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Operating Instructions (Basic) AC Servo Motor & Driver

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2. V Wiring to Connector X7 e Monitor output U O U BG BH argo i mmn O v e ov iB i 1 E Ug I k HIS e i l Short bar UR B2 B3 HIGI e eee Madasg y AA LL red a Kell xf SS V phase 4 HIG white v1 El W phase VYTICO M i black Er These colors are used for e IS optional cable O Ground Ground Charg lamp terminal earth Red LED Sel Wiring to Connector X5 P Connection to external scale Wiring to Connector X6 Connection to encoder Junction cable for encoder Remarks X1 to X7 are used for Junction cable for brake SOD ao H DC Power supply for brake DC24V to be supplied by customer Junction cable for mat Connection to motor driving phase and ground gt 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 Do not connect these terminals to the same power supply 1 Do not make displacement wiring or inspection while the LED is lit cause of electric shock B11 3 System Configuration and Wiring Driver and List of Applicable Peripheral Equipments
3. licit General purpose 10 inputs 7 Control P The function of general purpose input is selected by parameters g signal Output General purpose 6 outputs 2 p The function of general purpose input is selected by parameters S Analog Input 3 inputs 16Bit A D 1 input 12Bit A D 2 inputs 3 signal Output 2 outputs Analog monitor 2 output o S8 Pulse Input 2 inputs Photo coupler input Line receiver input signal Output 4 outputs Line driver 3 output open collector 1 output USB Connection with PC etc Communication RS232 1 1 communication function RS485 1 n communication up to 31 axes to a host Safety function Used for IEC61800 5 2 STO 1 5 keys MODE SET UP DOWN SHIFT 2 LED 6 digit Front panel 3 Monitor connector Analog monitor output 2ch Digital monitor output 1ch Regeneration pus Built in regenerative resistor external resistor is also enabled Do not use in other combinations than those listed below Motor Driver Rated pone Type rotational Model Rated Model Frame supply speed output MSME084S1 750W MDDHT2412 MSME104SL 1 0kW MDDHT3420 D frame h MSME MSME 154SL 1 5kW MDDHT3420 giae Low inertia 3000r min MSME204SL 2 0kW MEDHT4430_ E frame MSME304SI 3 0kW MFDHT5440 MSME404SL 4 0kW F frame MSME504S
4. Diameter 4 Fu F Rated Diameter Crimp and CHmp Diameter Diameter Required Circuit Noise Surge Noise Operating and terminal withstand control withstand nd Driver APPlicable je Rated Power breaker filter absorber gj or cufrentof withstand formain voltage ENDS Voltage Withstand motor ge output atthe rated Single phase Single phase k magnetic voltageof circuit of control Suppl of motor Voltage rated lowell curren Ju Ji go phi signal eris main circuit terminal power pply of brake S phase S phase configuration ah blask ET terminal cable able cablo block 1 MDME 400W AL MDME 600W pan MSME 750w PPM o o MSME FN258L 3 3 3 phase 16 07 DVOPM 20A o o MDME 1 0kW MDDH 400V approx 10A e rommensed 20050 0 1490 spia MHME 1 8kVA component 3 2 2 0mme S 0 52mme S8 2 0mme MGME 0 9kW AWG14 g AWG20 g AWG14 600VAC 100VAC 600VAC MSME or more 2 or more 2 or more oO oO MDME sew 220 8 8 2 3kVA 3 3 MFME E 3 Q Q MHME 8 8 MSME MDME 2 0kW pi FN258L 3 phase I 16 07 DVOPM 30A 0 75mm2 MEDH 15A DVOP1460 MHME 400v Recommended 20050 3P 1a AWG18 component 100VAC approx MFME 2 5kW RUE Or more MGME 2 0kW EA MSME MDME soy PP MGME 4 5kVA MHME 10mm or 7mm or smaller smaller MSME FN258L 3 5mm2 0 75mme2 3 5mm 3 phase approx 30 07 DVOPM 60A AWG12 AWG18 AWG12 MFDH MDME 4ooy 40KW Sokva 30A
5. Erroncode Protective function Attribute Main Sub History Can be cleared Immediate stop 3 IF input function number error 2 protection O 4 IF output function number error 1 protection 33 5 IF output function number error 2 protection O 6 CL fitting error protection O 7 INH fitting error protection O 34 O Software limit protection O O 36 0to2 EEPROM parameter error protection 37 0102 EEPROM check code error protection 38 O Over travel inhibit input protection O O Analog input1 excess protection O O O 39 1 Analog input2 excess protection O O 2 Analog input3 excess protection O O O 40 O Absolute system down error protection O 41 O Absolute counter over error protection O 42 O Absolute over speed error protection O 43 O Initialization failure O 44 O Absolute single turn counter error protection D 45 O Absolute multi turn counter error protection O 47 O Absolute status error protection O 48 O Encoder Z phase error protection O 49 O Encoder CS signal error protection O 50 0 Feedback scale connection error protection O 1 Feedback scale communication error protection 0 Feedback scale status 0 error protection O 1 Feedback scale status 1 error protection O 51 2 Feedback scale status 2 error protection O 3 Feedback scale status 3 error protection O 4 Feedback scale status 4 error protection O 5 Feedback scale status 5 error protection O 0 A phase connection error protecti
6. Connecting Example of F frame 400 V type Apply the voltage designated on the Mains AS 24 VDC power supply nameplate from the power source Residual 2Aorlarger for control Symmetric current should be 5000 Arms or below m capacity to be supplied by customer 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 e Wiring of the Main Cra Circuit Breaker MCCB iik 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 of the noise generated by the servo power lines And reduces an effect L3 driver Magnetic Contactor MC Turns on off the main power of the servo driver Use coil surge suppression units together with this Never start nor stop the servo motor with this Magnetic Contactor Reactor L Reduces harmonic current of the main power Pin B1 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 B2 and B3 then connect the external regen erative resistor between B1 and B2 set up Pr0 16 to 1 or 2 Pin NC Do not connect anything mam Connection with control power supply 24V oV
7. 3 System Configuration and Wiring Wiring of connector for motor and brake When the motors of MSME MDME MFME MGME MHME gt are used they are connected as shown below Connector Made by Japan Aviation Electronics Industry Ltd The figures below show connectors for the motor Nod d n od L A A MC ON Ore AM d Coil surge suppression units H i Note 1 i Insulated i Control power rt DC24v 1 supply MCCB 5 L xa f a d S T Main power A B ea LJ supply VA o P 1 Mc 1 Built in thermostat of an external regenerative resistor light yellow without Brake DO OA cO Og JLO4V 2E20 4PE B R JLO4V 2E24 11PE B R lt with Brake gt JLO4V 2E24 11PE B R External regenerative resistor Bowes JLO4HV 2E22 22PE B R Remove the short wire when you connect the external regenerative resistor Motor connection Insulated Note 1 DC12 to ay Shielding the circuit is recommended 45 1 36 fie l for the purpose of noise reduction pes In Case of 3 Phase F frame 400 V type Power supply 3 phase 380V 15 to 480V 10 Built in thermostat of an external VA M n i regenerative resistor light yellow a S od MC ON ofr
8. V Avoid shorting and grounding Don t connect White the main power Ww Earth ground this ack To prevent electric shock be sure to connect the Seo E ground terminal of the driver and the ground Greenela terminal ground plate of the control panel These colors The ground terminal must not be shared with are used for other equipment 4 Motor optional cable Two ground terminals are provided Ground resistance 100 Q max Don t connect the earth cable to other inserting For applicable wire refer to P B12 slot nor make them touch Compose a duplex Brake Control Circuit so that the K brake can also be activated by an external 5 DC DC power supply immediate stop signal 24V for brake The holding brake has no polarities ier d For the holding brake power supply capacity and how to use the brake refer to Specifications of Varistor Built in Holding Brake on P B43 Provide a varistor Connect a 10A fuse in series with the varistor gt Fuse 125V 10A Bl4 3 System Configuration and Wiring Wiring of the Main Circuit Connector type Wiring should be performed by a specialist or an authorized personnel Do not turn on the power until the wiring is completed Never touch the terminal to which high voltage is applied There is a risk of electric shock Tips on Wiring 1 Take off the cover fixing screws and detach t
9. Connection with input power supply L1 L2 Connection to external components 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 B10 3 System Configuration and Wiring Overall Wiring Terminal block type P7771 High voltage PC to be supplied by customer L Connection to Safety by pass plug 1 Wiring to Connector X4 J Setup support software PANATERM Please download from our web site Wiring to Connector X1 Connection to PC or host controller Wiring to Connector X2 Connection to RS232 RS485 or host controller Wiring to Connector X3 Refer to P B21 usiu3 Connection to host controller
10. Special setting Parameter for Special setting The Parameter No consists of 2 digits B31 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 E rror 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 B36 37 by turning off the control power supply between 24V and OV 400V of the driver You can clear the above error by operating the front panel keys and setup support softwear PANATERM Be sure to clear the alarm during stop after removing the cause of the error and securing safety The error code No is displayed in the form of ErrXX Y X main YY sub List of error code No 5 Protective Functions Protective Function What Is Error Code
11. c3 TS P es Jb 7 optional parts ie Fastening torque of earth screws M4 to be 0 7 to 0 8 Nm Attachment i 2 Installation Driver Mounting Direction and Spacing e Reserve enough sur 4 rounding space for effective cooling Install fans to provide uniform distribution of temperature in the control panel D E F frame is pro vided with a cooling fan at the bottom Observe the environ mental conditions of the control panel described in the previous page It is recommended to use the conductive paint when you make your own mounting fixture 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 applica tion 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 recommended that you make a fail safe design and secure the safety in the opera tive range If stranded wires are used as the cable bunch the conductors of the cable using a rod terminals or a round terminals 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 B16 Wiring method to con nector There might be a chance of smoke generatio
12. 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 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 flux 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 B42 8 Built in Holding Brake Outline Specifications Specifications of Built in Holding Brake Static Exciting rae secius Permissible Motor Motor friction Rotor Engaging Releasing current Releasing ROLES LO angular series output torque MANEL dine rme DCA voltage ak pa is acceleration Nm P gm ms s at cooloff one braking rad s 750W 2 5 or more 15orless 0 70 a TOR 7 80r more 0 33 cues 15 or less 392 490 msme 20W 100 0 81 DC2V 40006 3 0kW 11 8 or more 80 or less or more 110 or 50 or less 4 0kW 5 0kW 16 2 or more 1 35
13. ALM f Coil surge suppression units Note 1 erac i Insulated Control power rt DCav supply MCCB 5 L i A Main power A718 supply 3 fo UIT i External regenerative resistor Remove the short wire when you connect i the external regenerative resistor Motor connection e i d e d im Da i Insulated ALM DC12 to NO ee i Note 1 5 e Jaw Shielding the circuit is recommended e ud for the purpose of noise reduction For wiring the motor connector refer to next page B18 Do not connect anything to NC B19 PIN No Application PIN No Application PIN No Application A U phase A NC A Brake B V phase B NC B Brake C W phase C NC C NC D Ground D U phase D U phase E V phase E V phase F W phase F W phase G Ground G Ground H Ground H Ground NC NC PSI 3 System Configuration and Wiring 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 irati Connector Application Symbol Pin No Contents VBUS 1 D 2 Use for communication with personal computer USB signal terminal D 3 4 Do not connect GND 5 Connected to ground of control circuit Use commercially available USB mini B connector for the driver 3 System Configuration and Wiring Wiring to the conne
14. Maintenance and Inspections Maintenance and Inspections 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 Ambient conditions 30 C annual average load factor of 8096 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 Ambient temperature humidity speck dust or foreign object Abnormal vibration and noise e Main circuit voltage Odor Daily Daily Lint or other particles at air holes inspection 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 Loose tightening Periodical Trace of overheat Annual inspection Damage to the terminal block Loose fasteners on terminal block Note Inspection cycle may change when the running conditions of the above change B34 error have occurred Disassembling for inspection and repair should be carried out only by authorized dealers or service Prohibited company Product Component Standard replacement Note cycles hour Smoothing condenser Approx 5 years 2 to 3 years f ga
15. X1 Wiring to the Connector X2 Wiring to the Connector X3 Wiring to the Connector X4 page Wiring to the Connector X5 Wiring to the Connector X6 Wiring to the Connector X7 4 Parameter Outline Setup Connection Composition of Parameters 5 Protective Functions B32 Protective Function What Is Error Code B32 6 Maintenance and Inspections B34 7 Conformity to EC Directives and UL Standards B36 Composition of Peripheral Equipments B38 8 Built in Holding Brake B42 9 Dynamic Brake B44 10 Check of the Combination of the Driver and the Motor Incremental Specifications 20 bit Absolute Specifications 17 bit 11 Specifications After Sale Service Repair IMD89 A 1 Introduction Check of the Motor Model 1 Introduction On Opening the Product Package Rated input Make sure that the model is what you have ordered voltage current Check if the product is damaged or not during transportation Rated output Check if the Operating Instructions safety are included or not Check if the power connector motor connectors connector for external regenerative resistor connection only D and E frame and safety by pass plug are included or n
16. a combination with the motor which are specified by us Check the series name of the motor rated output torque voltage specifications and encoder specifications Motor Driver Rated power Type rotational Model acd Model Frame supply speed output MSME084G1 750W MDDHT2412 MSME104GLI 1 0kW MDDHT3420 D frame uae MSME154GL 1 5kw MDDHT3420 od ee mia 3000r min MSME204G 2 0kW MEDHT4430_ E frame MSME304GLI 3 0kw MFDHT5440 MSME404GL 4 0kW F frame MSMES04GL sokw MPOHTA464 MDME044G1 400W MDMEoe4G1 eoow MODHT2407 ORE MDME104GLI 1 0kW MDDHT2412 3 phase MDME 2000rmin MDMETB4GLI 1 5kW MDDHT3420 400V Middle inertia MDME204GL 2 0 W MEDHT4430 E frame MDME304GL 3 0kw MFDHT5440 MDME404GL 4 0kW F frame MDMESO4GL amp okw FOHTA464 MFME154G1 1 5kW MDDHT3420 D frame 3 phase MFME 2000r min MFME254G1 2 5kW MEDHT4430 E frame 400V Middle inerti 29 igale inertia MFME454G1 4 5kW MFDHTA464_ F frame MGME094GL 0 9kW MDDHT3420 D frame 3 phase _MGME 1000r min MGME204GI 2 0kW MFDHT5440 400V Middle inertia MGMES304GL I 3 0kW MFDHTA464 F frame MGME454G1 4 5kW MHME104
17. and so on and are free from splash of inflammable gas 3 Where the motor is free from grinding oil oil mist iron powder or chips 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 0 C to 40 C free from freezing Ambient humidity 2096 to 8596 RH free from condensation 20 C to 65 C Max temperature guarantee 80 C for 72 hours free from condensation Storage humidity 20 to 8596 RH free from condensation Vibration Motor only Lower than 49m s BG at running 24 5m s 2 5G at stall Impact Motor only Lower than 98m s 10G Enclosure Motor only IP67 except rotating portion of output shaft and connecting pin rating Connectortype part of the motor connector and the encoder connector 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 Air containing water vapor will become saturated with water va
18. block screw Terminal cover fastening screw Terminal block Terminal cover Driver a screw fastening screw Fastening A Fastening Frame Terminal name bes ei torque iiis 2 torque Nem C Nem C 24V 0V M3 0 4 to 0 6 F400V T L2 L3 B1 B2 B3 NC U V W M4 j grido MS pte opel e Fastening torque list Ground terminal screw Connector to host controller X4 Terminal block Connector to host screw controller X4 Driver frame Nominal Fastening Nominal Fastening size torque size torque Nem C Nem D F M4 0 7 to 0 8 M2 6 0 3 to 0 35 F M5 1 4to 1 6 1 Applying fastening torque larger than the maximum value may result in damage to the product Do not turn on power without tightening all terminal block screws properly Do not turn on power without tightening all terminal block screws properly otherwise loose contacts may generate heat smoking firing To check for looseness conduct periodic inspection of fastening torque once a year Be sure to conduct wiring properly and securely Insecure or improper wiring may cause the motor running out of control or being damaged from overheating In addition pay attention not to allow conductive materials such as wire chips entering the driver during the installation and wiring B13 3 System Configuration and Wiring Wiring of the Main Circuit Connector type Wi
19. components in terms of configuration dimensions life expectancy characteristics when installing the machine or changing specification of the machine The user is also responsible for complying with applicable laws and regulations The product will not be guaranteed when it is used outside its specification limits Parts are subject to minor change to improve performance 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 ML DH Serial No 3 i M ME Date of purchase Name Dealer Address Phone Motor Business Unit Panasonic Corporation 7 1 1 Morofuku Daito Osaka 574 0044 Japan Phone 81 72 871 1212 Panasonic Corporation 2009 B51 Motor Business Unit Panasonic Corporation 7 1 1 Morofuku Daito Osaka 574 0044 Japan Phone 81 72 871 1212 Panasonic Corporation 2009 Printed in China IMD89 A Z0409 1111
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21. insulation is required Do not connect these terminals to the same power supply B24 3 System Configuration and Wiring Wiring to the connector X5 Connect on to External Scale Provide a power supply for the external scale on your part or use the following power output 250mA or less Application Symbol OO Contents EX5V 1 Supply the power of external scale or A B Z phase encoder Power supply output C tedi Joi iai EXOV 2 onnec ed to ground of contro circuit EXPS 3 Serial signal I F of external scale signals The transmission reception fEXPS method EXA 5 EXA 6 Parallel signal m A B Z phase Endoder EXB 7 reception E signal input EXB 8 Correspondence speed 7 EXZ 9 4Mpps after quadruple EXZ 10 Frame ground FG Shell Connected with ground terminal in the servo driver Connector plug MUF PK10K X by J S T Mfg Co Ltd Caution 1 The manufacturers applicable external scales for this product are as follows Mitutoyo Corp Magnescale Co Ltd For the details of the external scale product contact each company 2 Recommended external scale ratio is 1 40 s External scale ratio s 160 If you set up the external 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 X1 to X7 are use
22. large as possible When you use our optional cable 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 specified 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 flexible 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 S while attaching detaching a coupling to and from Motor 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 verification by customer is required 3 System Configuration and Wiring 3 System GenfigdreHoh snd Wiring Overall Wiring Connector type Overall Wiring Connector type Connecting Example of D E frame 400 V type Ta High voltage
23. o o 7 o E o ko o 7 2 o L 6 NR x lt o 9 x lt Remarks power supply particularly the 24 VDC power supply for control and the 24 VDC X1 to X7 are used for the secondary circuit To connect these terminals to the primary power supply for brake insulation is required 7 x o E 7 cc Do not connect these terminals to the same power supply Do not connect these terminals to the same power supply B23 B22 3 System Configuration and Wiring Wiring to the connector X4 Wiring Example of Torque Control Mode eco 200 2 or fF suo SS s S 9 can 2T 5 ao gx eS Bog Ze I o a o3 5 9 coo prec o GSES gst 2 Exa sas E ez 9 9 o EE 8 wis Da Ou du oS S 0229 kS O5 65 85 BPE DED cn o 6 Ol ZEN af of a Sos T T o9 5 o mo NO 295 Hn e Oo lt lt cH md ru EE a5 9 amp g 8 5 amp E pa o5 5 2 o o a c c
24. signal format Differential input S Pulse Electronic gear input Division 1 9 Multiplication of 1 1000 to 1000 times 8 command pulse E um de Primary delay filter or FIR type filter is adaptable to the o 2 Smoothing filter command input Torque limit Individual torque limit for both positive and negative direction Analog command input is enabled input Torque feed Analog voltage can be used as torque feed forward input forward input Instantaneous Speed Available Observer Damping Control Available 1 Selection of internal velocity setup 1 Control iput 2 Selection of internal velocity setup 2 P 3 Selection of internal velocity setup 3 4 Speed zero clamp etc Control output Speed arrival etc Speed command input can be provided by means of analog Velocity voltage command input Parameters are used for scale setting and command lt Analog polarity g input Torque limit Individual torque limit for both positive and negative direction Z command input is enabled o 3 Tope ee Analog voltage can be used as torque feed forward input a forward input 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 O to 10s 1000r min Sigmoid acceleration deceleration is also enabled Zero speed clamp Instantaneous Speed Observer Speed zero clamp input is enab
25. 012 Special specifications ntents of Name Plate Contents o Motor rated output Motor structure Serial Number Symbol Output Symbol Output Design order H AC SERVO DRIVER or MO ERR e g P10040001N 04 400W 20 2 0kW Symbol Specifications ea ud Me Lotnumber SUN D w ConnecorTor encod ELC 2A m m Month of production E onnector tor encoaer d s Year of iden 09 POON a SOR Sohago spaciicatons C Lour Md Panasonic Corporation 20100401 EX Lower 2 digits of AD year 10 1 0kW 45 4 5kW Symbol Specifications 0 9 KW to 5 0 kw I lectabl Manufacture date 15 1 5kW 50 5 0kW 4 400V only selectable e g 201 90101 Type Rotary encoder specifications J Manufacture year Manufacture date Symbol Specifications Specifications Manufacture month MSME Low inertia y Format Pulse count Resolution Wire count Model Desianation 750W to 5 0kW G Incremental 20bit 1 048 576 5 wire Middle inertia S Absolute 17bit 131 072 7 wire J MDME 400W to 5 0kW M D D H T 2 4 0 7 Middle inertia Motor structure MFME 1 5kW to 4 5kw MSME MDME MFME MGME MHME 5106 one 101012 Special specifications Middle inertia Shaft Holdingbrake Oil seal MGME 0 9kW to 4 5kw Simbol Max current rating letters and numbers o Round Key way Without With Without With of power device Current detector rating MHME RW 10 0KW C e e e Symbol Current Symbol Current rating p e e e e e m E Power supply 07 7 5A H
26. 7 i 1kKO AM1j1 5 Manufacturer s part No S12 AM2j2 Measuring 530140610 22kQ pw 4 instrument Manufacturer pee aad Japan Molex Inc L Application Analogue monitor output 1 Connector Symbol pin No AM1 1 Analogue monitor output 2 AM2 2 Contents Output the analogue signal for monitor The amplitude of the output signal is 10 V Output impedance is 1 kQ When connecting a measuring instrument check its input circuit for impedance matching Signal ground GND 3 Connected to ground of control circuit r m ym a m al um m l n n n Ci n n EE v X amp a 2 N Digital monitor output NC DM 4 Output the digital signal for monitor Output voltage is CMOS level compatible Output impedance is 2 2 kO When connecting a measuring instrument check its input circuit for impedance matching Do not connect NC Do not connect Shifting of the digit for data changing to higher digit X7 Output connector for monitor 2 combination of the setup support software PANATERM and PC Setup with the Front Panel 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 IPSIS Mode switching button valid at
27. B2 Pin 2 terminal Ground Charg lamp main power poene cree CE earth Red LED X1 to X7 are used for the Wiring of Motor Connector XC Regenerative resistor optional 7 Bl secondary circuit To Junction cable for motor d R ES connect these terminals to Pin B1 4 pin B2 2 pin and emarks 3 Connection to motor driving i the primary power supply B3 3 pin E When you viol euis iban phase and ground particularly the 24 VDC B2 and B3 to be kept shorted resistor install an external protective T power supply for control for normal operation apparatus such as thermal fuse Junction cable for motor M and the 24 VDC power When you connect an external without fail supply for brake A Thermal fuse and thermostat are built in X insulation is required regenerative resistor disconnect to the regenerative resistor Option If Do not connect these a short circuit wire between B2 the thermal fuse is activated it will DC Power supply for brake terminals to the same and B3 then connect the external not resume DC24V power supply regenerative resistor between B1 Mount the regenerative resistor on to be supplied by customer and B2 set up Pr0 16 to 1 or 2 incombustible material such as metal 1 Do not make displacement wiring or inspection while the LED is lit cause of electric shock B8 B9 3 System Configuration and Wiring Overall Wiring Terminal block type
28. Cables Compatible with Connector Conductor Size AWG18 to 12 Sheath Outline 2 1 to 4 2 mm Recommended Connector Bar Terminal Conductor Size AWG16 to 14 Terminal Model Number VTUB 2 or NTUB 2 J S T Mfg Co Ltd other portions When crimping the ferrule sufficiently 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 fire from a short circuit may result usiBu3 2 Insert the cable the ferrule to the connector in the following 2 methods a Insert the cable using the supplied handle lever b Insert the cable using a flat blade screwdriver Edge width 3 0 to 3 5 mm e Lon Attach the handle lever to the handling slot on the upper portion Press down the lever to push until it hits the insertion down the spring slot round hole You can pull out the cable by pushing down the spring as the above Insert the peeled cable the ferrule while pressing FUA the lever E the lever Insert only one cable into each one of cable insertion slot Pay attention to injury by screw driver Bi1 3 System Configuration and Wiring Wiring Diagram Compose the circuit so that the main circuit power will be shut off when an error occurs In Case of 3 Phase D E frame 400 V type Power supply 3 phase 380V 15 to 480V 10
29. GL_ 1 0kW MDDHT2412 Diframe MHME154GL_ 1 5kW MDDHT3420 3 phase MHME 2000r min MHME204GL 2 0kW MEDHT4430 E frame 400V High inertia MHME304GL 3 0kW MFDHT5440 MHME404G _ 4 0kW F frame MHME504G _ 5 0kW MFBHITAdOS Note Suffix of in the applicable motor model represents design order Suffix of in the applicable motor model represents the motor structure B45 10 Check of the Combination of the Driver and the Motor Absolute Specifications 17 bit This driver is designed to be used in a combination with the motor which are specified by us Check the series name of the motor rated output torque voltage specifications and encoder specifications 11 Specifications Basic Specifications 3 Main Dto 1096 1096 E S circuit F frame Phase 380 _ 15 HN 15 REJSUME g 400V Control Dto 5 9 circuit F frame PC 4V 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 External scale feedback A B phase initialization signal defferential input Manufacturers that support serial communication scale Mitsutoyo Corp Magnescale Co Ltd
30. L 34 5 E rx S0 o Go e x amp a c S Z 2a 5 DIES E g a HH Es EIS Zoo o z os 2 dS o Eg 3 EN a DdD d SF N A N Y Y N NI N T vt DE O tl uy et ul tia a a a fox amp m miNIN z N o SCE O O O O OJO 69 Dog d Gic E Ly ak Zi E l m e g Divider 8 ly 1 st X a 4 4 5 a xo D Do e ee se fee ee fe 1 g ES m BA 51 5 BA H H H n H E EHE A ES A A A A it ta LS r 2 4 8 amp EF i IE RE 3 T TETLI TeT ETT T TTAT EDD Ig i ga E B2 loigi u 1 Ly zizao9zi59dHb5sb5l amp azzBHESB 5S B5 of 3 1812 9 25 6 l alz r raz55rzzr NIS rE g 9 ow Nid lt vlan ello o NO OQ o N ol A xr 9 o wo st N o o oo o o No o i e C NAN ANAJ OO c5 OO MO OO MO OO 77 m y to oT 4 ono 5 2 8 8 Ty oy oy Bry py Boy fy al ty mS E 5 c e o 3 2 s a 5 8 8 e 8 9 al o amp s 2 c SE 5 o la agaa B B 8 S g 525 Zz s o 5829 E 3 5 9 d N 5 4 s O9 8 g E o z DO x 2o gt z fs a 9 9 Buse 8 8 legl je g E 2 zag S s Sales sisp 9 3 B z 8 FEES H Sl BES Tezz GC g lt 2 EE E o ora 44 8 9 Js B e EAT E 5 E Esge i N 9 id ui iE N Sex S9 Scr BS 255g 323 gt eto oa aS gt N 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
31. L 5 0kW MEDHTA464 MDME044S1 400W MDME064S1 600W MBDRITESUT Brea MDME104Sl 1 0kW MDDHT2412 3 phase MDME 2000r min MDME154Sl 1 5kW MDDHT3420 400V Middle inertia MDME204SI 2 0kW MEDHT4430 E frame MDMES304SI 3 0kW MFDHT5440 MDME404SL 4 0kW F frame MDMES504SL 5 0kW MFDHTA454 h MFME MFME154S1 1 5kW MDDHT3420 D frame E Middle inertia 2000 min MEME254S1 2 5kW MEDHT4430 E frame MFME454S1 4 5kW MFDHTA464 F frame MGME094SL 0 9kW MDDHT3420 D frame 3 phase MGME 1000r min MGME204SL 2 0kW MFDHT5440 400V Middle inertia MGME304SL_ 3 0kW MEDHTA464 F frame MGME454S1 4 5kW MHME104SL_ 1 0kW MDDHT2412 tirarie MHME154S _ 1 5kW MDDHT3420 3 phase MHME 2000r mi MHME204SI 2 0kW MEDHT4430 E frame 400V High inertia Um lMHMESO4SLI 3 0kW MFDHT5440 MHMEA04S 4 0kW F frame MHMEB0ASI 5 0kW MFDRIASS Note 1 Suffix of in the applicable motor model represents design order Suffix of in the applicable motor model represents the motor structure 2 Default of the driver is set for the incremental encoder specifications 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 O B46 Dynamic brake Built in Control mode Switching among the following 7 mode is enabled 1 Position control 2 Veloci
32. PC to be supplied Wiring to Connector X7 by customer Apply the voltage designated on the 1 Mains eee 24 VDC power supply nameplate from the power source Residual 2Aorage for control Monitor output Symmetric current should be 5000 Arms or below current device _ capacity to be supplied by customer Handle lever If the short circuit current on the power source Use this for connector exceeds this value use a current limiting device e g Curent limiting n current limiting circuit erates is ides after Setup support software PANATERM reaker or transtormer s Please download from our web site e Wiring of Main Connector XA E SEPREIQn s MPEC A BTE pA Wiring to Connector XD f
33. Panasonic Operating Instructions Basic AC Servo Motor amp Driver This product image is 1 5kW type of A5 series MINAS A5 series 400V Thank you for purchasing this Panasonic product Before operating this product please read the instructions carefully and save this manual for future use This product is for industrial equipment Don t use this product at general household If you are the first user of this product please be sure to read the downloaded Operating Instructions Overall from our Web Site Web address of Motor Business Unit Panasonic Corporation http industrial panasonic com ww i e 25000 motor fa e motor fa e html Make sure to forward these Operating Instructions for safety to the final user Contents 1 Introduction B2 On Opening the Product Package Check of the Driver Model Check of the Motor Model 2 Installation Driver 3 System Configuration and Wiring eco enrenin RR rmt Overall Wiring Connector type Overall Wiring Terminal block type Driver and List of Applicable Peripheral Equipments B12 Wiring of the Main Circuit Connector type B14 Wiring of the Main Circuit Terminal block type B15 Wiring method to connector B16 Wiring Diagram sseeemmI B18 Wiring of connector for motor and brake B19 Wiring to the Connector
34. 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 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 A decreases by pressing y X34 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 Do not connect these terminals to the same power supply B28 B29 4 Parameter Outline Setup Connection 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 da
35. SF2 5 module to shut off the motor current Safety input 2 SF2 6 EDM 1 This is an output for monitoring the failure EDM output EDM 8 of the safety function Eramegr tnd FG Shell Connected with protective earth terminal in the servo driver Connector plug 2013595 1 optional available from Tyco Electronics AMP Connector pin assignment 4 2 3111 Viewed from cable 6 5 8 T 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 Do not connect these terminals to the same power supply B21 iring dw ion an t igura Wiring to the connector X4 3 System Conf iring dw ion an t igura ex Ols o c E pE 2S8 o2 es Example of Velocity Control Mode iring W o o o 3 5 fo o ition Example of Pos iring Ww ed pasimi 7T English Ot 6E 8E ZE 9E GE vE ZL LL 01 3ndino E ZE LE OE GZ 82 Zz 92 6 g 1ndu sjejyeureged Husn peBueuo eq ues uid Buiwojo au jo suonounj ay YX s
36. c insulating sleeve Al 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 protruding 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 Examples Nylon insulated ferrule NTUB series J S T Mfg Co Ltd Vinyl insulated ferrule VTUB series J S T Mfg Co Ltd 1 Peel off the sheath of the cable conduc DAZB ASB C tor portion to the length equal to that of sheath on the ferrule 2 Insert the cable into the ferrule and crimp it with an appropriate crimping tool Part No of the crimping tool YNT 1614 for VTUB 2 NTUB 2 YNT 2622 for VTUB 0 5 Available from J S T Mfg Co Ltd B16 3 System Configuration and Wiring Wiring method to connector XD Cables Compatible with Connector Conductor Size AWG24 to 20 Sheath Outline 1 2 to 2 6 mm Recommended Connector Bar Terminal Conductor Size AWG24 to 22 Terminal Model Number VTUB O 5 J S T Mfg Co Ltd XA XB XC
37. ccommendeai 20050 9 1460 35 14 goovac ee ea toovae 552 G00VAC MHME component or more block or more block or more MFME approx Ma us askw 6 8kVA MGME MSME mE MDME 5 okw 75KVA MHME 1 The diameter of the ground cable must be equal to or larger than that of the motor cable B12 3 System Configuration and Wiring Driver and List of Applicable Peripheral Equipments Reference page Noise filter P B39 Composition of Peripheral Equipments Surge absorber P B39 Composition of Peripheral Equipments Noise filter for signal P B40 Composition of Peripheral Equipments Motor brake connector P B19 Wiring of connector for motor and brake 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 f marked Suitable for use on a circuit capable of delivering not more than 5 000Arms symmetri cal amperes below the maximum input voltage of the product SE Chere Select a circuit breaker and noise filter which match to the capacity of pow er supply including a load condition Terminal block and ground terminals Use a copper conductor cables with temperature rating of 75 C or higher e Fastening torque list Terminal
38. ctor X2 This is used for connection to the host controller when two or more units are used RS232 and RS485 interfaces are supplied Application Symbol E Contents Signal ground GND 1 Connected to ground of control circuit NC 2 Do not connect TXD 3 RS232 signal Ma A RXD 4 The transmission reception method 485 5 485 6 RS485 signal pete DE n 485 7 The transmission reception method 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 8j6 4 2 7 5 3 A Viewed from cable B20 3 System Configuration and Wiring Wiring to the connector X3 A safety by pass plug is supplied as standard equipment Do not disconnect it in nor mal times When controlling the safety function from the connected host controller accessory connector cannot be used Prepare and wire the connector option as specified be low 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 Application Symbol omer Contents 1 NC Do not connect 2 SF1 3 Safety input 1 SF1 4 These are two independent circuits that turn off the operation signal to the power
39. d 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 Do not connect these terminals to the same power supply B25 3 System Configuration and Wiring Wiring to the connector X6 Connection to Encoder In case of 20 bit incremental encoder MSME 750W to 5 0kW MDME 400W to 5 0kW MFME 1 5kW to 4 5kW MGME 0 9kW to 4 5kW MHME 1 0kW to 5 0kW NETT TCR E5V ES r Esv E Eov 4 J re B ie 3 e ba 4 3 Vid 5 PS Nn PS es I 9 ps FG l t Shell FG N Twisted pair j Connector JN2DS10SL1 R i by Japan Aviation Electronics Ind Motor Encoder cable L Driver 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 Do not connect these terminals to the same power supply B26 3 System Configuration and Wiring Wiring to the connector X6 In case of 17 bit absolute encoder MSME 750W to 5 0kW MDME 400W to 5 0kW MFME 1 5kW to 4 5kW MGME 0 9kW
40. e 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 filter For the rated current of the circuit breaker or fuse refer to P B12 Driver and List of Applicable Peripheral Equipments of Preparation Use a copper cable with temperature rating of 75 C or higher 3 Over load protection level Over load protective function will be activated when the effective current exceeds 11596 or more than the rated current based on the time characteristics see the next page Confirm that the effective current of the driver does not exceed the rated current Set up the peak permissible current with PrO 13 Setup of 1st torque limit and Pr5 22 Setup 2nd torque limit 4 Motor over temperature protection is not provided Motor over load temperature protection s
41. e e e ificati 12 12A TS 30A sibel sis HS 20 20A Products are standard stock items or manufactured by order T4 35A 4 S phase 400V 30 30A For details inquire the dealer T5 50A 40 40A TA 100A 64 64A 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 sulfide sulfurous acid chlorine ammonia sulfur chloric gas sulfuric gas acid al kaline and salt and so on and are free from splash of inflammable gas Where the motor is free from grinding oil oil mist iron powder or chips Well ventilated and low humidity and dust free place Vibration free place Do not use benzine thinner alcohol acidic cleaner and alkaline cleaner because they can discolor or damage the exterior case Environmental Conditions Item Conditions 1 Extreme tempera z 5 5 7 tures are permissible Ambient temperature 0 C to 55 C free from freezing only for short period Ambient humidity 2096 to 8596 RH free from condensation such as during trans 20 C to 65 C Max temperature guarantee portation 80 C for 72 hours free from condensation Oo OW Storage temperature 2 Ai
42. hall be provided at the final installation upon required by the NEC National Electric Code B36 7 Conformity to EC Directives and UL Standards EC Directives Conformity to UL Standards Overload protection time characteristics MSME 750W to 5 0kW Time s MDME 400W to 5 0kW 190 MFME 1 5kW to 4 5kW MGME 0 9kW to 4 5kW MHME 1 0kW to 5 0kW 139 0 14 5 100 200 300 400 500 Torque 96 Conformed Standards Driver Motor EN55011 EMC Directives ate ae E Low Voltage IEC60034 1 Directives EN61800 5 1 IEC60034 5 EC Directives EN954 1 Cat 3 18013849 1 PL c d Cat 3 Functional EN61508 SIL 2 safety EN62061 SIL 2 EN61800 5 2 STO IEC61326 3 1 UL508C UL1004 UL Standards File No E164620 File No E327868 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 PL d Provided that EDM is used B37 7 Conformity to EC Directives and UL Standards Composition of Peripheral Equipments Installation Environment Use the servo driver in the environment of Poll
43. he terminal cover 2 Make wiring Use clamp type terminals of round shape with insulation cover for wiring to the ter minal block For cable diameter and size refer to Driver and List of Applicable Pe ripheral Equipments P B12 Tighten the terminal block screw with a torque written on P B13 3 Attach the terminal cover and fix with screws Tighten the screw securing the cover with a torque written on P B13 Direct power supply for control circuit 2 Check the name plate of the driver for power specifications H 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 AC 3 phase power supply 400V for main circuit Don t disconnect the short bar between B2 and B3 Disconnect this only when an external regenerative register is used Do not connect anything to NC Match the colors of the motor lead wires to those of the corresponding motor output terminals U V W Power supply D CDHMCCBH NF HMCH L Red XU Avoid shorting and grounding
44. ilters for signal lines to all cables power cable motor cable encoder cable and interface cable Manufacturer s Option part No part No Manufacturer DVOP1460 ZCAT3035 1330 TDK Corp Mass 62 8g ty Fix the signal line noise filter 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 1 To prevent electric shock be sure to connect the ground terminal Q of the driv er and the ground terminal PE of the control panel 2 The ground terminal Q must not be shared with other equipment Two ground terminals are provided For driver and applicable peripheral equipments refer to P B12 Driver and List of Applicable Peripheral Equipments B40 MEMO 8 Built in Holding Brake Outline Specifications 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
45. ion deceleration with the above permissible angular acceleration is more than 10 million times Life end is defined as when the brake backlash drastically changes B43 9 Dynamic Brake Outline This driver is equipped with a dynamic brake for emergency stop Pay a special attention to the followings eI 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 fire 2 Dynamic brake is a short duration rating and designed for only emergency stop Allow approx 10 minutes pause when the dynamic brake is activated during high speed running 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 B44 10 Check of the Combination of the Driver and the Motor Incremental Specifications 20 bit This driver is designed to be used in
46. laps allocation error 2 protection QO 2 IF input function number error 1 protection O B32 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 B33 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 4 Do not use benzine thinner alcohol acidic cleaner and alkaline cleaner because they can discolor or damage the exterior case Inspection Items and Cycles General and normal running condition 6
47. led Available Traceability of alarm data 7 c 3 Pulse Electronic gear o input ivisi g ye UN 1 1000 to 1000 times o Multiplication of 9 command pulse 2 s gt Be Primary delay filter or FIR type filter is adaptable to the o Smoothing filter command input Torque limit Individual torque limit for both positive and negative direction Analog command input is enabled input P Torque food Analog voltage can be used as torque feed forward input forward input Setup range of division multiplication of 1 40 to 160 times feedback scale The load inertia is identified in real time by the driving state of the motor operating according to the command Auto tuning given by the controlling device and set up support software PANATERM The gain is set automatically in accordance with the rigidity setting Q 7 7 S Division of encoder Set up of any value is enabled encoder pulses count is the 3 feedback pulse max S Over voltage under voltage over speed over load Hard error Protective over heat over current and encoder error etc function Sont error Excess position deviation command pulse division error PINO EEPROM error etc The alarm data history can be referred to Velocity Control filter Available B48 B49 After Sale Service Repair Consult to a dealer from whom you have purchased the product for details of repair When the produc
48. less 130 0 9 1470 2200 400W 600W 2 5 or more 50 or less 15 or less 0 70 392 490 1 0kW 490rmore 80 or less ig 0 59 588 780 5 1 1 5kW 2 0 W 13 7 ormore 195 1000r 079 DC2V 1176 1500 100 MDME less 50 or less ar GOR 3 0kW 16 20rmore ee o l ag 1470 2200 4 0KW 5 0kW 24 5 ormore 4 7 80orless oe 13 1372 2900 5440 1 5kW 7 8 or more 4 7 80orless 35 or less 0 83 DCoV 1372 2900 MFME 2 5kW 21 6 or more 8 75 150 or 100 or 0 75 lormore 1470 1500 10000 4 5kW 31 4 or more less less 2200 O9kW 13 70rmore 1 35 1000r SO orless oo 1176 1500 10000 less 130 20kW 24 5 or more 80orless O l8 15 poav MEME 200 or more 5440 3 0kW 4 7 150 or 50 or less 1372 2900 58 8 or more m 130 14 4 5kW 50 or less 5000 1 0kW 490rmore 80 or less 02 S8 o so 588 780 1 35 200 10000 MHME 15kW 13 7 or more 1000r 50orless og DC2V 4176 1500 less 130 or more 2 0kW to 25 or less 5 0kW 24 5 or more 4 7 800rless 200 1 3 1372 2900 5440 Excitation voltage is DC24V 10 Releasing time values represent the ones with DC cutoff using a varistor Values in represent those measured by using a diode VO3C by Hitachi Ltd Above values except static friction torque releasing voltage and excitation current represent typical values Backlash of the built in holding brake is kept 1 or smaller at ex factory point Service life of the number of accelerat
49. ling tan 10 000 to 30 000 hours m co Aluminum electrolytic AUi BUS a capacitor on PCB pprox gt y priver Approx 100 000 times Rush current reventivetela depending on working P y condition Approx 20 000 times These hours or cycles Rush current are reference 3 depending on working i preventive resistor AE When you experience condition any error replacement Bearin 3 to 5 years is required even before g 20 000 to 30 000 hours this standard replace Oil seal 5000 hours ment cycle 3 to 5 years Encoder 20 000 to 30 000 hours Motor Life time varies depending on working conditions Battery Refer to the Operating for absolute encoder Instructions attached to the battery for absolute encoder B35 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 specific func tions and have been exported to EU and directly sold to general consumers Those products are required to conform to the EU unified 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 distanc
50. n due to the failure of these products Pay an extra attention when you apply these products in a clean room environment Be sure to install a no fuse breaker in the power supply In addition be sure to ground the grounding terminal or ground wire provided If the product is grounded insufficiently not only the driver may not deliver its perfor mance sufficiently but also safety hazards such as a malfunction due to a electrifi cation or a disturbance may be caused If electric wires are bound and run through metal duct they cannot carry the rated 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 coeffi cient by referring to the Operating Instructions Overall Control panel r mor foirection of air flowing from the internal or more cooling fan D E F frame 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 sulfide sulfurous acid chlorine ammonia sulfur chloric gas sulfuric gas acid al kaline and salt
51. ntrol 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 verification 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 B50 Take care to avoid inputting a supply voltage which significantly 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 fire and other trouble e The user is responsible for matching between machine and
52. on O 55 1 B phase connection error protection O 2 Z phase connection error protection O 87 0 Compulsory alarm input protection 95 0 Motor automatic recognition error protection Other number Other error Errorcode Protective function Attribute Main Sub History Can be cleared Immediate stop 11 O Control power supply under voltage protection O 12 0 Over voltage protection O 13 O Main power supply under voltage protection between P to N O 1 Main power supply under voltage protection AC interception detection Q 14 O Over current protection Q 1 IPM error protection O 15 O Over heat protection Q 16 O Over load protection O eu 18 O Over regeneration load protection O 1 Over regeneration Tr error protection 21 0 Encoder communication disconnect error protection O 1 Encoder communication error protection O 23 O0 Encoder communication data error protection O 24 O Position deviation excess protection O Q 25 O Hybrid deviation excess error protection O O 26 O Over speed protection Q O 1 2nd over speed protection O O 27 0 Command pulse input frequency error protection O Q 2 Command pulse multiplier error protection O O O 28 O Limit of pulse replay error protection Q e O 29 O Deviation counter overflow protection O O 30 O Safety detection O O IF overlaps allocation error 1 protection O 33 1 IF over
53. or connection U o Wiring to Connector X1 Circuit Breaker MCCB T Connection to Control power Connection to PC Or To protect power supply line from Adds T Ss 24V host controller overloading install a wiring circuit OV amp 8 8 8 8 B Ai breaker rated to the capacity of the 009 Es Wiring to Connector X2 power supply Connection to RS232 RS485 Noise Filter NF Wiring to Connector XA De emm or host controller Ise Filter Connection to input power Sen l aaa Removes external noise from the L1 Pin 3 y iia a Wiring to Connector X3 power lines And reduces an effect 2 Pin 2 139 Connection to Safety by pass m siis noise generated by the servo L3 Pin 1 LA plug Refer to P B21 E river Magnetic Contactor MN Short circuit wire B2 B3 Wiring to Connector X4 Turns on off the main power of the MS ehh da tata LJ m 2 servo driver Wiring to Connector XB EXC Connection to host controller Use coil surge suppression units 1 Connection to motor coun 9 Wiring to Connector X5 E this cd I i U phase red Connection to external scale Ruso sn tro opaein E in ir motor with this Magnetic Wining to Connector AC a W phase black Wiring to Connector X6 Contactor v Connection to external components T These colors are used Connection to encoder t i for optional cable Junction cable i N Reactor L l aa BLPN A ee EC Ground for encoder Reduces harmonic current of the
54. ot Neither the power connector nor motor connector are included to F frame 1 Introduction Check of the Driver Model Rated frequency Manufacture date Model Contents of Name Plate Panasonic INPUT 30AC RATED am 10 kW RATED FREQ 250 Hz RATING 51 THERMAL CLASS F Panasonic Corporation SER No 10040001N 20100401 AC SERVO MOTOR Model No MSME104G1C CONT TORQUE 3 18 N m ATED REV 3000 r min CONNECTION IP67 Rated rotational speed r Serial Number Made in China e 9 10040001N TE Lot number e g 20100401 Manufacture year Manufacture date Manufacture month Month of production Year of production Lower 2 digits of AD year MSME104G1C xx Model number Input output voltage Number of phase m Rated input output current Input output frequency Rated output of applicable motor 1to4 Frame size symbol Frame A5 series D frame A5 series E frame A5 series F frame Symbol MDDH MEDH MFDH 1104 5106 10 111
55. por as the temperature falls causing dew 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 2 Vertical mounting Use the motor with oil seal when mounting the motor with gear reducer to prevent the reducer oil grease from entering to the motor Storage temperature i 2 Installation 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 Specification Oil Water Protection 1 Don t submerge the motor cable to water or oil 2 Install the motor with the cable outlet facing S Cable Motor downward 3 Avoid a place where the motor is always sub jected to oil or water Oil 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 fix 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
56. r containing water vapor will become Storage humidity 20 to 85 RH free from condensation saturated th water TREE vapor as the temper Vibration Lower than 5 88m s 0 6G 10 to 60Hz ature falls causing Altitude Lower than 1000m dew 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 D frame driver 3 To change the mounting surface of D frame driver use the optional mounting fix ture For choosing the correct optional mounting fixture 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 Specification 5 In consideration of strength of the screws and the material of the mounting base select appropriate fastening torque for the product mounting screws so that the screws will not be loosened or damaged Example To tighten a steel screw into a steel base D to F frame M5 2 7 to 3 3 Nem D frame E F frame Basemount Standard Frontmount Front or Basemount Rear mount Use mounting fixture Use mounting fixture lt E frame gt Fastening torque of earth screws M4 to be 0 7 to 0 8 Nm lt F frame gt Fastening torque of earth screws M5 to be 1 4 to 1 6 Nm N A ua LT AY AT APY f
57. rdance with the National Electrical Code and any additional local codes B38 7 Conformity to EC Directives and UL Standards Composition of Peripheral Equipments Noise Filter When you install one noise filter at the power supply for multi axes application consult with manufacturer of the noise filter If sufficient noise margin is required connect 2 filters in series e Recommended components Voltage specifications Current rating Applicable sles tes for driver A driver frame AE Rn FN258L 16 07 16 D E frame 3 phase 400V SCHAFFNER FN258L 30 07 30 F frame Select a noise filter whose capacity is commensurate with the power Source capacity in consideration of the load condition For the detailed specifications of each noise filter contact the manufacturer Surge Absorber Provide a surge absorber for the primary side of noise filter d Voltage specifications Manufacturer s Option part No for driver part No Manufacturer DVOPM20050 3 phase 400V R A V 801BXZ 4 Okaya Electric Ind 04 2 0 2 id ire Circuit diagram e e o o Oo II xr UL 1015 AWG16 4 Z Z Z WIL 8 f LG H oaa El i 3 i 411 EE i B39 7 Conformity to EC Directives and UL Standards Composition of Peripheral Equipments Noise Filter for Signal Lines Install noise f
58. ring should be performed by a specialist or an authorized personnel Do not turn on the power until the wiring is completed Never touch the power connector XA XB XC and XD to which high voltage is ap plied There is a risk of electric shock Tips on Wiring 1 Wire connector XA XB XC and XD 2 Connect the wired connector to the driver Fully insert the connector to the bottom until it clicks Direct power supply for control circuit Dc AgI o 24V oV aav 4 ov Check the name plate of the driver for power TA XD 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 ope Provide an AC Reactor id AC 3 phase power supply 400V for main circuit Power Incp IMCCB NF MC supply 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 N Match the colors of the motor lead wires to those of the corresponding motor output terminals U V W red U
59. seojai ayeiq jeuiex3 i ds E SN E a j jJ mzaz 033dS Ly 6 H T 99A Zo indino peeds Ay 10 99 09 uedo 1ndjno eseud z 61 i a WW gg S 4 s Gc ano f WW ze 1 indiouseeoNes i n FE AdH S yg p AGH H AGH Srgg 1ndino Apeey ones indino eseud z lt _ lt J A LON g mdu uomgyur EID i n 4 5 po ten lOd 6 1ndino eseud g T S RT 419V ig ndu 1291 unejy a teeth 300W D zg indui I In Bulyoums epoui ouo 1ndino eseud y Bs TOU GdSOUSZ ga indu durep o16z paodg rmm dSl1NI gz peeds pueuwoo peuiejur H Jo 1ndui uon2ejes DOE NIVO ZZ indu Buiyoums ueg n te NO HSr amp z indu No onleg T t ra ddS LNI 0S Peeds pueuuoo eujejur H jo ndu z uoi Tony 21 LOdSINI ce pos peus puio Jo 3ndui uon2ejes Woo Z ee m Ov 6E BE 9 SE VE ZL 11 01 3ndino 7 Aoa E ZE LE OE 6Z 8Z ZZ 9Z 6 8 ndu p _ 1 9euuoo oz eins eg S1ojeurejed Buisn peBueuo eq ued uid 8urwojo eui jo suonounj eu iL sse 10 sddyiy yum esp i zs 1ndino 10juoui enbioj gi 93 ls g indui esjnd puewuog yndyno 1o uow jlo0J9A dS AOL Ob or i eHNSIS ndu jui enbaoj uoyo p aye N t T4V N LHNDIS noie oro a x 3ndui jui anbso uonoeip ANISOd 1 HOULLV d L gi QNO t MTS red peisiM f no uomnoejep peeds 0197 K perg Li at O1 Hj 1 VEEE EN i O indyno yw u enbio ma ZI FH HOME pp 1 bond 9 zNoIS isi t 4404a iT HH
60. t 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 Practical considerations for exporting the product or assembly containing the product When the end user of the product or end use of the product is associated with mili tary affair or weapon its export may be controlled by the Foreign Exchange and Foreign Trade Control Law Complete review of the product to be exported and ex port formalities should be practiced This product is intended to be used with a general industrial product but not de signed or manufactured to be used in a machine or system that may cause personal death when it is failed Installation wiring operation maintenance etc of the equipment should be done by qualified and experienced personnel Apply adequate tightening torque to the product mounting screw by taking into consideration strength of the screw and the characteristics of material to which the product is installed Overtightening can damage the screw and or material under tightening can result in loosening Example Steel screw M5 into steel section 2 7 3 3 N m 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 co
61. ta 5 Normal auto gain tuning 6 Frequency characteristic measurement of the machine system 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 Connect to X1 USB mini B Setup support software PANATERM Please download from our web site and use after install to the PC e USB cable On the driver use commercially available USB mini B connector The connector on the personal computer side should be in accordance with the specifications of the PC When the cable does not have noise filter attach a signal line noise filter DVOP1460 to both ends of the cable B30 4 Parameter Composition 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 No Class name Group 0 O0to Basic setting Parameter for Basic setting 1 00to Gain adjustment Parameter for Gain adjustment 2 00to Damping control Parameter for Damping control V ity Te 3 00 to vigi orgue Parameter for Verocity Torque Full closed control Full closed control 4 00 to I F monitor setting Parameter for I F monitor setting 5 00to Enhancing setting Parameter for Enhancing setting 6 O0to
62. to 4 5kW MHME 1 0kW to 5 0kW NM xe T E5V PN m 1 E5V 5V 9 6 1 battery 3 e BATE spel i BAT 2 pac4ccen 5 ps H Ji PS BS Hy 6 P5 FG 1 t Shell FG Twisted pair Connector JN2DS10SL1 R i by Japan Aviation Electronics Ind Motor Encoder cable L Driver 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 Do not connect these terminals to the same power supply B27 3 System Configuration and Wiring Wiring to the connector X7 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 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 m m m om Output circuit nannanun pe z Ut ct Lr ctu Connector X
63. ty control 3 Toque control 4 Position Velocity control 5 Position Torque control 6 Velocity Torque control 7 Full closed control 1 The specification out of Japan B47 11 Specifications Functions 11 Specifications Functions 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 Max command pulse frequency Exclusive interface for Photo coupler 500kpps Exclusive interface for line driver 4Mpps Input pulse signal format Differential input Jo3uoo enbJo Control input Speed zero clamp Torque command sign input etc Control output Speed arrival etc Analog Torque command input 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 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 Max command pulse frequency Exclusive interface for Photo coupler 500kpps Exclusive interface for line driver 4Mpps Input pulse
64. ution Degree 1 or 2 prescribed in IEC 60664 1 e g Install the driver in control panel with IP54 protection structure Metallic control box Power Noise filter for signal lines supply Noise filter for Residual iE A current devise Circuit Noise filter signal lines Tom RCD breaker ie Eo Insulated v Surge DC24V 5 amp 5 absorber Noise filter for signal lines NE Noise filter for 3 signal lines Insulated power supply la for interface Noise filter for signal lines Safety Controller controller Ground PE to better understand the precautions Take care not to apply excessive stress to each optional part Power Supply e Main power supply 10 10 400V t 3 ph V to 480V 60H 00V type 3 phase 380 1596 o 480 1596 50 60Hz Control power supply DC 24V 15 1 This product is designed to be used in over voltage category installation category IIl 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 f marked between power supply and noise filter Integral solid state short circuit protection does not provide branch circuit protection Branch circuit protection must be provided in acco
65. y Don t connect the main power Mid Earth ground this bea V To prevent electric shock be sure to connect the ground terminal of the driver and the ground terminal ground ed E plate of the control panel th The ground terminal must not be shared with other ese colors equipment Two ground terminals are provided Don t connect the earth cable to other inserting slot E nor make them touch Ground resistance 100 Q max Motor optional cable For applicable wire refer to P B12 Compose a duplex Brake Control Circuit so that the brake can also be activated by an external immediate stop signal DC power The holding brake has no polarities supply For the holding brake power supply capacity and how to for brake use the brake refer to Specifications of Built in Holding Brake on P B43 d d Varistor Provide a varistor Fuse 125V 10A Connect a 10A fuse in series with the varistor are used for B15 usubu3 3 System Configuration and Wiring Wiring method to connector Follow the procedures below for the wiring connection to the Connector XA XB XC and XD How to connect 1 Peel off the insulation cover of the cable 8 to 9 mm For single wire Please obey the length in figure For stranded wires ferrules must be used as illustrated below Example Ferrules with plasti

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