Operating Instructions (Basic) AC Servo Motor & Driver
Contents
1. Various protective functions are equipped in the driver When these are triggered the Error code peice meen Attribute motor will stall due to error the driver will turn the Servo Alarm output ALM to off open Main Sub History Can be cleared Immediate stop Error status and their measures 0 IF overlaps allocation error 1 protection O During the error status the error code No will be displayed on the front panel 1 IF overlaps allocation error 2 protection O LED and you cannot turn Servo ON 2 IF input function number error 1 protection O You can clear the error status by Alarm clear input A CLR in 120ms or longer 3 IF input function number error 2 protection O When overload protection is triggered you can clear it by Alarm clear input A 4 IF output function number error 1 protection O CLR in 10sec or longer after the error occurs You can clear the Overload protec z F me 5 IF output function number error 2 protection O tion time characteristics refer to P B30 31 by turning off the control power supply between 24V and OV 400V of the driver Bob fitting error protection O You can clear the above error by operating the front panel keys and setup support 7 INH fitting error protection O softwear PANATERM 34 O Software limit protection O O2. E 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 B2 and B3 Disconnect this only when an external regenerative register is used Dll 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 Powell IRep mecs NF NC supply Red Avoid shorting and grounding y Don t connect the main power Earth ground this ack WV To prevent electric shock be sure to connect the ground terminal Q of the driver and the ground terminal ground E E plate of the control panel Thes The ground terminal must not be shared with other ese colors equipment Two ground terminals are provided Don t connect the earth cable to other inserting slot nor make them touch Ground resis
3. Be sure to clear the alarm during stop after removing the cause of the error and 36 0102 EEPROM parameter error protection securing safety 37 0102 EEPROM check code error protection The error code No is displayed in the form of ErrXX Y X main YY sub 38 0 Over travel inhibit input protection O lt List of error code No gt 43 O Initialization failure O Error code Attribute ti Protective functi 20 bit incremental encoder single turn counter error Main Sub gears mace History Can be cleared Immediate stop 44 0 protection e 11 O Control power supply under voltage protection O 45 0 20 bit incremental encoder multi turn counter error O 12 O Over voltage protection O protection 13 O Main power supply under voltage protection between P to N O 28 NEUEM O 1 Main power supply under voltage protection AC interception detection O 49 0 Encoder CS signal error protection O 0 Over current protection O 87 0 Compulsory alarm input protection Q i 1 IPM error protection 95 O Motor automatic recognition error protection 15 O Over heat protection O O Other number Other error 16 O Over load protection eu Note History The error will be stored in the error history 0 Over regeneration load protection O O Can be cleared To cancel the error use the alarm clear input A CLR 18 O If the alarm clear input is not effective turn off power remove the cause of the 1 Over regeneration Tr error
4. Noise filter P B33 Composition of Peripheral Equipments Surge absorber P B33 Composition of Peripheral Equipments Noise filter for signal P B34 Composition of Peripheral Equipments Motor brake connector P B19 Wiring of connector for motor and brake About circuit breaker and magnetic contactor To comply to EC Directives install a circuit breaker between the power and the noise filter without fail and the circuit breaker should conform to IEC Standards and UL recognized Listed and f marked Suitable for use on a circuit capable of delivering not more than 5 000Arms symmetri cal amperes below the maximum input voltage of the product SE REA Select a circuit breaker and noise filter which match to the capacity of pow er supply including a load condition Terminal block and ground terminals Use a copper conductor cables with temperature rating of 75 C or higher e Fastening torque list Terminal block screw Terminal cover fastening screw Terminal block Terminal cover Driver a screw fastening screw Fastening A Fastening Frame Terminal name bes ei torque nt 2 torque Nem C Nem C 24V 0V M3 0 4 to 0 6 F400V T L2 L3 B1 B2 B3 NC U V W M4 j grido MS pte opel e Fastening torque list Ground terminal screw Connector to host controller X4 Terminal block Connector to host screw controller X4 Driver
5. PIN No Application PIN No Application PIN No Application A U phase A NC A Brake B V phase B NC B Brake C W phase C NC C NC D Ground D U phase D U phase E V phase E V phase F W phase F W phase G Ground G Ground H Ground H Ground l NC l NC 3 System Configuration and Wiring Wiring to the connector X1 This is used for USB connection to a personal computer It is possible to change the parameter setting and perform monitoring Connector Pin No Contents computer Use for communication with personal Do not connect GND 5 Connected to ground of control circuit Motor connection e i i a Da i Insulated ALM DC12 to 24V a8 i Note 1 5 e fan Shielding the circuit is recommended B18 for the purpose of noise reduction For wiring the motor connector refer to next page X1 to X7 are used for the secondary circuit To connect these terminals to the primary power supply particularly the 24 VDC power supply for control and the 24 VDC power supply for brake insulation is required Do not connect these terminals to the same power supply B19 iring dw ion an t igura Wiring to the connector X4 3 System Conf iring dw ion an t igura ex zt Oi c c E AES gt 2 0 2 es Example of Internal Velocity Control Mode iring W o
6. Connecting Example of D E frame 400 V type Apply the voltage designated on the nameplate from the power source Symmetric current should be 5000 Arms or below If the short circuit current on the power source exceeds this value use a current limiting device e g current limiting fuse current limiting circuit breaker or transformer To protect power supply line from overloading install a wiring circuit breaker rated to the capacity of the power supply Wiring of Main Connector XA Circuit Breaker MCCB Mains Useapower 24 VDC power supply rt supply with Residual 2Aorlarger for control current device capacity to be supplied by customer 24V oV Connection to Control power Wiring to Connector XA Noise Filter NF Removes external noise from the power lines And reduces an effect of the noise generated by the servo driver Connection to input power L1 Pin 3 L2 Pin 2 L3 Pin 1 Magnetic Contactor MC Turns on off the main power of the servo driver Use coil surge suppression units together with this Never start nor stop the servo motor with this Magnetic Contactor Reactor L Reduces harmonic current of the main power Wiring of Motor Connector XC Pin B1 4 pin B2 2 pin and B3 3 pin B2 and B3 to be kept shorted for normal op
7. MGME MHME Middle inertia i Shaft Holding brake Oil seal MGME 0 9kW to 4 5kW Ene Round Key way Without With Without With High inertia c e e MHME 10kW to 5 0kW D e e e G e e e H e e e Products are standard stock items or manufactured by order For details 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 6 Do not use benzine thinner alcohol acidic cleaner and alkaline cleaner because they can discolor or damage the exterior case Environmental Conditions Item Conditions 1 Extreme tempera 5 r3 z tures are permissible Ambient temperature O C to 50 C free from freezing only for short pe Ambient humidity 2096 to 8596 RH free from condensation riod such as during 20 C to 65 C Max tempe
8. X4 IPSIS 1 Connection to host controller Wiring to Connector X6 Connection to encoder 1 Junction cable for encoder Remarks EJ X1 to X7 are used for the secondary circuit To connect these Junction cable for motor rd Connection to motor driving phase and ground x terminals to the primary power supply particularly the 24 VDC power supply for control and the 24 Junction cable for brake VDC power supply for brake insulation is SD required WO 4 Do not connect these DC Power supply for Brake terminals to the same DC24V power supply to be supplied by customer 1 Do not make displacement wiring or inspection while the LED is lit cause of electric shock Bi 3 System Configuration and Wiring Driver and List of Applicable Peripheral Equipments Diameter 4 Fu F Rated Diameter Crimp and CHmp Diameter Diameter Required Circuit Noise Surge Noise Operating and terminal withstand control withstand nd Driver APPlicable je Rated Power breaker filter absorber gj or cufrentof withstand formain voltage ENDS Voltage Withstand motor ge output atthe rated Single phase Single phase k magnetic voltageof circuit of contro
9. insulation is required 7 x E E 7 cc Do not connect these terminals to the same power supply Do not connect these terminals to the same power supply B21 B20 3 System Configuration and Wiring Wiring to the connector X6 Connection to Encoder In case of 20 bit incremental encoder MSME 750W to 5 0kW SL n X6 Tu MDME 400W to 5 0kW Esv i F Esv 25 8 pay 2reoy V 5 MFME 1 5kW to 4 5kW E 3 g MGME 0 9kW to 4 5kW F 4 MHME 1 0kW to 5 0kW pg S 5 pg PS J 6 ps ra t t Shell FG I Twisted pair Connector JN2DS10SL1 R So by Japan Aviation Electronics Ind Motor Encoder cable uy Driver 3 System Configuration and Wiring Wiring to the connector X7 The connector X7 of the front See Output circuit panel is for monitor output S8588858 Manufacturers ppal 25 Analogue output 2 systems part No poA Measuring In both cases it is possible to 530140610 PEU Switch the output signal by set Manufacturer pop ting parameters Japan Molex Inc icati Connector Application Symbol Pin No Contents Analogue monitor output 1 AM1 1 Output the analogue signal for monitor The amplitude of the output signal is 10 V Analogue monitor output 2 AM2 2 Output imp
10. it may cause an electrolytic corrosion to the bearing depending on the condition of the machine and its mounting environ ment and may result in the bearing noise Checking and verification by customer is required Failure of this product depending on its content may generate smoke of about one cigarette Take this into consideration when the application of the machine is clean room related Please be careful when using in an environment with high concentrations of sulfur or sulfric gases as sulfuration can lead to disconnection from the chip resistor or a poor contact connection B42 Take care to avoid inputting a supply voltage which significantly exceeds the rated range to the power supply of this product Failure to heed this caution may result in damage to the internal parts causing smoking and or a fire and other trouble e The user is responsible for matching between machine and components in terms of configuration dimensions life expectancy characteristics when installing the machine or changing specification of the machine The user is also responsible for complying with applicable laws and regulations The product will not be guaranteed when it is used outside its specification limits Parts are subject to minor change to improve performance Technical information of this product Operating Instructions CAD data can be downloaded from the following web site http industrial panasonic com ww i
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12. NF HMH LiH 2 1p ee 1 bs XA 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 shorting cable between B2 and B3 Disconnect this only when the external regenerative register is used Do not connect anything to N XC U Match the colors of the motor lead wires to those of Red 3 U the corresponding motor output terminals U V W V 2 wv Avoid shorting and grounding Don t connect 1 w XB White the main power W Earth ground this ack To prevent electric shock be sure to connect the Geo E ground terminal D of the driver and the ground rendo terminal ground plate of the control panel These colors D The ground terminal must not be shared with are used for other equipment Motor optional cable L Two ground t
13. Plate Model number Input output voltage Modelno MDDHT2407E Serial No P09040001N INPUT OUTPUT Number of phase Yetase 38o48ov gov ARLE 21A 1 5A Freq 50 60Hz 0 416 6Hz Power 600W Serial Number e g P09040001N T Panasonic AC SERVO DRIVER Lot number E production Year of production Lower 2 digits of AD year Manufacture date e g 20090401 Manufacture year Manufacture date Manufacture month MDDHTI2407 E s Rated input output current Panasonic Corporation 20090401 Input output frequency Rated output of applicable motor 1104 5106 7 8109 n 11 to12 Special specifications letters and numbers Max current rating ASE series Frame size symbol of power device Current detector rating Symbol Frame Symbol Current Symbol Current rating rating p 07 7 5A MDDH A5 series D frame ower supply T2 15A Peer 12 12A MEDH A5 series E frame T3 30A Symbol Specifications 25 20A MFDH A5 series F frame T4 35A 4 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 FREQ Rated output RATING THERMAL CLASS Rated frequency Manufacture date Pana
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15. 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 S i M M Date of purchase Name Dealer Address Phone Motor Business Unit Panasonic Corporation 7 1 1 Morofuku Daito Osaka 574 0044 Japan Phone 81 72 871 1212 Panasonic Corporation 2009 B43 Panasonic Corporation 7 1 1 Morofuku Daito Osaka 574 0044 Japan Phone 81 72 871 1212 Panasonic Corporation 2009 Printed in China IME04 A 20110 2111
16. 4 5 Do not use these motors in application where water proof performance is required such as continuous wash down operation 4 Air containing water vapor will become saturated with water vapor as the temperature falls causing dew You can mount the motor either horizontally or vertically as long as you observe the followings 1 Horizontal mounting Mount the motor with cable outlet facing downward for water oil countermeasure 2 Vertical mounting Use the motor with oil seal when mounting the motor with gear reducer to prevent the reducer oil grease from entering to the motor 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 down S Cable Motor ward 3 Avoid a place where the motor is always subjected to oil or water 4 Use the motor with an oil seal when used with the gear reducer so that the oil may not enter to the motor through shaft Stress to Cables 1 Avoid a stress application to the cable outlet and connecting portion by bending or self weight 2 Especially in an application where the motor itself travels fix the attached cable and contain the extension junction cable into the beare
17. 80 5 1 1 5kW 2 0 W 13 7 ormore 195 1000r 079 DC2V 1176 1500 100 MDME less 50 or less ar GOR 3 0kW 16 20rmore ee o l ag 1470 2200 4 0KW 5 0kW 24 5 ormore 4 7 80orless oe 13 1372 2900 5440 1 5kW 7 8 or more 4 7 80orless 35 or less 0 83 DCoV 1372 2900 MFME 2 5kW 21 6 or more 8 75 150 or 100 or 0 75 lormore 1470 1500 10000 4 5kW 31 4 or more less less 2200 O9kW 13 70rmore 1 35 1000r SO orless oo 1176 1500 10000 less 130 20kW 24 5 or more 80orless O l8 15 poav MEME 200 or more 5440 3 0kW 4 7 150 or 50 or less 1372 2900 58 8 or more m 130 14 4 5kW 50 or less 5000 1 0kW 490rmore 80 or less 02 S8 o so 588 780 1 35 200 10000 MHME 15kW 13 7 or more 1000r 50orless og DC2V 4176 1500 less 130 or more 2 0kW to 25 or less 5 OkW 24 5 or more 4 7 80orless 200 1 3 1372 2900 5440 Excitation voltage is DC24V 10 Releasing time values represent the ones with DC cutoff using a varistor Values in represent those measured by using a diode VO3C by Hitachi Ltd Above values except static friction torque releasing voltage and excitation current represent typical values Backlash of the built in holding brake is kept 1 or smaller at ex factory point Service life of the number of acceleration deceleration with the above permissible angular acceleration is more than 10 million times Life end is defined as when the brak
18. 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 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 B24 4 Parameter Composition of Parameters The parameter No is displayed in the form of PrX YY X Classification YY No For the details on the parameters refer to the Operating Instructions Overall Parametr No Class No Class name Group 0 O0to Basic setting Parameter for Basic setting 1 00to Gain adjustment Parameter for Gain adjustment 2 00to Damping control Parameter for Damping control Internal verocity 3 00 to Parameter for Internal verocity control 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 B25 5 Protective F ti 5 P rotective Fu n cti O n S BUE TERES fatis Ene Gods Protective Function What Is Error Code
19. 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 y X7 Output connector for monitor B23 IPSIS 4 Parameter Outline Setup Connection Setup with the PC It is possible to connect your personal computer to connector X1 of MINAS A5E using a USB cable for personal computer connection Downloading the setup support soft ware PANATERM from our web site and installing it on your personal computer will allow you to perform the following easily With the PANATERM you can execute the followings 1 Setup and storage of parameters and writing to the memory EEPROM 2 Monitoring of I O pulse input and load factor 3 Display of the present alarm and reference of the error history 4 Data measurement of the wave form graphic and bringing of the stored data 5 Normal auto gain tuning 6 Frequency characteristic measurement of the machine system 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
20. Panasonic Operating Instructions Basic AC Servo Motor amp Driver MINAS ASE series 400V This product image is 1 5kW type of A5E series Thank you for purchasing this Panasonic product Before operating this product please read the instructions carefully and save this manual for future use This product is for industrial equipment Don t use this product at general household If you are the first user of this product please be sure to read the downloaded Operating Instructions Overall from our Web Site Web address of Panasonic Corporation http industrial panasonic com ww i e 25000 motor fa e motor fa e html Make sure to forward these Operating Instructions for safety to the final user Contents 1 Introduction On Opening the Product Package 7 Check of the Driver Model Check of the Motor Model 2 Installation Driver Motor 3 System Configuration and Wiring eruere 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 sseeeem mI B18 Wiring of
21. Standards Composition of Peripheral Equipments Noise Filter When you install one noise filter at the power supply for multi axes application consult with manufacturer of the noise filter If sufficient noise margin is required connect 2 filters in series e Recommended components Voltage specifications Current rating Applicable sles tes for driver A driver frame AE Rn FN258L 16 07 16 D E frame 3 phase 400V SCHAFFNER FN258L 30 07 30 F frame Select a noise filter whose capacity is commensurate with the power Source capacity in consideration of the load condition For the detailed specifications of each noise filter contact the manufacturer Surge Absorber Provide a surge absorber for the primary side of noise filter d Voltage specifications Manufacturer s Option part No for driver part No Manufacturer DVOPM20050 3 phase 400V R A V 801BXZ 4 Okaya Electric Ind 04 2 0 2 id ire Circuit diagram e o o Oo ILI xr UL 1015 AWG16 Z Z Z Z Mi amp Le H maa El i 3 i 411 EE i i B33 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 Manuf
22. T4430E E frame 400V High inertia MHME304GL_ 3 0kW MFDHT5440E MHMEA404G 4 0kW F frame MHMESB0A4G 5 0kW MEP Note Suffix of _ in the applicable motor model represents design order Suffix of in the applicable motor model represents the motor structure B39 11 Specifications Basic Specifications 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 3 Main Dto 1096 Ee E e circuit F frame 9 Phase 380to 480V _ 1596 50 60Hz g 400V Contro Dto E circuit F frame DC 24V 15 Control method IGBT PWM Sinusoidal wave drive Encoder feedback 20 bit 1048576 resolution incremental encoder 5 wire serial Pon General purpose 10 inputs C rtrol P The function of general purpose input is selected by parameters CU S signal Sc General purpose 6 outputs e P The function of general purpose input is selected by parameters 9 Analog Input none 3 signal o Output 2 outputs Analog monitor 2 output Q o Pulse Input 2 inputs Photo coupler input Line
23. acturer s Option part No part No Manufacturer DVOP1460 ZCAT3035 1330 TDK Corp Mass 62 8g ty Fix the signal line noise filter in order to prevent excessive stress to the cables Residual current device Install a type B Residual current device RCD at primary side of the power supply 1 To prevent electric shock be sure to connect the ground terminal Q of the driv er and the ground terminal PE of the control panel 2 The ground terminal Q must not be shared with other equipment Two ground terminals are provided For driver and applicable peripheral equipments refer to P B12 Driver and List of Applicable Peripheral Equipments B34 MEMO 8 Built in Holding Brake Outline Specifications In the applications where the motor drives the vertical axis this brake would be used to hold and prevent the work moving load from falling by gravity while the power to the servo is shut off Use this built in brake for Holding purpose only that is to hold the stalling status Never use this for Brake purpose to stop the load in motion Output Timing of BRK OFF Signal For the brake release timing at power on or braking timing at Servo OFF Servo Alarm while the motor is in motion refer to the Operating Instructions Overall With the parameter Pr4 38 Setup of mechanical brake action while the motor is i
24. connector for motor and brake B19 Wiring to the Connector X1 Wiring to the Connector X4 Wiring to the Connector X6 Wiring to the Connector X7 page 4 Parameter B23 Outline Setup Connection B23 Composition of Parameters B25 5 Protective Functions B26 Protective Function What Is Error Code B26 6 Maintenance and Inspections B28 7 Conformity to EC Directives and UL Standards B30 Composition of Peripheral Equipments B32 8 Built in Holding Brake B36 9 Dynamic Brake B38 10 Check of the Combination of the Driver and the Motor B39 Incremental Specifications 20 bit B39 11 Specifications B40 After Sale Service Repair B42 IME04 A 1 Introduction On Opening the Product Package Make sure that the model is what you have ordered Check if the product is damaged or not during transportation Check if the Operating Instructions safety are included or not Check if the power connector motor connectors and connector for external regen erative resistor connection only E frame are included or not Neither the power connector nor motor connector are included to F frame 1 Introduction Check of the Driver Model Contents of Name
25. cutting should be 0 to 0 5 mm Part No of the crimping tool CRIMPFOX U D66 1204436 Available from Phoenix Contact Ltd Examples Nylon insulated ferrule NTUB series J S T Mfg Co Ltd Vinyl insulated ferrule VTUB series J S T Mfg Co Ltd 1 Peel off the sheath of the cable conduc DAZB ASB C tor portion to the length equal to that of sheath on the ferrule 2 Insert the cable into the ferrule and crimp it with an appropriate crimping tool Part No of the crimping tool YNT 1614 for VTUB 2 NTUB 2 YNT 2622 for VTUB 0 5 Available from J S T Mfg Co Ltd B16 3 System Configuration and Wiring Wiring method to connector XD Cables Compatible with Connector Conductor Size AWG24 to 20 Sheath Outline 1 2 to 2 6 mm Recommended Connector Bar Terminal Conductor Size AWG24 to 22 Terminal Model Number VTUB O 5 J S T Mfg Co Ltd XA XB XC Cables Compatible with Connector Conductor Size AWG18 to 12 Sheath Outline 2 1 to 4 2 mm Recommended Connector Bar Terminal Conductor Size AWG16 to 14 Terminal Model Number VTUB 2 or NTUB 2 J S T Mfg Co Ltd other portions When crimping the ferrule sufficiently check the status of the ferrule and cable If the conductors of the cable stick out from the insulation cover or protrude excessively from the tip
26. e Metallic control box Power Noise filter for signal lines Driver supply Noise filter for Residual TAi Circuit Noise filter signal lines Q curent 5 breaker Motor M Insulated 4 Surge DC24V 8 absorber Noise filter for signal lines Noise filter for signal lines Noise filter for signal lines Insulated power supply for interface Controller Ground 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 supply 400V type 3 phase 380V 10 to 4goy 10 soveoHz 15 15 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 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 B32 7 Conformity to EC Directives and UL
27. e backlash drastically changes B37 9 Dynamic Brake Outline This driver is equipped with a dynamic brake for emergency stop Pay a special attention to the followings eI Dynamic brake is only for emergency stop Do not start stop the motor by turning on off the Servo ON signal SRV ON Otherwise it may damage the dynamic brake circuit of the driver The Motor becomes a dynamo when driven externally and short circuit current occurred while dynamic brake is activat ed may cause smoking or fire 2 Dynamic brake is a short duration rating and designed for only emergency stop Allow approx 10 minutes pause when the dynamic brake is activated during high speed running You can activate the dynamic brake in the following cases 1 when the main power is turned off 2 at Servo OFF 3 when one of the protective function is activated 4 when over travel inhibit input NOT POT of connector X4 is acti vated In the above cases from 1 to 4 you can select either activation of the dynamic brake or making the motor free run during decelera tion or after the stop with parameter B38 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 specificatio
28. edance is 1 kO When connecting a measuring instrument check its input circuit for impedance matching Signal ground GND 3 Connected to ground of control circuit NC 4 Do not connect NC 5 Do not connect NC 6 Do not connect YA X1 to X7 are used for the secondary circuit To connect these terminals to the primary power supply particularly the 24 VDC power supply for control and the 24 VDC power supply for brake insulation is required Do not connect these terminals to the same power supply B22 4 Parameter Outline Setup Connection Outline of Parameter This driver is equipped with various parameters to set up its characteristics and func tions This section describes the function and purpose of each parameter Read and comprehend very well so that you can adjust this driver in optimum condition for your running requirements You can refer and set up the parameter with either one of the following 1 front panel of the driver 2 combination of the setup support software PANATERM and PC Setup with the Front Panel Display LED 6 digit 1 Switch to error display screen when error DC D C CI CI UI occurs and LED will flash about 2Hz LED will flash slowly about 1Hz when warning occurs 6 Mode switching button gt valid at SELECTION display ciiin v Press this to switch 4 kinds of mode X7 1 Monitor Mode 2 Parameter Set up Mode 3 EEPROM Write
29. eration When you connect an external regenerative resistor disconnect a short circuit wire between B2 and B3 then connect the external regenerative resistor between B1 and B2 set up Pr0 16 to 1 or 2 Wiring to Connector XC Connection to external components B1 Pin 4 B2 Pin 2 Regenerative resistor optional When you use an external regenerative resistor install an external protective apparatus such as thermal fuse without fail Thermal fuse and thermostat are built in to the regenerative resistor Option If the thermal fuse is activated it will not resume Mount the regenerative resistor on incombustible material such as metal 3 System Configuration and Wiring Overall Wiring Connector type fa High voltage PC to be supplied by customer Wiring to Connector X7 e Monitor output Handle lever Use this for connector connection Store this after connection for other occasions Refer to z un A Setup support software PANATERM Please download from our web site Wiring to Connector XD P B17 for connection P 5 i 88 8888 DOO emm Wiring to Connector X1 XC Connection to PC or host controller m a o m mummummmmummmumummummumummmmummummmmmmm
30. erminals are provided Ground resistance 100 Q max Don t connect the earth cable to other inserting For applicable wire refer to P B12 slot nor make them touch Compose a duplex Brake Control Circuit so that the K brake can also be activated by an external ixi DC DC power supply immediate stop signal gt 24V for brake e The holding brake has no polarities For the holding brake power supply capacity and 35 how to use the brake refer to Specifications of Varistor Built in Holding Brake on P B37 Fuse 125V 10A Provide a varistor Connect a 10A fuse in series with the varistor Bi4 3 System Configuration and Wiring Wiring of the Main Circuit Terminal block type Wiring should be performed by a specialist or an authorized personnel Do not turn on the power until the wiring is completed Never touch the terminal to which high voltage is applied There is a risk of electric shock Tips on Wiring 1 Take off the cover fixing screws and detach the terminal cover 2 Make wiring Use clamp type terminals of round shape with insulation cover for wiring to the ter minal block For cable diameter and size refer to Driver and List of Applicable Pe ripheral Equipments P B12 Tighten the terminal block screw with a torque written on P B13 3 Attach the terminal cover and fix with screws Tighten the screw securing the cover with a torque written on P B13
31. frame Nominal Fastening Nominal Fastening size torque size torque Nem C Nem D F M4 0 7 to 0 8 M2 6 0 3 to 0 35 F M5 1 4to 1 6 1 Applying fastening torque larger than the maximum value may result in damage to the product Do not turn on power without tightening all terminal block screws properly Do not turn on power without tightening all terminal block screws properly otherwise loose contacts may generate heat smoking firing To check for looseness conduct periodic inspection of fastening torque once a year Be sure to conduct wiring properly and securely Insecure or improper wiring may cause the motor running out of control or being damaged from overheating In addition pay attention not to allow conductive materials such as wire chips entering the driver during the installation and wiring B13 3 System Configuration and Wiring Wiring of the Main Circuit Connector type Wiring should be performed by a specialist or an authorized personnel Do not turn on the power until the wiring is completed Never touch the power connector XA XB XC and XD to which high voltage is ap plied There is a risk of electric shock Tips on Wiring 1 Wire connector XA XB XC and XD 2 Connect the wired connector to the driver Fully insert the connector to the bottom until it clicks x Fae e Hi XD B 3 Lt ower supply RCD MCCBL
32. heres 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 20 C to 65 C Max temperature guarantee 80 C for 72 hours free from condensation Storage humidity 20 to 8596 RH free from condensation Vibration Motor only Lower than 49m s 5G at running 24 5m s 2 5G at stall Impact Motor only Lower than 98m s 10G Enclosure Motor only IP67 except rotating portion of output shaft and connecting pin rating Connectortype part of the motor connector and the encoder connector Storage temperature 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 EN6003
33. hort circuit current on the power source exceeds this value use a current limiting device e g current limiting fuse current limiting circuit breaker or transformer g E H Connection with e Wiring of the Main Circuit AL control power supply Circuit Breaker MCCB PE 24V To protect power supply line from overloading install a wiring circuit breaker rated to the capacity of the power supply Noise Filter NF rf ly with Residual 2Aoriager for control current aevice capacity to be supplied by customer Mains E 24 VDC power supply ov L1 Removes external noise from the power lines And reduces an effect of the noise generated by the servo driver Magnetic Contactor MC Turns on off the main power of the servo driver Use coil surge suppression units together with this Never start nor stop the servo motor with this Magnetic Contactor Reactor L Reduces harmonic current of the main power Pin B1 B2 and B3 B2 and B3 to be kept shorted for normal operation When you connect an external regenerative resistor disconnect a short bar between B2 and B3 then connect the external regenerative resistor between B1 and B2 set up Pr0 16 to 1 or 2 Pin NC Do not connect anything L2 L3 Connection to external components
34. in 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 11596 or more than the rated current based on the time characteristics see the next page Confirm that the effective current of the driver does not exceed the rated current Set up the peak permissible current with PrO 13 Setup of 1st torque limit and Pr5 22 Setup 2nd torque limit 4 Motor over temperature protection is not p
35. ing a rod terminals or a round terminals If stranded wires are used as they are unexpected accidents such as an electric shock and short circuit or injury may result Refer to P B16 Wiring method to con nector There might be a chance of smoke 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 install a no fuse breaker in the power supply In addition be sure to ground the grounding terminal or ground wire provided If the product is grounded insufficiently not only the driver may not deliver its perfor mance sufficiently but also safety hazards such as a malfunction due to a electrifi cation or a disturbance may be caused If electric wires are bound and run through metal duct they cannot carry the rated current due to temperature rise If they are forced to carry the rated current they may burn When determining size of the wire check the current decreasing coeffi cient by referring to the Operating Instructions Overall 2 Installation Motor Install the motor properly to avoid a breakdown or an accident Installation Place Since the conditions of location affect a lot to the motor life select a place which meets the conditions below 1 Indoors where the products are not subjected to rain or direct sun beam The prod ucts are not waterproof 2 Where the products are not subjected to corrosive atmosp
36. is intended to be used with a general industrial product but not de signed or manufactured to be used in a machine or system that may cause personal death when it is failed Installation wiring operation maintenance etc of the equipment should be done by qualified and experienced personnel Apply adequate tightening torque to the product mounting screw by taking into consideration strength of the screw and the characteristics of material to which the product is installed Overtightening can damage the screw and or material under tightening can result in loosening Example Steel screw M5 into steel section 2 7 3 3 N m Install a safety equipments or apparatus in your application when a serious acci dent or loss of property is expected due to the failure of this product Consult us if the application of this product is under such special conditions and envi ronments as nuclear energy 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
37. l Suppl of motor Voltage rated lowell curren Ja Ji go phi signal eris main circuit terminal power pply of brake S phase S phase configuration ah blask ET terminal cable able cablo block 1 MDME 400W AL MDME 600W pan MSME 750w PPM o o MSME FN258L 3 3 3 phase 16 07 DVOPM 20A o o MDME 1 0kW MDDH 400V approx 10A e rommensed 20050 0 1490 spia MHME 1 8kVA component 3 2 2 0mme S 0 52mme S8 2 0mme MGME 0 9kW AWG14 g AWG20 g AWG14 600VAC 100VAC 600VAC MSME or more 2 or more 2 or more oO oO MDME sew 220 8 8 2 3kVA 3 3 MFME E 3 Q Q MHME 8 8 MSME MDME 2 0kW pi FN258L 3 phase I 16 07 DVOPM 30A 0 75mm2 MEDH 15A DVOP1460 MHME 400v Recommended 20050 3P 1a AWG18 component 100VAC approx MFME 2 5kW RUE Or more MGME 2 0kW EA MSME MDME soy PP MGME 4 5kVA MHME 10mm or 7mm or smaller smaller MSME FN258L 3 5mm2 0 75mme2 3 5mm 3 phase approx 30 07 DVOPM 60A AWG12 AWG18 AWG12 MFDH MDME 4ooy 40KW Sokva 30A ccommendeai 20050 9 1460 35 14 goovac ee ea toovae 552 G00VAC MHME component or more block or more block or more MFME approx Ma us askw 6 8kVA MGME MSME mE MDME 5 okw 75KVA MHME 1 The diameter of the ground cable must be equal to or larger than that of the motor cable B12 3 System Configuration and Wiring Driver and List of Applicable Peripheral Equipments Reference page
38. mERERERRREEREHEEEHHEHEEEHEEEN 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 Connection with input power supply 3 System Configuration and Wiring Overall Wiring Terminal block type i1 High voltage PC to be supplied by customer Wiring to Connector X7 Setup support software PANATERM Please download from our web site Wiring to Connector X1 Connection to PC or host controller e Monitor output U O U 888888 OOO uem O 24v e ov e ul H x L2 ie 9 m LA ES B2 B3 HE U phase OH red ISI a V phase THe white rae W phase SOK o black id i 1 These colors are used for amp E optional cable O N Ground Ground Charg lamp terminal earth Red LED A er Wiring to Connector
39. mmmhmmmmmmmm i Short circuit wire B2 B3 bu Rm B JU Wiring to Connector X4 Wiring to Connector Connection to host controller Connection to motor s U phase red Wiring to Connector X6 V phase white W phase black These colors are used for optional cable Connection to encoder T Junction cable for encoder o n Ground terminal Ground Charg lamp earth Red LED X1 to X7 are used for the secondary circuit To connect these terminals to the primary power supply particularly the 24 VDC power supply for control and the 24 VDC power supply for brake sO insulation is required Junction cable for motor Connection to motor driving phase and ground Junction cable for motor Nono mi Do not connect these iri terminals to the same DC Power supply for brake DC24V power supply to be supplied by customer 1 Do not make displacement wiring or inspection while the LED is lit cause of electric shock 3 System Configuration and Wiring Overall Wiring Terminal block type Connecting Example of F frame 400 V type Apply the voltage designated on the nameplate from the power source Symmetric current should be 5000 Arms or below If the s
40. n motion you can set up a time between when the motor enters to a free run from energized status and when BRK OFF signal turns off brake will be engaged when the Servo OFF or alarm occurs while the motor is in motion Refer to the Operating Instructions Overall for the details 1 The lining sound of the brake chattering and etc might be generated while running the motor with built in brake however this does not af fect any functionality 2 Magnetic flux might be generated through the motor shaft while the brake coil is energized brake is open Pay an extra attention when magnetic sensors are used nearby the motor B36 8 Built in Holding Brake Outline Specifications Specifications of Built in Holding Brake Static Exciting rae secius Permissible Motor Motor friction Rotor Engaging Releasing current Releasing ROLES LO angular series output torque MANEL dine rme DCA voltage ak pa is acceleration Nm P gm ms s at cooloff one braking rad s 750W 2 5 or more 15orless 0 70 a TOR 7 80r more 0 33 cues 15 or less 392 490 msme 20W 100 0 81 DC2V 40006 3 0kW 11 8 or more 80 or less or more 110 or 50 or less 4 0kW 5 0kW 16 2 or more 1 35 less 130 0 9 1470 2200 400W 600W 2 5 or more 50 or less 15 or less 0 70 392 490 1 0kW 490rmore 80 or less ig 0 59 588 7
41. not use benzine thinner alcohol acidic cleaner and alkaline cleaner because they can discolor or damage the exterior case Inspection Items and Cycles General and normal running condition 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 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 Annual inspection Damage to the terminal block Loose fasteners on terminal block Note Inspection cycle may change when the running conditions of the above change B28 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 9 Prohibited Disassembling for inspection and repair should be carried o
42. ns and encoder specifications Motor Driver Rated POET Type rotational Model paiga Model Frame supply speed output MSME084G1 750W MDDHT2412E MSME104GL 1 0kW MDDHT3420E D frame MSME154G 1 5kW MDDHT3420E 3 phase SME 3000r min MSME204GLT 2 0kW MEDHT4430E E frame 400V Low inertia MSME304GL 3 0kW MFDHT5440E MSME404Gl J 4 0kW F frame MSMES04GL 5okw M FOHTA464E MDME044G1 400W MDMEO64G1 eoow MODHT2407E SORS MDME104GLT 1 0kW MDDHT2412E 3 phase MDME 2000rmin MDMETS4GL I 1 5KW MDDHT3420E 400V Middle inertia MDME204GL 2 0kw MEDHT4430E E frame MDME304GLT 3 0kW MFDHT5440E MDME404GI 4 0kW F frame MDMES04GL amp okw P FOHTA464E MFME154G1 1 5kW MDDHT3420E D frame 2000r min MFME254G1 2 5kW MEDHT4430E E frame MFME454G1 4 5kW MFDHTA464E F frame 3 phase MFME 400V Middle inertia MGMEO094G 0 9kW MDDHT3420E D frame 3 phase _MGME 1000r min MGME204G 2 0kW MFDHT5440E 400V Middle inertia MGMESO04GL 3 0kW MEDHTA464E F frame MGME454G1 4 5kW MHME104G l 1 0kW MDDHT2412E Geers MHME154G 1 5kW MDDHT3420E 3 phase MHME 2000r min MHME204G l 2 0kW MEDH
43. of the ferrule accidents such as an electric shock and fire from a short circuit may result usiBu3 2 Insert the cable the ferrule to the connector in the following 2 methods a Insert the cable using the supplied handle lever b Insert the cable using a flat blade screwdriver Edge width 3 0 to 3 5 mm e Lon Attach the handle lever to the handling slot on the upper portion Press down the lever to push until it hits the insertion down the spring slot round hole You can pull out the cable by pushing down the spring as the above Insert the peeled cable the ferrule while pressing FUA the lever E the lever Insert only one cable into each one of cable insertion slot Pay attention to injury by screw driver Bi1 3 System Configuration and Wiring Wiring Diagram Compose the circuit so that the main circuit power will be shut off when an error occurs In Case of 3 Phase D E frame 400 V type Power supply 3 phase 380V 15 to 480V 10 NON NRI Built in thermostat of an external RU regenerative resistor light yellow ON ofr Tam Coil surge suppression units Note 1 Les Insulated Control power DCAV supply MCCB 5 XA i A Main power lt 7 B m X 5 1 mc rper BS 1 External regenerative resistor Remove the short wire when you connect ue ee
44. oxeJq reux z iodo URZ J03oe oo uedo L ANI gc i 0 pp ie indyno eseud z kz zi e Laveovr vresind QN9 ANI gc 90 id oxz Az zh Sc E 1ndino ejejduioo Buruonisod ITT iodo Oc i zi WW gg y SR 2 N Hg Z Kjddns samod AGUS e indjno uuejy ones AYZ WIM J0 SIS91J EuJ9 xo indino m z zi ae ve H y esn jou op no ueuM Z eseud z 5 s indino peeu oues Mo KO9lc Ave indino 4 zg ey LON 8 iduruonqiuurjexenJewo MEILOAL AZL aseyd g a s 10d am a i po fel 6 ywo gt Oce Hd Gla dg OCA d n UONDAJIP ANISOg el Al ali be J m5 419V 16 indui jeep uue y EXER t on Ze T woz ca LI3S SA gz 1 indui Bu 1 log ZN9IS ssa 10 sddy 008 m Joguo2 i A 1 STINOIS WZ uum esp iz ta a ez E SUE v indui Test NIVO ZZ indui Buryoums ueg 8nd s nd S NO AUS 4 Heten ih puewwog Tom rr tit 62 yndu NO oues ju ct i pa 12 4 d T 06 A ddns 1emod t eal HNI OILY Ee Ave PU AZL UIIM 10 S1S94 WOO T Jeusa x9 ay esn no ueuM L power supply particularly the 24 VDC power supply for control and the 24 VDC X1 to X7 are used for the secondary circuit To connect these terminals to the primary power supply for brake insulation is required 7 x o E 7 cc power supply particularly the 24 VDC power supply for control and the 24 VDC X1 to X7 are used for the secondary circuit To connect these terminals to the primary power supply for brake
45. protection error and then turn on power again di 0 Encoder communication disconnect error protection O Immediate stop Instantaneous controlled stop upon occurrence of an error 1 Encoder communication error protection 5 Setting of Pr 5 10 Sequence at alarm is also required 23 0 Encoder communication data error protection O 24 O Position deviation excess protection e 36 O Over speed protection O O O 1 2nd over speed protection O O 0 Command pulse input frequency error protection O O O 2 Command pulse multiplier error protection 28 O Limit of pulse replay error protection O O O 29 O Deviation counter overflow protection O B26 B27 6 Maintenance and Inspections Maintenance and Inspections Routine maintenance and inspection of the driver and motor are essential for the proper and safe operation Notes on Maintenance and Inspection 1 Turn on and turn off should be done by operators or inspectors themselves 2 Internal circuit of the driver is kept charged with high voltage for a while even after power off Turn off the power and allow 15 minutes or longer after LED display of the front panel has gone off before performing maintenance and inspection 3 Disconnect all of the connection to the driver when performing megger test Insulation resistance measurement to the driver otherwise it could result in breakdown of the driver 4 Do
46. r so that the stress by bending can be minimized 3 Take the cable bending radius as large as possible When you use our optional cable Minimum R20mm Permissible Load to Output Shaft 1 Design the mechanical system so that the applied radial load and or thrust load to the motor shaft at installation and at normal operation can meet the permissible value specified to each model 2 Pay an extra attention when you use a rigid coupling Excess bending load may damage the shaft or deteriorate the bearing life 3 Use a flexible coupling with high stiffness designed exclusively for servo application in order to make a radial thrust caused by micro misalignment smaller than the per missible value Oil Water Notes on Installation 1 Do not apply direct impact to the shaft by hammer while attaching detaching a coupling to and from S j c the motor shaft Motor E Or it may damage the encoder mounted on the other side of the shaft 2 Make a full alignment incomplete alignment may JJ cause vibration and damage the bearing 3 If the motor shaft is not electrically grounded it may cause electrolytic corrosion to the bearing depending on the condition of the machine and its mounting environment and may result in the bearing noise Check and verification by customer is required 3 System Configuration and Wiring Overall Wiring Connector type
47. rature guarantee eae 80 C for 72 hours free from condensation Storage temperature 2 Air containing water vapor will become Storage humidity 20 to 8596 RH free from condensation C ra water i vapor as the temper Vibration Lower than 5 88m s 0 6G 10 to 60Hz ature falls causing Altitude Lower than 1000m dew 1 Rack mount type Install in vertical position and reserve enough space around the servo driver for ventilation 2 Base mount rear mount is standard for A B C D frame driver 3 To change the mounting surface of A B C D frame driver use the optional mounting fixture For choosing the correct optional mounting fixture refer to the Operating Instructions Overall 4 For the dimensions and mass of the product which are necessary design data of the mounting section refer to the dimensional outline drawing on the Operating In structions Overall or the Delivery Specification 5 In consideration of strength of the screws and the material of the mounting base select appropriate fastening torque for the product mounting screws so that the screws will not be loosened or damaged Example To tighten a steel screw into a steel base D to F frame M5 2 7 to 3 3 Nem D frame E F frame Basemount Standard Rear mount Frontmount Use mounting fixture Front or Basemount Use mounting fixture lt E frame gt Fastening torque of earth screws M4 to be 0 7 to 0 8 Nm l
48. receiver input signal Output 4 outputs Line driver 3 output open collector 1 output Communication USB Connection with PC etc function 1 5k MODE SET UP DOWN SHIFT 2 LED 6 digit Front panel 1 5 keys or SET UP DO 2 6 digit 3 Analog monitor output 2ch D to F frame Regeneration Built in regenerative resistor external resistor is also enabled Dynamic brake Built in Control mode Switching among the following 3 mode is enabled 1 Position control 2 Internal velocity control 3 Position Internal velocity control 1 The specification out of Japan B40 U g Input pulse Differential input signal format o Pulse Electronic gear 9 input ivisi P M 1 1000 to 1000 times o Multiplication of command pulse D uti Primary delay filter or FIR type filter is adaptable to the Smoothing filter command input Instantaneous Speed Available Observer Damping Control Available 1 Selection of internal velocity setup 1 Control dnput 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 s Internal velocity command Switching the internal 8speed is enabled by command input 8 Individual setup of acceleration and deceleration is enabled Soft start down function with O to 10s 1000r min Sigmoid acceleration deceleration 2 is also enabled Ze
49. ro speed clamp Speed zero clamp input is enabled Instantaneous Speed Observer Available 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 Eo m r Excess position deviation command pulse division error EEPROM error etc Traceability of alarm data The alarm data history can be referred to B41 fl 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 Practical considerations for exporting the product or assembly containing the product When the end user of the product or end use of the product is associated with mili tary affair or weapon its export may be controlled by the Foreign Exchange and Foreign Trade Control Law Complete review of the product to be exported and ex port formalities should be practiced This product
50. rovided Motor over load temperature protection shall be provided at the final installation upon required by the NEC National Electric Code B30 7 Conformity to EC Directives and UL Standards EC Directives Conformity to UL Standards MSME 750W to 5 0kW Time s MDME 400W to 5 0kW 109 MFME 1 5kW to 4 5kW MGME 0 9kW to 4 5kW MHME 1 0kW to 5 0kW 10 Overload protection time characteristics 0 1 100 200 300 400 500 Torque Conformed Standards Driver Motor EN55011 EME EN61000 6 2 z Directives EN61800 3 EC Directives Low Voltage IEC60034 1 Directives FN61800 5 1 IEC60034 5 UL Standards UL508C File No E164620 UL1004 File No E327868 CSA Standards C22 2 No 14 C22 2 No 100 IEC International Electrotechnical Commission EN Europaischen Normen EMC Electromagnetic Compatibility UL Underwriters Laboratories CSA Canadian Standards Association Pursuant to the directive 2004 108 EC article 9 2 Panasonic Testing Centre Panasonic Service Europe a division of Panasonic Marketing Europe GmbH Winsbergring 15 22525 Hamburg F R Germany B31 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 structur
51. sonic Model No MdL NPUT30AC 194 3 3 MTED E 10 W CONT oue 3 18 Nem 250 ATED REV 3000 r min CONNECTION a IP67 SER No 09040001N 20090401 Panasonic Corporation S1 F AC SERVO MOTOR Rated rotational speed r Serial Number Made in China e g 09040001N T Lot number e g 20090401 Manufacture year Manufacture date Manufacture month Model Designation MSME104G1C x Month of production Year of production Lower 2 digits of AD year 1to4 5106 10 11 to 12 Special specifications Motor rated output Motor structure Symbol Output Symbol Output Design order 04 400W 20 2 0kW Symbol Specifications 06 600W 25 2 5kW 1 Standard 08 750W 30 3 0kW Connector for encoder 09 0 9kW 40 4 okw Voltage specifications C en eue 10 1 0kW 45 4 5kW Symbol Specifications 0 9 kW to 5 0 kW 15 1 5kW 50 5 okw 4 400V only selectable Type Rotary encoder specifications Symbol Specifications Specifications Her Symbol z Low inertia Format Pulse count Resolution Wire count MSME 750W to 5 0kW G Incremental 20bit 1 048 576 5 wire Middle inertia MDME 400W to 5 0kW Motor structure Middle inertia MFME 1 5kW to 4 5kW MSME MDME MFME
52. t F frame gt lt 3 Fastening torque of Mounting fixture earth screws M5 Fastening torque of earth screws M4 optional parts to be 1 4 to 1 6 N m to be 0 7 to 0 8 N m Attachment i 2 Installation Driver Mounting Direction and Spacing Reserve enough sur t Fan rounding space for Fan effective cooling Install fans to provide uniform distribution of temperature in the control panel D E F frame is pro vided with a cooling f Ej n a n i fan al the bottom foirection of air flowing J 100mm Observe the environ from the internal or more cooling fan D E F frame 100mm or more Control panel mental conditions of the control panel described in the previous page It is recommended to use the conductive paint when you make your own mounting fixture or repaint after peeling off the paint on the machine for installing the products in order to make noise countermeasure Caution on Installation We have been making the best effort to ensure the highest quality however applica tion of exceptionally large external noise disturbance and static electricity or failure in input power wiring and components may result in unexpected action It is highly recommended that you make a fail safe design and secure the safety in the opera tive range If stranded wires are used as the cable bunch the conductors of the cable us
53. tance 100 Q max For applicable wire refer to P B12 Compose a duplex Brake Control Circuit so that the brake are used for Motor Optional cable K can also be activated by an external immediate stop signal N c DC DC power The holding brake has no polarities 24V supply For the holding brake power supply capacity and how to for brake use the brake refer to Specifications of Built in Holding lI Brake on P B37 Varistor Provide a varistor Fuse 125V 10A Connect a 10A fuse in series with the varistor B15 usiBu3 3 System Configuration and Wiring Wiring method to connector Follow the procedures below for the wiring connection to the Connector XA XB XC and XD How to connect 1 Peel off the insulation cover of the cable 8 to 9 mm For single wire Please obey the length in figure For stranded wires ferrules must be used as illustrated below Example Ferrules with plastic insulating sleeve Al series Phoenix Contact Ltd 1 Peel off the sheath so that the conductor portion of the cable will protrude from the tip of the ferrule It should protrude 1 mm or more from the ferrule 2 Insert the cable into the ferrule and crimp it with an appropriate crimping tool 3 After crimping cut off the cable conductor portion protruding from the ferrule The allowable protruding length after
54. the external regenerative resistor N 1 1 XB Motor connection e X4 Insulated elar fair 1 Note 1 DC12 to 24V Shielding the circuit is recommended 45 L 36 fig for the purpose of noise reduction I LI In Case of 3 Phase F frame 400 V type Power supply 3 phase 380V 15 to 480V 10 NON NRI Built in thermostat of an external VA r regenerative resistor light yellow EN 2 od MC ON OFF ALM Coil surge suppression units Note 1 Insulated xl T 24V Control power rt DC2v supply MCCB 5 i i A E 4 N Main power A 8 2 ag supply i 3 ja 1 To xw t B3 1 External regenerative resistor B2 Remove the short wire when you connect NC the external regenerative resistor 3 System Configuration and Wiring Wiring of connector for motor and brake When the motors of lt MSME MDME MFME MGME MHME gt are used they are connected as shown below Connector Made by Japan Aviation Electronics Industry Ltd The figures below show connectors for the motor without DO OA cO Og JLO4V 2E20 4PE B R JLO4HV 2E22 22PE B R Brake gt JLO4V 2E24 11PE B R Do not connect anything to NC lt with Brake gt JLO4V 2E24 11PE B R
55. ut only by authorized dealers or service company Product Component Standard replacement cycles hour Note Smoothing condenser Approx 5 years Cooling fan 2 to 3 years 10 000 to 30 000 hours Aluminum electrolytic capacitor on PCB Approx 5 years Driver Ausho ireni Approx 100 000 times reventivetela depending on working P y condition Approx 20 000 times 3 depending on working preventive resistor ae condition Bearin 3 to 5 years g 20 000 to 30 000 hours Motor Oil seal 5000 hours Enc d r 3 to 5 years 20 000 to 30 000 hours These hours or cycles are reference When you experience any error replacement is required even before this standard replace ment cycle B29 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 standard under EMC Directives setting up certa
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