Panasonic A5 Operation Basic

Operating Instructions (Basic)
AC Servo Motor & Driver

MINAS A5-series
Make sure to forward these Operating Instructions for safety to the fnal 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 Confguration and
Wiring ........................................... B8
Overall Wiring (Connector type) ..................... B8
Overall Wiring (Terminal block type) ................. B10
Driver and List of Applicable Peripheral Equipments .... B12
Wiring of the Main Circuit (Connector type)......... B14
Wiring of the Main Circuit (Terminal block type) ... B16
Wiring method to connector ............................. B17
Wiring Diagram ............................................. B19
Wiring of connector for motor and brake ...... B21
Wiring to the Connector, X1 ......................... B22
4. Parameter .................................. B31
Outline / Setup / Connection ......................... B31
Composition of Parameters .......................... B33
5. Protective Functions ................ B34
Protective Function (What Is Error Code ?) ...... B34
6. Maintenance and Inspections .... B36
7. Conformity to EC Directives
and UL Standards ..................... B38
Composition of Peripheral Equipments ........ B40
8. Built-in Holding Brake .............. B44
9. Dynamic Brake.......................... B46
10. Check of the Combination of
the Driver and the Motor ............ B47
Incremental Specifcations, 20-bit ............... B47
Absolute Specifcations, 17-bit ................... B48
11. Specifcations ......................... B49
After-Sale Service (Repair) .......... B52

page page <Contents>
If you are the frst user of this product, please be sure to read the downloaded
Operating Instructions (Overall) from our Web Site.
[Web address of Motor Company, Panasonic Corporation]
http://industrial.panasonic.com/ww/i_e/25000/motor_fa_e/motor_fa_e.html
* This product image is 1.5kW type of A5-series.
IMD88
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B2 B3
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1. Introduction
Check of the Driver Model
Contents of Name Plate
Model Designation
Model Designation
M A D H T 1 5 0 5
Special specifications
(letters and numbers)
Current detector rating
Power supply
Max. current rating
of power device Frame-size symbol
MADH
MBDH
MCDH
MDDH
MEDH
MFDH
Frame Symbol
A5-series, A-frame
A5-series, B-frame
A5-series, C-frame
A5-series, D-frame
A5-series, E-frame
A5-series, F-frame
T1
T2
T3
T5
T7
TA
TB
Current
rating
Symbol
Specifications
10A
15A
30A
50A
70A
100A
150A
Symbol
1
3
5
Single phase, 100V
3-phase, 200V
Single/3-phase,
200V
05
07
10
20
30
40
64
90
A2
Current rating Symbol
5A
7.5A
10A
20A
30A
40A
64A
90A
120A
1 to 4 7 5 to 6 10 to 12 8 to 9
Serial Number
e.g.) : 0904 0001N
Lot number
Month of production
Year of production
(Lower 2 digits of AD year)
Manufacture date
e.g.) : 20090401
Manufacture date Manufacture year
Manufacture month
Model
Rated output
Rated input
voltage/current
Rated frequency
Rated
rotational speed
M S M E 5 A Z S 1 S
1 to 4 5 to 6 11 to 12 7 8 9 10
Special specifications
Motor structure
Design order 1: Standard
Rotary encoder specifications
Voltage specifications
Specifications
Type
Symbol
Low inertia
(50W to 5.0kW)
Middle inertia
(1.0kW to 5.0kW)
Middle inertia
(900W to 3.0kW)
High inertia
(1.0kW to 5.0kW)
G
S
Incremental
Absolute
Specifications
Symbol
Format Pulse count
Output
Motor rated output
Symbol
Specifications Symbol
Resolution
5-wire
7-wire
Wire count
Motor structure
MSME (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.]
A
B
S
T
Shaft Holding brake Oil seal
Without With Round Key way Without With
Symbol
MSME (1.0kW to 5.0kW), MDME, MGME, MHME
C
D
G
H
Shaft Holding brake Oil seal
Without With Round Key way Without With
Symbol
*1
*2
*2
MSME
MDME
MGME
MHME
5A
01
02
04
08
09
10
15
20
30
40
50
50W
100W
200W
400W
750W
900W
1.0kW
1.5kW
2.0kW
3.0kW
4.0kW
5.0kW
1
2
Z
100 V
200 V
100/200 common
(50W only)
20bit
17bit
1,048,576
131,072
1. Introduction
On Opening the Product Package
Make sure that the model is what you have ordered.
Check if the product is damaged or not during transportation.
Check if the Operating Instructions (safety) are included or not.
Check if the power connector, motor connectors, connector for external regenerative
resistor connection (only E-frame) and safety by-pass plug are included or not.
(Neither the power connector nor motor connector are included to F-frame.)
Contents of Name Plate
1. Introduction
Check of the Motor Model
Model number
Input/output voltage
Rated output of
applicable motor
Rated input/output
current
Input/output frequency
Number of phase
Serial Number
e.g.) : P09040001N
Lot number
Month of production
Year of production
(Lower 2 digits of AD year)
Manufacture date
e.g.) : 20090401
Manufacture date Manufacture year
Manufacture month
B4 B5
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2. Installation
Driver
Install the driver properly to avoid a breakdown or an accident.
Installation Place
1) Install the driver in a control panel enclosed in noncombustible material and placed indoor
where the product is not subjected to rain or direct sunlight. The products are not waterproof.
2) Where the products are not subjected to corrosive atmospheres such as hydrogen
sulfde, sulfurous acid, chlorine, ammonia, sulfur, chloric gas, sulfuric gas, acid, al-
kaline and salt and so on, and are free from splash of infammable gas.
3) Where the motor is free from grinding oil, oil mist, iron powder or chips.
4) Well-ventilated and low humidity and dust-free place.
5) Vibration-free place.
Environmental Conditions
Item Conditions
Ambient temperature 0C to 55C (free from freezing)
Ambient humidity 20% to 85% RH (free from condensation)
Storage temperature
*1
20C to 65C (Max.temperature guarantee: 80C for 72 hours)
Storage humidity 20% to 85% RH (free from condensation)
Vibration Lower than 5.88m/s
2
(0.6G), 10 to 60Hz
Altitude Lower than 1000m
*1 Extreme temperatures are permissible only for short period such as during transportation.
How to Install
1) Rack-mount type. Install in vertical position, and reserve enough space around the
servo driver for ventilation.
2) Base mount (rear mount) is standard for A/B/C/D-frame driver.
3) To change the mounting surface of A/B/C/D-frame driver, use the optional mounting
fxture. For choosing the correct optional mounting fxture, refer to the Operating In-
structions (Overall).
4) For the dimensions and mass of the product, which are necessary design data of
the mounting section, refer to the dimensional outline drawing on the Operating In-
structions (Overall) or the Delivery Specifcation.
2. Installation
Driver
Mounting Direction and Spacing
Reserve enough surrounding space for effective cooling.
Install fans to provide uniform distribution of temperature in the control panel.
D/E/F frame is provided with a cooling fan at the bottom.
Observe the environmental conditions of the control panel described in the previous page.
Fan Fan 100mm
or more
100mm
or more
40mm
or
more
40mm
or
more
10mm
or
more
10mm
or
more
10mm
or
more
Direction of air flowing
from the internal
cooling fan (D/E/F frame)
Control panel
Note It is recommended to use the conductive paint when you make your own
mounting fxture, or repaint after peeling off the paint on the machine for
installing the products, in order to make noise countermeasure.
Caution on Installation
We have been making the best effort to ensure the highest quality, however, application
of exceptionally large external noise disturbance and static electricity, or failure in input
power, wiring and components may result in unexpected action. It is highly recommend-
ed that you make a fail-safe design and secure the safety in the operative range.
If stranded wires are used as the cable, bunch the conductors of the cable using a ferrule.
If stranded wires are used as they are, unexpected accidents such as an electric shock
and short circuit or injury may result. (Refer to P.B17. Wiring method to connector.)
There might be a chance of smoke generation due to the failure of these products.
Pay an extra attention when you apply these products in a clean room environment.
Be sure to ground the protective earth terminal.
If the product is grounded insuffciently, not only the driver may not deliver its perfor-
mance suffciently, but also safety hazards such as a malfunction due to a electrif-
cation or a disturbance may be caused.
If electric wires are bound and run through metal duct, they cannot carry the rated
current due to temperature rise. If they are forced to carry the rated current, they may
burn. When determining size of the wire, check the current decreasing coeffcient by
referring to the Operating Instructions (Overall).
A to D-frame E, F-frame
Basemount (Standard)
[Rear mount]
Frontmount
[Use mounting fixture]
Front or Basemount
[Use mounting fixture]
Mounting fixture
(optional parts)
Mounting
fixture
(Attachment) Fastening torque of earth screws (M4)
to be 0.7 to 0.8 Nm.
Fastening torque of earth screws (M5)
to be 1.4 to 1.6 Nm.
B6 B7
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2) Vertical mounting
Use the motor with oil seal (make-to-order in case of motor 750W or less) when
mounting the motor with gear reducer to prevent the reducer oil/grease from enter-
ing to the motor.
3) For the dimensions and mass of the product, which are necessary design data of
the mounting section, refer to the dimensional outline drawing on the Operating In-
structions (Overall) or the Delivery Specifcation.
Oil/Water Protection
1) Don't submerge the motor cable to water or oil.
2) Install the motor with the cable outlet facing
downward.
3) Avoid a place where the motor is always sub-
jected to oil or water.
4) Use the motor with an oil seal when used with
the gear reducer, so that the oil may not enter to the motor through shaft.
Stress to Cables
1) Avoid a stress application to the cable outlet and connecting portion by bending or
self-weight.
2) Especially in an application where the motor itself travels, fx the attached cable and
contain the extension junction cable into the bearer so that the stress by bending
can be minimized.
3) Take the cable bending radius as large as possible. (Minimum R20mm)
Permissible Load to Output Shaft
1) Design the mechanical system so that the applied radial load and/or thrust load to
the motor shaft at installation and at normal operation can meet the permissible
value specifed to each model.
2) Pay an extra attention when you use a rigid coupling. (Excess bending load may
damage the shaft or deteriorate the bearing life.)
3) Use a fexible coupling with high stiffness designed exclusively for servo application in order
to make a radial thrust caused by micro misalignment smaller than the permissible value.
Notes on Installation
1) Do not apply direct impact to the shaft by hammer
while attaching/detaching a coupling to and from
the motor shaft.
(Or it may damage the encoder mounted on the
other side of the shaft.)
2) Make a full alignment. (incomplete alignment may cause vibration and damage the bearing.)
3) If the motor shaft is not electrically grounded, it may cause electrolytic corrosion to
the bearing depending on the condition of the machine and its mounting environment,
and may result in the bearing noise. Check and verifcation by customer is required.
2. Installation
Motor
2. Installation
Motor
Install the motor properly to avoid a breakdown or an accident.
Installation Place
Since the conditions of location affect a lot to the motor life, select a place
which meets the conditions below.
1) Indoors, where the products are not subjected to rain or direct sun beam. The prod-
ucts are not waterproof.
2) Where the products are not subjected to corrosive atmospheres such as hydrogen
sulfde, sulfurous acid, chlorine, ammonia, sulfur, chloric gas, sulfuric gas, acid, al-
kaline and salt and so on, and are free from splash of infammable gas.
3) Where the motor is free from grinding oil, oil mist, iron powder or chips.
4) Well-ventilated and humid and dust-free place, far apart from the heat source such
as a furnace.
5) Easy-to-access place for inspection and cleaning
6) Vibration-free place.
7) Avoid enclosed place. Motor may gets hot in those enclosure and shorten the motor life.
Environmental Conditions
Item Conditions
Ambient temperature
*1
0C to 40C (free from freezing)
Ambient humidity 20% to 85% RH (free from condensation)
Storage temperature
*2
20C to 65C (Max.temperature guarantee: 80C for 72 hours)
Storage humidity 20% to 85% RH (free from condensation)
Vibration Motor only Lower than 49m/s
2
(5G) at running, 24.5m/s
2
(2.5G) at stall
Impact Motor only Lower than 98m/s
2
(10G)
Enclosure
rating
Motor only
(Connector type)
IP67 (except rotating portion of output shaft and connecting pin
part of the motor connector and the encoder connector)
*3*4
Altitude Lower than 1000m
*1 Ambient temperature to be measured at 5cm away from the motor.
*2 Permissible temperature for short duration such as transportation.
*3 These motors conform to the test conditions specified in EN standards (EN60529,
EN60034-5). Do not use these motors in application where water proof performance is
required such as continuous wash-down operation.
*4 This condition is applied when the connector mounting screw in case of motor 750W or
less are tightened to the recommended tightening torque (Refer to P.B21, 28, 29). Be
sure to use mounting screw supplied with the connector.
How to Install
You can mount the motor either horizontally or vertically as long as you observe the followings.
1) Horizontal mounting
Mount the motor with cable outlet facing downward for water/oil countermeasure.
Cable
Motor
Oil / Water
Motor
B8 B9
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Junction cable
for brake
: High voltage
Wiring of Main Connector (XA)
Wiring of Motor Connector (XB)
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.
PC (to be supplied by customer)
Setup support software PANATERM
Please download from our web site.
L1 (Pin-5)
L2 (Pin-4)
L3 (Pin-3)
L1C (Pin-2)
L2C (Pin-1)
Charg lamp
(LED)
*1
Ground
(earth)
Protective earth
terminals
Connection to input power
Wiring to Connector, XA
Monitor output
Wiring to Connector, X7
Connection to PC or host controller
Connection to RS232, RS485
or host controller
Connection to Safety by-pass plug
(Refer to P.B23)
Connection to host controller
Connection to feedback scale
Connection to encoder
Connection to external components
Wiring to Connector, XB
Connection to motor driving phase
and ground
Wiring to Connector, XB
Handle lever
Use this for connector
connection. Store this after
connection for other occa-
sions. (Refer to P.B18 for
connection.)
Remarks
Junction cable for encoder
Junction cable for motor
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.
DC Power supply for brake
DC24V
(to be supplied by customer)
Pin B1 (6-pin), B2 (4-pin), and
B3 (5-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.
Note that no regenerative resistor is
equipped in Frame A and B type.
Short circuit wire
(B2-B3)
U-phase
(red)
V-phase
(white)
W-phase
(black)
B1 (Pin-6)
B2 (Pin-4)
Note
Mains
Residual
current device
*1 Do not make displacement, wiring or inspection
while the LED is lit - cause of electric shock.
3. System Confguration and Wiring
Overall Wiring (Connector type)
Overall Wiring (Connector type)
Connecting Example of A to D-frame
B10 B11
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: High voltage
Please download from our web site.
Connection with input
power supply
Connection to external
components
Connection to motor driving
phase and ground
Short bar
(B2-B3)
U-phase
(red)
V-phase
(white)
W-phase
(black)
L3
L2
L1
L2C
L1C
Ground
(earth)
Charg lamp
(LED)
*1
Junction cable
for brake
DC Power supply for brake
DC24V (to be supplied by customer)
Junction cable
for encoder
PC (to be supplied by customer)
Monitor output
Connection to PC or host controller
Connection to RS232, RS485
or host controller
Connection to Safety by-pass plug
(Refer to P.B23)
Connection to host controller
Connection to feedback scale
Connection to encoder
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
Wiring of the Main Circuit
Pin B1, B2 and B3
B1 and B2 to be kept shorted for
normal operation.
When you connect an external
regenerative resistor, disconnect
a short bar between B1 and B2,
then connect the external
regenerative resistor between P
and B2, set up Pr0.16 to 1 or 2.
Pin NC
Do not connect anything.
Junction cable for motor
Protective
earth
terminals
Wiring of Main Connector (XA)
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.
Mains
Residual
current device
*1 Do not make displacement, wiring or inspection
while the LED is lit - cause of electric shock.
Connecting Example of F-frame
Overall Wiring (Terminal block type)
Overall Wiring (Terminal block type)
B12 B13
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Driver
Applicable
motor
Voltage
Rated
output
Required
Power
(at the rated
load)
Circuit
breaker
(rated
current)
Noise
flter
Surge
absorber
Noise
flter for
signal
Magnetic
*1
contactor
Cable
diameter
(main
circuit)
Cable
diameter
(control
circuit)
Connection
MADH
MSME
MSMD
*2
MHMD
*2
Single
phase,
100V
50W to
100W
approx.
0.4kVA
10A
DV0P4170 DV0P4190
DV0P1460
BMFT61041N
(3P+1a)
0.75mm
2
/
AWG18
0.75mm
2
/
AWG18
C
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o

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c
o
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n
e
c
t
o
r
Single/
3-phase,
200V
50W to
200W
approx.
0.5kVA
DV0P4170
DV0PM
20042
DV0P4190
DV0P1450
BMFT61542N
(3P+1a)
MBDH
MSME
MSMD
*2
MHMD
*2
Single
phase,
100V
200W
approx.
0.5kVA
DV0P4170 DV0P4190
BMFT61041N
(3P+1a)
Single/
3-phase,
200V
400W
approx.
0.9kVA
DV0P4170
DV0PM
20042
DV0P4190
DV0P1450
BMFT61542N
(3P+1a)
MCDH
MSME
MSMD
*2
MHMD
*2
Single
phase,
100V
400W
approx.
0.9kVA
DV0PM
20042
DV0P4190
BMFT61541N
(3P+1a)
Single/
3-phase,
200V
750W
approx.
1.3kVA
15A
DV0P4190
DV0P1450
BMFT61542N
(3P+1a)
MDDH
MDME
Single/
3-phase,
200V
1.0kW
approx.
1.8kVA
DV0P4220
BMFT61842N
(3P+1a)
2.0mm
2
/
AWG14
MHME
MGME 900W
approx.
1.8kVA
20A
MSME 1.0kW
approx.
1.8kVA
MHME
1.5kW
approx.
2.3kVA
MDME
MSME
MEDH
MDME
3-phase,
200V
2.0kW
approx.
3.3kVA
30A
DV0PM
20043
DV0P1450
BMF6352N
(3P+2a2b)
MSME
MHME
MFDH
MGME
3-phase,
200V
2.0kW
approx.
3.8kVA
50A DV0P3410
3.5mm
2
/
AWG12
Terminal
block
M5
MDME
3.0kW
approx.
4.5kVA
MHME
MSME
MGME
MDME
4.0kW
approx.
6kVA
BMF6652N
(3P+2a2b)
MHME
MSME
MDME
5.0kW
approx.
7.5kVA
5.3mm
2
/
AWG10
MHME
MSME
*1 The model number of Magnetic contactor is the one of Panasonic Electric Works.
*2 Can drive 20-bit incremental encoder type MINAS-A4 motor. (PN: M*MD***G1*)
Driver and List of Applicable Peripheral Equipments
Driver and List of Applicable Peripheral Equipments
11mm or
smaller
5.3
Select peripheral equipments for single/3phase common specifcation according to
the power source.
[For details of peripheral equipments]
Noise flter ............................. P.B41
Surge absover ....................... P.B42
Noise flter for signal lines ..... P.B43
About circuit breaker and magnetic contactor
To comply to EC Directives, install a circuit breaker between the power and the
noise flter without fail, and the circuit breaker should conform to IEC Standards and
UL recognized (Listed and marked).
Suitable for use on a circuit capable of delivering not more than 5,000 rms symmetri-
cal amperes, below the maximum input voltage of the product.
Remarks
Select a circuit breaker and noise flter which match to the capacity of power supply
(including a load condition).
Terminal block and protective earth terminals
Use a copper conductor cables with temperature rating of 60C or higher.
The screws of protective earth terminals for Frame A to D are M4 and M5 for
Frame E, F.
Tighten the terminal block screw on frame F with a torque between 1.0 and 2.0
Nm. Application of overtorque (more than 2.0 Nm) will cause damage to terminal
block. Maximum allowable torque to the screw securing terminal block cover is 0.2
Nm.
The cable diameter of an earth cable.
Use an earth cable with the same diameter or larger as that of the main circuit
cable.
If the diameter of the main circuit cable is 1.6mm
2
or less, use an earth cable with
a diameter of 2.0mm
2
(AWG14).
Use the attached exclusive connector for A to E-frame, and maintain the peeled off
length of 8 to 9mm. (Refer to P.B17)
Tighten the screws of the connector, Connector X4 for the host controller with the
torque of 0.3 to 0.35 Nm.
Larger torque than 0.35Nm may damage the connector at the driver side.
Caution
Do not turn on power without tightening all terminal block screws properly, otherwise, loose
contacts may generate heat (smoking, fring).
B14 B15
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Wiring of the Main Circuit (Connector type)
Wiring of the Main Circuit (Connector type)
A to D-frame, 100 V / 200 V type
Wiring should be performed by a specialist or an authorized personnel.
Do not turn on the power until the wiring is completed.
Tips on Wiring
1) Wire connector (XA and XB).
2) Connect the wired connector to the driver.
Motor
Varistor
DC
24V
MCCB
Power
supply
NF MC
U
V
W
E
L
Fuse (5A)
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). Disconnect this only
when the external regenerative register is used.
Avoid shorting and grounding. Don't
connect the main power.
Earth-ground this.
Make sure to connect the protective earth terminal
( ) of the driver and the protective earth (earth
plate) of the control panel to prevent electrical shock.
Don't co-clamp the earth wires to the protective
earth terminal ( ) . Two 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 Electromagnetic Brake has no polarity.
For the capacity of the electromagnetic brake
and how to use it, refer to P.B44,
"Specifications of Built-in Holding Brake".
Provide a varistor.
Connect a 5A fuse in series with the varistor.
Ground resistance: 100 max.
For applicable wire,
refer to P.B13.
L1C
L3
L2
L1
L2C
B1
B3
B2
U
V
W
XA
XB
2
3
4
5
1
2
3
4
5
6
1
DC power supply
for brake
Red
Black
Green or
Green/yellow
White
Yellow
(X2)
RCD
Motor
Varistor
DC
24V
U
V
W
E
Fuse (5A)
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 coil surge suppression units to the
coil of the Magnetic Contactor recommended
by manufacturer.
Never start/stop the motor with this
Magnetic Contactor.
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.
earth terminal ( ) . Two 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
For the capacity of the electromagnetic brake
and how to use it, refer to P.B44, "Specifications
of Built-in Holding Brake".
Provide a varistor.
For applicable wire, refer to P.B13.
L1C
L3
L2
L1
L2C
B1
B3
NC
U
V
W
XA
XC
XB
2
3
4
5
1
2
3
1
3
B2
2
4
1
DC power supply
for brake
Red
Black
Green
White
Yellow
(X2)
MCCB
Power
supply
NF MC L RCD
E-frame, 200 V type
Tips on Wiring
1) Wire connector (XA, XB and XC).
2) Connect the wired connector to the driver.
B16 B17
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Wiring of the Main Circuit (Terminal block type)
F-frame, 200 V type
Tips on Wiring
1) Take off the cover fxing screws, and detach the terminal cover.
2) Make wiring
Use clamp type terminals of round shape with insulation cover for wiring to the
terminal block. For cable diameter and size, reter to "Driver and List of Applicable
Peripheral Equipments" (P.B12).
Tighten the terminal block screw with a torque between 1.0 and 2.0 N
m.
3) Attach the terminal cover, and fx with screws.
Tighten the screw securing the cover with a torque between 0.1 and 0.2 N
m.
Motor
Varistor
DC
24V
L1
U
V
W
E
L2
L3
L1C
L2C
B1
B3
B2
NC
U
V
W
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 coil surge suppression units to the coil of
the Magnetic Contactor recommended by manufac-
turer. Never start/stop the motor with this
Magnetic Contactor.
Don't disconnect the short bar between B1 and B2.
Disconnect this only when an external regenerative
register is used.
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.
earth terminal ( ) . Two 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
For the capacity of the electromagnetic brake and
how to use it, refer to P.B44, "Specifications of
Built-in Holding Brake".
Provide a varistor.
For applicable wire, refer to P.B13.
DC power
supply
for brake
Fuse (5A)
Red
Black
Green
White
Yellow
(X2)
MCCB
Power
supply
NF MC L RCD
Wiring method to connector
Follow the procedures below for the wiring connection to the Connector XA , XB
and XC .
How to connect
1. Peel off the insulation cover of the cable.
For single wire (Please obey the length in fgure.)
For stranded wires (ferrules must be used as illustrated below).
Example: Ferrules with plastic insulating sleeve (AI series, Phoenix Contact, Ltd.)
1) Peel off the sheath so that the
conductor portion of the cable will
protrude from the tip of the ferrule.
(It should protrude 1 mm or more
from the ferrule.)
2) Insert the cable into the ferrule
and crimp it with an appropriate
crimping tool.
3) After crimping, cut off the cable
conductor portion protruding from
the ferrule. (The allowable protrud-
ing length after cutting should be 0 to 0.5 mm.)
Part No. of the crimping tool:
CRIMPFOX U-D66 (1204436) Available from Phoenix Contact, Ltd.
Caution When peeling off the sheath of the cable, take care not to damage
other portions.
When crimping the ferrule, suffciently check the status of the ferrule
and cable. If the conductors of the cable stick out from the insulation
cover or protrude excessively from the tip of the ferrule, accidents such
as an electric shock and fre from a short circuit may result.
8 to 9 mm
1mm or more
B18 B19
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2. Insert the cable to the connector in the following 2 methods.
(a) Insert the cable using the supplied handle lever.
(b) Insert the cable using a fat-blade screwdriver (Edge width: 3.0 to 3.5 mm).
Wiring method to connector
(a) Using handle lever
* You can pull out the cable by pushing down the spring as the above.
Attach the handle lever
to the handling slot on
the upper portion. Press
down the lever to push
down the spring.
Insert the peeled cable
while pressing down the
lever, until it hits the
insertion slot (round
hole).
Release the lever.
(b) Using screw driver
Press the screw driver
to the handling slot on
the upper portion to
push down the spring.
Insert the peeled cable
while pressing down the
screw driver, until it hits
the insertion slot (round
hole).
Release the screw
driver.
1 2
1 2 3
3
Caution Take off the connector from the Servo Driver before making connec-
tion.
Insert only one cable into each one of cable insertion slot.
Pay attention to injury by screw driver.
Wiring Diagram
Compose the circuit so that the main circuit power will be shut off when an error occurs.
N
o
is
e

f
ilt
e
r
N
o
is
e

f
ilt
e
r
Motor
37
ALM+
L2
L3
L1C
L2C
B1
MC
MCCB
B3
B2
U
V
W
L1
ALM
External regenerative resistor
(Remove the short wire when you connect
the external regenerative resistor.)
36
L
ON
DC12 to 24V
(5%)
In Case of Single Phase, A to D-frame, 100 V / 200 V type
In Case of 3-Phase, A to D-frame, 200 V type
Motor
37
ALM+
L2
L3
L1C
L2C
B1
MC
MCCB
ALM
OFF
B3
B2
U
V
W
L1
Coil surge suppression units
Built-in thermostat of an external
regenerative resistor (light yellow)
ALM
Red
White
Black
Green or Green/Yellow
Red
White
Black
Green or Green/Yellow
XA
XB
X4
36
L
ON
MC
DC12 to 24V
(5%)
ALM
ALM
OFF
MC
ALM
Main power
supply
Control power
supply
Motor
connection
Main power
supply
Control power
supply
Motor
connection
Power supply Single phase, 100V to 120V
+10%
15%
+10%
15%
Single phase, 200V to 240V
+10%
15%
+10%
15%
Power supply 3-phase, 200V to 240V
+10%
15%
+10%
15%
Use a reactor for
3-phase
XA
XB
X4
When you use single phase,
connect the main power
between L1 and L3 terminals.
Remarks
Note For wiring the motor connector, refer to P.B21.
B20 B21
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Wiring Diagram
In Case of 3-Phase, E-frame, 200 V type
In Case of 3-Phase, F-frame, 200 V type
XC
XB
Motor
37
ALM+
L2
L3
L1C
L2C
MC
MCCB
L1
ALM
XA
X4
36
L
ON
DC12 to 24V
(5%)
ALM
B1
B3
B2
NC
U
V
W
Motor
37
ALM+
L2
L3
L1C
L2C
MC
MCCB
L1
ALM
X4
36
L
ON
DC12 to 24V
(5%)
ALM
B1
B3
B2
NC
U
V
W
ALM
OFF
MC
ALM
OFF
MC
N
o
is
e

f
ilt
e
r
Red
White
Black
Green
Main power
supply
Control power
supply
Motor
connection
Main power
supply
Control power
supply
Motor
connection
+10%
15%
+10%
15%
+10%
15%
+10%
15%
N
o
is
e

f
ilt
e
r
Red
White
Black
Green
Note For wiring the motor connector, refer to P.B21.
A
B
D
C
A H G
C D E
B I F
C B A
I H G
F E D
A
JL04V-2E20-4PE-B-R
JL04HV-2E22-22PE-B-R
JL04V-2E20-18PE-B-R JL04V-2E24-11PE-B-R
U-phase
V-phase
W-phase
Ground
PIN No.
B
C
D
Application G
H
A
F
I
B
E
D
C
Brake
Brake
NC
U-phase
V-phase
W-phase
Ground
Ground
NC
PIN No. Application
A Brake
Brake
NC
U-phase
V-phase
W-phase
Ground
Ground
NC
PIN No.
B
C
D
E
F
G
H
I
Application
<with Brake> <without Brake>
JN8AT04NJ1
1 U-phase
V-phase
W-phase
Ground
PIN No.
2
3
PE
Application
PE
3
2
1
1
2
<Motor> <Brake>
JN4AT02PJ1-R
Tightening torque of
the screw (M2)
0.085 to 0.095 Nm (screwed to plastic)
Tightening torque of
the screw (M2)
0.19 to 0.21 Nm
1
2
Brake
Brake
PIN No. Application
Remarks
* Be sure to use only the screw supplied with the connector, to avoid damage.
Wiring of connector for motor and brake
When the motors of <MSME (50 W to 750 W)> are used, they are connected as
shown below.
Connector: Made by Japan Aviation Electronics Industry, Ltd.
(The fgures below show connectors for the motor.)
When the motors of <MSME (1.0 kW to 5.0 kW), MDME, MGME, MHME> are used,
they are connected as shown below.
Connector: Made by Japan Aviation Electronics Industry, Ltd.
(The fgures below show connectors for the motor.)
Compose the circuit so that the main circuit power will be shut off when an error occurs.
B22 B23
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Wiring to the connector, X1
This is used for USB connection to a personal computer. It is possible to change the
parameter setting and perform monitoring.
Application Symbol
Connector
Pin No.
Contents
USB signal terminal
VBUS 1
Use for communication with personal
computer.
D 2
D 3
4 Do not connect.
GND 5 Connected to ground of control circuit.
Caution Use commercially available USB mini-B connector for the driver.
This is used for connection to the host controller when two or more units are used.
RS232 and RS485 interfaces are supplied.
Application Symbol
Connector
Pin No.
Contents
Signal ground GND 1 Connected to ground of control circuit.
NC 2 Do not connect.
RS232 signal
TXD 3
RS232
The transmission / reception method.
RXD 4
RS485 signal
485 5
RS485
The transmission / reception method.
485+ 6
485 7
485+ 8
Frame ground FG Shell
Connected with protective earth terminal in
the servo driver.
Connector (plug): 2040008-1 (optional, available from Tyco Electronics AMP)
[Connector pin assignment]
(Viewed from cable)
8 6 4 2
7 5 3 1
A safety by-pass plug is supplied as standard equipment. Do not disconnect it in nor-
mal times.
Since the standard connector cannot be used when controlling the safety function from
the host controller, purchase the optional connector and make connection as shown
below.
Caution If the connector is disconnected during operation, an immediate stop will
be caused.
Application Symbol
Connector
Pin No.
Contents
NC
1
Do not connect.
2
Safety input 1
SF1 3
These are two independent circuits that
turn off the operation signal to the power
module to shut off the motor current.
SF1+ 4
Safety input 2
SF2 5
SF2+ 6
EDM output
EDM 7
This is an output for monitoring the failure
of the safety function.
EDM+ 8
Connected with protective earth terminal in
the servo driver.
Connector (plug): 2013595-1 (optional, available from Tyco Electronics AMP)
8 6 4 2
7 5 3 1
(Viewed from cable)
B24 B25
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Wiring Example of Position Control Mode
1
4
1
5
1
6
1
7
4
3
1
8
4
2
I
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k
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+
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S
2
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1
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A
+
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-
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B
+
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+
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4 3 1256
1
3
2
1
2
2
4
8
2
4
2
5
1
9
4
9
2
3
1
k
1
k
P
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1
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3
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2
9
2
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2
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198
3
5
3
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3
7
3
6
3
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3
8
1
1
1
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4
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P
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1
4
P
U
L
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2
X
4
4
6
4
7
1
4
k
1
0
k
2
0
k
2
0
k
1
4
k
1
0
k
2
0
k
2
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k
4
7
k
4
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k
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3
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3
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3
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4
0
2
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0
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.2
k
2
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k
20k
2k
2k
20k
120
20k
2k
2k
20k
120
2
2
0
V
D
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5
S
IG
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1
6
S
IG
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2
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D
a
m
p
in
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c
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tr
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l
s
w
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h
in
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in
p
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t 1
A
l
a
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m

c
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e
a
r

i
n
p
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P
o
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d
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c
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o
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r
-
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l in
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ib
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in
p
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t
N
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g
a
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d
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c
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r
-
tr
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l in
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ib
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in
p
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S
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r
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o
-
R
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a
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p
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S
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o
-
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a
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p
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P
o
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it
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c
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p
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p
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E
x
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p
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Z
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C
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e

in
h
ib
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n
in
p
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t
Wiring Example of Velocity Control Mode
7
4
.
7
k
C
O
M
+
O
A
+
O
A
-
O
B
+
O
B
-
O
Z
+
O
Z
-
G
N
D
C
Z
S
P
R
/T
R
Q
R
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P
L
G
N
D
P
-A
T
L
/T
R
Q
R
G
N
D
N
-
A
T
L
S
P
I
M
2
1
2
2
4
8
2
4
2
5
1
9
4
9
2
3
1
k
1
k
I
N
T
S
P
D
1
I
N
T
S
P
D
2
S
R
V
-
O
N
G
A
I
N
I
N
T
S
P
D
3
Z
E
R
O
S
P
D
C
-
M
O
D
E
A
-
C
L
R
P
O
T
N
O
T
S
-
R
D
Y
+
S
-
R
D
Y
-
A
L
M
+
B
R
K
O
F
F
+
B
R
K
O
F
F
-
T
L
C
V
D
C
1
2

t
o

2
4
V
Z
S
P
C
O
M
-
F
G
A
L
M
-
3
3
3
0
2
9
2
7
3
2
3
198
3
5
3
4
3
7
3
6
3
9
3
8
1
1
1
0
4
0
1
2
4
1
5
0
2
8
1
4
1
5
1
6
1
7
1
8
4
3
4
2
2
6
1
4
k
1
0
k
2
0
k
2
0
k
1
4
k
1
0
k
2
0
k
2
0
k
4
7
k
4
7
k
4
7
k
4
7
k
2
0
k
2
0
k
X
4
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c
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p
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Divider
T
h
e

f
u
n
c
t
i
o
n
s

o
f

t
h
e

f
o
l
l
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w
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p
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c
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b
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c
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d

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p
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a
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t
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s
.

I
n
p
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t
:

8
,

9
,

2
6
,

2
7
,

2
8
,

2
9
,

3
0
,

3
1
,

3
2
,

3
3

O
u
t
p
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t
:

1
0
-
1
1
,

1
2
,

3
4
-
3
5
,

3
6
-
3
7
,

3
8
-
3
9
,

4
0
+ + +
A
T
-
S
P
E
E
D
+
A
T
-
S
P
E
E
D
-
B26 B27
E
n
g
l
i
s
h
Wiring Example of Torque Control Mode
7
4
.
7
k
C
O
M
+
O
A
+
O
A
-
O
B
+
O
B
-
O
Z
+
O
Z
-
G
N
D
C
Z
S
P
R
/T
R
Q
R
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P
L
G
N
D
P
-A
T
L
/T
R
Q
R
G
N
D
N
-
A
T
L
S
P
I
M
2
1
2
2
4
8
2
4
2
5
1
9
1
4
1
5
1
6
1
7
4
3
1
8
4
2
4
9
2
3
1
4
k
1
0
k
2
0
k
2
0
k
1
4
k
1
0
k
2
0
k
2
0
k
4
7
k
4
7
k
4
7
k
4
7
k
2
0
k
2
0
k
1
k
1
k
I
N
H
C
L
S
R
V
-
O
N
G
A
I
N
D
I
V
1
Z
E
R
O
S
P
D
C
-
M
O
D
E
A
-
C
L
R
P
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T
N
O
T
S
-
R
D
Y
+
S
-
R
D
Y
-
A
L
M
+
A
T
-
S
P
E
E
D
+
B
R
K
O
F
F
+
B
R
K
O
F
F
-
T
L
C
V
D
C
1
2

t
o

2
4
V
Z
S
P
C
O
M
-
F
G
A
T
-
S
P
E
E
D
-
A
L
M
-
3
3
3
0
2
9
2
7
2
8
2
6
3
2
3
198
3
5
3
4
3
7
3
6
3
9
3
8
1
1
1
0
4
0
1
2
4
1
5
0
Z
-
p
h
a
s
e

o
u
t
p
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t

(
o
p
e
n

c
o
lle
c
t
o
r
)
X
4
T
h
e

f
u
n
c
t
i
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n
s

o
f

t
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e

f
o
l
l
o
w
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g

p
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n

c
a
n

b
e

c
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a
n
g
e
d

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g

p
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r
a
m
e
t
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r
s
.

I
n
p
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t
:

8
,

9
,

2
6
,

2
7
,

2
8
,

2
9
,

3
0
,

3
1
,

3
2
,

3
3

O
u
t
p
u
t
:

1
0
-
1
1
,

1
2
,

3
4
-
3
5
,

3
6
-
3
7
,

3
8
-
3
9
,

4
0
Divider
A
-
p
h
a
s
e
o
u
t
p
u
t
B
-
p
h
a
s
e
o
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t
p
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t
Z
-
p
h
a
s
e
o
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t
p
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(

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p
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(
0

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V
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P
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.
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=
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3
.
1
7
=
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C
C
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1
6
1
7
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e
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V
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w
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P
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3
.
1
7
.
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e
r
v
o
-
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p
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G
a
in

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w
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c
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in
p
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A
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c
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R
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p
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l
a
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p
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A
t
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s
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d

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p
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E
x
t
e
r
n
a
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b
r
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k
e

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le
a
s
e

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u
t
p
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T
o
r
q
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e

in
-
lim
it

o
u
t
p
u
t
Z
e
r
o

s
p
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e
d

d
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t
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c
t
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n

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t
p
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S
p
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d

z
e
r
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c
l
a
m
p

i
n
p
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t
C
o
n
tr
o
l m
o
d
e

s
w
itc
h
in
g
in
p
u
t
P
o
s
itiv
e
d
ir
e
c
tio
n
o
v
e
r
-
tr
a
v
e
l in
h
ib
itio
n
in
p
u
t
N
e
g
a
tiv
e
d
ir
e
c
tio
n

o
v
e
r
-
tr
a
v
e
l in
h
ib
itio
n
in
p
u
t
Connect on to Feedback Scale
Provide a power supply for the feedback scale on your part or use the following power
output (250mA or less).
Application Symbol
Connector
Pin No.
Contents
Power supply output
EX5V 1
Supply the power of feedback
scale or A, B, Z phase encoder.
EX0V 2
Connected to ground of control
circuit.
I/F of feedback scale
signals
EXPS 3 Serial signal
The transmission / reception
method.
/EXPS 4
A, B, Z phase Endoder
signal input
EXA 5
Parallel signal
reception
/EXA 6
EXB 7
/EXB 8
EXZ 9
/EXZ 10
Connected with protective earth
terminal in the servo driver.
Connector (plug): MUF-PK10K-X (by J.S.T. Mfg. Co., Ltd.)
Caution
1) The manufacturers applicable feedback scales for this product are as follows.
Mitutoyo Corp.
Sony Manufacturing Systems Corp.
For the details of the feedback scale product, contact each company.
2)
Recommended feedback scale ratio is 1/40 Feedback scale ratio 160
If you set up the feedback scale ratio to smaller value than 50/position loop gain
(Pr1.00 and Pr.1.05), you may not be able to control per 1 pulse unit. Setup of larg-
er scale ratio may result in larger noise.
B28 B29
E
n
g
l
i
s
h
Connection to Encoder
In case of 20-bit incremental encoder
MSME 50W to 750W
MSME 1.0kW to 5.0kW
MDME 1.0kW to 5.0kW
MHME 1.0kW to 5.0kW
MGME 900W to 3.0kW
Shell (FG)
+5V
0V
1
2
3
4
5
6
4
1
3
7
Twisted pair
Encoder cable
Connector: JN2DS10SL1-R
(by Japan Aviation Electronics Ind.)
Motor Driver
E5V
E0V
PS
PS
9
PS
PS
FG
E5V
E0V
X6
R
e
g
u
l
a
t
o
r
R
e
g
u
l
a
t
o
r
Shell (FG)
+5V
0V
1
2
3
4
5
6
6
3
7
4
Twisted pair
Encoder cable
Connector: JN6FR07SM1
Motor Driver
E5V
E0V
PS
PS
1
PS
PS
FG
E5V
E0V
X6
Tighten the motor connector
mounting screw (M2) with a
torque between 0.19 and
0.21 Nm. To avoid damage,
be sure to use only the
screw supplied with the
connector.
(Viewed from cable)
2
5
1
3
6
4
7
Shell (FG)
+5V
0V
1
2
3
4
5
6
4
1
3
7
Twisted pair
Encoder cable
Connector: JN2DS10SL1-R
Motor Driver
E5V
E0V
PS
PS
9
PS
5
BAT
6
BAT+
PS
FG
E5V
E0V
X6
Shell (FG)
+5V
0V
1
2
3
4
5
6
6
3
7
2
5
4
Twisted pair
Encoder cable
Connector: JN6FR07SM1
Motor Driver
E5V
E0V
PS
PS
1
PS
BAT
BAT+
PS
FG
E5V
E0V
X6
battery
battery
R
e
g
u
l
a
t
o
r
R
e
g
u
l
a
t
o
r
MSME 50W to 750W
MSME 1.0kW to 5.0kW
MDME 1.0kW to 5.0kW
MHME 1.0kW to 5.0kW
MGME 900W to 3.0kW
Tighten the motor connector
mounting screw (M2) with a
torque between 0.19 and
0.21 Nm. To avoid damage,
be sure to use only the
screw supplied with the
connector.
(Viewed from cable)
2
5
1
3
6
4
7
In case of 17-bit absolute encoder
B30 B31
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The connector X7 of the front panel is for monitor output.
Analogue output : 2 systems
Digital output : 1 systems
In both cases, it is possible to switch the output signal by setting parameters.
Application Symbol
Connector
Pin No.
Contents
Analogue monitor
output 1
AM1 1
Output the analogue signal for moni-
tor.
Analogue monitor
output 2
AM2 2
Signal ground GND 3 Connected to ground of control circuit.
Digital monitor output DM 4 Output the digital signal for monitor.
Connector X7
Manufacturers part No.: 530140610
Manufacturer: Japan Molex Inc.
6 1
X7
4. Parameter
Outline / Setup / Connection
Outline of Parameter
This driver is equipped with various parameters to set up its characteristics and func-
tions. This section describes the function and purpose of each parameter. Read and
comprehend very well so that you can adjust this driver in optimum condition for your
running requirements.
You can refer and set up the parameter with either one of the following.
1) front panel of the driver
2) combination of the setup support software, "PANATERM" and PC.
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 data
changing to higher digit.
X7
Output 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
B32 B33
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Setup with the PC
It is possible to connect your personal computer to connector X1 of MINAS A5 using a
USB cable for personal computer connection. Downloading the setup support software
PANATERM from our web site and installing it on your personal computer will allow
you to perform the following easily.
With the PANATERM, you can execute the followings.
1) Setup and storage of parameters, and writing to the memory (EEPROM).
2) Monitoring of I/O, pulse input and load factor.
3) Display of the present alarm and reference of the error history.
4) Data measurement of the wave-form graphic and bringing of the stored data.
5) Normal auto-gain tuning
6) Frequency characteristic measurement of the machine system.
Note Because no production software such as CD-ROM is available, down-
load the setup support software from our web site and install it on your
personal computer.
How to Connect
USB cable
On the driver, use commercially available USB mini-B connector.
The connector on the personal computer side should be in accordance with the
specifcations of the PC.
When the cable does not have noise flter, attach a signal line noise flter (DV0P1460)
to both ends of the cable.
4. Parameter
Outline / Setup / Connection
Connect to X1
(USB mini-B)
Please download from our web site and
use after install to the PC.
4. Parameter
Composition of Parameters
The parameter No. is displayed in the form of PrX.YY (X: Classifcation, YY: No.).
For the details on the parameters, refer to the Operating Instructions (Overall).
Parametr No.
Class name Group
Class No.*
0 00 to Basic setting Parameter for Basic setting
1 00 to Gain adjustment Parameter for Gain adjustment
2 00 to Damping control Parameter for Damping control
3 00 to
Verocity/ Torque/
Full-closed control
Parameter for Verocity/ Torque/ Full-closed control
4 00 to I/F monitor setting Parameter for I/F monitor setting
5 00 to Enhancing setting Parameter for Enhancing setting
6 00 to Special setting Parameter for Special setting
* The Parameter No. consists of 2 digits.
B34 B35
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5. Protective Functions
Protective Function (What Is Error Code ?)
Various protective functions are equipped in the driver. When these are triggered, the
motor will stall due to error, the driver will turn the Servo-Alarm output (ALM) to off (open).
Error status and their measures
During the error status, the error code No. will be displayed on the front panel
LED, and you cannot turn Servo-ON.
You can clear the error status by Alarm clear input(A-CLR) in 120ms or longer.
When overload protection is triggered, you can clear it by Alarm clear input(A-
CLR) in 10sec or longer after the error occurs. You can clear the Overload protec-
tion time characteristics (refer to P.B38, 39) by turning off the control power supply
of the driver.
*1
You can clear the above error by operating the front panel keys and setup support
softwear "PANATERM".
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
Attribute
Main Sub History Can be cleared Immediate stop
11 0 Control power supply under- voltage protection
12 0 Over-voltage protection
13
0 Main power supply under-voltage protection (between P to N)
1 Main power supply under-voltage protection (AC interception detection)
14
0 Over-current protection
1 IPM error protection
15 0 Over-heat protection
16 0 Over-load protection
*1
18
0 Over-regeneration load protection
1 Over-regeneration Tr error protection
21
0 Encoder communication disconnect error protection
1 Encoder communication error protection
23 0 Encoder communication data error protection
24 0 Position deviation excess protection
25 0 Hybrid deviation excess error protection
26
0 Over-speed protection
1 2nd over-speed protection
27
0 Command pulse input frequency error protection
2 Command pulse multiplier error protection
28 0 Limit of pulse replay error protection
29 0 Deviation counter overfow protection
30 0 Safety detection
33
0 IF overlaps allocation error 1 protection
1 IF overlaps allocation error 2 protection
2 IF input function number error 1 protection
Error code
Protective function
Attribute
Main Sub History Can be cleared Immediate stop
33
3 IF input function number error 2 protection
4 IF output function number error 1 protection
5 IF output function number error 2 protection
6 CL ftting error protection
7 INH ftting error protection
34 0 Software limit protection
36 0 to 2 EEPROM parameter error protection
37 0 to 2 EEPROM check code error protection
38 0 Over-travel inhibit input protection
39
0 Analog input1 excess protection
40 0 Absolute system down error protection
41 0 Absolute counter over error protection
42 0 Absolute over-speed error protection
43 0 Initialization failure
44 0 Absolute single turn counter error protection
45 0 Absolute multi-turn counter error protection
47 0 Absolute status error protection
48 0 Encoder Z-phase error protection
49 0 Encoder CS signal error protection
50
0 Feedback scale connection error protection
1 Feedback scale communication error protection
51
0 Feedback scale status 0 error protection
55
0 A-phase connection error protection
1 B-phase connection error protection
2 Z-phase connection error protection
87 0 Compulsory alarm input protection
95 0 Motor automatic recognition error protection
99 0 Other error
Note
History...The error will be stored in the error history.
Can be cleared...To cancel the error, use the alarm clear input (A-CLR).
If the alarm clear input is not effective, turn off power, remove the cause of the
error and then turn on power again.
Immediate stop...Instantaneous controlled stop upon occurrence of an error.
(Setting of Pr.5.10 Sequence at alarm is also required.)
5. Protective Functions
Protective Function (What Is Error Code ?)
B36 B37
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6. Maintenance and Inspections
Maintenance and Inspections
Routine maintenance and inspection of the driver and motor are essential for
the proper and safe operation.
Notes on Maintenance and Inspection
1) Turn on and turn off should be done by operators or inspectors themselves.
2) Internal circuit of the driver is kept charged with high voltage for a while even after
power-off. Turn off the power and allow 15 minutes or longer after LED display of
the front panel has gone off, before performing maintenance and inspection.
3) Disconnect all of the connection to the driver when performing megger test (Insulation
resistance measurement) to the driver, otherwise it could result in breakdown of the
driver.
Inspection Items and Cycles
General and normal running condition
Ambient conditions : 30C (annual average), load factor of 80% or
lower, operating hours of 20 hours or less per day.
Perform the daily and periodical inspection as per the items below.
Type Cycles Items to be inspected
Daily
inspection
Daily
Ambient temperature, humidity, speck, dust or foreign object
Abnormal vibration and noise
Main circuit voltage
Odor
Lint or other particles at air holes
Cleanness at front portion of the driver and connector
Damage of the cables
Loose connection or misalignment between the motor and
machine or equipment
Pinching of foreign object at the load
Periodical
inspection
Annual
Loose tightening
Trace of overheat
Damage to the terminal block
Loose fasteners on terminal block
Note Inspection cycle may change when the running conditions of the
above change.
Guideline for Parts Replacement
Use the table below for a reference. Parts replacement cycle varies depending on the
actual operating conditions. Defective parts should be replaced or repaired when any
error have occurred.
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
Smoothing condenser Approx. 5 years
These hours or cycles
are reference.
When you experience
any error, replacement
is required even before
this standard replace-
ment cycle.
Cooling fan
2 to 3 years
(10,000 to 30,000 hours)
Aluminum electrolytic
capacitor (on PCB)
Approx. 5 years
Rush current
preventive relay
Approx. 100,000 times
(depending on working
condition)
Rush current
preventive resistor
Approx. 20,000 times
(depending on working
condition)
Motor
Bearing
3 to 5 years
(20,000 to 30,000 hours)
Oil seal 5000 hours
Encoder
3 to 5 years
(20,000 to 30,000 hours)
Battery
for absolute encoder
Life time varies depending
on working conditions.
Refer to the Operating
Instructions attached to
the battery for absolute
encoder.
6. Maintenance and Inspections
Maintenance and Inspections
B38 B39
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7. Conformity to EC Directives and UL Standards
EC Directives / Conformity to UL Standards
EC Directives
The EC Directives apply to all such electronic products as those having specifc func-
tions and have been exported to EU and directly sold to general consumers. Those
products are required to conform to the EU unifed standards and to furnish the CE
marking on the products.
However, our AC servos meet the relevant EC Directives for Low Voltage Equipment
so that the machine or equipment comprising our AC servos can meet EC Directives.
EMC Directives
MINAS Servo System conforms to relevant standard under EMC Directives setting up
certain model (condition) with certain locating distance and wiring of the servo motor
and the driver. And actual working condition often differs from this model condition es-
pecially in wiring and grounding. Therefore, in order for the machine to conform to the
EMC Directives, especially for noise emission and noise terminal voltage, it is neces-
sary to examine the machine incorporating our servos.
Conformity to UL Standards
Observe the following conditions of (1) and (2) to make the system conform to UL508C
(File No. E164620).
(1) Use the driver in an environment of Pollution Degree 2 or 1 prescribed in
IEC60664-1. (e.g. Install in the control box with IP54 enclosure.)
(2) Make sure to install a circuit breaker or fuse which are UL recognized (Listed
marked) between the power supply and the noise flter.
For the rated current of the circuit breaker or fuse, refer to P.B16, 17, "Driver and
List of Applicable Peripheral Equipments" of Preparation.
Use a copper cable with temperature rating of 75C or higher.
(3) Over-load protection level
Over-load protective function will be activated when the effective current exceeds
115% or more than the rated current based on the time characteristics (see the
next page). Confrm that the effective current of the driver does not exceed the
rated current. Set up the peak permissible current with Pr0.13 (Setup of 1st torque
limit) and Pr5.22 (Setup 2nd torque limit).
EC Directives / Conformity to UL Standards
Time [s]
Overload protection time characteristics
MSME 50W
MSME 100W100V
MSME 100W200V
MSME 200W
MSME 400W
MSME 750W
MSME 1.0kW5.0kW
MDME 1.0kW5.0kW
MHME 1.0kW5.0kW
MGME 900W3.0kW 100
115
0.1
10
100
200 300 400 500
Torque [%]
Conformed Standards
Driver Motor
EC Directives
EMC
Directives
EN55011
EN61000-6-2
EN61800-3
Low-Voltage
Directives
EN61800-5-1
IEC60034-1
IEC60034-5
Functional
safety
EN954-1 (Cat. 3)
ISO13849-1 (PL d)
EN61508 (SIL 2)
EN62061 (SIL 2)
EN61800-5-2 (STO)
IEC61326-3-1
UL Standards UL508C (File No.E164620) UL1004 (File No.E166557)

CSA Standards C22.2 No.14 C22.2 No.100
IEC : International Electrotechnical Commission
EN : Europaischen Normen
EMC : Electromagnetic Compatibility
UL : Underwriters Laboratories
CSA : Canadian Standards Association
Pursuant to the directive 2004/108/EC, article 9(2)
Panasonic Testing Centre
Panasonic Service Europe, a division of
Panasonic Marketing Europe GmbH
Winsbergring 15, 22525 Hamburg, F.R. Germany
B40 B41
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LABEL
Terminal cover
(transparent)
24.5
R Cx Cx
Cy
L L
Cy
24.5 x 6.75
53.11.0
100.02.0
88.0
75.0
5.0
1
2
.0
1
0
.0
5
0
.
0
6
0
.
0
7.0
2.0
(11.6)
(13.0)
6-M4
2
1 3
4
Circuit diagram
IN OUT
LABEL
A
B
C
H
1
0F
E D
G
M4
Cover
Body
4
5
1
2
6 3
L1
Cx1
IN OUT
R Cx1
Cy1
Earth terminal
M4
Screw for cover
M3
A B C D E F G H
115 DV0PM20042
<DV0PM20042, DV0P4220> <DV0PM20043>
105 95 70 43 10 52 5.5
145 DV0P4220 135 125 70 50 10 52 5.5
165 DV0PM20043 136 165 90 80 40 54 5.5
Circuit
diagram
[Size]
[Unit: mm]
[Unit: mm]
LABEL
A
C
B
H
M5
E
F
D
Earth
terminal
M4
Screw for
cover
M3
G
Cover
Body
Composition of Peripheral Equipments
Installation Environment
Use the servo driver in the environment of Pollution Degree 1 or 2 prescribed in
IEC-60664-1 (e.g. Install the driver in control panel with IP54 protection structure.)
Caution Use options correctly after reading Operating Instructions of the options
to better understand the precautions.
Take care not to apply excessive stress to each optional part.
Power Supply
100V type : Single phase, 100V
+10%
to 120V
+10%
50/60Hz
(A to C-frame)
15%

15%
200V type : Single/3-phase, 200V
+10%
to 240V
+10%
50/60Hz
(A to D-frame)
15%

15%
200V type : 3-phase, 200V
+10%
to 230V
+10%
50/60Hz
(E, F-frame)
15%

15%
(1) This product is designed to be used in over-voltage category (installation category)
III of EN 61800-5-1:2007.
(2) Use an insulated power supply of DC12 to 24V which has CE marking or complies
with EN60950.
Circuit Breaker
Install a circuit breaker which complies with IEC Standards and UL recognized (Listed
and marked) between power supply and noise flter.
Integral solid state short circuit protection does not provide branch circuit protection.
Branch circuit protection must be provided in accordance with the National Electrical
Code and any additional local codes.
Noise Filter
When you install one noise flter at the power supply for multi-axes application, consult with
manufacturer of the noise flter. If suffcient noise margin is required, connect 2 flters in series.
Optional parts
Option part No.
Voltage specifcations
for driver
Manufacturers
part No.
Applicable
driver (frame)
Manufacturer
DV0P4170 Single phase 100V/200V SUP-EK5-ER-6 A and B-frame Okaya Electric Ind.
Control box
Controller
Insulated power supply
for interface
Safety
controller
Power
supply
Circuit
breaker
Residual
current device
(RCD)
Surge
absorber
Noise filter
Noise filter for
signal lines
Protective earth (PE)
L1
U
X4
XA
XB
X3
X6
M
RE
V
W
L2
L3
L1C
L2C
Noise filter
for signal lines
Driver
Motor
Option part No.
for driver
Manufacturers
part No.
Applicable
driver (frame)
Manufacturer
DV0PM20042
3-phase 200V
3SUP-HU10-ER-6
A, B-frame
Okaya Electric Ind.
Single phase 100V/200V
3-phase 200V
C-frame
DV0P4220 Single/ 3-phase 200V 3SUP-HU30-ER-6 D-frame
DV0PM20043 3-phase 200V 3SUP-HU50-ER-6 E-frame
B42 B43
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Circuit diagram
1
4.20.2
411
UL-1015 AWG16
2
8
1
5
.
5
1
1
1
1
2
8
.
5
1
4
.
5
0
.
5
2
0
0
+
3
0
-
0
2 3
2 1 3
Noise Filter for Signal Lines
Install noise flters for signal lines to all cables (power cable, motor cable, encoder
cable and interface cable)
Option part No.
Manufacturers
part No.
Manufacturer
DV0P1460 ZCAT3035-1330 TDK Corp.
Caution Fix the signal line noise flter
in order to prevent excessive
stress to the cables.
Residual current device
Install a type B Residual current device (RCD) at primary side of the power supply.
Grounding
(1) Connect the protective earth terminal ( ) of the driver and the protective earth
terminal (PE) of the control box without fail to prevent electrical shocks.
(2) Do not make a joint connection to the protective earth terminals ( ). 2 terminals
are provided for protective earth.
Note For driver and applicable peripheral equipments, refer to P.B12 "Driver
and List of Applicable Peripheral Equipments" .
391
341
3
0
1
1
3
1
Mass: 62.8g
Circuit diagram
4.20.2
411
UL-1015 AWG16
2
8
1
5
.
5
1
1
1
1
2
8
.
5
1
4
.
5
0
.
5
2
0
0
+
3
0
-
0
1 2
2 1
Recommended components
Model No.
for driver
Current rating (A) Manufacturer
RTHN-5010
Single phase 100V/200V
3-phase 200V
10
TDK-Lambda Corp. RTHN-5030 30
RTHN-5050 50
Remarks
Select a noise flter whose capacity is commensurate with the power
source capacity (in consideration of the load condition).
For the detailed specifcations of each noise flter, contact the manufacturer.
Surge Absorber
Provide a surge absorber for the primary side of noise flter.
Option part No.
for driver
Manufacturers
part No.
Manufacturer
DV0P1450 3-phase 200V RAV-781BXZ-4 Okaya Electric Ind.
Option part No.
for driver
Manufacturers
part No.
Applicable
driver (frame)
Manufacturer
DV0P3410 3-phase 200V 3SUP-HL50-ER-6B F-frame Okaya Electric Ind.
Option part No.
for driver
Manufacturers
part No.
Manufacturer
DV0P4190 Single phase 100V/200V RAV-781BWZ-4 Okaya Electric Ind.
Circuit diagram
IN OUT
2863.0
150
2-5.5 x 7 2-5.5
6-6M
270
2551.0
240
1
2
0
9
0
1
.
0 (
1
8
)
(
1
3
)
L A B E L
1
2
3
4
5
6
B44 B45
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8. Built-in Holding Brake
Outline / Specifcations
In the applications where the motor drives the vertical axis, this brake would be used
to hold and prevent the work (moving load) from falling by gravity while the power to
the servo is shut off.
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 the brake release timing at power-on, or braking timing at Servo-OFF/Servo-
Alarm while the motor is in motion, refer to the Operating Instructions (Overall).
With the parameter, Pr4.38 (Setup of mechanical brake action while the motor is in
motion), you can set up a time between when the motor enters to a free-run from
energized status and when BRK-OFF signal turns off (brake will be engaged), when
the Servo-OFF or alarm occurs while the motor is in motion. Refer to the Operating
Instructions (Overall) for the details.
Note 1. The lining sound of the brake (chattering and etc.) might be generated
while running the motor with built-in brake, however this does not af-
fect any functionality.
2. Magnetic fux might be generated through the motor shaft while the
brake coil is energized (brake is open). Pay an extra attention when
magnetic sensors are used nearby the motor.
Specifcations of Built-in Holding Brake
Motor
series
Motor
output
Static
friction
torque
Nm
Rotor
inertia
x 10
4
kgm
2
Engaging
time
ms
Releasing
time
ms
Exciting
current
DC A
(at cool-off)
Releasing
voltage
Permissible
work (J) per
one braking
Permissible
total work
x 10
3
J
Permissible
angular
acceleration
rad/s
2
MSME
50W, 100W 0.29 or more 0.002 35 or less 20 or less 0.3
DC1V
or more
39.2 4.9
10000
200W, 400W 1.27 or more 0.018 50 or less 15 or less 0.36 137 44.1
750W 2.45 or more 0.075 70 or less 20 or less 0.42 196 147
1.0kW, 1.5kW,
2.0kW
7.8 or more
0.33
50 or less 15 or less
(100)
0.81
DC2V
or more
392 490
3.0kW 11.8 or more 80 or less
4.0kW, 5.0kW 16.2 or more 1.35
110 or
less
50 or less
(130)
0.9 1470 2200
MDME
1.0kW 4.9 or more
1.35
80 or less
70 or less
(200)
0.59
DC2V
or more
588 780
10000 1.5kW, 2.0kW 13.7 or more
100 or
less 50 or less
(130)
0.79 1176 1500
3.0kW 16.1 or more
110 or
less
0.9 1470 2200
4.0kW, 5.0kW 24.5 or more 4.7 80 or less
25 or less
(200)
1.3 1372 2900 5440
MHME
1.0kW 4.9 or more
1.35
80 or less
70 or less
(200)
0.59
DC2V
or more
588 780
10000
1.5kW 13.7 or more
100 or
less
50 or less
(130)
0.79 1176 1500
2.0kW to
5.0kW
24.5 or more 4.7 80 or less
25 or less
(200)
1.3 1372 2900 5440
MGME
900W 13.7 or more 1.35
100 or
less
50 or less
(130)
0.79
DC2V
or more
1176 1500 10000
2.0kW 24.5 or more
4.7
80 or less
25 or less
(200)
1.3
1372 2900 5440
3.0kW 58.8 or more
150 or
less
50 or less
(130)
1.4
Excitation voltage is DC24V10%.
Releasing time values represent the ones with DC-cutoff using a varistor.
Values in ( ) represent those measured by using a diode (V03C by Renesas Tech-
nology Corp.)
Above values (except static friction torque, releasing voltage and excitation current)
represent typical values.
Backlash of the built-in holding brake is kept 1or smaller at ex-factory point.
Service life of the number of acceleration/deceleration with the above permissible
angular acceleration is more than 10 million times. (Life end is defned as when the
brake backlash drastically changes.)
8. Built-in Holding Brake
Outline / Specifcations
B46 B47
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This driver is designed to be used in a combination with the motor which are specifed
by us. Check the series name of the motor, rated output torque, voltage specifcations
and encoder specifcations.
Caution Do not use in other combinations than those listed below.
Motor Driver
Power
supply
Type
Rated rotational
speed
Model
Rated
output
Model Frame
Single
phase,
100V
MSME
Low inertia
3000r/min
MSME5AZG1* 50W MADHT1105
A-frame
MSME011G1* 100W MADHT1107
MSME021G1* 200W MBDHT2110 B-frame
MSME041G1* 400W MCDHT3120 C-frame
Single/
3-phase,
200V
MSME5AZG1* 50W
MADHT1505
A-frame MSME012G1* 100W
MSME022G1* 200W MADHT1507
MSME042G1* 400W MBDHT2510 B-frame
MSME082G1* 750W MCDHT3520 C-frame
MSME102G1* 1.0kW
MDDHT5540 D-frame
MSME152G1* 1.5kW
3-phase,
200V
MSME202G1* 2.0kW MEDHT7364 E-frame
MSME302G1* 3.0kW MFDHTA390
F-frame MSME402G1* 4.0kW
MFDHTB3A2
MSME502G1* 5.0kW
Single/3-phase,
200V
MDME
Middle inertia
2000r/min
MDME102G1* 1.0kW MDDHT3530
D-frame
MDME152G1* 1.5kW MDDHT5540
3-phase,
200V
MDME202G1* 2.0kW MEDHT7364 E-frame
MDME302G1* 3.0kW MFDHTA390
F-frame MDME402G1* 4.0kW
MFDHTB3A2
MDME502G1* 5.0kW
Single/3-phase,
200V
MGME
Middle inertia
1000r/min
MGME092G1* 900W MDDHT5540 D-frame
3-phase,
200V
MGME202G1* 2.0kW MFDHTA390
F-frame
MGME302G1* 3.0kW MFDHTB3A2
Single/3-phase,
200V
MHME
High inertia
2000r/min
MHME102G1* 1.0kW MDDHT3530
D-frame
MHME152G1* 1.5kW MDDHT5540
3-phase,
200V
MHME202G1* 2.0kW MEDHT7364 E-frame
MHME302G1* 3.0kW MFDHTA390
F-frame MHME402G1* 4.0kW
MFDHTB3A2
MHME502G1* 5.0kW
Note Suffx of " * " in the applicable motor model represents the motor structure.
This driver is equipped with a dynamic brake for emergency stop.
Pay a special attention to the followings.
Caution 1.Dynamic brake is only for emergency stop.
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 fre.
2. Dynamic brake is a short-duration rating, and designed for only
emergency stop. Allow approx. 3 minutes pause when the dynamic
brake is activated during high-speed running.
(In the case of the F-frame driver, when the built-in dynamic brake
circuit overheats, the over current protection (Err14.0) may be acti-
vated.)
You can activate the dynamic brake in the following cases.
1) when the main power is turned off
2) at Servo-OFF
3) when one of the protective function is activated.
4) when over-travel inhibit input (NOT, POT) of connector X4 is acti-
vated
In the above cases from 1) to 4), you can select either activation of
the dynamic brake or making the motor free-run during decelera-
tion or after the stop, with parameter.

9. Dynamic Brake
Outline
10. Check of the Combination of the Driver and the Motor
Incremental Specifcations, 20-bit
B48 B49
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This driver is designed to be used in a combination with the motor which are specifed
by us. Check the series name of the motor, rated output torque, voltage specifcations
and encoder specifcations.
Caution Do not use in other combinations than those listed below.
Motor Driver
Power
supply
Type
Rated rotational
speed
Model
Rated
output
Model Frame
Single
phase,
100V
MSME
Low inertia
3000r/min
MSME5AZS1* 50W MADHT1105
A-frame
MSME011S1* 100W MADHT1107
MSME021S1* 200W MBDHT2110 B-frame
MSME041S1* 400W MCDHT3120 C-frame
Single/
3-phase,
200V
MSME5AZS1* 50W
MADHT1505
A-frame MSME012S1* 100W
MSME022S1* 200W MADHT1507
MSME042S1* 400W MBDHT2510 B-frame
MSME082S1* 750W MCDHT3520 C-frame
MSME102S1* 1.0kW
MDDHT5540 D-frame
MSME152S1* 1.5kW
3-phase,
200V
MSME202S1* 2.0kW MEDHT7364 E-frame
MSME302S1* 3.0kW MFDHTA390
F-frame MSME402S1* 4.0kW
MFDHTB3A2
MSME502S1* 5.0kW
Single/3-phase,
200V
MDME
Middle inertia
2000r/min
MDME102S1* 1.0kW MDDHT3530
D-frame
MDME152S1* 1.5kW MDDHT5540
3-phase,
200V
MDME202S1* 2.0kW MEDHT7364 E-frame
MDME302S1* 3.0kW MFDHTA390
F-frame MDME402S1* 4.0kW
MFDHTB3A2
MDME502S1* 5.0kW
Single/3-phase,
200V
MGME
Middle inertia
1000r/min
MGME092S1* 900W MDDHT5540 D-frame
3-phase,
200V
MGME202S1* 2.0kW MFDHTA390
F-frame
MGME302S1* 3.0kW MFDHTB3A2
Single/3-phase,
200V
MHME
High inertia
2000r/min
MHME102S1* 1.0kW MDDHT3530
D-frame
MHME152S1* 1.5kW MDDHT5540
3-phase,
200V
MHME202S1* 2.0kW MEDHT7364 E-frame
MHME302S1* 3.0kW MFDHTA390
F-frame MHME402S1* 4.0kW
MFDHTB3A2
MHME502S1* 5.0kW
Note
1) Suffx of " * " in the applicable motor model represents the motor structure.
2) Default of the driver is set for the incremental encoder specifcations.
When you use in absolute, make the following operations.
a) Install a battery for absolute encoder.
b) Switch the parameter Pr0.15 (Absolute encoder setup) from "1 (default)" to "0".
10. Check of the Combination of the Driver and the Motor
Absolute Specifcations, 17-bit
11. Specifcations
Basic Specifcations
I
n
p
u
t

p
o
w
e
r
100V
Main circuit Single phase, 100 to 120V
10
50/60Hz
15
Control circuit Single phase, 100 to 120V
10
50/60Hz
15
200V
Main
circuit
A to
D-frame
Single/3-phase, 200 to 240V
10
50/60Hz
15
E to
F-frame
3-phase, 200 to 230V
10
50/60Hz
15
Control
circuit
A to
D-frame
Single phase, 200 to 240V
10
50/60Hz
15
E to
F-frame
Single phase, 200 to 230V
10
50/60Hz
15
Control method IGBT PWM Sinusoidal wave drive
Encoder feedback
17-bit (131072 resolution) absolute encoder, 7-wire serial
20-bit (1048576 resolution) incremental encoder, 5-wire serial
Feedback scale feedback
A/B phase, initialization signal defferential input.
Manufacturers that support serial communication scale:
Mitsutoyo Corp.
Sony Manufacturing Systems Corp.
Control
signal
Input
General purpose 10 inputs
The function of general-purpose input is selected by parameters.
Output
General purpose 6 outputs
The function of general-purpose input is selected by parameters.
Analog
/Digital
signal
Input 3 inputs (16Bit A/D : 1 input, 12Bit A/D : 2 inputs)
Output 3 outputs (Analog monitor: 2 output, Digital monitor: 1 output)
Pulse
signal
Input 2 inputs (Photo-coupler input, Line receiver input
Output 4 outputs ( Line driver: 3 outputopen collector: 1 output)
Communication
function
USB Connection with PC etc.
RS232 1 : 1 communication
RS485 1 : n communication up to 31 axes to a host.
Safety function Used for IEC61800-5-2: STO.
Front panel
(1) 5 keys (MODE, SET, UP, DOWN, SHIFT) (2) LED (6-digit)
(3) Analog monitor output (2ch) (4) Digital monitor output (1ch)
Regeneration
A, B-frame:
no built-in regenerative resistor (external resistor only)
C to F-frame:
Built-in regenerative resistor (external resistor is also enabled.)
Dynamic brake Built-in
Control mode
Switching among the following 7 mode is enabled,
(1) Position control (2) Velocity control (3) Toque control
(4) Position/Velocity control (5) Position/Torque control
(6) Velocity/Torque control (7) Full-closed control

B50 B51
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11. Specifcations
Functions
11. Specifcations
Functions
P
o
s
i
t
i
o
n

c
o
n
t
r
o
l
Control input
(1) Deviation counter clear (2) Command pulse inhibition
(3) Command dividing gradual increase switching
(4) Damping control switching etc.
Control output Positioning complete (In-position) etc.
Pulse
input
Max. command
pulse frequency
Exclusive interface for Photo-coupler: 500kpps
Exclusive interface for line driver : 4Mpps
Input pulse
signal format
Differential input
Electronic gear
(Division/
Multiplication of
command pulse)
1/1000 to 1000 times
Smoothing flter
Primary delay filter or FIR type filter is adaptable to the
command input
Analog
input
Torque limit
command input
Individual torque limit for both positive and negative direction
is enabled.
Instantaneous Speed
Observer
Available
Damping Control Available
V
e
l
o
c
i
t
y

c
o
n
t
r
o
l
Control input
(1) Selection of internal velocity setup 1
(4) Speed zero clamp etc.
Control output Speed arrival etc.
Analog
input
Velocity
command input
Speed command input can be provided by means of analog
voltage.
Parameters are used for scale setting and command
polarity.
Torque limit
command input
is enabled.
Internal velocity command Switching the internal 8speed is enabled by command input.
Soft-start/down function
Individual setup of acceleration and deceleration is enabled,
with 0 to 10s/1000r/min. Sigmoid acceleration/deceleration
is also enabled.
Zero-speed clamp Speed zero clamp input is enabled.
Instantaneous Speed
Observer
Available
Velocity Control flter Available
T
o
r
q
u
e

c
o
n
t
r
o
l
Control input Speed zero clamp, Torque command sign input etc.
Control output Speed arrival etc.
Analog
input
Torque command
input
Speed command input can be provided by means of analog
voltage.
Parameters are used for scale setting and command
polarity.
Speed limit function Speed limit value with parameter t is enabled.
F
u
l
l
-
c
l
o
s
e
d

c
o
n
t
r
o
l
Control input
(1) Deviation counter clear (2) Command pulse inhibition
(3) Command dividing gradual increase switching
(4) Damping control switching etc.
Control output Full-closed positioning complete etc.
Pulse
input
Max. command
pulse frequency
Exclusive interface for Photo-coupler: 500kpps
Exclusive interface for line driver : 4Mpps
Input pulse
signal format
Differential input
Electronic gear
(Division/
Multiplication of
command pulse)
1/1000 to 1000 times
Smoothing flter
Primary delay filter or FIR type filter is adaptable to the
command input
Analog
input
Torque limit
command input
is enabled.
Setup range of division/
multiplication of
feedback scale
1/40 to 160 times
C
o
m
m
o
n
Auto tuning
The load inertia is identified in real time by the driving state
of the motor operating according to the command given by
the controlling device and internal amplifier.
The gain is set automatically in accordance with the rigidity
setting.
Division of encoder
feedback pulse
Set up of any value is enabled (encoder pulses count is the
max.).
Protective
function
Hard error
Over-voltage, under-voltage, over-speed, over-load,
over-heat, over-current and encoder error etc.
Soft error
Excess position deviation, command pulse division error,
EEPROM error etc.
Traceability of alarm data The alarm data history can be referred to.

B52 B53
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12. After-Sale Service (Repair)

Repair
Consult to a dealer from whom you have purchased the product for details of repair.
When the product is incorporated to the machine or equipment you have purchased,
consult to the manufacturer or the dealer of the machine or equipment.
Cautions for Proper Use
This product is intended to be used with a general industrial product, but not de-
signed or manufactured to be used in a machine or system that may cause personal
death when it is failed.
Installation, wiring, operation, maintenance, etc., of the equipment should be done
by qualifed and experienced personnel.
Apply adequate tightening torque to the product mounting screw by taking into
consideration strength of the screw and the characteristics of material to which the
product is installed. Overtightening can damage the screw and/or material; under-
tightening can result in loosening.
Example) Steel screw (M5) into steel section: 2.7-3.3 Nm.
Install a safety equipments or apparatus in your application, when a serious acci-
dent or loss of property is expected due to the failure of this product.
Consult us if the application of this product is under such special conditions and envi-
ronments as nuclear energy control, aerospace, transportation, medical equipment,
various safety equipments or equipments which require a lesser air contamination.
We have been making the best effort to ensure the highest quality of the products,
however, application of exceptionally larger external noise disturbance and static
electricity, or failure in input power, wiring and components may result in unexpected
action. It is highly recommended that you make a fail-safe design and secure the
safety in the operative range.
If the motor shaft is not electrically grounded, it may cause an electrolytic corrosion
to the bearing, depending on the condition of the machine and its mounting environ-
ment, and may result in the bearing noise. Checking and verifcation by customer is
required.
Failure of this product depending on its content, may generate smoke of about one
cigarette. Take this into consideration when the application of the machine is clean
room related.
Please be careful when using in an environment with high concentrations of sulfur
or sulfric gases, as sulfuration can lead to disconnection from the chip resistor or a
poor contact connection.
Take care to avoid inputting a supply voltage which signifcantly exceeds the rated
range to the power supply of this product. Failure to heed this caution may result in
damage to the internal parts, causing smoking and/or a fre and other trouble.
The user is responsible for matching between machine and components in terms
of configuration, dimensions, life expectancy, characteristics, when installing the
machine or changing specifcation of the machine. The user is also responsible for
complying with applicable laws and regulations.
7-1-1 Morofuku, Daito, Osaka, 574-0044, Japan Phone : +81-72-871-1212
Panasonic Corporation 2009
Technical information
Technical information of this product (Operating Instructions, CAD data) can be
downloaded from the following web site.
http://industrial.panasonic.com/ww/i_e/25000/motor_fa_e/motor_fa_e.html
For your records:
The model number and serial number of this product can be found on either the back or the
bottom of the unit. Please note them in the space provided and keep for future reference.
Model No.
M
DH
M
ME
Serial No.
Date of
purchase
Dealer
Name
Address
Phone ( ) -
MEMO MEMO
IMD88
Z0409-0
7-1-1 Morofuku, Daito, Osaka, 574-0044, Japan Phone : +81-72-871-1212
Panasonic Corporation 2009
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Panasonic A5 Operation Basic

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Panasonic A5 Operation Basic

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Operating Instructions (Basic)

AC Servo Motor & Driver

UL Standards UL508C (File No.E164620) UL1004 (File No.E166557)

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