JN6FR07SM1(by Japan Aviation Electronics Ind.)
Motor Driver
E5VE0V
PSPS
1
PSBAT−BAT+
PSFG
E5VE0V
X6
battery
battery Reg
ulat
orR
egul
ator
MSME 50W to 750W
MSME 1.0kW to 5.0kWMDME 1.0kW to 5.0kWMFME 1.5kW to 4.5kWMGME 0.9kW to 4.5kWMHME 1.0kW to 5.0kW
• Tighten the motor connector mounting screw (M2) with a torque between 0.19 and 0.21 N•m.
To avoid damage, be sure to use only the screw supplied with the connector.
• Do not remove the gasket supplied with the junction cable connector. Securely install the gasket in place. Otherwise, the degree of protection of IP67 will not be guaranteed.
[Connector pin assignment]
(Viewed from cable)
2 51
3 6
4 7
Caution
•Incaseof17-bitabsoluteencoder
3. System Configuration and WiringWiring to the connector, X6
Connector X7Manufacturer’s part No.: 530140610Manufacturer: Japan Molex Inc.
6 1
X7
Measuringinstrument
Output circuit11kΩ
2.2kΩ
AM1
DM 4
GND 3
1kΩ AM2 2
4. ParameterOutline / Setup / Connection
Outline of ParameterThisdriverisequippedwithvariousparameterstosetupitscharacteristicsandfunc-tions.Thissectiondescribesthefunctionandpurposeofeachparameter.Readandcomprehendverywellsothatyoucanadjustthisdriverinoptimumconditionforyourrunningrequirements.• You can refer and set up the parameter with either one of the following.1)frontpanelofthedriver2)combinationofthesetupsupportsoftware,"PANATERM"andPC.
Setup with the Front Panel
Press these to change display and data, select parameters and execute actions.(Change/Selection/Execution is valid to the digit which decimal point flashes.)Numerical value increases by pressing, ,decreases by pressing .
Shifting of the digit for datachanging to higher digit.
X7Output connector for monitor
Display LED (6-digit)Switch to error display screen when error occurs, and LED will flash (about 2Hz).LED will flash slowly (about 1Hz) when warning occurs.
Mode switching button (valid at SELECTION display) Press this to switch 4 kinds of mode. 1) Monitor Mode 2) Parameter Set up Mode 3) EEPROM Write Mode 4) Auxiliary Function Mode
SET Button (valid at any time)Press this to switch SELECTION and EXECUTION display.
Setup with the PCItispossibletoconnectyourpersonalcomputertoconnectorX1ofMINASA5usingaUSBcableforpersonalcomputerconnection.Downloadingthesetupsupportsoftware“PANATERM”fromourwebsiteandinstallingitonyourpersonalcomputerwillallowyoutoperformthefollowingeasily.• With the PANATERM, you can execute the followings.1)Setupandstorageofparameters,andwritingtothememory(EEPROM).2)MonitoringofI/O,pulseinputandloadfactor.3)Displayofthepresentalarmandreferenceoftheerrorhistory.4)Datameasurementofthewave-formgraphicandbringingofthestoreddata.5)Normalauto-gaintuning6)Frequencycharacteristicmeasurementofthemachinesystem.
Note Becausenoproduction software suchasCD-ROM is available, down-loadthesetupsupportsoftwarefromourwebsiteandinstall itonyourpersonalcomputer.
• How to Connect
• USB cableOnthedriver,usecommerciallyavailableUSBmini-Bconnector.The connector on thepersonal computer side shouldbe in accordancewith thespecificationsofthePC.Whenthecabledoesnothavenoisefilter,attachasignallinenoisefilter(DV0P1460)tobothendsofthecable.
4. ParameterOutline / Setup / Connection
Connect to X1(USB mini-B)
Setup support software “PANATERM”Please download from our web site anduse after install to the PC.
4. ParameterComposition of Parameters
• The parameter No. is displayed in the form of PrX.YY (X: Classification, YY: No.).• For the details on the parameters, refer to the Operating Instructions (Overall).
5. Protective FunctionsProtective Function (What Is Error Code ?)
•Variousprotective functionsareequipped in thedriver.When theseare triggered, themotorwillstallduetoerror,thedriverwillturntheServo-Alarmoutput(ALM)tooff(open).
•Errorstatusandtheirmeasures•During theerror status, theerror codeNo.will bedisplayedon the front panel
LED,andyoucannotturnServo-ON.•YoucancleartheerrorstatusbyAlarmclearinput(A-CLR)in120msorlonger.•Whenoverloadprotection is triggered, you can clear it byAlarmclear input(A-
• The error code No. is displayed in the form of ErrXX.Y (X: main, YY: sub).<List of error code No.>Error code Protective function AttributeMain Sub History Can be cleared Immediate stop11 0 Controlpowersupplyunder-voltageprotection ○12 0 Over-voltageprotection ○ ○
Note History...Theerrorwillbestoredintheerrorhistory.Can be cleared...Tocanceltheerror,usethealarmclearinput(A-CLR). Ifthealarmclearinputisnoteffective,turnoffpower,removethecauseofthe
5. Protective FunctionsProtective Function (What Is Error Code ?)
− B39−− B38−
English
6. Maintenance and InspectionsMaintenance and Inspections
• Routine maintenance and inspection of the driver and motor are essential for the proper and safe operation.
Notes on Maintenance and Inspection1)Turnonandturnoffshouldbedonebyoperatorsorinspectorsthemselves.2)Internalcircuitofthedriveriskeptchargedwithhighvoltageforawhileevenafter
Note Inspection cycle may change when the running conditions of the above change.
Guideline for Parts ReplacementUsethetablebelowforareference.Partsreplacementcyclevariesdependingontheactualoperatingconditions.Defectivepartsshouldbereplacedorrepairedwhenanyerrorhaveoccurred.
Prohibited
Disassembling for inspection and repair should be carried out only by authorized dealers or service company.
Product Component Standard replacement cycles (hour) Note
Conformity to UL StandardsObservethefollowingconditionsof(1)and(2)tomakethesystemconformtoUL508C(FileNo.E164620).(1)Use thedriver in anenvironment ofPollutionDegree2or 1 prescribed in
IEC60664-1.(e.g.InstallinthecontrolboxwithIP54enclosure.)(2)Makesure to installacircuitbreakeror fusewhichareULrecognized(Listed
115%ormore than the rated current basedon the time characteristics (see thenext page).Confirm that theeffective current of thedriver doesnot exceed theratedcurrent.SetupthepeakpermissiblecurrentwithPr0.13(Setupof1sttorquelimit)andPr5.22(Setup2ndtorquelimit).
(4)Motorover-temperatureprotectionisnotprovided. Motor over-load-temperatureprotection shall beprovidedat the final installation
uponrequiredbytheNEC(NationalElectricCode).
7. Conformity to EC Directives and UL StandardsEC Directives / Conformity to UL Standards
Time [s]
Overload protection time characteristicsMSME 50WMSME 100W(100V)
Noise FilterWhenyouinstallonenoisefilterat thepowersupplyformulti-axesapplication,consultwithmanufacturerofthenoisefilter.Ifsufficientnoisemarginisrequired,connect2filtersinseries.• Optional parts
7. Conformity to EC Directives and UL StandardsComposition of Peripheral Equipments
Metallic control box
Controller
Insulated power supply for interface
Safetycontroller
Power supply
Surge absorber
Noise filter
Noise filter for signal lines *1
Ground (PE)
L1U
X4
XAXB
X3X6
M
RE
VW
L2L3L1CL2C
Noise filter for signal lines
Noise filter for signal lines
Noise filter for signal lines
Noise filter for signal lines
Driver
MotorResidualcurrentdevice(RCD)
Circuit breaker
*1 A to D-frame: Noise filter for signal lines, E, F-frame: Noise filter for signal lines <Power supply cable> Option part No. Voltage specifications for driver
Use this built-in brake for "Holding" purpose only, that is to hold the stalling status. Never use this for "Brake" purpose to stop the load in motion.
Output Timing of BRK-OFF Signal•For thebrake release timingat power-on, or braking timingatServo-OFF/Servo-Alarmwhilethemotorisinmotion,refertotheOperatingInstructions(Overall).
•Backlashofthebuilt-inholdingbrakeiskept±1˚orsmalleratex-factorypoint.•Service life of thenumber of acceleration/decelerationwith theabovepermissible an-gularaccelerationismorethan10milliontimes.(Lifeendisdefinedaswhenthebrakebacklashdrasticallychanges.)
8. Built-in Holding BrakeOutline / Specifications
− B51−− B50−
English
Thisdriverisdesignedtobeusedinacombinationwiththemotorwhicharespecifiedbyus.Checktheseriesnameofthemotor,ratedoutputtorque,voltagespecificationsandencoderspecifications.Caution Do not use in other combinations than those listed below.
This driver is equipped with a dynamic brake for emergency stop.Pay a special attention to the followings.
Caution 1.Dynamicbrakeisonlyforemergencystop.Do not start/stop the motor by turning on/off the Servo-ON signal (SRV-ON).Otherwise it may damage the dynamic brake circuit of the driver.
The Motor becomes a dynamo when driven externally and short circuit current occurred while dynamic brake is activat-ed may cause smoking or fire.
2.Dynamicbrake is a short-duration rating, anddesigned for onlyemergencystop.Allowapprox.10minutespausewhenthedynamicbrakeisactivatedduringhigh-speedrunning.
(F-frame(200V)built-indynamicbrakeresistoriscapableofhandlingupto3continuoushaltsat theratedrevolutionswithmax.permis-sibleinertia.Whenoverheatedundermorecriticaloperatingcondi-tions, thebrakewill blowout and shouldbe replacedwith a newone.)
• You can activate the dynamic brake in the following cases. 1) whenthemainpoweristurnedoff2) atServo-OFF3) whenoneoftheprotectivefunctionisactivated.4) whenover-travelinhibitinput(NOT,POT)ofconnectorX4isacti-
10. Check of the Combination of the Driver and the MotorIncremental Specifications, 20-bit
− B53−− B52−
English
Thisdriverisdesignedtobeusedinacombinationwiththemotorwhicharespecifiedbyus.Checktheseriesnameofthemotor,ratedoutputtorque,voltagespecificationsandencoderspecifications.Caution Do not use in other combinations than those listed below.
Cautions for Proper Use•PracticalconsiderationsforexportingtheproductorassemblycontainingtheproductWhentheenduseroftheproductorenduseoftheproductisassociatedwithmili-tary affair orweapon, its exportmaybe controlledby theForeignExchangeandForeignTradeControlLaw.Completereviewoftheproducttobeexportedandex-portformalitiesshouldbepracticed.
•Thisproduct is intended tobeusedwithageneral industrialproduct,butnotde-signedormanufacturedtobeusedinamachineorsystemthatmaycausepersonaldeathwhenitisfailed.
For your records:Themodelnumberandserialnumberofthisproductcanbefoundoneitherthebackorthebottomoftheunit.Pleasenotetheminthespaceprovidedandkeepforfuturereference.
•Theuser is responsible formatchingbetweenmachineandcomponents in termsof configuration, dimensions, life expectancy, characteristics,when installing themachineorchangingspecificationofthemachine.Theuserisalsoresponsibleforcomplyingwithapplicablelawsandregulations.