3. System Configuration and Wiring - Q-TECH
Contents
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3. 8 T 6 5 4 3 B21 o c o c G c o g q p le Dio zi c ME o o 9 2g di es iring dw ion an t igura ex Ols o c E pE 2S8 o2 es Example of Velocity Control Mode iring Ww o D o A O o ition Example of Pos iring W English ured paysim s u s sd RE Ob 6E 8E ZE 9E GE vE TL LL 0L 3ndino E ZE LE OE GZ 82 ZZ 92 6 8 indul siaj awesed Buisn peDueuo eq ueo uid amp Buiwojoj au jo suonoun eu L
4. 7 Conformity to EC Directives and UL Standards EC Directives Conformity to UL Standards Overload protection time characteristics MSME 1 0kW 5 0kW Time s MDME 1 0kW 5 0kW 100 MHME 1 0kW 5 0kW MGME 0 9kW 3 0kW 10 100 200 300 400 500 Torque 96 Conformed Standards Driver Motor EN55011 EMC EN61000 6 2 z Directives EN61800 3 Low Voltage IEC60034 1 Directives EN61800 5 1 IEC60034 5 EC Directives EN954 1 Cat 3 18013849 1 PL d Functional EN61508 SIL 2 safety EN62061 SIL 2 EN61800 5 2 STO IEC61326 3 1 UL Standards UL508C File No E164620 UL1004 File No E166557 CSA Standards C22 2 No 14 C22 2 No 100 IEC International Electrotechnical Commission EN Europaischen Normen EMC Electromagnetic Compatibility UL Underwriters Laboratories CSA Canadian Standards Association Pursuant to the directive 2004 108 EC article 9 2 Panasonic Testing Centre Panasonic Service Europe a division of Panasonic Marketing Europe GmbH Winsbergring 15 22525 Hamburg F R Germany B37 7 Conformity to EC Directives and UL Standards Composition of Peripheral Equipments Installation Environment Use the servo driver in the environment of Pollution Degree 1 or 2 prescribed in IEC 60664 1 e g Install the driver in control panel with IP54 protection structure Control box Controller Insulated
5. H TH 3 System Configuration and Wiring 3 System Confi g u ration and Wi ri ng Driver and List of Applicable Peripheral Equipments Driver and List of Applicable Peripheral Equipments Required circuit Noise Cable Cable Select peripheral equipments for single 3phase common specification according to Driver PAD vonage Rated Poner besa Sua niter forl Magrete dameter amet gt the power source terit current aoa circuit circuit For details of peripheral equipments MSME 9 Noise filter P B39 T is 1 8kVA 2 Surge absover P B39 S s 0 5mm amp Noise filter for signal lines P B40 MDDH MGME P656 o ocu 10A DVOPM zn Awa 3 400v L 20050 3P 1a 200024 8 About circuit breaker and magnetic contactor MSME 2 9 P on Mos approx pu 8 To comply to EC Directives install a circuit breaker between the power and the MDME 1 5kW M iori ME 2 3kVA 2 noise filter without fail and the circuit breaker should conform to IEC Standards and oO SHE 9 UL recognized Listed and marked 3 MEDH MDME SP o oxy aX 4g DVOPM 30A pun 2 Suitable for use on a circuit capable of delivering not more than 5 000Arms symmetri MEN E BORNE 20050 Pal 20t024 S cal amperes below the maximum input voltage of the product approx DVOP Remarks MOME 2 0kW 3
6. AC 3 phase power supply 400V for main circuit Don t disconnect the shorting cable between B2 and B3 Disconnect this only when the external regenerative register is used Do not connect anything to NC Match the colors of the motor lead wires to those of the corresponding motor output terminals U V W Avoid shorting and grounding Don t connect the main power Earth ground this Make sure to connect the protective earth terminal of the driver and the protective earth earth plate of the control panel to prevent electrical shock Don t co clamp the earth wires to the protective earth terminal Two terminals are provided Don t connect the earth cable to other inserting slot nor make them touch Compose a duplex Brake Control Circuit so that the brake can also be activated by an external immediate stop signal The Electromagnetic Brake has no polarity For the capacity of the electromagnetic brake and how to use it refer to P B42 Specifications of Built in Holding Brake Provide a varistor Connect a 5A fuse in series with the varistor B14 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 e Tips on Wiring 1 Take off the cover fixing screws and detach the terminal cover 2 Make w
7. 9 9 93 5E Fg 2 EX5V 1 Supply the power of feedback 8 amp amp Z8 eof 5 2E8 S scale or A B Z phase encoder 8 d8 NO ess g Power supply output E gt 8 2 nnected to ground of control lt e E Ss n EXOV 2 Co lec ed to ground of contro A E t 3 B circuit 8 E B5 EXPS 3 Serial signal c c E 5 3 S 22 I F of feedback scale gna 2 2 95 signals The transmission reception ned gt S 9 EXPS 4 method 85 f PO E a 98 EXA 5 D N _ m i ue 35 Bob gjy EXA 6 a u CIEN Zoo xA EXB 7 i J 99 9 6 2 5 3 a j A B Z phase Endoder Parallel signal S i a gig li signal input EXB 8 reception 3 EXZ 9 TS AA Divider rts Ll EXZ 10 Sh C ted with protective earth onnected with protective ea 8 Frame ground FG Shell mro p att T 1 1 i 2 terminal in the servo driver 3 i AE RE RY Y 15 L L E L b 75 75 Pat 7 geese Egt pa D D pa pa P3 Ho Connector plug MUF PK10K X by J S T Mfg Co Ltd i E 1 7 lo e 2 x _ 8 2 5 8 8 S 5 5 AaszB8ER i s 3 Caution 48 89 amp 8 ES galz E jajz g2 amp N 8 ty amp 1 The manufacturers applicable feedback scales for this product are as follows lt oS o SSAA saa 8 3508 9o 7S9 As 8 85 Mitutoyo Corp 700 PIE 2 8 pe oo ig ghy iy Big ee Sony Manufacturing Systems Corp 2 E amp E gt cl Z st at or ass E358 n al lal 95 For the details of the feedback scale product contact each company g 9 La sess B amp 2 8
8. supply vece a BE C 1 E A Main power re 24 supply 3r JA i Em t Ec XC i External regenerative resistor pic Remove the short wire when you connect the external regenerative resistor N os XB Motor connection hogy DC12 to 24V L 2596 36 In Case of 3 Phase F frame 400 V type T1096 10 Power supply 3 phase 380V _45 to 480V _15 keo Built in thermostat of an external hh D He regenerative resistor light yellow L i H ON ofr aw T Coil surge suppression units DC i Control power 24V supply MCCB 5 iL i x z a 4 Main power AW ol18 4 supply w 3 a Bow i External regenerative resistor gt Remove the short wire when you connect i the external regenerative resistor Motor connection i 9 1 H 3 cA Pa i ALM DC12 to 24V o i 5 36 AM For wiring the motor connector refer to next page B18 3 System Configuration and Wiring Wiring of connector for motor and brake When the motors of MSME MDME 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 without Brake with Brake
9. Dynamic brake is a short duration rating and designed for only emergency stop Allow approx 3 minutes pause when the dynamic brake is activated during high speed running In the case of the F frame driver when the built in dynamic brake circuit overheats the over current protection Err14 0 may be acti vated You can activate the dynamic brake in the following cases 1 when the main power is turned off 2 at Servo OFF 3 when one of the protective function is activated 4 when over travel inhibit input NOT POT of connector X4 is acti vated In the above cases from 1 to 4 you can select either activation of the dynamic brake or making the motor free run during decelera tion or after the stop with parameter B44 10 Check of the Combination of the Driver and the Motor Incremental Specifications 20 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 Do not use in other combinations than those listed below B45 Motor Driver Rated ouod Type rotational Model cina Model Frame supply speed outpu MSME104G1 1 0kW MDDHT3420 D frame MSME154G1 1 5kW MDDHT3420 3 phase MSME MSME204G1 2 0kW MEDHT4430 E frame i 3000r min 400V Low inertia
10. absolute encoder 7 wire serial 20 bit 1048576 resolution incremental encoder 5 wire serial Feedback scale feedback A B phase initialization signal defferential input Manufacturers that support serial communication scale Mitsutoyo Corp Sony Manufacturing Systems Corp General purpose 10 inputs Control Input The function of general purpose input is selected by parameters signal Suini General purpose 6 outputs P The function of general purpose input is selected by parameters Analog Input 3 inputs 16Bit A D 1 input 12Bit A D 2 inputs Digital signal Output 3 outputs Analog monitor 2 output Digital monitor 1 output 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 communicato RS232 1 1 communication function RS485 1 n communication up to 31 axes to a host Safety function Used for IEC61800 5 2 STO Front panel 1 5 keys MODE SET UP DOWN SHIFT 2 LED 6 digit 3 Analog monitor output 2ch 4 Digital monitor output 1ch Regeneration D to F frame 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 fated Model Frame supply speed outpu
11. e Monitor output Please download from our web site Wiring to Connector X1 Connection to PC or host controller 548888 Wiring to Connector X2 DU Connection to RS232 RS485 Fl erm or host controller MEE Wiring to Connector X3 4 rad Connection to Safety by pass plug Refer to P B21 A 3 Wiring to Connector X4 Connection to host controller U Oo U H Ici cjl SISISIS 5l c usubu3 m i T T Wiring to Connector X5 NL Connection to feedback scale W oh W ies Wiring to Connector X6 phase black 9 Connection to encoder 2 m Junction cable for encoder Protective Ground Charg lamp earth earth LED terminals A elelclele s Junction cable for motor d Connection to motor driving dib phase and ground T Junction cable for brake DC Power supply for brake DC24V to be supplied by customer 1 Do not make displacement wiring or inspection while the LED is lit cause of electric shock Bid
12. 8 EET P jeas9vt2t 5 2 5 5 5 D a em 2 8S B S sss 9 8 j js 8 2 sag 2 Recommended feedback scale ratio is 1 40 s Feedback scale ratio lt 160 5 Bales Els S Je S e E 2 m s s Sales sss 9 S fel S Jel 8 FETA If you set up the feedback scale ratio to smaller value than 50 position loop gain o o esjosa iaza C lt o E 5 2 guw S 9 S5 g e Soe Pr1 00 and Pr 1 05 you may not be able to control per 1 pulse unit Setup of larg al x b S M o TE i i i M M 5082 er scale ratio may result in larger noise 2828 H D 0 8 EX 2 eu B25 3 System Configuration and Wiring S System Conliguration and Wiring Wiring to the connector X6 Wiring to the connector X6 Connection to Encoder In case of 20 bit incremental encoder In case of 17 bit absolute encoder MSME 1 0kW to 5 0kW MSME 1 0kW to 5 0kW MDME 1 0kW to 5 0kW MDME 1 0kW to 5 0kW MHME 1 0kW to 5 0kW MHME 1 0kW to 5 0kW MGME 0 9kW to 3 0kW MGME 0 9kW to 3 0kW ECT Tu NE Nc TE NUN E5V a A Esv 2 E5V e Esv E Ev i UU 2w ov Se pni o 2hr 18 E E ra 6 1 battery f 3 8 j BATH Pe 77717m 4 m TE BAe C RN PS PS ps 5 Ps E PS H ie 9 ps PS 2 ie 9 ps E 9 T 9o T i FG i Shel
13. MSME304G1 3 0kW MFDHT5440 MSME404G1 4 0kW F frame MFDHTA464 MSME504G1 5 0kW MDME104G1 1 0kW MDDHT2412 D frame MDME154G1 1 5kW MDDHT3420 3 phase MDME MDME204G1 2 0kW MEDHT4430 E frame z 2000r min 400V Middle inertia MDME304G1 3 0kW MFDHT5440 MDME404G1 4 0kW F frame MFDHTA464 MDME504G1 5 0kW MGME094G1 0 9kW MDDHT3420 D frame 3 phase MGME J 400V Middle inertia 1000r min MGME204G1 2 0kW MFDHT5440 F frame MGME304G1 3 0kW MFDHTA464 MHME104G1 1 0kW MDDHT2412 D frame MHME154G1 1 5kW MDDHT3420 3 phase MHME MHME204G1 2 0kW MEDHT4430 E frame i EE z 2000r min 400V High inertia MHME304G1 3 0kW MFDHT5440 MHME404G1 4 0kW F frame MFDHTA464 MHME504G1 5 0kW Note Suffix of in the applicable motor model represents the motor structure 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 400V circuit F frame Phase 380 _ 15 fene 1596 RE SUL E E Control Dto DC 24V 15 Q circuit F frame IE Control method IGBT PWM Sinusoidal wave drive Encoder feedback 17 bit 131072 resolution
14. and B2 Disconnect this only when an external regenerative register is used Do not connect anything to NC Match the colors of the motor lead wires to those of the corresponding motor output terminals U V W Avoid shorting and grounding Don t connect the main power Earth ground this Make sure to connect the protective earth terminal of the driver and the protective earth earth plate of the control panel to prevent electrical shock Don t co clamp the earth wires to the protective earth terminal Two terminals are provided Don t connect the earth cable to other inserting slot nor make them touch Compose a duplex Brake Control Circuit so that the brake can also be activated by an external immediate stop signal The Electromagnetic Brake has no polarity For the capacity of the electromagnetic brake and how to use it refer to P B42 Specifications of Built in Holding Brake Provide a varistor Connect a 5A fuse in series with the varistor B15 usubu3 3 System Configuration and Wiring 3 System Configuration and Wiring Wiring method to connector 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 For single wire Please obey the length in figure 8 to
15. and command ide polarity 3 g inpu z Torque limit Individual torque limit for both positive and negative direction g command input is enabled amp 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 Speed zero clamp input is enabled Instantaneous Speed Observer Available Velocity Control filter Available o Control output Speed arrival etc a E Speed command input can be provided by means of analog g Analog Torque command voltage 3 input input Parameters are used for scale setting and command 9 polarity Speed limit function Speed limit value with parameter t is enabled 1 Deviation counter clear 2 Command pulse inhibition Control input 3 Command dividing gradual increase switching 4 Damping control switching etc Control output Full closed positioning complete etc Max command Exclusive interface for Photo coupler 500kpps pulse frequency Exclusive interface for line driver 4Mpps a Input pulse Differential input signal format Q 9 as Electronic gear amp Inpu Division g Multiplication of 1 1000 to 1000 times 34 command pulse o Smoothing filter Primary delay filter or FIR type filter is adaptable to the command input Analog Torqu
16. can refer and set up the parameter with either one of the following 1 front panel of the driver 2 combination of the setup support software PANATERM and PC Setup with the Front Panel Display LED 6 digit ODODO SY oo Switch to error display screen when error LLL LLLL LL occurs and LED will flash about 2Hz usubu3 LED will flash slowly about 1Hz when S warning occurs Mode switching button E valid at SELECTION display ciiam nl v Press this to switch 4 kinds of mode X7 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 Shifting of the digit for data select parameters and execute actions changing to higher digit Change Selection Execution is valid to the digit which decimal point flashes Numerical value increases by pressing a decreases by pressing Qq amp a X7 Output connector for monitor 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
17. manufactured by order For details H e e e inquire the dealer 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 3 Where the motor is free from grinding oil oil mist iron powder or chips 4 Well ventilated and low humidity and dust free place 5 Vibration free place Environmental Conditions Item Conditions Ambient temperature 0 C to 55 C free from freezing Ambient humidity 20 to 85 RH free from condensation Storage temperature 20 C to 65 C Max temperature guarantee 80 C for 72 hours Storage humidity 20 to 85 RH free from condensation Vibration Lower than 5 88m s 0 6G 10 to 60Hz Altitude Lower than 1000m 1 Extreme temperatures are permissible only for short period such as during transportation 1 Rack mount type Install in vertical position and reserve enough space around the servo driver for ventilation 2 Base mount rear mount is stand
18. noise from the 24V power lines And reduces an effect ov of the noise generated by the servo Connection with input Magnetic Contactor MC L1 N L2 Turns on off the main power of the L5 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 e Wiring of the Main Circuit Pin B1 B2 and B3 B1 and B2 to be kept shorted for normal operation When you connect an external regenerative resistor disconnect a short bar between B1 and B2 then connect the external regenerative resistor between P and B2 set up Pr0 16 to 1 or 2 Pin NC Do not connect anything Connection to external components O Oo Regenerative resistor optional Remarks 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 P3 High voltage PC to be supplied by customer Wiring to Connector X7 Setup support software PANATERM
19. 00 5440 magnetic sensors are used nearby the motor O9kW 13 7 ormore 135 1000r S0orless 9 79 1176 1500 10000 less 130 MGME 20kW 2450rmore nars eks jg 2 200 or more 4 7 eoe oars 1372 2900 5440 3 0kW 58 8 or more g STE less 130 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 Renesas Tech nology Corp Above values except static friction torque releasing voltage and excitation current represent typical values Backlash of the built in holding brake is kept 1 or smaller at ex factory point Service life of the number of acceleration deceleration with the above permissible angular acceleration is more than 10 million times Life end is defined as when the brake backlash drastically changes B42 B43 9 Dynamic Brake Outline This driver is equipped with a dynamic brake for emergency stop Pay a special attention to the followings Caution 1 Dynamic brake is only for emergency stop Do not start stop the motor by turning on off the Servo ON signal SRV ON Otherwise it may damage the dynamic brake circuit of the driver The Motor becomes a dynamo when driven externally and short circuit current occurred while dynamic brake is activat ed may cause smoking or fire 2
20. 1 0KW 1 5kW 8 or more S0iorleselasaiies 2 0kW 0 33 100 0 81 DC2V 392 490 MSME 3 0kW 11 8 or more 80 or less 10000 Output Timing of BRK OFF Signal ee eee E 0 NUN EN or or less For the brake release timing at power on or braking timing at Servo OFF Servo PORN S OKW 16 2 0r more 1133 less 130 d TM 2200 Alarm while the motor is in motion refer to the Operating Instructions Overall 1 0kW 4 9 or more Wal urs bd ae 99 With the parameter Pr4 38 Setup of mechanical brake action while the motor is in 1 motion you can set up a time between when the motor enters to a free run from 1 5kW 2 0kW 13 7 or more 1 35 s UT 0 79 DN 1176 1500 10000 energized status and when BRK OFF signal turns off brake will be engaged when MDME Hoor 130 Orne the Servo OFF or alarm occurs while the motor is in motion Refer to the Operating SON Pads less 02 EO N m Instructions Overall for the details 4 0kW 5 0kW 24 5ormore 4 7 80orless its 13 1372 2900 5440 Mesi 1 The lining sound of the brake chattering and etc might be generated 70 or less E while running the motor with built in brake however this does not af udi 9 or morg ae don 200 0 59 388 780 NS fect any functionality MHME 15kW 13 7 or more peu iu 0 79 kea 1176 1500 2 Magnetic flux might be generated through the motor shaft while the brake coil is energized brake is open Pay an extra attention when ps 2450rmore 4 7 80orless ED 13 1372 29
21. 1 f gt ee epoui joug i GN95 t tal 114S SA 9c L indui Bujyoyms 20A i ssaj 10 sdd 00S ZN IS 1 Eel LAIG jonuos 8 4 TE 9 de Tht Ge I a Ean vindui g N9IS T tad NIVO ZZ indu Buiyoums ueg id asind zodo ke to 8y NO AUS AUNO ONI 1eTd Wee Pore e a TE eJ Ge mdu NO 0M S o pem 7099 e mum Ajddns amod c LSTNd T TI tan HNI f m p Ava pu Az IL UlIM J0 SISO4 12dO l oy WOO asind pueuiuio euiexe eu esn nof u9uM 1 J 70 90 109 uedo jo 8580 UI MEE ERE po B22 a System Configuration and Wiring 3 System Configuration and Wiring Wiring to the connector X4 Wiring to the connector X5 Wiring Example of Torque Control Mode Connect on to Feedback Scale cR o T 8g Provide a power supply for the feedback scale on your part or use the following power g oS Du c o _ output 250mA or less at 6 OH Reg Bee amp ER 5 soe E Application Symbol OON Contents Ez a Saz
22. 3 5 mm a Using handle lever la Attach the handle lever to the handling slot on the upper portion Press down the lever to push down the spring You can pull out the cable by pushing down the spring as the above Insert the peeled cable Release the lever the ferrule while pressing down the lever until it hits the insertion slot round hole b Using screw driver 1 L V Press the screw driver to the handling slot on the upper portion to push down the spring tion Insert the peeled cable Release the screw the ferrule while driver pressing down the screw driver until it hits the insertion slot round hole Take off the connector from the Servo Driver before making connec 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 10 10 Power supply 3 phase 380V _45 to 480V _15 ROR dn Built in thermostat of an external Pa i regenerative resistor light yellow ON X d MC ON OFF ALM Coil surge suppression units i xD DC 2 Control power 1 24V
23. 8kvA 1460 E Mor t MSME Select a circuit breaker and noise filter which match to the capacity of power supply MDME nen TN including a load condition GME 3 0KW 4 5kVA TM Terminal block and protective earth terminals MHME Use a copper conductor cables with temperature rating of 75 C or higher 3 phase DVOPM 60A 3 5mm 0 75mm 125 3 MFDH MSME 400V 30A 20050 3P a AWG12 AWG18 Terminal Dis screws of protective earth terminals for Frame D are M4 and M5 for Frame E F approx block Tighten the terminal block screw on frame F with a torque between 1 0 and 2 0 MDME 4 0kW g q i 6 8kVA M5 ar MHME N m Application of overtorque more than 2 0 N m will cause damage to terminal MSME block Maximum allowable torque to the screw securing terminal block cover is 0 2 approx N m MDME 5 0kW 7 E A l MHME The cable diameter of an earth cable Use an earth cable with the same diameter or larger as that of the main circuit cable If the diameter of the main circuit cable is 1 6mm or less use an earth cable with a diameter of 2 0mm AWG14 Use the attached exclusive connector for D E frame and maintain the peeled off length of 8 to 9mm Refer to P B16 Tighten the screws of the connector Connector X4 for the host controller with the torque of 0 3 to 0 35 N m Larger torque than 0 35N m may damage the connector at the driver side Do not turn on power without tightening all terminal block screws properly otherwise lo
24. 9 mm 228 For stranded wires Use of short tube e g ferrule is recommended Example Ferrules with plastic insulating sleeve Al series Phoenix Contact Ltd 1 Peel off the sheath so that the QD A B conductor portion of the cable will A gt B p e protrude from the tip of the ferrule t IL It should protrude 1 mm or more from the ferrule w M or more 2 Insert the oe into the femule e and crimp it with an appropriate 11 crimping tool 3 3 After crimping cut off the cable E conductor portion protruding from the ferrule The allowable protrud ing length after cutting should be 0 to 0 5 mm Part No of the crimping tool CRIMPFOX U D66 1204436 Available from Phoenix Contact Ltd When peeling off the sheath of the cable take care not to damage 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 B16 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
25. 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 0000 0
26. PANATERM you can execute the followings 1 Setup and storage of parameters and writing to the memory EEPROM 2 Monitoring of I O pulse input and load factor 3 Display of the present alarm and reference of the error history 4 Data measurement of the wave form graphic and bringing of the stored data 5 Normal auto gain tuning 6 Frequency characteristic measurement of the machine system 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 adjustm
27. 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 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 page 1 Introduction B2 On Opening the Product Package B2 Check of the Driver Model B2 Check of the Motor Model BS8 2 Installation B4 Driver B4 MOTON sisa acie e E B6 3 System Configuration and Wiring B8 Overall Wiring Connector type B8 Overall Wiring Terminal block type B10 Driver and List of Applicable Peripheral Equipments B12 Wiring of the Main Circuit Connector type B14 Wiring of the Main Circuit Terminal block type B15 Wiring method to connector B16 Wiring Diagram ssseeeem mI B18 Wiring of connector for motor and brake B19 Wirin
28. What Is Error Code Errorcode Protective function Attribute Main Sub History Can be cleared Immediate stop 11 O Control power supply under voltage protection O 12 O Over voltage protection O Q 13 O Main power supply under voltage protection between P to N 1 Main power supply under voltage protection AC interception detection e 14 O Over current protection Q 1 IPM error protection O 15 O Over heat protection O O 16 O Over load protection O Ox 18 O Over regeneration load protection O O 1 Over regeneration Tr error protection 24 0 Encoder communication disconnect error protection O 1 Encoder communication error protection 23 0 Encoder communication data error protection O 24 O Position deviation excess protection O Q 25 O Hybrid deviation excess error protection O O O Over speed protection O 1 2nd over speed protection O O 27 0 Command pulse input frequency error protection O 2 Command pulse multiplier error protection O O O 28 O Limit of pulse replay error protection O O 29 O Deviation counter overflow protection O O 30 O Safety detection Q O IF overlaps allocation error 1 protection O 33 1 IF overlaps allocation e
29. ansmission 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 816 7 5 2 4 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 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 ma poo E e ee If the connector is disconnected during operation an immediate stop will be caused Application Symbol act oe Contents 1 NC Do not connect 2 3 Safety input 1 4 These are two independent circuits that turn off the operation signal to the power 5 module to shut off the motor current Safety input 2 6 7 T De EDM output This is an output for monitoring the failure 8 of the safety function Frame ground FG Shell Connected with protective earth terminal in the servo driver Connector plug 2013595 1 optional available from Tyco Electronics AMP Connector pin assignment 2 U Viewed from cable
30. ard 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 D frame E F frame Front or Basemount Use mounting fixture ES Basemount Standard Frontmount Rear mount Use mounting fixture j 2 Mounting fixture optional parts Fastening torque of earth screws M4 to be 0 7 to 0 8 Nm Fastening torque of earth screws M5 B to be 1 4 to 1 6 N m i 2 Installation Driver Mounting Direction and Spacing Reserve enough surrounding space for effective cooling Install fans to provide uniform distribution of temperature in the control panel D E F frame is provided with a cooling fan at the bottom Observe the environmental conditions of the control panel described in the previous page t Fan Fan 100mm Control panel or more 4 Te Direction of air flowing 100mm from the internal or more cooling fan D E F frame 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 in
31. be kept shorted for earth LED normal operation X gt When you connect an external 8 l Junction cable Junction cable for motor i regenerative resistor disconnect Regenerative resistor optional for motor Connection to motor driving a short circuit wire between B2 mS phase and ground and B3 then connect the external When you use an external regenerative regenerative resistor between B1 resistor install an external protective and B2 set up Pr0 16 to 1 or 2 apparatus such as thermal fuse without fail Thermal fuse and thermostat are built in to DC Power supply for brake the regenerative resistor Option If the DC24V thermal fuse is activated it will not resume to be supplied by customer Mount the regenerative resistor on 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 bl ock type Connecting Example of F frame 400 V type e Wiring of Main Connector XA Circuit Breaker MCCB To protect power supply line from overloading install a wiring circuit breaker rated to the capacity of the Main Control power supply power supply Mains DC power Residual supply 24V current device Uee minimum 2A Noise Filter NF control power supply Removes external
32. 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 control aerospace transportation medical equipment various safety equipments or equipments which require a lesser air contamination We have been making the best effort to ensure the highest quality of the products however application of exceptionally larger external noise disturbance and static electricity or failure in input power wiring and components may result in unexpected action It is highly recommended that you make a fail safe design and secure the safety in the operative range If the motor shaft is not electrically grounded it may cause an electrolytic corrosion to the bearing depending on the condition of the machine and its mounting environ ment and may result in the bearing noise Checking and verification by customer is required Failure of this product depending on its
33. content may generate smoke of about one cigarette Take this into consideration when the application of the machine is clean room related Please be careful when using in an environment with high concentrations of sulfur or sulfric gases as sulfuration can lead to disconnection from the chip resistor or a poor contact connection Take care to avoid inputting a supply voltage which 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 The user is responsible for matching between machine and 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 B50 iecnnicai information Technical information of this product Operating Instructions CAD data can be downloaded from the following web site http industrial panasonic com ww i_e 25000 motor_fa_e motor_fa_e html For your records The model number and serial number of this product can be found on either the back or the bottom of the unit Please note them in the space provided and keep for future reference Model No ML DH Serial No 5 I 5 M ME Date of purchase Name Dealer Address Phone Motor
34. ction e 5 Feedback scale status 5 error protection O 0 A phase connection error protection O 55 1 B phase connection error protection e 2 Z phase connection error protection G 87 O Compulsory alarm input protection Q 95 0 Motor automatic recognition error protection 99 O Other error Note History The error will be stored in the error history Can be cleared To cancel the error use the alarm clear input A CLR If the alarm clear input is not effective turn off power remove the cause of the error and then turn on power again Immediate stop Instantaneous controlled stop upon occurrence of an error Setting of Pr 5 10 Sequence at alarm is also required 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 Inspect
35. d from our web site power supply H Wiring to Connector XD P B16 for connection U S U Wiring to Connector X1 Noise Filter NF Connection to Control power Connection to PC or Removes external noise from the 24V host controller power lines And reduces an effect oV Wiring to Connector X2 f th i nerat th Ivi 2 d iilos S a an Connection to RS232 RS485 river Wiring to Connector XA Or host controller Magnetic Contactor MC a Connection to input power HHE Wiring to Connector X3 i L1 Pin 3 Turns on off the main power of the l a Connection to Safety by pass al servo driver L2 Pin 2 g z plug Refer to P B21 2 Use coil surge suppression units L3 Pin 1 e El together with this kc Never start nor stop the servo aw Shot ect wre 6269 E rcgi coe motor with this Magnetic pees sees sees eee jla m m m m m m 6 m 9 2 Contactor 1 1 Wiring to Connector XB Connection to host controller Reactor L 1 Connection to motor e Eros Wiring to Connector X5 Reduces harmonic current of the Wiring to Connector XC 1 1 U phase red Connection to feedback scale main power Connection to external components i Wee oe S E i rer Wiring of External Components XC uuum LEG r a ENNIO A Wiring to Connector X6 L B2 Pin 2 I i Connection to encoder Pin B1 4 pin B2 2 pin and a eeaeeneanenscned peus Ei i Junction cable B3 3 pin terminals Ground Charg lamp for encoder B2 and B3 to
36. d under EMC Directives setting up certain model condition with certain locating distance and wiring of the servo motor and the driver And actual working condition often differs from this model condition es pecially in wiring and grounding Therefore in order for the machine to conform to the EMC Directives especially for noise emission and noise terminal voltage it is neces sary to examine the machine incorporating our servos Conformity to UL Standards Observe the following conditions of 1 and 2 to make the system conform to UL508C File No E164620 1 Use the driver in an environment of Pollution Degree 2 or 1 prescribed in IEC60664 1 e g Install in the control box with IP54 enclosure 2 Make sure to install a circuit breaker or fuse which are UL recognized Listed marked between the power supply and the noise 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 115 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 B36
37. e limit Individual torque limit for both positive and negative direction input command input is enabled 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 given by Auto tuning the controlling device and internal amplifier The gain is set automatically in accordance with the rigidity setting 9 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 Eam Excess position deviation command pulse division error EEPROM error etc Traceability of alarm data The alarm data history can be referred to B48 B49 12 After Sale Service Repair Consult to a dealer from whom you have purchased the product for details of repair When the product is incorporated to the machine or equipment you have purchased consult to the manufacturer or the dealer of the machine or equipment Cautions for Proper Use This product is intended to be used with a general industrial product but not de signed or manufactured to be used in a machine or system that may cause personal death when it is failed Installation wiring operation maintenance etc of the equipment should be done
38. ent 2 00to Damping control Parameter for Damping control V ity Te 3 00 to vial de 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 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 of the driver You can clear the above error by operating the front panel keys and setup support softwear PANATERM The error code No is displayed in the form of ErrXX Y X main YY sub lt List of error code No gt 5 Protective Functions Protective Function
39. er 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 Connect the protective earth terminal Q of the driver and the protective earth terminal PE of the control box without fail to prevent electrical shocks 2 Do not make a joint connection to the protective earth terminals Q 2 terminals are provided for protective earth For driver and applicable peripheral equipments refer to P B12 Driver and List of Applicable Peripheral Equipments B40 MEMO 8 Built in Holding Brake 8 Built in Holding Brake Outline Specifications Outline Specifications In the applications where the motor drives the vertical axis this brake would be used Specifications of Built in Holding Brake to hold and prevent the work moving load from falling by gravity while the power to Static 7 4 Exciting ien seen Permissible the servo is shut off Motor Motor friction aid Engaging bene current Releasing ue dme angular i oe z series output torque e DCA voltage i 3 acceleration Use this built in brake for Holding purpose only that is to hold the stalling Nm rem ms TS tcookof Mee oe eo regt status Never use this for Brake purpose to stop the load in motion
40. f 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 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 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 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 mot
41. g to the Connector X1 Wiring to the Connector X2 Wiring to the Connector X8 Wiring to the Connector X4 page Wiring to the Connector X5 B25 Wiring to the Connector X6 B26 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 B45 Incremental Specifications 20 bit Absolute Specifications 17 bit B46 11 Specifications B47 After Sale Service Repair B50 IMD89 1 Introduction On Opening the Product Package Make sure that the mod el is what you have ordered Check if the product is damaged or not during transportation Check if the Operating Instructions safety are included or not Check if the power connector motor connectors connector for external regenerative resistor connection only D and E frame and safety by pass plug are included or not Neither the power connector nor motor connect
42. ion Items and Cycles General and normal running condition Ambient conditions 30 C annual average load factor of 80 or lower operating hours of 20 hours or less per day Perform the daily and periodical inspection as per the items below 6 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 error have occurred Disassembling for inspection and repair should be carried out only by authorized dealers or service company Prohibited Standard replacement Not cycles hour TS Product Component Smoothing condenser Approx 5 years 2 to 3 years galing tan 10 000 to 30 000 hours Aluminum electrolytic capacitor on PCB Approx 3 years Type Cycles Items to be inspected Ambient temperature humidity speck dust or foreign object Abnormal vibration and noise 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 i Annual inspection Damage to
43. iring Use clamp type terminals of round shape with insulation cover for wiring to the terminal block For cable diameter and size reter to Driver and List of Applicable Perip heral Equipments P B12 Tighten the terminal block screw with a torque between 1 0 and 2 0 Nm 3 Attach the terminal cover and fix with screws Tighten the screw securing the cover with a torque between 0 1 and 0 2 Nm T Power supply RCD HMCCBH NF T Red U White V lack Ww Green or Greenyellow Motor Ground resistance 100 Q max For applicable wire refer to P B13 1 us DC DC power NG 24V supply for brake N Varistor Fuse 5A Direct power supply for control circuit Check the name plate of the driver for power specifications Provide a residual current device The residual current device to be the one designed for Inverter and is equipped with countermeasures for harmonics Provide a circuit breaker Make sure to provide a noise filter Provide coil surge suppression units to the coil of the Magnetic Contactor recommended by manufacturer Never start stop the motor with this Magnetic Contactor Provide an AC Reactor AC 3 phase power supply 400V for main circuit Don t disconnect the short bar between B1
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45. l FG FG j Shell FG x Twisted pair N Twisted pair j Connector JN2DS10SL1 R j Connector JN2DS10SL1 R a by Japan Aviation Electronics Ind by Japan Aviation Electronics Ind Bee Motor Encoder cable J Driver Motor Encoder cable i Driver B26 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 Connector X7 Manufacturer s part No 530140610 Manufacturer Japan Molex Inc Application Symbol Comerio Contents Analogue monitor AM1 1 Output Output the analogue signal for moni a monitor m 5 tor Signal ground GND 3 Connected to ground of control circuit Digital monitor output DM 4 Output the digital signal for monitor NC 5 Do not connect NC 6 Do not connect B28 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
46. 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 GenfigureHoh snd Wiring Overall Wiring Connector type Overall Wiring Connector type Connecting Example of D E frame 400 V type Laut High voltage PC to be supplied Wiring to Connector X7 by customer Wiri i Main Control Wiring of Main Connector XA newer supply power supply Monitor output Circuit Breaker MCCB Mains DC power ian ibd To protect power supply line from Residual supply 24V cede End s overloading install a wiring circuit current device Use minimum after connection tor othe Setup support software PANATERM breaker rated to the capacity of the 2A occasions Refer to Please downloa
47. multi axes application consult with manufacturer of the noise filter If sufficient noise margin is required connect 2 filters in series Recommended components Voltage specifications Model No for driver Current rating A Manufacturer FN258L 16 07 16 3 phase 400V SCHAFFNER FN258L 30 07 30 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 Voltage specifications Manufacturer s for driver part No Option part No Manufacturer DVOPM20050 3 phase 400V RAV 801BXZ 4 Okaya Electric Ind 04 240 2 E Circuit diagram 4 o ooo eG oooo d 9 9 9 sr UL 1015 AWG16 lo o O00 3 ii S PF 41 1 1 45 05 1 1 1 1 B39 7 Conformity to EC Directives and UL Standards Composition of Peripheral Equipments Noise Filter for Signal Lines Install noise filters 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 3921 Mass 62 8g tg Fix the signal line noise filter in ord
48. od Na MSME104G1C ERI FREQ AC SERVO MOTOR INPUT30AC 194 RATED OUTPUT 1 0 W CONT JOE 3 18 Vm 250 ATED REV 3000 r min CONNECTION a IP67 Rated rotational speed r Serial Number RATING 1 bw fo0d0001 N Rated frequency 25 0040 Manufacture date Panasonic Corporation e g 10040001N 292 Made in China Lot number e g 20100401 Manufacture year Manufacture month Manufacture date Month of production Year of production Lower 2 digits of AD year Model Designation MSME104G1C xx 1 to 4 5 to6 Type Motor rated output Symbol Specifications Symbol Output MSME OR o 5 RW M TM MDME 1 OW to 8 OKW 15 15kW MGME 0 9kW to 3 OKW So 3 MHME 1 OKW to 5 0RW MM 10 111012 Special specifications Motor structure 4 Design order 1 Standard Voltage specifications Symbol Specifications 4 400 V Rotary encoder specifications Symbol Specifications Format Pulse count Resolution Wire count G Incremental 20bit 1 048 576 5 wire S Absolute 17bit 131 072 7 wire Motor structure MSME MDME MGME MHME Symbol Shaft Holding brake Oil seal Round Key way Without With Without With c e e D g e o Products are standard stock items or G g
49. or are included to F frame 1 Introduction Check of the Driver Model Contents of Name Plate Model number Panasonic AC SERVO DRIVER Input output voltage Serial No P10040001N Model No MDDHT2407 INPUT OUTPUT Number of phase Voltage 380 480V 0 480V Phase 30 194 I ELC 2 1A Rated input output Ir Freq 50 60Hz Pas 6Hz current Power Panasonic Corporation 20100401 Input output frequency Rated output of applicable motor Serial Number e g P10040001N 9001 Lot number Month of production Year of production Lower 2 digits of AD year Manufacture date e g 20100401 Manufacture year Manufacture date Manufacture month MDDHT2407 x 1104 dii 7 8109 100 2 Special specifications Max current rating letters and numbers Frame size symbol of power device Current detector rating Symbol Frame Symbol Current Symbol Current rating i rating p 07 7 5A MDDH A5 series D frame ower supply T2 15A ESET 12 12A MEDH A5 series E frame T3 30A Symbol Specifications 26 BUR MFDH A5 series F frame T4 35A 3 phase 400V 30 30A T5 50A 40 40A TA 100A 64 64A 1 Introduction Check of the Motor Model Contents of Name Plate Model Rated input voltage current Rated output Panasonic H
50. or 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 large as possible Minimum R20mm Permissible Load to Output Shaft 1 Design the mechanical system so that the applied radial load and or thrust load to the motor shaft at installation and at normal operation can meet the permissible value 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 while attaching detaching a coupling to and from SO the motor shaft Motor 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
51. orque control 6 Velocity Torque control 7 Full closed control 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 Differential input Control input Speed zero clamp Torque command sign input etc AY signal format amp Pul Tulse Electronic gear 3 input Division Q Pei 1 1000 to 1000 times 9 Multiplication of zi command pulse rad Primary delay filter or FIR type filter is adaptable to the Smoothing filter command input Analog Torque limit Individual torque limit for both positive and negative direction input command input is enabled Instantaneous Speed Available Observer Damping Control Available 1 Selection of internal velocity setup 1 Control input 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
52. ose contacts may generate heat smoking firing Bi2 B13 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 Tips on Wiring 1 Wire connector XA XB XC and XD 2 Connect the wired connector to the driver Fuse 5A DC V 2 1 ov XD p 3IL ower supply RCDHMCCBH NF HMCH L 2 12 1 13 a XA Coo pee 4 B 3 83 MM Sere 2 B2 1 N XC n Red U M w mU lack XB E Bep DO Motor Ground resistance 100 O max For applicable wire refer to P B13 NK 5 Dc DC power supply gt 24V for brake Varistor 2 xv Direct power supply for control circuit Check the name plate of the driver for power specifications Provide a residual current device The residual current device to be the one designed for Inverter and is equipped with countermeasures for harmonics Provide a circuit breaker Make sure to provide a noise filter Provide coil surge suppression units to the coil of the Magnetic Contactor recommended by manufacturer Never start stop the motor with this Magnetic Contactor Provide an AC Reactor
53. power supply for interface Noise filter for signal lines l pd Circuit Residual Noise filt current device oise filter breaker RCD Je Surge absorber i XC Noise filter for signal lines Noise filter for signal lines Protective earth PE xd Use options correctly after reading Operating Instructions of the options to better understand the precautions Take care not to apply excessive stress to each optional part Power Supply Main power suppl P PPS 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 1 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 accordance 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
54. rror 2 protection 2 IF input function number error 1 protection O B32 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 NH fitting error protection O 34 O Software limit protection Q Q 36 0102 EEPROM parameter error protection 37 0102 EEPROM check code error protection 38 O Over travel inhibit input protection Q O Analog input excess protection O O O 39 1 Analog input2 excess protection O 2 Analog input3 excess protection O O O 40 O Absolute system down error protection O Q 41 O Absolute counter over error protection O 42 O Absolute over speed error protection O 43 O Initialization failure Q 44 O Absolute single turn counter error protection QO 45 O Absolute multi turn counter error protection O 47 O Absolute status error protection QO 48 O Encoder Z phase error protection O 49 O Encoder CS signal error protection 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 51 2 Feedback scale status 2 error protection 3 Feedback scale status 3 error protection 4 Feedback scale status 4 error prote
55. stallation 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 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 Storage temperature 20 C to 65 C Max temperature guarantee 80 C for 72 hours 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 o
56. stalling the products in order to make noise countermeasure Caution on Installation We have been making the best effort to ensure the highest quality however application of exceptionally large external noise disturbance and static electricity or failure in input power wiring and components may result in unexpected action It is highly recommend ed that you make a fail safe design and secure the safety in the operative range If stranded wires are used as the cable bunch the conductors of the cable using a ferrule If stranded wires are used as they are unexpected accidents such as an electric shock and short circuit or injury may result Refer to P B16 Wiring method to connector There might be a chance of smoke generation due to the failure of these products Pay an extra attention when you apply these products in a clean room environment Be sure to ground the protective earth terminal If the product is grounded 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 coefficient by referring to the Operating Instructions Overall 2 In
57. t MSME104S1 1 0kW MDDHT3420 D frame MSME154S1 1 5kW MDDHT3420 3 MSME204S1 2 0kW MEDHT4430 E frame S phase MSME 3000r min 400V Low inertia MSME304S1 3 0kW MFDHT5440 MSME404S1 4 0kW F frame MFDHTA464 MSME504S1 5 0kW MDME104S1 1 0kW MDDHT2412 D frame MDME154S1 1 5kW MDDHT3420 3 phase MDME MDME204S1 2 0kW MEDHT4430 E frame gem 2000r min 400V Middle inertia MDME304S1 3 0kW MFDHT5440 MDME404S1 4 0kW F frame MFDHTA464 MDME504S1 5 0kW MGME094S1 0 9kW MDDHT3420 D frame 3 phase MGME x 400V Middle inertia 1000r min MGME204S1 2 0kW MFDHT5440 F frame MGME304S1 3 0kW MFDHTA464 MHME10481 1 0kW MDDHT2412 D frame MHME154S1 1 5kW MDDHT3420 3 phase MHME MHME204S1 2 0kW MEDHT4430 E frame Sil teens 2000r min 400V High inertia MHME304S1 3 0kW MFDHT5440 MHME404S1 4 0kW F frame MFDHTA464 MHMES504S1 5 0kW Note 1 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 Velocity control 3 Toque control 4 Position Velocity control 5 Position T
58. the terminal block Loose fasteners on terminal block Note jInspection cycle may change when the running conditions of the above change B34 for absolute encoder Instructions attached to the battery for absolute encoder Diver 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 B35 usubu3 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 standar
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