Instruction ManualAC Servo Motor and DriverMINAS A4P SeriesDV0P4490 •Thank you for buying and using Panasonic AC Servo Motor and Driver, MINAS A4P S
10Safety PrecautionsObserve the Following Instructions Without FailDo not hold the motor cable or motor shaft during the transporta-tion.Failure to ob
100How to Use the ConsoleClearing of Absolute EncoderOnly applicable to the system which uses absolute encoder. You can clear the alarm and multi-turn
101[Setting]Setting<Remarks>Don't disconnect the console from the driver between to .Should the
102How to Use the ConsoleCopying of Parameters from the Console to the DriverStarting from initial LED status,Press six time after pressing
103[Setting]SettingOutline of Setup Support Software, "PANATERM®"Outline of PANATERM®With the PANATERM®, you can execute the followings.(1)
104Outline of Setup Support Software, "PANATERM®"Log on of the "PANATERM®" .<Cautions/Notes>1. Once the "PANATERM®"
105[Operation Setting]pageOverview of Operation Setting...106Step Operation ...
106In MINAS A4P, the following operations can be performed.The most basic operation.Specify a point number set in advance when performing the operati
107[Operation Setting]OperationSettingStep OperationPositioning can be performed to a specified point by the step operation.The four types of modes ar
108Caution1) If a set value of speed, acceleration or deceleration at a specified point is “0”, an operation trips due to unde-fined data error protec
109[Operation Setting]OperationSettingVEL1ACC1DEC116.Pr**001012Parameter namePositioning setting first speedPositioning acceleration setting 1
11[Before Using the Products]Before Usingthe ProductsUse the motor and the driver in the specified combination.Failure to observe this instruction cou
110Step OperationExample of Rotary Axis Operation SettingIf the rotary axis operation is specified, the shaft moves in a direction nearest from the cu
111[Operation Setting]OperationSetting3) Setting of step data • Do not use the rotary axis operation (Rotary) mode together with the incremental opera
112Jog OperationJog OperationThe motor can be moved in a positive direction or negative direction independently.Point specifying input(P1IN to P32IN)
113[Operation Setting]OperationSetting• Parameters related to jog operation Set the parameters below when performing the jog operation.Caution1) If a
114Homing OperationHoming OperationTo start a step operation after turning the power supply on, you need to execute the homing to detect a homepositi
115[Operation Setting]OperationSettingA chart of I/O signal timing during homing and an operating procedure are shown as an example of the casethat 16
116Homing OperationDetect the home sensor (at the front end) in a direction of homing by 16.Pr30 (Homing speed (high)), get outof the home sensor area
117[Operation Setting]OperationSetting2) Also, if the over-travel inhibit input is enabled in an operating direction under any of the conditions below
118Homing OperationCaution1) If any of the set values of the parameters below is “0”, an operation trips due to homing error protection(error code No.
119[Operation Setting]OperationSettingCaution1) If any of the set values of the parameters below is “0”, an operation trips due to homing error protec
12Maintenance and InspectionDailyAnnual• Ambient temperature, humidity, speck, dust or foreign object• Abnormal vibration and noise• Mai
120Homing OperationDetect the home sensor and the limit sensor in a reverse direction, not in a direction of homing, by 16.Pr30(Homing speed (high)),
121[Operation Setting]OperationSettingDetect the limit sensor in a direction of homing by 16.Pr30 (Homing speed (high)), decelerate and stop. Aftertha
122Homing OperationZ Phase HomingExample: Z phase count = 3 at an operation in a positive directionCount the Z phase specified times by 16.Pr3B (homin
123[Operation Setting]OperationSettingCaution1) If any of the set values of the parameters below is “0”, an operation trips due to homing error protec
124Homing OperationHoming Offset OperationThe home offset at the completion of homing can be specified by 32.Pr00 (Home offset). Specify the travelfro
125[Operation Setting]OperationSettingEmergency Stop Operation/Deceleration-and-Stop OperationAn active operation can be interrupted and canceled.Emer
126Temporary Stop OperationAn active operation can be stopped temporarily and restarted.Multifunction input 1, 2(EX-IN1, EX-IN2)SpeedIn-operation sig
127[Operation Setting]OperationSettingOverview of Block OperationThis servo driver can perform the two types of block operations, i.e., continuous blo
128Caution1) A maximum point number (specified by the settings of SV.Pr57 (selection of number of input points)) istreated as the “Single” operation,
129[Operation Setting]OperationSettingCombined block operation procedure (example)1. Set a 16-bit positioning parameter and step parameter. (Refer to
13[Before Using the Products]Before Usingthe ProductsDriverMotorMotor withgear reducerSmoothing capacitor Cooling fa
130Sequential OperationSequential OperationThe sequential operation can be performed by setting 16.Pr52 (sequential operation setting) to “1”. Whenthe
131[Operation Setting]OperationSettingS-shaped Acceleration/Deceleration FunctionS-shaped Acceleration/Deceleration FunctionThis servo driver can perf
132Timing ChartOperation Timing after Power-ON<Notes> • The above chart shows the timing from AC power-ON to command input. • Activate the exter
133[Operation Setting]OperationSettingWhen an Error (Alarm) Has Occurred (at Servo-ON Command)Caution*1. t1 will be a shorter time of either the setup
134Timing ChartWhen an Alarm Has Been Cleared (at Servo-ON Command)Dynamic brakeMotor energizationBrake release output(BRK-OFF)Servo-Alarm output(AL
135[Operation Setting]OperationSettingServo-ON/OFF Action While the Motor Is at Stall (Servo-Lock)Caution*1. t1 will be determined by SV.Pr6A setup va
136Absolute SystemOverview of Absolute SystemIn a motor of the absolute encoder specifications or absolute/incremental specifications, an absolute sys
137[Operation Setting]OperationSetting<Caution>Use the following battery for absolute encoder.Part No. : DV0P2990 (Lithium battery by Toshiba Ba
138Absolute SystemWhen you make your own cable for 17-bit absolute encoder When you make your own cable for 17-bit absolute encoder, connect the optio
139[Operation Setting]OperationSetting• Using the setup support software “PANATERM®”Basically, the step (3) and (4) only are different from the proced
14Model numberRated input/output voltageRated output of applicable motorRated input/output currentSerial NumberMADDT1205Pe.g.) : P05110001ZLot number
140Outline of Full-Closed ControlWhat Is Full-Closed Control ?In this full-closed control, you can make a position control by using a external scale m
[Adjustment]pageGain Adjustment...142Real-Time Auto-Gain Tuning Mode...144Adaptive
142Position loop gain : 20Velocity loop gain : 100Time constant ofV-loop integration : 50Velocity loop feed forward : 0Inertia rati
143[Adjustment]Adjustment<Remarks> • Pay extra attention to safety, when oscillation (abnormal noise and vibration) occurs, shut off the mainpow
144OutlineEstimates the load inertia of themachine in real time and setsup the optimum gain automati-cally responding to the result.Also, an adaptive
145[Adjustment]AdjustmentSetup of parameter, Pr21Press .Press .Match to the parameter No. to be set up with . (Here match
146SV.PrNo.101112131418191A1B1C20Title1st position loop gain1st velocity loop gain1st velocity loop integration time constant1st speed de
147[Adjustment]Adjustment<Notes>The adaptive filter may be disabled also if SV.Pr23 is set to any value other than “0”. Refer to “Invalidation o
148<Remarks>Set up the torque limit selection (SV.Pr03) to 1.When you set up other than 1, driver may not act correctly.CautionNormal mode auto-
149[Adjustment]Adjustment101st position loop gain111st velocity loop gain121st velocity loop integration time constant131st speed detectio
15[Before Using the Products]Before Usingthe ProductsAC SERVO MOTORRATING S1MODEL No.MSMD5AZS1SINS. CLASS B (TÜV) A (UL)CONT. TORQUE0.64NmA1.6CO
150Normal Mode Auto-Gain Tuning(1) Turn to the normal auto-gain tuning mode from the monitor mode, by pressing the SET button, then press
151[Adjustment]AdjustmentRelease of Automatic Gain Adjusting FunctionSV.Pr2F01234567891011121314151617181920211st notch frequenc
1521kΩ1kΩIMSPRS232connection cableConnect to CN X4 Manual Gain Tuning (Basic)As explained previously, MINAS-A4P series features the automatic gain
153[Adjustment]Adjustment1011121314151618191A1B1C1D1EStandard value271537015200271537015215002Title of parameter1st positio
154Manual Gain Tuning (Basic)Adjustment in Full-Closed Control ModeFull-closed control of MINAS-A4P series is described in Block diagram of P.225 of F
155[Adjustment]AdjustmentSuppress the vibration by lowering the gain.Stop(Servo-Lock)Low gain(1st gain)Low gain(1st gain)High gain(2nd gain)1ms 2m
156Hysteresis(SV.Pr34)Level(SV.Pr33)0HLManual Gain Tuning (Basic)• Positing control mode, Full-closed control mode ( : Corresponding parameter is
157[Adjustment]Adjustmentspeed NFig.Atorque Tleveldelay∆T∆S1st gain22 122111command speed SFig. Bleveldelay1st gain2nd1st 2nd 1stmotor speed or
158Manual Gain Tuning (Basic)torquecommandAdaptive filterfrequency automatic followingfrequency frequencyDepthwidth1st notch filter 2nd notch filt
159[Adjustment]AdjustmentHow to Check the Resonance Frequency of the Machine(1) Start up the Setup Support Software, "PANATERM® " and bring
16IntroductionSingle phase,200V3-phase,200VSingle phase,100VSingle phase,200VSingle phase,100VSingle phase,200VSingle/3-phase,200V
160Instantaneous Speed ObserverOutlineThis function enables both realization of high responseand reduction of vibration at stopping, by estimatingthe
161[Adjustment]AdjustmentDamping ControlOutlineThis function reduces the vibration by removingthe vibration frequency component from the com-mand when
162MEMO
[When in Trouble]pageWhen in Trouble ...164What to Check ? ...
164When in TroubleWhat to Check ?Protective Function (What is Error Code ?) • Various protective functions are equipped in the driver. When these are
165[When in Trouble]When in TroubleWarning Function • In MINAS-A4P Series, a warning is given before a protection function works and you can check the
166When in TroubleProtectivefunctionCauses MeasuresErrorcode No.*Over-current protection14Current through the converter portion has exceeded the spe
167[When in Trouble]When in TroubleProtectivefunctionCauses MeasuresErrorcode No.Position deviation excess protection24Deviation pulses have exceede
168When in TroubleProtectivefunctionCauses MeasuresErrorcode No.36*EEPROM parameter error protectionData in parameter storage area has been damaged
169[When in Trouble]When in TroubleProtectivefunctionCauses MeasuresErrorcode No.*External scale status 0 error protection50Bit 0 of the external sc
17[Before Using the Products]Before Usingthe ProductsSingle phase,200V3-phase,200VSingle phase,100VSingle phase,200VSingle phase,100VSi
170When in Trouble1001150.1110100150 200 250 300 350 400 450 500 torque [100%]time [sec]Overload protection time characteristics (Motor type M*MA)MAMA
171[When in Trouble]When in TroubleMotor LoadMotormovablerangeErr34 occurrence range Err34 occurrence rangeSV.Pr26SV.Pr26Motor LoadMotor movable
172TroubleshootingMotor Does Not Run Motor Stops During an OperationClassificationCauses CountermeasuresError in control mode settingError in to
173[When in Trouble]When in TroublePoint Deviates Positioning Accuracy is PoorHome Position SlipsThe setting of the parameter for positioning ope
174TroubleshootingGain adjustment is not proper.Load inertia is large.Looseness or slip of the machineAmbient temperature, environment Stall
175[Supplement]pageConformity to EC Directives and UL Standards...176Options...180Re
176Conformity to EC Directives and UL StandardsControl boxControllerInsulated power supply for interfacePower supplyCircuit breakerProtective earth
177[Supplement]資 料SupplementOption part No. DV0P4170Single phase 100V/200V Applicable driver (frame)A and B-frameManufacturer's part No.SUP-
178Surge AbsorberProvide a surge absorber for the primary side of noise filter.<Remarks>Take off the surge absorber when you execute a dielectr
179[Supplement]資 料SupplementNoise Filter for Signal Lines *Install noise filters for signal lines to all cables (power cable, motor cable, encoder ca
18Driver<Note>X1 and X2 are attached in A to D-frame driver.e.g.) : MADDT1207P (Single phase, 200V, 200W : A-frame)Parts Descriptione.g.) : MCDD
180Options• Specifications of 2500P/r incremental encoder• Specifications of 17bit absolute/incremental encoder*Connection to Pin-S and T ar
181[Supplement]SupplementMotor typeMAMA100W to 750WMSMD 50W to 750WMQMA100W to 400WMSMA1.0kW, 1.5kWMDMA1.0kW, 1.5kWMHMA0.5kW to 1.5kWM
182Options110 300L300110LMFECA0**0EAEFig. 2-1Fig. 2-4Fig. 2-2Fig. 2-5Fig. 2-3MFECA0**0ESEMSMD 50W to 750W, MQMA 100W to 400W, MAMA 100W to 750W17-bit
183[Supplement]SupplementMFECA0**3ECTMFMCD0**3ECT(ø14)(50)Lø43.7ø37.3 ø37.3(ø14)(50)Lø40.5MFMCA0**2ECDMFMCA0**0EEDMSMD 50W to 750W, MQMA 100W to 400W,
184OptionsMFMCA0**2FCDL(50)L(50)(ø12.5)MFMCA0**2FCTL(50)L(50)ø37.3(ø12.5)(ø9.8)(ø9.8)MFMCB0**0GET(ø9.8)(40) (50)L(5.6)(12.0)(10.0)MSMD 50W to 750WMQ
185[Supplement]Supplement3) Pin disposition (36 pins) (viewed from the soldering side)<Cautions>1) Check the stamped pin-No. on the connector bo
186Options1) Part No. DV0P42902) Components ( )2500P/r incremental encoderTitle1NumberPart No. ManufacturerFor CN X6 (6-pins)172160-1170365-11
187[Supplement]SupplementNoteFor CN X6 (6-pins)For junction cable to encoderFor junction cable to motor powerNumber11111TitleConnector Straight plugCa
188Options<Caution>For E and F-frame, you con make a front end and back end mounting by changing the mounting direction of L-shape bracket (atta
189[Supplement]SupplementCBA(Mounting pitch)D6-1RSTNPXYZBCD2-1G4-HEG4-HEFig.1Fig.2DV0P220DV0P221DV0P222DV0P223DV0P224DV0P225DV0P226DV0P227DV0P228DV0P2
19[Before Using the Products]Before Usingthe ProductsX7X5X3BX3AX4SPIMGX6Terminal coverScrew for cover M3Screw for cover M3Display LED (2-digit)ID ad
190OptionsDV0P4282DV0P4283DV0P4284Part No.RF18BRF18BRF240RH450F255030SpecificationsActivationtemperature ofbuilt-in thermostatDV0P4280DV0P4281RF70MRF7
191[Supplement]SupplementSurge absorber for motor brakeMotorManufacturerOkaya Electric Industries Co. Ltd.Nippon Chemi_Con Corp.Ishizuka Electronics C
192Dimensions (Driver)A-frameMass 0.8kgConnector at driver side* Refer to P.188, "Mounting bracket for driver"of Options, when you use th
193[Supplement]SupplementC-frameMass 1.5kgConnector at driver side* Refer to P.188, "Mounting bracket for driver"of Options, when you use
194Dimensions (Driver)E-frameMass 3.2kgConnector at driver sideConnector signCNX7CNX6CNX5CNX4CNX3BCNX3AManufacturerMolex Inc.Molex Inc.Molex
195[Supplement]SupplementDimensions (Motor)• MAMA 100W to 750WMAMA series (Ultra low inertia)012P1 * 012S1 * 022P1 * 022S1 * 042P1 * 042S1 * 082P1 * 0
196Dimensions (Motor)• MSMD 50W to 100WMSMD series (low inertia)5A * P1 * 5A * S1 * 01 * P1 * 01 * S1 *MSMD50W 100W258453038363226.53.41412.53h936.2M3
197[Supplement]Supplement• MSMD 200W to 750W02 * P1 * 02 * S1 * 04 * P1 * 04 * S1 * 08 * P1 * 08 * S1 *200W 400W 750W79115.5301170506036.5434.520184h9
198Dimensions (Motor)• MQMA 100W to 400W01 * P1 * 01 * S1 * 02 * P1 * 02 * S1 * 04 * P1 * 04 * S1 *100W 200W 400W608425870506037434.51412.53h936.2M3 x
199[Supplement]Supplement• MSMA 1.0kW to 2.0kWMSMA series (low inertia)10 * P1 * 10 * S1 * 15 * P1 * 15 * S1 * 20 * P1 * 20 * S1 *MSMA1.0kW 1.5kW 2.0k
2[Before Using the Products] pageSafety Precautions ... 8Maintenance and Inspection..
20<Note>For details of each model, refer to "Dimensions " (P.195 to P.209) of Supplement.Motore.g.) : Low inertia type (MSMD series, 5
200Dimensions (Motor)• MSMA 3.0kW to 5.0kW30 * P1 * 30 * S1 * 40 * P1 * 40 * S1 * 50 * P1 * 50 * S1 *3.0kW 4.0kW 5.0kW2172425522130/145 (slot)11012016
201[Supplement]Supplement• MDMA 1.0kW to 1.5kWMDMA series (Middle inertia)10 * P1 * 10 * S1 * 15 * P1 * 15 * S1 *MDMA1.0kW 1.5kW5522145110130165612841
202Dimensions (Motor)• MDMA 2.0kW to 3.0kW20 * P1 * 20 * S1 * 30 * P1 * 30 * S1 *2.0kW 3.0kW200225552214511013016561284118945418h971865241451101301656
203[Supplement]Supplement* Dimensions are subject to change without notice. Contact us or a dealer for the latest information. • MDMA 4.0kW to 5.0kWMD
204Dimensions (Motor)• MGMA 900W to 2.0kW* Dimensions are subject to change without notice. Contact us or a dealer for the latest information. MGMA se
205[Supplement]Supplement• MGMA 3.0kW to 4.5kWMGMA series (Middle inertia)30 * P1 * 30 * S1 * 45 * P1 * 45 * S1 *MGMA3.0kW 4.5kW222271222271300.5337.5
206Dimensions (Motor)• MFMA 400W to 1.5kWMFMA series (Middle inertia)04 * P1 * 04 * S1 * 15 * P1 * 15 * S1 *MFMA400W 1.5kW1201455519145110130165612841
207[Supplement]Supplement• MFMA 2.5kW to 4.5kW25 * P1 * 25 * S1 * 45 * P1 * 45 * S1 *2.5kW 4.5kW13916665352352002202684168416413.5555010h9830703523520
208Dimensions (Motor)* Dimensions are subject to change without notice. Contact us or a dealer for the latest information. • MHMA 500W to 1.5kWMHMA se
209[Supplement]Supplement• MHMA 2.0kW to 5.0kWMHMA series (High inertia)20 * P1 * 20 * S1 * 30 * P1 * 30 * S1 * 40 * P1 * 40 * S1 * 50 * P1 * 50 * S1
21[Before Using the Products]Before Usingthe ProductsConnectorConsole bodyCableDisplay (7-segment LED)Touch panelDisplay LED (6-digit)All of LED wil
210Permissible Load at Output Shaft50W, 100W200W, 400W750W1kW1.5kW to 3.0kW4.0kW to 5.0kW100W200W, 400W1.0kW to 2.0kW3.0kW4.0kW5.0kW500W t
211[Supplement]資 料SupplementMotor Characteristics (S-T Characteristics)• Note that the motor characteristics may vary due to the existence of oil sea
212Motor Characteristics (S-T Characteristics)MSMD series (50W to 100W)* These are subject to change. Contact us when you use these values for your
213[Supplement]資 料SupplementMSMD series (200W to 750W)* These are subject to change. Contact us when you use these values for your machine design.• M
214Motor Characteristics (S-T Characteristics)• MSMA202 * 1 * Input voltage to driver: AC200V (Dotted line represents torque at 10% less voltage
215[Supplement]資 料Supplement* These are subject to change. Contact us when you use these values for your machine design.• MDMA302 * 1 * Input volt
216Motor Characteristics (S-T Characteristics)* These are subject to change. Contact us when you use these values for your machine design.• MGMA202 *
217[Supplement]資 料SupplementMotor with Gear ReducerModel No. of Motor with Gear ReduceModel DesignationCombination of Driver and Motor with Gear Redu
218MSMD01 * P31NMSMD01 * P32NMSMD01 * P33NMSMD01 * P34NMSMD02 * P31NMSMD02 * P32NMSMD02 * P33NMSMD02 * P34NMSMD04 * P31NMSMD04 * P32NMSMD04 * P33NMSMD
219[Supplement]資 料SupplementTHBøLA4-LZ Depth LLCMoment of inertia is combined value of the motor and the gear reducer, and converted to that of the
22How to InstallA to D-frame e.g.) In case of C-frameFastening torque of earth screws (M4) to be 0.39 to 0.59N•m.Mounting bracket(optional parts)MADD
220Permissible Load at Output ShaftRemarks on installation(1) Do not hit the output shaft of the gear reducer when attaching a pulley or sprocket to i
221[Supplement]資 料SupplementCharacteristics of Motor with Gear ReducerSupplyvoltageto driverReductionratio1/5MSMD011 * * 1N MSMD011 * * 2N MSMD011 *
222L 1L 2L 3DC/DCL1CL2CRB1RB3X4X6UVWMRENP+Gate driveRS232+-++-A/DPositionSpeeddetectionVoltagedetectionSpeeddeviation amp.PWMcircuitRB2DL1DL2Fuse
223[Supplement]資 料SupplementL 1L 2L 3DC/DCrtPB1X4X6UVWMREX5NP+Gate driveAlarmsignalPointintputPusleoutputControlinput++-+-A/DPositionFuse(F-fram
224Block Diagram by Control ModePosition Control Mode • when Pr02 (Setup of control mode) is 0PointcommandPositioncommandPositional deviation moni
225[Supplement]資 料SupplementFull closed position deviation monitorActual speed monitorCommand speedmonitorPosition deviationmonitorFeedback pulses
226Specifications (Driver)Input power supplyOperationconditionsControl methodControl modeEncoder feedbackExternal scale feedbackControl signal
227[Supplement]資 料SupplementFunctionReal timeNormal modeHardware errorSoftware errorProtectionfunctionExternal scale division gradual increase
228Default Parameters (for all the models of A4P Series)SV.Pr**000102030405060708090A0B0C0D0E0F101112131415161718191A1B1C
229[Supplement]資 料Supplement16.Pr**000102030405060708090A0B0C0D0E0F101112131415161718191A1B1C1D1E1F202122232425
23[Before Using the Products]Before Usingthe ProductsFan Fan100mm or more100mm or more40mm or more40mm or more10mmormore10mmormore10mmormore
230MEMO
231Motor Company, Matsushita Electric Industrial Co.,Ltd.Marketeing GroupTokyo: Kyobashi MID Bldg, 2-13-10 Kyobashi, Chuo-ku, Tokyo 104-0031 TEL (03)3
After-Sale Service (Repair)RepairConsult to a dealer from whom you have purchased the product for details of repair.When the product is incorporated t
24How to InstallOil, waterCableMotorItemAmbient temperatureAmbient humidityStorage temperatureStorage humidityVibration Motor only Impact Mo
25[Before Using the Products]Before Usingthe ProductsMotorStress to Cables1) Avoid a stress application to the cable outlet and connecting portion by
26<Cautions> • Do not give strong impact to the products. • Do not drop the products. • Do not pull the cables with excess force. • Avoid the pl
[Preparation]pageSystem Configuration and Wiring ...28Overall Wiring (Connecting Example of C-frame, 3-phase)... 28Overall
28System Configuration and WiringCircuit Breaker (NFB)Use the circuit breaker matching capacity of the power source to protect the power lines.Nois
29[Preparation]PreparationX5X3BX3AX4X6X7SPIMGPC (to be supplied by customer)Setup support software"PANATERM®"DV0P4460 Console (option)DV0
3List of Servo Parameter ...
30System Configuration and WiringOverall Wiring (Connecting Example of E-frame)Ground (earth)• Connection with input power supply <Remarks>
31[Preparation]PreparationX7X5X3BX3AX4SPIMGX6Setup support software"PANATERM®"DV0P4460 Console (option)DV0P4420• Wiring to Connector, CN
32System Configuration and WiringDriver and List of Applicable Peripheral EquipmentsConnectionDriverApplicablemotorVoltageRatedoutputRequiredPower
33[Preparation]Preparation • Select a single and 3-phase common specifications according to the power source. • Manufacturer of circuit breaker and ma
34System Configuration and WiringWiring of the Main Circuit (A to D-frame) • Wiring should be performed by a specialist or an authorized personnel. •
35[Preparation]PreparationIn Case of Single Phase, 100V (A and B-frame) In Case of Single Phase, 200V (A and B-frame)In Case of Single Phase, 200V (C
36System Configuration and WiringWiring of the Main Circuit (E and F-frame) • Wiring should be performed by a specialist or an authorized personnel. •
37[Preparation]PreparationABDCAHGCDEBIFCBAIHGFEDJL04V-2E20-4PE-B-RJL04HV-2E22-22PE-B-RJL04V-2E20-18PE-B-R JL04V-2E24-11PE-B-RIn Case of 3-Phase, 200V
38System Configuration and WiringWiring Diagram In case of 2500P/r incremental encoderWiring to the Connector, CN X6 (Connection to Encoder)Tips on Wi
39[Preparation]Preparation• MSMA 1kW to 5kW • MDMA 1kW to 5kW • MHMA500W to 5kW • MFMA 400W to 4.5kW• MGMA900W to 4.5kW• MSMD 50W t
4Timing Chart ... 132Operation Timing after Power-ON ...
40System Configuration and WiringCautions(1) Following external scale can be used for full-closed control.• AT500 series by Mitutoyo (Resolution 0.05[
41[Preparation]PreparationWiring to the Connector, CN X5 (Connection to Host Controller)• Tips on wiringController 3mor shorter30cm or longerCOM+GND1
42System Configuration and WiringDivider4.7kΩDriver side4.7kΩ( represents twisted pair.)OA+OA-OB+OB-OZ+OZ-GNDCZ111213102616149330Ω330Ω330Ω
43[Preparation]PreparationInterface CircuitInput CircuitOutput Circuit • Connect to contacts of switches and relays, or open collec-tor output transis
44System Configuration and WiringList of Signal for Connector CN X5Common input signalsApplication Code FunctionConnectorpin No.Control signal power
45[Preparation]PreparationOperation instruction is specified by use of signal for point specifying input (P1IN to P32IN).See the table below for the
46System Configuration and WiringCommon output signals and their functionsApplication Code FunctionConnectorpin No.Application Code FunctionConnector
47[Preparation]Preparation<Note>• When the output source is the encoder• If the encoder resolution X is multiple of 4, Z-phas
48Setup with the Front PanelComposition of Touch Panel and DisplayDisplay LED (2 digits)In the case of an error, the alarm code will flash.In the ca
49[Preparation]PreparationOutput Signals (Analog) and Their FunctionsSpeed monitor signal outputSP• The content of the output signal varies
[Supplement] pageConformity to EC Directives and UL Standards ... 176Options ...
50DriverSurge absorberRelays to be shut offat emergency stopMotorBrake coilBRK-OFF+3617RYCOM–VDCRY12 to 24VPower supply for brakeDC24VCN X5Fuse(5A
51[Preparation]Preparation4.944.114744.114719649021567801470215624502940784147029407842940147021561470294039.21371
52D BD BFree-runFree-runD BD BFree-runFree-runD BFree-runFree-runD BD BClearClearClearClearHoldHoldHoldHoldFree-runFree-runEmergency stopClearD
53[Preparation]PreparationD BD BFree-runFree-runD BFree-runFree-runD BHoldHoldHoldHold0123Setup value of SV.Pr68Sequence at main Servo-OFF (SV.Pr
54MEMO
55[Setting]pageParameter Setup...56Outline of Parameter ...
56Parameter SetupOutline of ParameterThis driver is equipped with various parameters to set up its characteristics and functions. This sectiondescribe
57[Setting]Setting• Servo parameterGroup OutlineServoparameter No.Function selectionAdjustmentPosition ControlInput signalsSequence
58Parameter Setup01*0 to 15<1>7-segment LED status for console, initial condition displayYou can select the type of data to be displayed on th
59[Setting]SettingServoPrNo.SetuprangeTitle Function/ContentStandard default : < >08 0 to 12<0>Torque monitor (IM) selectionYou can set
60Parameter SetupStandard default : < >ServoPrNo.SetuprangeUnitTitle Function/Content13 0 to 5<0>*–1st speed detection filterYou can s
61[Setting]SettingParameters for Auto-Gain TuningStandard default : < >ServoPrNo.SetuprangeUnitTitle Function/Content2E–200 to 2000<0>0
62Parameter SetupStandard default : < >ServoPrNo.SetuprangeUnitTitle Function/Content21 0 to 7<1>–Real time auto tuning set upYou can
63[Setting]Setting26 0 to 1000<10>0.1revolutionSoftware limit set upYou can set up the movable range of the motor against the position command
64Parameter SetupStandard default : < >ServoPrNo.SetuprangeUnitTitle Function/Content340 to 20000<33>*–1st control switching hysteresi
65[Setting]SettingServoPrNo.SetuprangeTitle Function/ContentStandard default : < >44*45*1 to 32767<10000>0 to 32767<10000>
66Parameter Setup4D*0 to 31<0>FIR filter set up You can set up the moving average times of the FIR filter covering the internal command pulse.
67[Setting]Setting58 0 to 1<1>Point specifying input logic settingSet the logic of the point specifying inputs (P1IN to P32IN: CN X5 Pin 3, 4,
68Parameter SetupStandard default : < >ServoPrNo.SetuprangeUnitTitle Function/Content60 0 to 32767<131>PulseIn-position rangeYou can s
69[Setting]SettingStandard default : < >ServoPrNo.SetuprangeUnitTitle Function/Content65 0 to 1<1>–Undervoltage error response at main
7[Before Using the Products]pageSafety Precautions ...8Maintenance and Inspection ...
70Parameter SetupStandard default : < >ServoPrNo.SetuprangeUnitTitle Function/Content69 0 to 9<0>–Sequence at Servo-OFFYou can set up
71[Setting]SettingStandard default : < >ServoPrNo.SetuprangeUnitTitle Function/Content6C*0 to 3forA, B-frame<3>forC to F-frame<
72Parameter SetupParameters for Full-Closed Control7B*(F)1 to 10000<100>16 x external scale pulseHybrid deviation error level• You can setup
73[Setting]SettingList of 16-bit Positioning ParametersParameters for Motor speedParameters for Acceleration and Deceleration00 0 to 6000<0>r/m
74Parameter Setup160 to 10000<0>ms2nd decelerationSpecify deceleration when Deceleration Selection 2 has been selected.Specify a deceleration
75[Setting]Setting390 to 10000<0>msBumping detection timeSpecify home position recognition time for bumping homing.3A 0 to 100<0>%Torque
76Parameter Setup45 0 to 1000<0>msSetting of S-shaped deceleration in jog operationSpecify S-shaped deceleration for a jog operation.Specify t
77[Setting]SettingList of 32-bit Positioning ParametersList of Step ParametersStepPrNo.Standard default : < >Setup rangePANATERM displayConsole
78Parameter SetupModel No.FrameApplicable motorMax. value ofSV.Pr5E,5FModel No.FrameApplicable motor3003003003003003003003003003003003003
79[Setting]SettingCautions on Replacing the MotorAs stated above, torque limit setup range might change when you replace the combination of the motor
8Safety PrecautionsObserve the Following Instructions Without FailObserve the following precautions in order to avoid damages on the machinery and inj
80How to Use the ConsoleSetup with the ConsoleComposition of Display/Touch panelDisplay LED (6-digit)All of LED will flash when error occurs, and swi
81[Setting]SettingMode ChangeThe modes below are available in this console. To switch a mode, press once in the initial state to enter the
82How to Use the Console(Mode switch button)SET(button)Positional deviationMotor rotational speedTorque outputControl modeI/O signal stat
83[Setting]SettingDisplay of Position Deviation, Motor Rotational Speed and Torque OutputDisplay of Control Mode...Positional deviation (cumula
84How to Use the Console• Signal No. and its title000102030405060708090A0B0C0D0E0F101112131415161718191A1B1C1D1E1FSignal No.SRV-ONCWLCCWLEX-IN1EX-IN2Z
85[Setting]SettingAlarm Display ...no alarm ...Alarm occurrence• Over-load alarm : Turns on when the load reaches 85% or more of
86How to Use the ConsolePress .Total sum of pulses after control power-ON. The display range is from –2147483647 to 2147483647.An overflow occu
87[Setting]SettingTeaching ModeOverview of Teaching ModeIn the teaching mode, you can operate the motor actually using this console, set a target posi
88How to Use the ConsoleWhen you keep on pressing + , the motor rotates continuously in a positive direction while pressing it.When you k
89[Setting]SettingTest Mode• Step operationAn operation is performed at a position of a selected point number.* Execute homing completely before perfo
9[Before Using the Products]Before Usingthe ProductsFailure to observe this in-struction could result in fire.Do not place the console close to a heat
90How to Use the Console• Jog operationThe motor can be operated by the jog operation.• HomingHoming is performed as follows...A current position is
91[Setting]SettingPress .Press .When you press once and twice in the initial LED state, the step parameter display shows
92How to Use the ConsoleStep ParameterStep parameter can be set.* An example to set in ST.Pr1 is shown below.Press .Press .Press .Pr
93[Setting]Setting16-Bit Positioning Parameter16-bit positioning parameter can be set...16.Pr01...16.Pr00Selected 16.PrNo...16.Pr63<Notice&
94How to Use the Console32-Bit Positioning Parameter32-bit positioning parameter can be set...32.Pr01...32.Pr00Selected 32.PrNo.* The data is sho
95[Setting]SettingServo ParameterServo parameter can be set. For the details of parameter, refer to “Parameter Setup” on page 56.<Remarks>When
96How to Use the Console• When you change the parameters which contents become valid after resetting, will be displayed after fin
97[Setting]SettingStarting from the initial LED status, press four time after pressing ,then brings the display of normal auto-gain tuni
98How to Use the ConsoleAuxiliary Function ModeThe console has two auxiliary functions.(1) Alarm ClearA protection function works and a motor stop (mo
99[Setting]SettingAlarm Clear ScreenProtective function will be activated and release the motor stall status (error status).Alarm clear starts.Clearin
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