Panasonic Industry Europe GmbH - Operating Instructions (Basic) … · 2020. 3. 10. · AC Servo...

Operating Instructions (Basic)AC Servo Motor & Driver

MINAS A5-series (G, H-frame)

Make sure to forward these Operating Instructions for safety to the final user.

•ThankyouforpurchasingthisPanasonicproduct.

•Beforeoperatingthisproduct,pleasereadtheinstructionscarefully,andsavethismanualforfutureuse.

1. Introduction ................................. B2OnOpeningtheProductPackage.................. B2CheckoftheDriverModel.............................. B2CheckoftheMotorModel............................... B3

2. Installation................................... B4Driver.............................................................. B4Motor............................................................... B6

3. System Configuration and Wiring ........................................... B8

OverallWiring(Terminalblocktype)................... B8DriverandListofApplicablePeripheralEquipments.... B16WiringoftheMainCircuit(Terminalblocktype)... B18WiringDiagram............................................. B22Wiringofconnectorformotorandbrake...... B24WiringtotheConnector,X1......................... B25WiringtotheConnector,X2......................... B25WiringtotheConnector,X3......................... B26WiringtotheConnector,X4......................... B27WiringtotheConnector,X5......................... B30WiringtotheConnector,X6......................... B31WiringtotheConnector,X7......................... B32

4. Parameter .................................. B33Outline/Setup/Connection......................... B33CompositionofParameters.......................... B35

5. Protective Functions ................ B36ProtectiveFunction(WhatIsErrorCode?)...... B36

6. Maintenance and Inspections .... B387. Conformity to EC Directives and UL Standards ..................... B40

CompositionofPeripheralEquipments........ B428. Built-in Holding Brake .............. B479. Dynamic Brake.......................... B4810. Check of the Combination of the Driver and the Motor ............ B51

IncrementalSpecifications,20-bit............... B51AbsoluteSpecifications,17-bit................... B52

11. Specifications ......................... B53After-Sale Service (Repair) .......... B56

page page<Contents>

Ifyouarethefirstuserofthisproduct,pleasebesuretoreadthedownloadedOperatingInstructions(Overall)fromourWebSite.

[Web address of Panasonic Corporation]http://industrial.panasonic.com/ww/i_e/25000/motor_fa_e/motor_fa_e.html

* Thisproductimageis7.5kWtypeofA5-series.

IME15+A

English

− B3 −− B2 −

English

1. IntroductionCheck of the Driver Model

Contents of Name Plate

Model Designation

Model Designation

Power supply

Max. current rating of power deviceFrame-size symbol

FrameSymbol CurrentratingSymbol

SpecificationsSymbol3-phase, 200V3-phase, 400V

Current ratingSymbol

M G D H T C 3 B 4Special specifications(letters and numbers)

Current detector rating

MGDHMHDH

A5-series, G-frameA5-series, H-frame TB

TC150A300A 3

4

A2B4

120A240A

1 to 4 75 to 6 10 to 128 to 9

Serial Numbere.g.) : 1011 0001N

Lot numberMonth of production

Year of production(Lower 2 digits of AD year)

e.g.) : 20101101Manufacture dateManufacture year

Manufacture month

Model

Rated output

Rated inputvoltage/current

Rated frequency

Rated rotational speed

Manufacture date

Model No.INPUT 3φACRATED OUTPUTRATED FREQ.RATINGTHERMAL CLASSSER. No.

44.0 ACONT. TORQUERATED REV.CONNECTION

M a d e i n C h i n a

A C S E R V O M O T O R

1077.5125S1155(F)

10110001N20101101

MDME752S1GVkWHz

47.81500

N . mr/minIP67

M D M E 7 5 2 S 1 G1 to 4 5 to 6 11 to 127 8 9 10

Special specifications

Motor structure

Design order 1: Standard

Rotary encoder specifications

Voltage specifications

SpecificationsType

SymbolMiddle inertia(7.5kW to 15kW)Middle inertia(6.0kW)High inertia(7.5kW) G

SIncremental

Absolute

SpecificationsSymbol Format Pulse count

OutputMotor rated output Symbol

SpecificationsSymbol

Resolution5-wire7-wire

Wire count

Motor structureMDME, MGME, MHME

[Products are standard stock items or manufactured by order. For details, inquire the dealer.]

CDGH

Shaft Holding brake Oil sealWithout WithRound Key way Without With

Symbol

MDME(1500r/min)

MGME(1000r/min)

MHME(1500r/min)

6075C1C5

6.0kW7.5kW11kW15kW

24

200 V400 V

20bit17bit

1,048,576131,072

1. IntroductionOn Opening the Product Package

•Makesurethatthemodeliswhatyouhaveordered.•Checkiftheproductisdamagedornotduringtransportation.•CheckiftheOperatingInstructions(safety)areincludedornot.•Checkifthesafetyby-passplugareincludedornot.　

Contents of Name Plate

1. IntroductionCheck of the Motor Model

P10110001N

20101101

Model numberInput/output voltage

Rated output ofapplicable motor

Rated input/outputcurrent

Input/output frequency

Number of phase

Serial Numbere.g.) : P10110001N

Lot number Month of production

Year of production(Lower 2 digits of AD year)

Manufacture datee.g.) : 20101101

Manufacture dateManufacture yearManufacture month

− B5 −− B4 −

English

2. InstallationDriver

Install the driver properly to avoid a breakdown or an accident.

Installation Place1)Install thedriver inacontrolpanelenclosed innoncombustiblematerialandplaced indoor

wheretheproductisnotsubjectedtorainordirectsunlight.Theproductsarenotwaterproof.2)Wheretheproductsarenotsubjectedtocorrosiveatmospheressuchashydrogen

sulfide,sulfurousacid,chlorine,ammonia,sulfur,chloricgas,sulfuricgas,acid,al-kalineandsaltandsoon,andarefreefromsplashofinflammablegas.

3)Wherethemotorisfreefromgrindingoil,oilmist,ironpowderorchips.4)Well-ventilatedandlowhumidityanddust-freeplace. 5)Vibration-freeplace.6)Donotusebenzine, thinner,alcohol,acidiccleanerandalkalinecleanerbecause

theycandiscolorordamagetheexteriorcase.

Environmental ConditionsItem Conditions

Ambienttemperature 0˚Cto55˚C(freefromfreezing)Ambienthumidity 20%to85%RH(freefromcondensation)

Storagetemperature*1 –20˚Cto65˚C(Max.temperatureguarantee:80˚Cfor72hoursfreefromcondensation*2)

Storagehumidity 20%to85%RH(freefromcondensation*2)Vibration Lowerthan5.88m/s2(0.6G),10to60HzAltitude Lowerthan1000m

*1Extremetemperaturesarepermissibleonlyforshortperiodsuchasduringtransportation.*2Aircontainingwatervaporwillbecomesaturatedwithwatervaporasthetemperaturefalls,causingdew.

How to Install1)Rack-mounttype.Installinverticalposition,andreserveenoughspacearoundthe

servodriverforventilation.2)For thedimensionsandmassof theproduct,whicharenecessarydesigndataof

themountingsection,refertothedimensionaloutlinedrawingontheOperatingIn-structions(Overall)ortheDeliverySpecification.

3)Inconsiderationofstrengthof thescrewsand thematerialof themountingbase,select appropriate fastening torque for theproductmounting screws, so that thescrewswillnotbeloosenedordamaged.

Example)Totightenasteelscrewintoasteelbase G-frame:M52.7to3.3N·mH-frame:M64.68to5.72N·m

2. InstallationDriver

Mounting Direction and Spacing•Reserveenoughsurroundingspaceforeffectivecooling.•Installfanstoprovideuniformdistributionoftemperatureinthecontrolpanel.•GandH frame isprovidedwithacooling fanat thebottom. (On theH-frame, thecoolingfanisalsoinstalledontheupperside.)

•Observetheenvironmentalconditionsofthecontrolpaneldescribedinthepreviouspage.

Control panelFan Fan 100mmor more

100mmor more

Direction of air flowing from the internal cooling fan

40mmor

more

40mmor

more

50mmor

more

50mmor

more

50mmor

more

Note Itisrecommendedtousetheconductivepaintwhenyoumakeyourownmountingbracket,orrepaintafterpeelingoffthepaintonthemachineforinstallingtheproducts,inordertomakenoisecountermeasure.

Caution on Installation•Wheneverliftingtheproduct(duringtransportation/installationofHframeservodriv-er),twoormorepersonsshouldholditbymetallicmember,notbyplastic member.

•Wehavebeenmakingthebestefforttoensurethehighestquality,however,applicationofexceptionallylargeexternalnoisedisturbanceandstaticelectricity,orfailureininputpower,wiringandcomponentsmayresultinunexpectedaction.Itishighlyrecommend-edthatyoumakeafail-safedesignandsecurethesafetyintheoperativerange.

•To connect a strandedwire cable, use round terminalswith insulation sheath. Ifstrandedwiresareusedas theyare, unexpectedaccidents suchasanelectricshockandshortcircuitorinjurymayresult.

•Theremightbeachanceofsmokegenerationduetothefailureoftheseproducts.Payanextraattentionwhenyouapplytheseproductsinacleanroomenvironment.

•Besuretogroundthedriverviathegroundterminal. Iftheproductisgroundedinsufficiently,notonlythedrivermaynotdeliveritsperfor-mancesufficiently,butalsosafetyhazardssuchasamalfunctionduetoaelectrifi-cationoradisturbancemaybecaused.

•Ifelectricwiresareboundand run throughmetalduct, theycannotcarry the ratedcurrentduetotemperaturerise.Iftheyareforcedtocarrytheratedcurrent,theymayburn.Whendeterminingsizeofthewire,checkthecurrentdecreasingcoefficientbyreferringtotheOperatingInstructions(Overall).

G-frame H-frameFront or rearmount [Use mounting bracket] Rearmount [Basemount]

Mounting bracket (Attachment)

Fastening torque of ground terminal (M5) to be 1.4 to 1.6 N •m.

Fastening torque of ground terminal (M6) to be 2.4 to 2.6 N •m.

− B7 −− B6 −

English

3)For thedimensionsandmassof theproduct,whicharenecessarydesigndataofthemountingsection,refertothedimensionaloutlinedrawingontheOperatingIn-structions(Overall)ortheDeliverySpecification.

Oil/Water Protection1)Don'tsubmergethemotorcabletowateroroil.2)Install themotorwith the cableoutlet facing

downward.3)Avoidaplacewhere themotor isalwayssub-

jectedtooilorwater.4)Usethemotorwithanoilsealwhenusedwith

thegearreducer,sothattheoilmaynotentertothemotorthroughshaft.

Stress to Cables1)Avoidastressapplicationtothecableoutletandconnectingportionbybendingor

self-weight.2)Especiallyinanapplicationwherethemotoritselftravels,fixtheattachedcableand

contain theextension junctioncable into thebearerso that thestressbybendingcanbeminimized.

3)Take the cable bending radiusas largeaspossible. (When youuseour optionalcable,MinimumR20mm)

Permissible Load to Output Shaft1)Designthemechanicalsystemsothattheappliedradialloadand/orthrustloadto

themotor shaft at installationandatnormaloperationcanmeet thepermissiblevaluespecifiedtoeachmodel.

2)Payanextraattentionwhenyouusea rigidcoupling. (Excessbending loadmaydamagetheshaftordeterioratethebearinglife.)

3)Useaflexiblecouplingwithhighstiffnessdesignedexclusivelyforservoapplicationinordertomakearadialthrustcausedbymicromisalignmentsmallerthanthepermissiblevalue.

Notes on Installation1)Donotapplydirect impact to theshaftbyhammer

while attaching/detachinga coupling to and fromthemotorshaft.

(Or itmaydamage theencodermountedon theothersideoftheshaft.)

2)Makeafullalignment.(incompletealignmentmaycausevibrationanddamagethebearing.)

3)If themotorshaft isnotelectricallygrounded, itmaycauseelectrolyticcorrosion tothebearingdependingontheconditionofthemachineanditsmountingenvironment,andmayresultinthebearingnoise.Checkandverificationbycustomerisrequired.

2. InstallationMotor

2. InstallationMotor

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-

uctsarenotwaterproof.2)Wheretheproductsarenotsubjectedtocorrosiveatmospheressuchashydrogen

sulfide,sulfurousacid,chlorine,ammonia,sulfur,chloricgas,sulfuricgas,acid,al-kalineandsaltandsoon,andarefreefromsplashofinflammablegas.

3)Wherethemotorisfreefromgrindingoil,oilmist,ironpowderorchips.4)Well-ventilatedandhumidanddust-freeplace,farapartfromtheheatsourcesuch

asafurnace.5)Easy-to-accessplaceforinspectionandcleaning6)Vibration-freeplace.7)Avoidenclosedplace.Motormaygetshotinthoseenclosureandshortenthemotorlife.

Environmental ConditionsItem Conditions

Ambienttemperature*1 0˚Cto40˚C(freefromfreezing)Ambienthumidity 20%to85%RH(freefromcondensation)

Storagetemperature*2 –20˚Cto65˚C(Max.temperatureguarantee:80˚Cfor72hoursfreefromcondensation*4)

Storagehumidity 20%to85%RH(freefromcondensation*4)Vibration Motoronly Lowerthan24.5m/s2(2.5G)atrunning,24.5m/s2(2.5G)atstallImpact Motoronly Lowerthan98m/s2(10G)

Enclosurerating Motoronly IP67(exceptrotatingportionofoutputshaftandconnectingpin

partofconnector)*3Altitude Lowerthan1000m

*1Ambienttemperaturetobemeasuredat5cmawayfromthemotor.*2Permissibletemperatureforshortdurationsuchastransportation.*3ThesemotorsconformtothetestconditionsspecifiedinENstandards(EN60529,EN60034-5).Do

notusethesemotorsinapplicationwherewaterproofperformanceisrequiredsuchascontinuouswash-downoperation.

*4Aircontainingwatervaporwillbecomesaturatedwithwatervaporasthetemperaturefalls,causingdew.

How to InstallYoucanmountthemotoreitherhorizontallyorverticallyaslongasyouobservethefollowings.1)Horizontalmounting •Mountthemotorwithcableoutletfacingdownwardforwater/oilcountermeasure.2)Verticalmounting •Usethemotorwithoilsealwhenmountingthemotorwithgearreducertoprevent

thereduceroil/greasefromenteringtothemotor.

Cable Motor

Oil / Water

Motor

− B9 −− B8 −

English

NC

NC

NC

L2C

L1C

NC

NC

NC

DB3

DB2

DB1

DB4

L1

L2

L3

B1

B2

NC

U

V

W

X1

X2

X3

X4

X5

X6

CHARGE

Note

: High voltage

• 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.

The wiring indicated with the broken line shall be provided only when required.

PC (to be supplied by customer)

Setup support software “PANATERM”Please download from our web site.

L3L2L1

L2C

L1C

Ground(earth)

Ground terminal

Short bar (DB3-DB4)

Connection with input power supply

Connection to external components

Connection to motor driving phase and ground

• Monitor outputWiring to Connector, X7

• Connection to PC or host controller

• Connection to RS232, RS485 or host controller

Wiring to Connector, X2

• Connection to Safety by-pass plug (Refer to P.B26)


• Connection to host controllerWiring to Connector, X4

• Connection to feedback scaleWiring to Connector, X5

• Connection to encoderWiring to Connector, X6

Motor cable (Shield wire)

• 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.

MainsResidual

current device

Remarks

• 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

B1B2

Brake cable

DC Power supply for brake DC24V (to be supplied by customer)

Regenerative resistor (optional)

Junction cable for encoder

U-phase

V-phase

W-phase

Pin B1 and B2• When you connect an external regenera-

tive resistor, connect the external regen-erative resistor between B1 and B2, set up Pr0.16 to 1 or 2.

Pin DB1, DB2, DB3 and DB4･ Normally, leave DB3 and DB4 short-

circuited.･ To connect the external dynamic brake

resistor, refer to “Dynamic Brake” on P.B48. Do not use the external dynamic brake resistor together with the built-in resistor.

Pin NC• Do not connect anything.

Charge lamp (LED)Do not make displacement, wiring or inspection while the LED is lit - cause of electric shock.

• Apply the voltage desig-nated on the nameplate from the power source.Symmetric current should be 5000 Arms or below.If the short-circuit current on the power source exceeds this value, use a current-limiting device (e.g. current-limiting fuse, current-limiting circuit breaker or transformer).


Connecting Example of G-frame, 200 V type

3. System Configuration and WiringOverall Wiring (Terminal block type)


− B11 −− B10 −

English

• 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.










Remarks• When you use an external dynamic brake resistor, install an

external protective apparatus, such as thermal fuse without fail.

• Mount the dynamic brake resistor on incombustible material such as metal.

• For wiring of the circuit, refer to “Wiring Diagram” on P.B22.• For an example of the recommended protective circuit, refer

to “Dynamic Brake” on P.B48.

Dynamic Brake resistor to be supplied by (customer )

Magnetic Contactor (MC)Turns on/off the dynamic brake resistor.Use coil surge suppression units together with this.

Remarks


• The regenerative resistor (optional) incorporates a fan, thermal fuse, and thermostat. Once the thermal fuse blows out, it will not be restored.


• For wiring of the circuit, refer to “Wiring Diagram” on P.B22.


Remarks

• X1 to X7 are used for the secondary circuit. To connect these terminals to the primary power supply (particularly, the 24 VDC power supply for brake and the 24 VDC power supply for regenerative resistor), insulation is required.


Pin B1and B2• When you connect an external regenera-

tive resistor, connect the external regenerative resistor between B1 and B2, set up Pr0.16 to 1 or 2.

Pin DB1 and DB2• When installing an external dynamic brake

resistor, connect the magnetic contactor (for controlling) for external dynamic brake to between LIC and DB1.

• The voltage applied across DB1 and DB2 must be 300 VAC or below or 100 VDC or below.


Remarks

U-phaseV-phaseW-phase

L1C

L2C


Motor cable (Shield wire)Brake cable


L1 L3L2

Ground(earth)

Ground terminal

B1

B2Regenerative

resistor (optional)

* Use a power supply with 5 A or larger capacity.

PC (to be supplied by customer)Setup support software “PANATERM”Please download from our web site.


X1

X2

X3

X4

X5

X6

CHARGE

L1 L2 L3 B1 B2 NC

L1C L2C DB1 DB2

U V W

MainsResidual

current device



24 VDC power supply for regenerative resistor (to be supplied by customer)

Note


: High voltage



Connecting Example of H-frame, 200 V type



− B13 −− B12 −

English

NC

NC

NC

0V

24V

NC

NC

NC

DB3

DB2

DB1

DB4

L1

L2

L3

B1

B2

NC

U

V

W

X1

X2

X3

X4

X5

X6

CHARGE

400V

Connection with control power supply

: High voltage PC (to be supplied by customer)

Setup support software “PANATERM”Please download from our web site.

L3L2L1

Ground(earth)

Ground terminal


Short bar (DB3-DB4)


• Connection to PC or host controllerWiring to Connector, X1








• 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.

MainsResidual

current device

Brake cable



0V24V


Motor cable (Shield wire)

U-phase

V-phase

W-phase

Connection to external componentsB1B2

24 VDC power supply for control (to be supplied by customer)


Note


• Thermal fuse and thermostat are built in to the regenerative resistor (Option). If the thermal fuse is activated, it will not resume.



RemarksRegenerative resistor (optional) Pin B1 and B2

• When you connect an external regenera-tive resistor, connect the external regen-erative resistor between B1 and B2, set up Pr0.16 to 1 or 2.

Pin DB1, DB2, DB3 and DB4･ Normally, leave DB3 and DB4 short-

circuited.･ To connect the external dynamic brake

resistor, refer to “Dynamic Brake” on P.B48. Do not use the external dynamic brake resistor together with the built-in resistor.


• X1 to X7 are used for the secondary circuit. To connect these terminals to the primary power supply (particularly, the 24 VDC power supply for control and the 24 VDC power supply for brake), insulation is required.


Remarks



Connecting Example of G-frame, 400 V type



− B15 −− B14 −

English

Connection with control power supply

24V0V

Neutral point

L1C

B1

B2

X1

X2

X3

X4

X5

X6

CHARGE

L1 L2 L3 B1 B2 NC

24V 0V DB1 DB2

U V W

• 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.

Remarks• When you use an external dynamic brake resistor, install an

external protective apparatus, such as thermal fuse without fail.


• For wiring of the circuit, refer to “Wiring Diagram” on P.B23.• For an example of the recommended protective circuit, refer

to “Dynamic Brake” on P.B48.

Dynamic Brake resistor to be supplied by (customer )



• The regenerative resistor (optional) incorporates a fan, thermal fuse, and thermostat. Once the thermal fuse blows out, it will not be restored.


• For wiring of the circuit, refer to “Wiring Diagram” on P.B23.


Remarks

L1 L3L2

Regenerativeresistor (optional)


MainsResidual

current device



24 VDC power supply for regenerative resistor (to be supplied by customer)

Note

24 VDC power supply for control to be supplied by (customer )












Remarks

• X1 to X7 are used for the secondary circuit. To connect these terminals to the primary power supply (particularly, the 24 VDC power supply for control, the 24 VDC power supply for brake, and the 24 VDC power supply for regenerative resistor), insulation is required.


Pin B1and B2• When you connect an external regenerative

resistor, connect the external regenerative resistor between B1 and B2, set up Pr0.16 to 1 or 2.

Pin DB1 and DB2• When installing an external dynamic brake

resistor, connect the magnetic contactor (for controlling) for external dynamic brake to between LIC and DB1.


• L1C is connected after the R-phase of the noise filter.

• L1C is not indicated on the driver body.Pin NC

• Do not connect anything.

Remarks

U-phaseV-phaseW-phase


Motor cable (Shield wire)Brake cable


Ground(earth)

Ground terminal


PC (to be supplied by customer)Setup support software “PANATERM”Please download from our web site.


: High voltage

Note



Connecting Example of H-frame, 400 V type



− B17 −− B16 −

English

3. System Configuration and WiringDriver and List of Applicable Peripheral Equipments

3. System Configuration and WiringDriver and List of Applicable Peripheral Equipments

• 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).

Suitableforuseonacircuitcapableofdeliveringnotmorethan5,000Armssymmetri-calamperes,belowthemaximuminputvoltageoftheproduct.

Remarks Selecta circuit breakerandnoise filterwhichmatch to thecapacityofpowersupply(includingaloadcondition).

• Terminal block and protective ground terminals Useacopperconductorcableswithtemperatureratingof75˚Corhigher.

• Fastening torque list (Terminal block screw/Terminal cover fastening screw)

Driver Terminal block screw

Terminal cover fastening screw

Frame Terminal name Nominal size

Fastening torque

(N•m) (*1)Nominal

sizeFastening

torque(N•m) (*1)

G L1C,L2C,24V,0V,DB1,DB2,DB3,DB4,NC M5 1.0to1.7 M3 0.19to0.21L1,L2,Ｌ３,B1,B2,NC,U,V,W M5 2.0to2.4 M3 0.3to0.5

H L1C,L2C,24V,0V,DB1,DB2 M4 0.7to1.0 M5 2.0to2.5L1,L2,Ｌ３,B1,B2,NC,U,V,W M6 2.2to2.5

• Fastening torque list (Ground terminal screw/Connector to host controller (X4))

Driver frame

Terminal block screw

Connector to host controller (X4)

Nominal size

Fastening torque

(N•m) (*1)Nominal

sizeFastening

torque(N•m) (*1)

G M5 1.4to1.6 M2.6 0.3to0.35H M6 2.4to2.6(*1)•Applyingfasteningtorquelargerthanthemaximumvaluemayresultindamagetotheproduct.•Donotturnonpowerwithouttighteningallterminalblockscrewsproperly.•Donot turnonpowerwithout tighteningall terminalblockscrewsproperly,otherwise, loosecontactsmaygenerateheat(smoking,firing).

•Tocheckforlooseness,conductperiodicinspectionoffasteningtorqueonceayear.

Driver Applicablemotor Voltage Rated

output

RequiredPower

(at the rated load)

Circuitbreaker(rated

current)

Noisefilter

Surgeabsorber

Noisefilter forsignal

Rated operating current of magnetic contactor

Contact (configuration)*1

Diameter and withstand

voltage of main circuit cable

Crimp terminal for main circuit

terminal block

Diameter and withstand voltage of control power

supply cable

Crimp terminal

for control power supply

terminal block

Diameter and withstand voltage

of motor cable*3

Diameter and withstand voltage of

brake cable

MGDH

MDME3-phase,200V

7.5kW approx.11kVA60A

FS5559-60-34Recommended(component) DV0P1450

DV0P1460RJ8095

Recommended(component)T400-61DRecommended(component)

100A（3P+1a）

5.3mm2/AWG10600VACormore

11mm orsmaller

ø5.3TerminalblockM5


10mm orsmaller



0.75mm2/AWG18

100VACormore

MGME 6.0kW approx.9.0kVAMHME 7.5kW approx.11kVAMDME

3-phase,400V

7.5kW approx.11kVA30A

FN258-42-07or

FN258-42-33Recommended(component)

DV0PM20050 60A（3P+1a）

0.75mm2/AWG18100VACormoreMGME 6.0kW approx.9.0kVA

MHME 7.5kW approx.11kVA

MHDH MDME

3-phase,200V

11kW approx.17kVA 100A FS5559-80-34Recommended(component) DV0P1450 150A

（3P+1a）13.3mm2/AWG6600VACormore

*2

16mm orsmaller



10mm orsmaller


15kW approx.22kVA 125A 21.1mm2/AWG4600VACormore

3-phase,400V

11kW approx.17kVA 50A FN258-42-07or

FN258-42-33Recommended(component)

DV0PM20050 100A（3P+1a）



15kW approx.22kVA 60A 21.1mm2/AWG4600VACormore

*1Fortheexternaldynamicbrakeresistor,usethemagneticcontactorwiththesameratingasthatforthemaincircuit.

*2Whenusetheregenerativeresisterofoption(DV0PM20058,20059),usethecablewiththesamediameterasthemaincircuitcable.

*3Thediameterofthegroundcableandtheexternaldynamicbrakeresistorcablemustbeequalto,orlargerthanthatofthemotorcable.

Themotorcableisashieldcable,whichconformstotheECDirectivesandULStandards.Reference page Noisefilter.......................P.B44“CompositionofPeripheralEquipments” Surgeabsorber...............P.B45“CompositionofPeripheralEquipments” Noisefilterforsignal.......P.B45“CompositionofPeripheralEquipments” Motor/brakeconnector....P.B24“Wiringofconnectorformotorandbrake”

Caution Besuretoconductwiringproperlyandsecurely.Insecureorimproperwiringmaycausethemotorrunningoutofcontrolorbeingdamagedfromoverheating.Inad-dition,payattentionnottoallowconductivematerials,suchaswirechips,enteringthedriverduringtheinstallationandwiring.

− B19 −− B18 −

English3. System Configuration and WiringWiring of the Main Circuit (Terminal block type)3. System Configuration and Wiring

Wiring of the Main Circuit (Terminal block type)

G-frame, 200 V type•Wiringshouldbeperformedbyaspecialistoranauthorizedpersonnel.•Donotturnonthepoweruntilthewiringiscompleted.•Nevertouchtheterminaltowhichhighvoltageisapplied.Thereisariskofelectricshock.• Tips on Wiring1)Takeoffthecoverfixingscrews,anddetachtheterminalcover.2)Makewiring Useclamptypeterminalsofroundshapewithinsulationcoverforwiringtothe

terminalblock.Forcablediameterandsize,reterto"DriverandListofApplicablePeripheralEquipments"(P.B16).Tightentheterminalblockscrewwithatorquebetween2.0and2.4N •m(leftside)and1.0and1.7N •m(rightside).

3)Attachtheterminalcover,andfixwithscrews. TightenthescrewsecuringthecoverwiththetorquewrittenonP.B17.

Motor

Varistor

DC 24V

L1

UV

W

E

L2L3B1B2NCUVW

NCL1CL2CNCNCDB1DB2NCNCDB3DB4NC

• 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 counter-measures for harmonics.

• Provide a circuit breaker.• Make sure to provide a noise filter.• Provide coil surge suppression units to the coil of the Magnetic Contactor recommended by manufacturer. Never start/stop the motor with this Magnetic Contactor.

• Provide an AC Reactor (to be supplied by customer).• The voltage applied across DB1 and DB2 must be 300 VAC or below or 100 VDC or below.

• Match the connector of the motor and driver “U, V, W”.

• Avoid shorting and grounding. Don't connect the main power.• For normal operation, do not disconnect the shorting bar from DB3 and DB4: remove the bar only when the external dynamic brake resistor is used.

• Earth-ground this.• To prevent electric shock, be sure to connect the ground terminal ( ) of the driver, and the ground terminal (ground plate) of the control panel.

The ground terminal ( ) must not be shared with other equipment.

Two ground terminals are provided.• Don't connect the earth cable to other inserting slot, nor make them touch.

• Compose a duplex Brake Control Circuit so that the brake can also be activated by an external immediate stop signal.

• The holding brake has no polarities.• For the holding brake power supply capacity and how to use the brake, refer to “Specifica-tions of Built-in Holding Brake” on P.B47.

• Provide a varistor.• Connect a 10A fuse in series with the varistor.* Do not connect anything to NC.

Ground resistance: 100 Ω max.For applicable wire, refer to P.B16.

Leftside

Rightside

DC powersupply for brake

Fuse (125 V 10 A)

MCCBPowersupply NF MC LRCD

H-frame, 200 V type•Wiringshouldbeperformedbyaspecialistoranauthorizedpersonnel.•Donotturnonthepoweruntilthewiringiscompleted.•Nevertouchtheterminaltowhichhighvoltageisapplied.Thereisariskofelectricshock.• Tips on Wiring1)Takeoffthecoverfixingscrews,anddetachtheterminalcover.2)Makewiring Useclamptypeterminalsofroundshapewithinsulationcoverforwiringtothe

terminalblock.Forcablediameterandsize,reterto"DriverandListofApplicablePeripheralEquipments"(P.B16).Tightentheterminalblockscrewwithatorquebetween0.7and1.0N •m(upperside)and2.2and2.5N •m(lowerside).


Powersupply

Motor

Varistor

DC 24V

L1

UV

W

E

L2L3B1B2NCUVW

L1CL2CDB1DB2


• Provide a residual current device. The residual current device to be the one designed for "Inverter" and is equipped with countermeasures for harmonics.

• Provide a circuit breaker.• Make sure to provide a noise filter.• Provide coil surge suppression units to the coil of the Magnetic Contactor recommended by manufacturer. Never start/stop the motor with this Magnetic Contactor.


• Provide an AC Reactor (to be supplied by customer).

• Do not connect anything to NC.• Match the connector of the motor and driver “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.



• The holding brake has no polarities.• For the holding brake power supply capacity and how to use the brake, refer to “Specifica-tions of Built-in Holding Brake” on P.B47.

• Provide a varistor.• Connect a 10A fuse in series with the varistor.



Fuse (125 V 10 A)

MCCB NF MC LRCD

Upperside

Lowerside

Power supply for regenerative resistor

DC24V

− B21 −− B20 −

English3. System Configuration and WiringWiring of the Main Circuit (Terminal block type)

G-frame, 400 V type•Wiringshouldbeperformedbyaspecialistoranauthorizedpersonnel.•Donotturnonthepoweruntilthewiringiscompleted.•Nevertouchtheterminaltowhichhighvoltageisapplied.Thereisariskofelectricshock.• Tips on Wiring1)Takeoffthecoverfixingscrews,anddetachtheterminalcover.2)Makewiring Useclamptypeterminalsofroundshapewithinsulationcoverforwiringtothe

terminalblock.Forcablediameterandsize,reterto"DriverandListofApplicablePeripheralEquipments"(P.B16).Tightentheterminalblockscrewwithatorquebetween2.0and2.4N •m(leftside)and1.0and1.7N •m(rightside).


Motor

Varistor

DC 24V

L1

UV

W

E

L2L3B1B2NCUVW

NC24V0VNCNCDB1DB2NCNCDB3DB4NC



• 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.

• Direct power supply for control circuit.• Provide an AC Reactor (to be supplied by customer).• AC 3-phase power supply 400V for main circuit.• The voltage applied across DB1 and DB2 must be

300 VAC or below or 100 VDC or below.• Match the connector of the motor and driver “U, V,

W”.• Avoid shorting and grounding. Don't connect the main power.• For normal operation, do not disconnect the shorting

bar from DB3 and DB4: remove the bar only when the external dynamic brake resistor is used.

• Earth-ground this.• To prevent electric shock, be sure to connect the

ground terminal ( ) of the driver, and the ground terminal (ground plate) of the control panel.


Two ground terminals are provided.• Don't connect the earth cable to other inserting

slot, nor make them touch.• Compose a duplex Brake Control Circuit so that

the brake can also be activated by an external immediate stop signal.

• The holding brake has no polarities.• For the holding brake power supply capacity and

how to use the brake, refer to “Specifications of Built-in Holding Brake” on P.B47.

• Provide a varistor.• Connect a 10A fuse in series with the varistor.* Do not connect anything to NC.


Leftside

Rightside


Fuse (125 V 10 A)

MCCBPowersupply NF MC LRCD

DC24V

H-frame, 400 V type•Wiringshouldbeperformedbyaspecialistoranauthorizedpersonnel.•Donotturnonthepoweruntilthewiringiscompleted.•Nevertouchtheterminaltowhichhighvoltageisapplied.Thereisariskofelectricshock.• Tips on Wiring1)Takeoffthecoverfixingscrews,anddetachtheterminalcover.2)Makewiring Useclamptypeterminalsofroundshapewithinsulationcoverforwiringtothe

terminalblock.Forcablediameterandsize,reterto"DriverandListofApplicablePeripheralEquipments"(P.B16).Tightentheterminalblockscrewwithatorquebetween0.7and1.0N •m(upperside)and2.2and2.5N •m(lowerside).


Powersupply

Motor

Varistor

DC 24V

L1

UV

W

E

L2L3B1B2NCUVW

24V0V

DB1DB2



• Provide a circuit breaker.• Make sure to provide a noise filter.• Provide coil surge suppression units to the coil of the Magnetic Contactor recom-mended by manufacturer. Never start/stop the motor with this Magnetic Contactor.

• Direct power supply for control circuit.• The voltage applied across DB1 and DB2 must be 300 VAC or below or 100 VDC or below.

• Provide an AC Reactor (to be supplied by customer).• AC 3-phase power supply 400V for main circuit.• Do not connect anything to NC.• Match the connector of the motor and driver “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 holding brake has no polarities.• For the holding brake power supply capacity and how to use the brake, refer to “Specifi-cations of Built-in Holding Brake” on P.B47.

• Provide a varistor.• Connect a 10A fuse in series with the varistor.



Fuse (125 V 10 A)

MCCB NF MC LRCD

Upperside

Lowerside

DC24V

Power supply for regenerative resistor

DC24V

3. System Configuration and WiringWiring of the Main Circuit (Terminal block type)

− B23 −− B22 −

English

3. System Configuration and WiringWiring Diagram

Composethecircuitsothatthemaincircuitpowerwillbeshutoffwhenanerroroccurs.

Note Forwiringthemotorconnector,refertoP.B24.

3. System Configuration and WiringWiring Diagram

Note Forwiringthemotorconnector,refertoP.B24.

Composethecircuitsothatthemaincircuitpowerwillbeshutoffwhenanerroroccurs.

In Case of 3-Phase, G-frame, 200 V type

In Case of 3-Phase, H-frame, 200 V type

Noi

se fi

lter

Main powersupply

Control powersupply

Motor

37 ALM＋

L2L3

L1CL2C

MC1

L1

ALM－

Power supply 3-phase, 200V to 230V–15% +10%


MCCB

Motorconnection

36

L

ON

ALM

B1B2NCDB1DB2DB3DB4

UVW

ALMOFFCoil surge suppression units

Built-in thermostat of an externalregenerative resistor (light yellow)

Externalregenerative resistor

Power supply(3-phase)

Noi

se fi

lter

Main powersupply

Control powersupply

Motor

37 ALM＋

L2L3

L1CL2C

MC1

L1

ALM－

MCCB

Motorconnection

36

L

ON

ALM

B1B2

DB1NC

DB2UVW


Built-in thermostat of an external regenerative resistor (T1 and T2 terminals)


MC1

MC1

Note 1) Magnetic contactor MC2 must be the same as the contactor MC1 in the main circuit.Note 2) Servo may be turned on in the external sequence if the dynamic brake resistor deposits: to protect the system, provide the auxiliary contact. Note 3) Use 1.2 Ω, 400 W resistor (to be supplied by customer).Note 4) To use the external dynamic brake resistor:

Connect the R1 and R2 terminals to B1 and B2.Connect the T1 and T2 terminals as shown in the left diagram.Connect the 24 V and 0 V terminals to a 24 VDC power supply.Connect the E terminal to the ground.

Note 5) Provide an external protective device (e.g. thermal fuse) to monitor the temperature of the external dynamic brake resistor.

Note 1) Normally, do not disconnect the shorting bar.

Note 1)

Note 1) Note 4)

Note 5) Note 5) Note 5)

Dynamic Brake resistorNote 3)

Note 2)

MC2

MC2Coil surge suppression units


Insulated DC12 to 24V

(±5%)+−


(±5%)+−

Insulated DC24V

+−

In Case of 3-Phase, G-frame, 400 V type

In Case of 3-Phase, H-frame, 400 V type

Noi

se fi

lter



Main powersupply

Control powersupply

Motor

37 ALM＋

L2L3

24V0V

MC1

L1

ALM－

MCCB

Motorconnection


36

L

ON

ALM

B1B2NCDB1DB2DB3DB4

UVW


Built-in thermostat of an external regenerative resistor (light yellow)


Noi

se fi

lter

Main powersupply

Control powersupply

Motor

37 ALM＋

L2L3

24V0V

MC1

MC2

L1

ALM－

MCCB

Motorconnection


Power supply (Neutral point)The AC voltage across DB1 and DB2 must be 300 V or below.

36

L

ON

ALM

B1B2NCDB1DB2

UVW


Coil surge suppression units

Built-in thermostat of an external regenerative resistor (T1 and T2 terminals)

Note 1) Magnetic contactor MC2 must be the same as the contactor MC1 in the main circuit.Note 2) Servo may be turned on in the external sequence if the dynamic brake resistor deposits: to protect the system, provide the auxiliary contact. Note 3) Use 4.8 Ω, 400 W resistor (to be supplied by customer).Note 4) To use the external dynamic brake resistor:

Connect the R1 and R2 terminals to B1 and B2.Connect the T1 and T2 terminals as shown in the left diagram.Connect the 24 V and 0 V terminals to a 24 VDC power supply.Connect the E terminal to the ground.

Dynamic Brake resistorNote 3)

Note 2)

Note 1)

MC2

Note 1)

MC1

MC1

Note 1) Normally, do not disconnect the shorting bar.

Note 4)


Note 5) Note 5) Note 5)

Note 5) Provide an external protective device (e.g. thermal fuse) to monitor the temperature of the external dynamic brake resistor.


(±5%)+−


(±5%)+−

Insulated DC24V

+−

Insulated DC24V

Insulated DC24V

+−

+−

− B25 −− B24 −

English

Remarks

A

B

D

C

A

B

D

C

ABCD

JL04V-2E32-17PE-B-R N/MS3102A 14S-2P

U-phaseV-phaseW-phaseGround

PIN No. ApplicationABCD

BrakeBrake

NCNC

PIN No. Application

Do not connect anything to NC.

<Motor> <Brake>

3. System Configuration and WiringWiring of connector for motor and brake

•When themotors of<MDME, MGME, MHME> areused, theyare connectedasshownbelow.

Connector:MadebyJapanAviationElectronicsIndustry,Ltd. (Thefiguresbelowshowconnectorsforthemotor.)

3. System Configuration and WiringWiring to the connector, X1

ThisisusedforUSBconnectiontoapersonalcomputer.Itispossibletochangetheparametersettingandperformmonitoring.

Application Symbol ConnectorPin No. Contents

USBsignalterminal

VBUS 1Useforcommunicationwithpersonalcomputer.D− 2

D＋ 3— 4 Donotconnect.

GND 5 Connectedtogroundofcontrolcircuit.

Caution UsecommerciallyavailableUSBmini-Bconnectorforthedriver.


This isused for connection to thehost controllerwhen twoormoreunitsareused.RS232andRS485interfacesaresupplied.


Signalground GND 1 Connectedtogroundofcontrolcircuit.NC – 2 Donotconnect.

RS232signalTXD 3 RS232

Thetransmission/receptionmethod.RXD 4

RS485signal

485− 5RS485Thetransmission/receptionmethod.

485+ 6485− 7485+ 8

Frameground FG Shell Connectedwithgroundterminalintheservodriver.

Connector(plug):2040008-1(optional,availablefromTycoElectronics)[Connector pin assignment]

(Viewed from cable)8 6 4 27 5 3 1

Remarks X1toX7areusedforthesecondarycircuit.Toconnecttheseterminalstotheprimarypowersupply(particularly,the24VDCpowersupplyforcontrol,the24VDCpowersupplyforbrake,andthe24VDCpowersupplyforregenerativeresistor[forH-frameonly]),insulationisrequired.Donotconnecttheseterminalstothesamepowersupply.

− B27 −− B26 −

English


Asafetyby-passplugissuppliedasstandardequipment.Donotdisconnectitinnor-maltimes.Sincethestandardconnectorcannotbeusedwhencontrollingthesafetyfunctionfromthehostcontroller,purchase theoptionalconnectorandmakeconnectionasshownbelow.

Caution Iftheconnectorisdisconnectedduringoperation,animmediatestopwillbecaused.


NC– 1

Donotconnect.– 2

Safetyinput1SF1− 3

Thesearetwoindependentcircuitsthatturnofftheoperationsignaltothepowermoduletoshutoffthemotorcurrent.

SF1+ 4

Safetyinput2SF2− 5

SF2+ 6

EDMoutputEDM− 7 Thisisanoutputformonitoringthefailure

ofthesafetyfunction.EDM+ 8


Connector(plug):2013595-1(optional,availablefromTycoElectronics)

8 6 4 27 5 3 1

[Connector pin assignment]

(Viewed from cable)

Caution Whenestablishinga systemusing safety functions, completely under-standtheapplicablesafetystandardsandtheoperatinginstructionman-ualortechnicaldocumentsfortheproduct.


Wiring Example of Position Control Mode

2.2kΩ

2.2kΩ

2.2kΩ

2.2kΩ

14 15 16 17 4318 42

In c

ase

of o

pen

colle

ctor

I/F

7C

OM

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431 2 5 6 13 21 22 48 24 25 1949 23

1kΩ

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14kΩ 10kΩ

20kΩ

20kΩ

14kΩ 10kΩ

20kΩ

20kΩ

47kΩ

47kΩ

47kΩ 47

kΩ

20kΩ

20kΩ

+– +– –

The

func

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of t

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30,

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32,

33

O

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2.2kΩ

2.2kΩ

(1) W

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you

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the

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pow

er s

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Spec

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2kΩ

1/2W

VDC-1

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4.7kΩ

220Ω

2.2kΩ

2.2kΩ

220Ω

2.2kΩ

2.2kΩ



− B29 −− B28 −

English

Wiring Example of Velocity Control Mode


7C

OM

+

OA+

OA -

OB+

OB-

OZ+

OZ-

GN

D

CZ

SPR/TR

QR/SP

LG

ND

P-ATL

/TRQR

GN

DN

-ATL

SP IM

21 22 48 24 25 1949 23

1kΩ

1kΩ

INTS

PD1

INTS

PD2

SRV-

ON

GAI

NIN

TSPD

3ZE

ROSP

DC-

MODE

A-C

LRPO

TN

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ALM

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12 to

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ZSP

CO

M-

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33 30 29 27 32 31 9 8 35 34 37 36 39 38 11 10 40 12 41 5028

14 15 16 17 18 43 42

26

14kΩ 10kΩ

20kΩ

20kΩ

14kΩ 10kΩ

20kΩ

20kΩ

47kΩ

47kΩ

47kΩ 47

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20kΩ

20kΩ

X4

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be c

hang

ed u

sing

par

amet

ers.

In

put:

8, 9

, 26,

27,

28,

29,

30,

31,

32,

33

O

utpu

t: 10

-11,

12,

34-

35, 3

6-37

, 38-

39, 4

0

+– +–+–

AT-SP

EED+

AT-SP

EED-

(

:

Tw

iste

d pa

ir)

4.7kΩ

Exter

nal b

rake

relea

se ou

tput

Wiring Example of Torque Control Mode


7C

OM

+

OA+

OA -

OB+

OB - OZ+

OZ -

GN

D

CZ

SPR/TR

QR/SP

LG

ND

P-ATL

/TRQR

GN

DN

-ATL

SP IM

21 22 48 24 25 19 14 15 16 17 4318 4249 23

14kΩ 10kΩ

20kΩ

20kΩ

14kΩ 10kΩ

20kΩ

20kΩ

47kΩ

47kΩ

47kΩ 47

kΩ

20kΩ

20kΩ

1kΩ

1kΩ

INH

CL

SRV-

ON

GAI

ND

IV1

ZERO

SPD

C-M

ODE

A-C

LRPO

TN

OT

S-R

DY+

S-R

DY -

ALM

+

AT-SP

EED+

BRKO

FF+

BRKO

FF-

TLC

VDC

12 to

24V

ZSP

CO

M-

FG

AT-SP

EED-

ALM-

33 30 29 27 28 26 32 31 9 8 35 34 37 36 39 38 11 10 40 12 41 50

Z-pha

se ou

tput (o

pen c

ollec

tor)

X4

The

func

tions

of t

he fo

llow

ing

pin

can

be c

hang

ed u

sing

par

amet

ers.

In

put:

8, 9

, 26,

27,

28,

29,

30,

31,

32,

33

O

utpu

t: 10

-11,

12,

34-

35, 3

6-37

, 38-

39, 4

0

Divider

A-ph

ase

outp

ut

B-ph

ase

outp

ut

Z-ph

ase

outp

ut

Torq

ue c

omm

and

inpu

t or

vel

ocity

lim

it in

put (

0 to

±10

V)

Velo

city

mon

itor o

utpu

tTo

rque

mon

itor o

utpu

t

Wirin

g ex

ample

whe

n co

ntro

l mod

e Pr

0.01

=5 o

r Pr3

.17=

1

CCWT

L/TRQ

RG

ND

16 17N

egat

ive

dire

ctio

n to

rque

lim

it in

put (

0 to

±10

V)Se

lect

with

Pr3

.17.

+– +– +–

Serv

o-ON

inpu

tGa

in sw

itchin

g inp

ut

Alar

m cl

ear i

nput

Serv

o-Re

ady o

utpu

t

Serv

o-Al

arm

out

put

At-s

peed

out

put

Exter

nal b

rake

relea

se ou

tput

Torq

ue in

-limit o

utpu

t

Zero

spee

d de

tecti

on o

utpu

t

Spee

d ze

ro cl

amp

input

Con

trol m

ode

switc

hing

inpu

t

Posi

tive

dire

ctio

nov

er-tr

avel

inhi

bitio

n in

put

Neg

ativ

e di

rect

ion

over

-trav

el in

hibi

tion

inpu

t

(

:

Tw

iste

d pa

ir)

4.7kΩ



− B31 −− B30 −

English

MDME 7.5kW to 15kWMHME 7.5kWMGME 6.0kW

Shell (FG)

+5V0V

123456

41

37

Encoder cable

Connector: JN2DS10SL1-R(by Japan Aviation Electronics Ind.)

Motor Driver

E5VE0V

PSPS

9

PSPSFG

E5VE0V

X6

Reg

ulat

or

Shell (FG)

+5V0V

123456

41

37

Encoder cable

Connector: JN2DS10SL1-R(by Japan Aviation Electronics Ind.)

Motor Driver

E5VE0V

PSPS

9

PS

5BAT−

6BAT+

PSFG

E5VE0V

X6

battery Reg

ulat

or

MDME 7.5kW to 15kWMHME 7.5kWMGME 6.0kW

Twisted pair

Twisted pair


Connect on to External ScaleProvideapowersupplyfortheexternalscaleonyourpartorusethefollowingpoweroutput(250mAorless).


PowersupplyoutputEX5V 1 Supplythepowerofexternal

scaleorA,B,Zphaseencoder.

EX0V 2 Connectedtogroundofcontrolcircuit.

I/Fofexternalscalesignals

EXPS 3 SerialsignalThetransmission/receptionmethod./EXPS 4

A,B,ZphaseEndodersignalinput

EXA 5

ParallelsignalreceptionCorrespondencespeed:4Mpps(afterquadruple)

/EXA 6

EXB 7

/EXB 8

EXZ 9

/EXZ 10


Connector(plug):MUF-PK10K-X(byJ.S.T.Mfg.Co.,Ltd.)• Caution1)Themanufacturersapplicableexternalscalesforthisproductareasfollows.

•MitutoyoCorp.•MagnescaleCo.,Ltd.

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

(Pr1.00andPr.1.05),youmaynotbeabletocontrolper1pulseunit.Setupoflarg-erscaleratiomayresultinlargernoise.


Connection to Encoder•Incaseof20-bitincrementalencoder

•Incaseof17-bitabsoluteencoder

Caution Thevoltageof inputpower toencodersideconnectorshouldbe in therange4.90to5.25VDC.



− B33 −− B32 −

English


TheconnectorX7ofthefrontpanelisformonitoroutput.　Analogueoutput:2systems　Digitaloutput :1systemsInbothcases,itispossibletoswitchtheoutputsignalbysettingparameters.


Analoguemonitoroutput1 AM1 1

•Outputtheanaloguesignalformonitor.

• Theamplitudeoftheoutputsignalis±10V.

•Outputimpedanceis1kΩ.Whenconnectingameasuringinstrument,checkitsinputcircuitforimpedancematching.

Analoguemonitoroutput2 AM2 2

Signalground GND 3 Connectedtogroundofcontrolcircuit.

Digitalmonitoroutput DM 4

•Outputthedigitalsignalformonitor.•OutputvoltageisCMOSlevelcompatible.

•Outputimpedanceis2.2kΩ.Whenconnectingameasuringinstrument,checkitsinputcircuitforimpedancematching.

NC – 5 Donotconnect.

NC – 6 Donotconnect.

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.

6 1

X7


− B35 −− B34 −

English

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).

Parametr No.Class name Group

Class No.*

0 00to Basicsetting ParameterforBasicsetting

1 00to Gainadjustment ParameterforGainadjustment

2 00to Dampingcontrol ParameterforDampingcontrol

3 00to Verocity/Torque/Full-closedcontrol ParameterforVerocity/Torque/Full-closedcontrol

4 00to I/Fmonitorsetting ParameterforI/Fmonitorsetting

5 00to Enhancingsetting ParameterforEnhancingsetting

6 00to Specialsetting ParameterforSpecialsetting

*TheParameterNo.consistsof2digits.

− B37 −− B36 −

English

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-

CLR)in10secorlongeraftertheerroroccurs.YoucancleartheOverloadprotec-tiontimecharacteristics(refertoP.B40,41)byturningoffthecontrolpowersupplybetweenL1CandL2C(200V),24Vand0V(400V)ofthedriver.*1

•Youcancleartheaboveerrorbyoperatingthefrontpanelkeysandsetupsupportsoftwear"PANATERM".

•Besuretoclearthealarmduringstopafterremovingthecauseoftheerrorandsecuringsafety.

• 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 ○ ○

13 0 Mainpowersupplyunder-voltageprotection(betweenPtoN) ○1 Mainpowersupplyunder-voltageprotection(ACinterceptiondetection) ○

14 0 Over-currentprotection ○1 IPMerrorprotection ○

15 0 Over-heatprotection ○ ○16 0 Over-loadprotection ○ ○*1

18 0 Over-regenerationloadprotection ○ ○1 Over-regenerationTrerrorprotection ○

21 0 Encodercommunicationdisconnecterrorprotection ○1 Encodercommunicationerrorprotection ○

23 0 Encodercommunicationdataerrorprotection ○24 0 Positiondeviationexcessprotection ○ ○ ○25 0 Hybriddeviationexcesserrorprotection ○ ○

26 0 Over-speedprotection ○ ○ ○1 2ndover-speedprotection ○ ○

27 0 Commandpulseinputfrequencyerrorprotection ○ ○ ○2 Commandpulsemultipliererrorprotection ○ ○ ○

28 0 Limitofpulsereplayerrorprotection ○ ○ ○29 0 Deviationcounteroverflowprotection ○ ○30 0 Safetydetection ○

330 IFoverlapsallocationerror1protection ○1 IFoverlapsallocationerror2protection ○2 IFinputfunctionnumbererror1protection ○

Error code Protective function AttributeMain Sub History Can be cleared Immediate stop

33

3 IFinputfunctionnumbererror2protection ○4 IFoutputfunctionnumbererror1protection ○5 IFoutputfunctionnumbererror2protection ○6 CLfittingerrorprotection ○7 INHfittingerrorprotection ○

34 0 Softwarelimitprotection ○ ○36 0to2 EEPROMparametererrorprotection37 0to2 EEPROMcheckcodeerrorprotection38 0 Over-travelinhibitinputprotection ○

390 Analoginput1excessprotection ○ ○ ○1 Analoginput2excessprotection ○ ○ ○2 Analoginput3excessprotection ○ ○ ○

40 0 Absolutesystemdownerrorprotection ○ ○41 0 Absolutecounterovererrorprotection ○42 0 Absoluteover-speederrorprotection ○ ○43 0 Initializationfailure ○44 0 Absolutesingleturncountererrorprotection ○45 0 Absolutemulti-turncountererrorprotection ○47 0 Absolutestatuserrorprotection ○48 0 EncoderZ-phaseerrorprotection ○49 0 EncoderCSsignalerrorprotection ○

500 Feedbackscaleconnectionerrorprotection ○1 Feedbackscalecommunicationerrorprotection ○

51

0 Feedbackscalestatus0errorprotection ○1 Feedbackscalestatus1errorprotection ○2 Feedbackscalestatus2errorprotection ○3 Feedbackscalestatus3errorprotection ○4 Feedbackscalestatus4errorprotection ○5 Feedbackscalestatus5errorprotection ○

550 A-phaseconnectionerrorprotection ○1 B-phaseconnectionerrorprotection ○2 Z-phaseconnectionerrorprotection ○

87 0 Compulsoryalarminputprotection ○95 0 Motorautomaticrecognitionerrorprotection

Othernumber Othererror ○

Note History...Theerrorwillbestoredintheerrorhistory.Can be cleared...Tocanceltheerror,usethealarmclearinput(A-CLR). Ifthealarmclearinputisnoteffective,turnoffpower,removethecauseofthe

errorandthenturnonpoweragain.Immediate stop...Instantaneouscontrolledstopuponoccurrenceofanerror. (Settingof“Pr.5.10Sequenceatalarm”isalsorequired.)

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.Never

makeanapproachtothemotorandthemachine(s)drivenbythemotorwhilepow-erisappliedbecausetheymaybecomefailureormalfunction.

2)Internalcircuitofthedriveriskeptchargedwithhighvoltageforawhileevenafterpower-off.Turnoff thepowerandallow15minutesor longerafterLEDdisplayofthefrontpanelhasgoneoff,beforeperformingmaintenanceandinspection.

3)Disconnectalloftheconnectiontothedriverwhenperformingmeggertest(Insulationre-sistancemeasurement)tothedriver,otherwiseitcouldresultinbreakdownofthedriver.

4)Donotusebenzine, thinner,alcohol,acidiccleanerandalkalinecleanerbecausetheycandiscolorordamagetheexteriorcase.

5)Forenergy-savingpurpose,theupperfanoftheH-framedriverisstoppedwhiletheservoisOFF.Thisisnotafault.

Inspection Items and CyclesGeneralandnormalrunningcondition

Ambient conditions : 30˚C (annual average), load factor of 80% or lower, operating hours of 20 hours or less per day.

Performthedailyandperiodicalinspectionaspertheitemsbelow.

Type Cycles Items to be inspected

Dailyinspection Daily

•Ambienttemperature,humidity,speck,dustorforeignobject•Abnormalvibrationandnoise•Maincircuitvoltage•Odor•Lintorotherparticlesatairholes•Cleannessatfrontportionofthedriverandconnector•Damageofthecables•Looseconnectionormisalignmentbetweenthemotorandmachineorequipment•Pinchingofforeignobjectattheload

Periodicalinspection Annual

•Loosetightening•Traceofoverheat•Damagetotheterminalblock•Loosefastenersonterminalblock

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

Driver

Smoothingcondenser Approx.5years

Thesehoursorcyclesarereference.Whenyouexperienceanyerror,replacementisrequiredevenbeforethisstandardreplace-mentcycle.

Coolingfan 2to3years(10,000to30,000hours)

Aluminumelectrolyticcapacitor(onPCB) Approx.5years

Rushcurrentpreventiverelay

Approx.100,000times(dependingonworking

condition)

Rushcurrentpreventiveresistor

Approx.20,000times(dependingonworking

condition)

Motor

Bearing 3to5years(20,000to30,000hours)

Oilseal 5000hours

Encoder 3to5years(20,000to30,000hours)

Batteryforabsoluteencoder

Lifetimevariesdependingonworkingconditions.RefertotheOperatingInstructionsattachedtothebatteryforabsoluteencoder.

6. Maintenance and InspectionsMaintenance and Inspections

− B41 −− B40 −

English

7. Conformity to EC Directives and UL StandardsEC Directives / Conformity to UL Standards

EC DirectivesTheECDirectivesapplytoallsuchelectronicproductsasthosehavingspecificfunc-tionsandhavebeenexported toEUanddirectlysold togeneralconsumers.Thoseproductsare required toconform to theEUunifiedstandardsand to furnish theCEmarkingontheproducts.

However,ourACservosmeettherelevantECDirectivesforLowVoltageEquipmentsothatthemachineorequipmentcomprisingourACservoscanmeetECDirectives.

EMC DirectivesMINASServoSystemconformstorelevantstandardunderEMCDirectivessettingupcertainmodel(condition)withcertainlocatingdistanceandwiringoftheservomotorandthedriver.Andactualworkingconditionoftendiffersfromthismodelconditiones-peciallyinwiringandgrounding.Therefore,inorderforthemachinetoconformtotheEMCDirectives,especiallyfornoiseemissionandnoiseterminalvoltage,itisneces-sarytoexaminethemachineincorporatingourservos.

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

marked)betweenthepowersupplyandthenoisefilter. Fortheratedcurrentofthecircuitbreakerorfuse,refertoP.B16"DriverandListof

ApplicablePeripheralEquipments"ofPreparation. Useacoppercablewithtemperatureratingof75˚Corhigher.(3)Over-loadprotectionlevel Over-loadprotectivefunctionwillbeactivatedwhentheeffectivecurrentexceeds

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 characteristics

MDME 7.5kW～15kWMHME 7.5kWMGME 6.0kW

100115

0.1

1

10

100

200 300Torque [%]

Conformed StandardsDriver Motor

ECDirectives

EMCDirectives

EN55011EN61000-6-2EN61800-3

–

Low-VoltageDirectives EN61800-5-1 EN60034-1

EN60034-5

MachineryDirectivesFunctionalsafety

EN954-1(Cat.3)ISO13849-1(PLc,d*)(Cat.3)EN61508(SIL2)EN62061(SIL2)EN61800-5-2(STO)IEC61326-3-1

–

ULStandards UL508C(FileNo.E164620)

UL1004-1(FileNo.E327868)

CSAStandards C22.2No.14 C22.2No.100IEC : InternationalElectrotechnicalCommissionEN : EuropaischenNormenEMC : ElectromagneticCompatibilityUL : UnderwritersLaboratoriesCSA : CanadianStandardsAssociationPursuanttothedirective2004/108/EC,article9(2)PanasonicTestingCentrePanasonicServiceEurope,adivisionofPanasonicMarketingEuropeGmbH

Winsbergring15,22525Hamburg,F.R.Germany*PLd:ProvidedthatEDMisused.

− B43 −− B42 −

English

7. Conformity to EC Directives and UL StandardsComposition of Peripheral Equipments

Installation EnvironmentUse the servodriver in theenvironment ofPollutionDegree1or 2 prescribed inIEC-60664-1(e.g.InstallthedriverinMetariccontrolboxwithIP54protectionstructure.)

Metallic control box200V

Controller

Insulated power supply for interface

Safetycontroller

Power supply

Surge absorber

Noise filter

Noise filter for signal lines<Dedicated to power supply cable>

Ground (PE)

L1U

X4

XAXB

X3X6

M

RE

VW

L2L3L1CL2C

Noise filter for signal lines<Dedicated to motor cable>

Noise filter for signal lines



DriverMotor

Motor cablewith shieldcable

InsulatedDC24V

Metallic control box400V

Controller

Insulated power supply for interface

Safetycontroller

Power supply

Surge absorber

Noise filter

Noise filter for signal lines<Dedicated to power supply cable>

Ground (PE)

L1U

X4

XAXB

X3X6

M

RE

VW

L2L324V0V

Noise filter for signal lines<Dedicated to motor cable>


DriverMotor

Motor cablewith shieldcable

Residualcurrentdevice(RCD)

Circuit breaker

Residualcurrentdevice(RCD)

Circuit breaker




Power Supply200Vtype: 3-phase,200Vto230V +10%50/60Hz

–15%

400Vtype:Mainpowersupply 3-phase,380Vto480V +10%50/60Hz

–15%

Controlpowersupply DC24V±15％(1)Thisproductisdesignedtobeusedinover-voltagecategory(installationcategory)

IIIofEN61800-5-1:2007.(2)UseaninsulatedpowersupplyofDC12to24VwhichhasCEmarkingorcomplies

withEN60950.

Circuit BreakerInstallacircuitbreakerwhichcomplieswithIECStandardsandULrecognized(Listedand marked)betweenpowersupplyandnoisefilter.Integralsolidstateshortcircuitprotectiondoesnotprovidebranchcircuitprotection.BranchcircuitprotectionmustbeprovidedinaccordancewiththeNationalElectricalCodeandanyadditionallocalcodes.

Caution UseoptionscorrectlyafterreadingOperatingInstructionsoftheoptionstobetterunderstandtheprecautions.Takecarenottoapplyexcessivestresstoeachoptionalpart.

− B45 −− B44 −

English7. Conformity to EC Directives and UL StandardsComposition of Peripheral Equipments

Circuit diagram

1

ø4.2±0.2

41±1

UL-1015 AWG16

281

5.5±

111

±128

.5±1

4.5±

0.520

0+30

-0

2 3

21 3

[Unit: mm]

39±134±1

30±113±1

Mass: 62.8g

[Unit: mm]

Remarks To connect the noise filter to the connector XB connection cable, adjust the sheath length at the tip of the cable, as required.

Surge AbsorberProvideasurgeabsorberfortheprimarysideofnoisefilter.

Option part No. Voltage specifications for driver

Manufacturer’spart No. Manufacturer

DV0P1450 3-phase200V R･A･V-781BXZ-4 OkayaElectricInd.DV0PM20050 3-phase400V R･A･V-801BXZ-4

Noise Filter for Signal LinesInstall noise filters for signal lines to all cables (power cable,motor cable, encodercable,interfacecableandUSBcable)

<24VPowercable,Encodercable,InterfacecableandUSBcable>

Option part No. Manufacturer’spart No. Manufacturer

DV0P1460 ZCAT3035-1330 TDKCorp.

Caution Fixthesignallinenoisefilterinordertopreventexcessivestresstothecables.

Noise FilterWhenyouinstallonenoisefilterat thepowersupplyformulti-axesapplication,consultwithmanufacturerofthenoisefilter.Ifsufficientnoisemarginisrequired,connect2filtersinseries.• Recommended components

Voltage specifications for driver

Manufacturer’spart No.

Applicable driver (frame) Manufacturer

3-phase200V FS5559-60-34 G-frame Schaffner3-phase200V FS5559-80-34 H-frame

Voltage specifications for driver

Manufacturer’spart No.

Applicable driver (frame) Manufacturer

3-phase400V FN258-42-07 G,H-frame Schaffner3-phase400V FN258-42-33 G,H-frame

Remarks •Selectanoisefilterwhosecapacityiscommensuratewiththepowersourceca-pacity(inconsiderationoftheloadcondition).

•Forthedetailedspecificationsofeachnoisefilter,contactthemanufacturer.


LINE LOAD

Circuit diagram

<FN258-42-07> <FN258-42-33>

E E

L3

L2

L1

L3'

L2'

L1'

314

300

329

1.5

70

500±10

45

6.5

12

185

350

70314

329

45 6.5

300

185

1.5

[Unit: mm]

[Unit: mm]

[Size]

PE

LINE

L1

L3

L2

L1'

L3'

L2'

LOAD

C50

50

140

6.5 D

A

9525 1.

5

M8 25

B

Circuit diagram

A B C D410FS5559-60-34 170 370 388460FS5559-80-34 180 420 438

− B47 −− B46 −

English

8. Built-in Holding BrakeOutline / Specifications

Intheapplicationswherethemotordrivestheverticalaxis,thisbrakewouldbeusedtoholdandpreventthework(movingload)fromfallingbygravitywhilethepowertotheservoisshutoff.

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).

•Withtheparameter,Pr4.38(Setupofmechanicalbrakeactionwhilethemotorisinmotion),youcansetupatimebetweenwhenthemotorenterstoafree-runfromenergizedstatusandwhenBRK-OFFsignalturnsoff(brakewillbeengaged),whentheServo-OFForalarmoccurswhilethemotorisinmotion.RefertotheOperatingInstructions(Overall)forthedetails.

Note 1.Theliningsoundofthebrake(chatteringandetc.)mightbegeneratedwhilerunningthemotorwithbuilt-inbrake,howeverthisdoesnotaf-fectanyfunctionality.

2.Magnetic fluxmight begenerated through themotor shaftwhile thebrakecoil isenergized (brake isopen).Payanextraattentionwhenmagneticsensorsareusednearbythemotor.

Specifications of Built-in Holding Brake

Motorseries

Motoroutput

Staticfrictiontorque

N·m

Rotorinertia

x 10–4 kg·m2

Engagingtimems

Releasingtimems

ExcitingcurrentDC A

(at cool-off)

Releasingvoltage

Permissiblework (J) perone braking

Permissibletotal work

x 103J

Permissibleangular

accelerationrad/s2

MGME 6.0kW58.8

ormore 4.7 150orless

50orless 1.4 DC2V

ormore

1372 2900 5000MHME 7.5kW

MDME7.5kW11kW15kW

100ormore 7.1 300

orless140

orless 1.08 2000 4000 3000

•ExcitationvoltageisDC24V±10%.•ReleasingtimevaluesrepresenttheoneswithDC-cutoffusingavaristor.•Abovevalues(exceptstaticfrictiontorque,releasingvoltageandexcitationcurrent)representtypicalvalues.

•Backlashofthebuilt-inholdingbrakeiskept±1˚orsmalleratex-factorypoint.•Service life of thenumber of acceleration/decelerationwith theabovepermissibleangularaccelerationismorethan10milliontimes.(Lifeendisdefinedaswhenthebrakebacklashdrasticallychanges.)

<Powercable>Manufacturer’s

part No. Manufacturer

RJ8095 KK-CORP.CO.JP

<Motorcable>Manufacturer’s

part No. Manufacturer

T400-61D MICROMETALS

Residual current deviceInstallatypeBResidualcurrentdevice(RCD)atprimarysideofthepowersupply.

Grounding(1)Topreventelectricshock,besuretoconnectthegroundterminal( )ofthedriv-

er,andthegroundterminal(PE)ofthecontrolpanel.(2)Thegroundterminal( )mustnotbesharedwithotherequipment.Twoground

terminalsareprovided.

Note Fordriverandapplicableperipheralequipments, refer toP.B16 "DriverandListofApplicablePeripheralEquipments".


[Unit: mm]

180

200

34

130

7R3.5

107

57.2

3310

2

[Unit: mm]

− B49 −− B48 −

English

The G-frame driver incorporates a dynamic brake to stop the motor immediately.To use the dynamic brake, use caution about the following points.(The H-frame driver does not incorporate the dynamic brake.)

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 activated may cause smoking or fire.

2.Dynamicbrake is a short-duration rating, anddesigned for onlyemergencystop.Allowapprox.10minutespausewhenthedynamicbrakeisactivatedduringhigh-speedrunning.

(TheG-framebuilt-indynamicbrakeresistoriscapableofhandlingupto3continuoushaltsattheratedspeedwithmax.permissibleinertia.Whenoverheatedundermorecriticaloperatingconditions,thebrakewillblowoutandshouldbereplacedwithanewone.)

• You can activate the dynamic brake in the following cases. 1)whenthemainpoweristurnedoff2)atServo-OFF3)whenoneoftheprotectivefunctionisactivated.4)whenover-travelinhibitinput(NOT,POT)ofconnectorX4isactivated Intheabovecasesfrom1)to4),youcanselecteitheractivationof

thedynamicbrakeormakingthemotorfree-runduringdecelera-tionorafterthestop,withparameter.

Notethatwhenthecontrolpowerisoff,thedynamicbrakewillbekeptreleased.

• If the built-in dynamic brake resistor of the G-frame driver is in-sufficient, external dynamic brake resistors can be connected.

• For the H-frame driver, external dynamic brake resistors can be connected.

Connections of the external dynamic brake resistors are the same as those of the G-frame driver. (The DB3 and DB4 termi-nals are not provided.)

• Use the following resistors as the external dynamic brake resis-tors. (To be prepared by user)

Driver Resistance specifications per piece Quantity of useFrame Voltage Resistance Electric power

G,H 200V 1.2Ω 400W 3pcs.G,H 400V 4.8Ω 400W 3pcs.

Forexampleofcharacteristicofthedynamicbrake,refertooperat-ingInstructions(Overall).

9. Dynamic BrakeOutline

9. Dynamic BrakeConnections of external dynamic brake resistor (Example)

U-phase

V-phase

W-phase

Terminals DB1, DB2, DB3 and DB4• To connect an external dynamic

brake resistor, disconnect the shorting bar between DB3 and DB4.

• Connect a magnetic contactor (for control) for the external dynamic brake between L1C and DB1.

• Provide an external protective device (e.g. thermal fuse) between DB2 and LC2.

• The voltage applied across DB1 and DB2 must be 300 VAC or below or 100 VDC or below.Pin NC


L3L2L1

L2CL1C

24 VDC power supply for brake (to be supplied by customer)

Thermal fuse (one fuse for each resistor)(to be supplied by customer)

(Auxiliary contact (*1))

Before shipping,a shorting bar isconnected across DB3 and DB4.


• Use the same magnetic contactor as that of the main circuit.

• Provide an auxiliary contact (*1) for protection, so that the servo does not turn on with an external sequence when the dynamic brake resistor is fused.

Dynamic Brake Resistor (to be supplied by customer)

• When you use an external dynamic brake resistor, install an external protective apparatus, such as thermal fuse without fail.


• Do not use an external dynamic brake resistor together with the built-in resistor.

• Provide one dynamic brake resistor for each phase.• When using an external dynamic brake, be sure to

use the resistor. Do not make short circuit.

NC

NC

NC

L2C

L1C

NC

NC

NC

DB3

DB2

DB1

DB4

X1

X2

X3

X4

X5

X6

CHARGE

L1

L2

L3

B1

B2

NC

U

V

W

Remarks

Remarks

Remarks

MainsResidual

current device

G-frame, 200 V

− B51 −− B50 −

English

Thisdriverisdesignedtobeusedinacombinationwiththemotorwhicharespecifiedbyus.Checktheseriesnameofthemotor,ratedoutputtorque,voltagespecificationsandencoderspecifications.

Caution Do not use in other combinations than those listed below.

Motor DriverPowersupply Type Rated rotational

speed Model Ratedoutput Model Frame

3-phase,200V

MDMEMiddleinertia 1500r/min

MDME752G1* 7.5kW MGDHTC3B4 G-frameMDMEC12G1* 11.0kW

MHDHTC3B4 H-frameMDMEC52G1* 15.0kW

3-phase,400V

MDME754G1* 7.5kW MGDHTB4A2 G-frameMDMEC14G1* 11.0kW

MHDHTB4A2 H-frameMDMEC54G1* 15.0kW

3-phase,200V MGME

Middleinertia 1000r/minMGME602G1*

6.0kWMGDHTC3B4

G-frame

3-phase,400V MGME604G1* MGDHTB4A2

3-phase,200V MHME

Highinertia 1500r/minMHME752G1*

7.5kWMGDHTC3B4

3-phase,400V MHME754G1* MGDHTB4A2

Note Suffixof"*"intheapplicablemotormodelrepresentsthemotorstructure.

10. Check of the Combination of the Driver and the MotorIncremental Specifications, 20-bit

9. Dynamic BrakeConnections of external dynamic brake resistor (Example)

NC

NC

NC

0V

24V

NC

NC

NC

DB3

DB2

DB1

DB4

L1

L2

L3

B1

B2

NC

U

V

W

X1

X2

X3

X4

X5

X6

CHARGE

400V

L3L2L1

L1C

Neutral point

U-phase

V-phase

W-phase

0V24V

24 VDC power supply for control (to be supplied by customer)


Terminals DB1, DB2, DB3 and DB4• To connect an external dynamic

brake resistor, disconnect the shorting bar between DB3 and DB4.

• Connect a magnetic contactor (for control) for the external dynamic brake between L1C and DB1.

• Provide an external protective device (e.g. thermal fuse) between DB2 and the neutral point.


• L1C is connected after the R-phase of the noise filter.

• L1C is not indicated on the driver body.Pin NC


24 VDC power supply for brake (to be supplied by customer)

Thermal fuse (one fuse for each resistor)(to be supplied by customer)

Magnetic Contactor (MC)

Remarks

MainsResidual

current device

Note

(Auxiliary contact (*1))

Before shipping,a shorting bar isconnected across DB3 and DB4.

Turns on/off the dynamic brake resistor.Use coil surge suppression units together with this.

• Use the same magnetic contactor as that of the main circuit.

• Provide an auxiliary contact (*1) for protection, so that the servo does not turn on with an external sequence when the dynamic brake resistor is fused.

Dynamic Brake Resistor (to be supplied by customer)

• When you use an external dynamic brake resistor, install an external protective apparatus, such as thermal fuse without fail.


• Do not use an external dynamic brake resistor together with the built-in resistor.

• Provide one dynamic brake resistor for each phase.• When using an external dynamic brake, be sure to

use the resistor. Do not make short circuit.

Remarks

Remarks

G-frame, 400 V

− B53 −− B52 −

English

10. Check of the Combination of the Driver and the MotorAbsolute Specifications, 17-bit

11. SpecificationsBasic Specifications

Inputpower

200VMaincircuit 3-phase,200to230V ＋ 10％ 50/60Hz − 15％

Controlcircuit Singlephase,200to230V ＋ 10％ 50/60Hz − 15％

400V*1

Maincircuit Singlephase,380to480V ＋ 10％ 50/60Hz − 15％Controlcircuit DC24V±15%

Controlmethod IGBTPWMSinusoidalwavedrive

Encoderfeedback 17-bit(131072resolution)absoluteencoder,7-wireserial20-bit(1048576resolution)incrementalencoder,5-wireserial

FeedbackscalefeedbackA/Bphase,initializationsignaldefferentialinput.Manufacturersthatsupportserialcommunicationscale:MitsutoyoCorp.MagnescaleCo.,Ltd.

ParallelI/Oconnector

Controlsignal

InputGeneralpurpose10inputsThe function of general-purpose input is selected byparameters.

Output Generalpurpose6outputsThefunctionofgeneral-purposeinputisselectedbyparameters.

Analogsignal

Input 3inputs(16BitA/D:1input,12BitA/D:2inputs)Output 2outputs(Analogmonitor:2output)

Pulsesignal

Input 2inputs(Photo-couplerinput,Linereceiverinput）Output 4outputs(Linedriver:3output、opencollector:1output)

Communicationfunction

USB ConnectionwithPCetc.RS232 1:1communicationRS485 1:ncommunicationupto31axestoahost.

Safetyfunction UsedforIEC61800-5-2:STO.

Frontpanel(1)5keys(MODE,SET,UP,DOWN,SHIFT)(2)LED(6-digit)(3)Monitorconnector (Analogmonitoroutput (2ch),Digitalmonitoroutput(1ch))

Regenerationresistor nobuilt-inregenerativeresistor(externalresistoronly)

Dynamicbrakeresistor G-frame:Built-in(externalresistorisalsoavailable)H-frame:Externalonly

ControlmodeSwitchingamongthefollowing7modeisenabled,(1)Positioncontrol(2)Velocitycontrol(3)Toquecontrol(4)Position/Velocitycontrol(5)Position/Torquecontrol(6)Velocity/Torquecontrol(7)Full-closedcontrol

*1ThespecificationoutofJapan.

Thisdriverisdesignedtobeusedinacombinationwiththemotorwhicharespecifiedbyus.Checktheseriesnameofthemotor,ratedoutputtorque,voltagespecificationsandencoderspecifications.

Caution Do not use in other combinations than those listed below.

Motor DriverPowersupply Type Rated rotational

speed Model Ratedoutput Model Frame

3-phase,200V

MDMEMiddleinertia 1500r/min

MDME752S1* 7.5kW MGDHTC3B4 G-frameMDMEC12S1* 11.0kW

MHDHTC3B4 H-frameMDMEC52S1* 15.0kW

3-phase,400V

MDME754S1* 7.5kW MGDHTB4A2 G-frameMDMEC14S1* 11.0kW

MHDHTB4A2 H-frameMDMEC54S1* 15.0kW

3-phase,200V MGME

Middleinertia 1000r/minMGME602S1*

6.0kWMGDHTC3B4

G-frame

3-phase,400V MGME604S1* MGDHTB4A2

3-phase,200V MHME

Highinertia 1500r/minMHME752S1*

7.5kWMGDHTC3B4

3-phase,400V MHME754S1* MGDHTB4A2

Note 1)Suffixof"*"intheapplicablemotormodelrepresentsthemotorstructure.2)Defaultofthedriverissetfortheincrementalencoderspecifications. Whenyouuseinabsolute,makethefollowingoperations.a)Installabatteryforabsoluteencoder.b)SwitchtheparameterPr0.15(Absoluteencodersetup)from"1(default)"to"0".

− B55 −− B54 −

English

11. SpecificationsFunctions

11. SpecificationsFunctions

Positioncontrol

Controlinput(1)Deviationcounterclear(2)Commandpulseinhibition(3)Commanddividinggradualincreaseswitching(4)Dampingcontrolswitchingetc.

Controloutput Positioningcomplete(In-position)etc.

Pulseinput

Max.commandpulsefrequency

ExclusiveinterfaceforPhoto-coupler:500kppsExclusiveinterfaceforlinedriver:4Mpps

Inputpulsesignalformat Differentialinput

Electronicgear(Division/Multiplicationofcommandpulse)

1/1000to1000times

Smoothingfilter Primarydelay filterorFIR type filter isadaptable to thecommandinput

Analoginput

Torquelimitcommandinput

Individualtorquelimitforbothpositiveandnegativedirectionisenabled.

Torquefeedforwardinput Analogvoltagecanbeusedastorquefeedforwardinput.

InstantaneousSpeedObserver Available

DampingControl Available

Velocitycontrol

Controlinput(1)Selectionofinternalvelocitysetup1(2)Selectionofinternalvelocitysetup2(3)Selectionofinternalvelocitysetup3(4)Speedzeroclampetc.

Controloutput Speedarrivaletc.

Analoginput

Velocitycommandinput

Speedcommandinputcanbeprovidedbymeansofanalogvoltage.Parameters are used for scale setting and commandpolarity.




Internalvelocitycommand Switchingtheinternal8speedisenabledbycommandinput.

Soft-start/downfunctionIndividualsetupofaccelerationanddecelerationisenabled,with0 to10s/1000r/min.Sigmoidacceleration/decelerationisalsoenabled.

Zero-speedclamp Speedzeroclampinputisenabled.InstantaneousSpeedObserver Available

VelocityControlfilter Available

Torquecontrol

Controlinput Speedzeroclamp,Torquecommandsigninputetc.Controloutput Speedarrivaletc.

Analoginput

Torquecommandinput

Speedcommandinputcanbeprovidedbymeansofanalogvoltage.Parameters are used for scale setting and commandpolarity.

Speedlimitfunction Speedlimitvaluewithparametertisenabled.

Full-closedcontrol

Controlinput(1)Deviationcounterclear(2)Commandpulseinhibition(3)Commanddividinggradualincreaseswitching(4)Dampingcontrolswitchingetc.

Controloutput Full-closedpositioningcompleteetc.

Pulseinput

Max.commandpulsefrequency

ExclusiveinterfaceforPhoto-coupler:500kppsExclusiveinterfaceforlinedriver:4Mpps

Inputpulsesignalformat Differentialinput

Electronicgear(Division/Multiplicationofcommandpulse)

1/1000to1000times

Smoothingfilter Primarydelay filterorFIR type filter isadaptable to thecommandinput

Analoginput




Setuprangeofdivision/multiplicationoffeedbackscale

1/40to160timesCom

mon

Autotuning

Theloadinertiaisidentifiedinrealtimebythedrivingstateofthemotoroperatingaccordingtothecommandgivenbythecontrollingdeviceandsetupsupportsoftware“PANATERM”.Thegainissetautomaticallyinaccordancewiththerigiditysetting.

Divisionofencoderfeedbackpulse

Setupofanyvalueisenabled(encoderpulsescountisthemax.).

Protectivefunction

Harderror Over-voltage,under-voltage,over-speed,over-load,over-heat,over-currentandencodererroretc.

Softerror Excesspositiondeviation,commandpulsedivisionerror,EEPROMerroretc.

Traceabilityofalarmdata Thealarmdatahistorycanbereferredto.

− B57 −− B56 −

English

After-Sale Service (Repair)

RepairConsulttoadealerfromwhomyouhavepurchasedtheproductfordetailsofrepair.Whentheproductisincorporatedtothemachineorequipmentyouhavepurchased,consulttothemanufacturerorthedealerofthemachineorequipment.

Cautions for Proper Use•PracticalconsiderationsforexportingtheproductorassemblycontainingtheproductWhentheenduseroftheproductorenduseoftheproductisassociatedwithmili-tary affair orweapon, its exportmaybe controlledby theForeignExchangeandForeignTradeControlLaw.Completereviewoftheproducttobeexportedandex-portformalitiesshouldbepracticed.

•Thisproduct is intended tobeusedwithageneral industrialproduct,butnotde-signedormanufacturedtobeusedinamachineorsystemthatmaycausepersonaldeathwhenitisfailed.

•Installation,wiring,operation,maintenance,etc.,oftheequipmentshouldbedonebyqualifiedandexperiencedpersonnel.

•Apply adequate tightening torque to theproductmounting screwby taking intoconsiderationstrengthofthescrewandthecharacteristicsofmaterialtowhichtheproduct is installed.Overtighteningcandamage thescrewand/ormaterial;under-tighteningcanresultinloosening.

Example)Steelscrew(M5)intosteelsection:2.7-3.3N·m.•Installasafetyequipmentsorapparatusinyourapplication,whenaseriousacci-dentorlossofpropertyisexpectedduetothefailureofthisproduct.

•Consultusiftheapplicationofthisproductisundersuchspecialconditionsandenvi-ronmentsasnuclearenergycontrol,aerospace,transportation,medicalequipment,varioussafetyequipmentsorequipmentswhichrequirealesseraircontamination.

•Wehavebeenmakingthebestefforttoensurethehighestqualityoftheproducts,however, applicationof exceptionally larger external noisedisturbanceand staticelectricity,orfailureininputpower,wiringandcomponentsmayresultinunexpectedaction. It ishighly recommended thatyoumakea fail-safedesignandsecure thesafetyintheoperativerange.

•Ifthemotorshaftisnotelectricallygrounded,itmaycauseanelectrolyticcorrosiontothebearing,dependingontheconditionofthemachineanditsmountingenviron-ment,andmayresultinthebearingnoise.Checkingandverificationbycustomerisrequired.

•Failureofthisproductdependingonitscontent,maygeneratesmokeofaboutonecigarette.Takethisintoconsiderationwhentheapplicationofthemachineiscleanroomrelated.

•Pleasebecarefulwhenusinginanenvironmentwithhighconcentrationsofsulfurorsulfricgases,assulfurationcanleadtodisconnectionfromthechipresistororapoorcontactconnection.

7-1-1Morofuku,Daito,Osaka,574-0044,JapanPhone:+81-72-871-1212©PanasonicCorporation2010

•Takecaretoavoidinputtingasupplyvoltagewhichsignificantlyexceedstheratedrangetothepowersupplyofthisproduct.Failuretoheedthiscautionmayresultindamagetotheinternalparts,causingsmokingand/orafireandothertrouble.

•Theuser is responsible formatchingbetweenmachineandcomponents in termsof configuration, dimensions, life expectancy, characteristics,when installing themachineorchangingspecificationofthemachine.Theuserisalsoresponsibleforcomplyingwithapplicablelawsandregulations.

•Theproductwillnotbeguaranteedwhenitisusedoutsideitsspecificationlimits.•Partsaresubjecttominorchangetoimproveperformance.

Technical informationTechnicalinformationofthisproduct(OperatingInstructions,CADdata)canbedownloadedfromthefollowingwebsite.http://industrial.panasonic.com/ww/i_e/25000/motor_fa_e/motor_fa_e.html

For your records:Themodelnumberandserialnumberofthisproductcanbefoundoneitherthebackorthebottomoftheunit.Pleasenotetheminthespaceprovidedandkeepforfuturereference.

Model No.M□DH　　　　　　　　M□ME　　　　　　　　

Serial No.

Date ofpurchase

Dealer

Name

Address

Phone ()-

MEMO MEMO

IME15+AA1010-1111

7-1-1Morofuku,Daito,Osaka,574-0044,JapanPhone:+81-72-871-1212©PanasonicCorporation2010PrintedinChina

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