Minas PDF

Technical reference
・This product is for industrial 　　

　equipment. Don't use this 　　　
AC Servo Motor & Driver
　product at general household. MINAS A4P-series
• Thank you very much for your
purchase of Panasonic AC Servo
Motor & Driver, MINAS A4P-series.
• Before use, refer this technical
reference and safety instructions
to ensure proper use. Keep this
technical reference and read when
necessary.
• Make sure to forward this technical
reference for safety to the final
user.
If you are the first user of this product, please be sure to purchase and read
the optional Engineering Material (DV0P4490), or downloaded Instruction
Manual from our Web Site.
[Web address of Motor Company, Matsushita Electric Industrial Co., Ltd.]
http://industrial.panasonic.com/ww/i_e/25000/motor_fa_e/motor_fa_e.html
<Contents> page page

1. Introduction ................................... B2 How to Set .................................................... B33
On Opening the Package ............................... B2 Outline of PANATERM® ....................................................... B33
Check of the Driver Model .............................. B2 How to Connect ............................................ B33
Check of the Motor Model .............................. B3 Setup with the Console ................................ B34
2. Installation ..................................... B4 Composition of Parameters .......................... B35
Driver .............................................................. B4 List of Servo Parameters .............................. B37
Motor .............................................................. B6 List of 16-bit Positioning Parameters ........... B41
Console .......................................................... B8 List of 32-bit Positioning Parameters ........... B42
3. System Configuration List of Step data ........................................... B43
and Wiring .................................... B10 5. Protective Functions ................... B44
Overall Wiring (Connecting Example of C-frame, 3-phase) ... B10 Protective Function (What Is Error Code ?) ..... B44
Overall Wiring (Connecting Example of E-frame) ... B12 6. Maintenance and Inspections .... B46
Driver and List of Applicable Peripheral Equipments ... B14 7. Conformity to EC Directives
Wiring of the Main Circuit (A to D-frame) ..... B16 and UL Standards ........................ B48
Wiring of the Main Circuit (E and F-frame) ... B17 Composition of Peripheral Equipments ........ B49
Wiring method to connector (A to D-frame) .. B18 Conformity to UL Standards ......................... B52
Wiring to the Connector, CN X6 (Connection to Encoder) ... B22 8. Built-in Holding Brake ................ B54
Wiring for Connector CN X5 ......................... B24 9. Dynamic Brake ............................ B55
List of Signal for Connector CN X5 .............. B25 10. Check of the Combination of
Operation Timing after Power-ON ................ B29 the Driver and the Motor .......... B56
Overview of function ..................................... B30 10. General specifications .............. B59
Setup with the Front Panel ........................... B31
4. Parameter ..................................... B33 After-Sale Service (Repair) ............. B60
Outline of Parameter .................................... B33 IMD14A
S1105-3066
1. Introduction
On Opening the Product Package Check of the Motor Model
• Make sure that the model is what you have ordered. Contents of Name Plate
• Check if the product is damaged or not during transportation. Serial Number
Model CONT. TORQUE 0.64 Nm
• Check if the instruction manual is attached or not. AC SERVO MOTOR RATING S1 e.g.) : 05 11 0001
MODEL No. MSMD5AZS1S INS. CLASS B (TÜV) A (UL)
• Check if the power connector and motor connecters (CN X1 and CN X2 connectors) Rated input voltage/current INPUT 3ØAC 92 V IP65
Lot number
1.6 A CONNECTION
RATED OUTPUT 0.2 kW SER No. 05110001 Month of production
are attached or not (A to D-frame). Rated output RATED FREQ. 200 Hz
RATED REV. 3000 r/min
Year of production
Rated rotational speed (Lower 2 digits of AD year)
Contact to a dealer if you find any failures.
Model Designation
Check of the Driver Model M S M D 5 A Z S 1 S
1 to 4 5 to 6 7 8 9 10 11 to 12
Special specifications
Contents of Name Plate Symbol Type (letters and numbers)
Ultra low inertia Motor structure
AC SERVO MAMA (100W to 750W)
Model number Design order
Model No. MADDT1205P Serial No.P05110001Z
Serial Number Low inertia
INPUT OUTPUT
MQMA (100W to 400W)
1: Standard
Rated input/output voltage Voltage
Phase
200-240V
1ø
69V
3ø e.g.) : P0511 0001Z
F.L.C
Freq.
1.3A 1.2A
Low inertia Motor rated output Voltage specifications
50/60Hz 0~333.3Hz
Rated input/output current Power 100W Lot number MSMD (50W to 750W) Symbol Output Symbol Output Symbol Specifications
Month of production Low inertia
Rated output of MSMA (1.0kW to 5.0kW) 5A 50W 15 1.5kW 1 100 V
applicable motor Year of production Middle inertia 01 100W 20 2.0kW 2 200 V
(Lower 2 digits of AD year) MDMA (1.0kW to 5.0kW) 02 200W 25 2.5kW 100/200 common
High inertia 04 400W 30 3.0kW Z (50W only)
MHMA (500W to 5.0kW) 05 500W 40 4.0kW
Middle inertia 08 750W 45 4.5kW
Model Designation MFMA (400W to 4.5kW) 09 900W 50 5.0kW
Middle inertia 10 1.0kW
MGMA
M A D D T 1 2 0 5 P (900W to 4.5kW) Rotary encoder specifications
Specifications
1 to 4 5 to 6 7 8 to 9 10 11 to 12 Special specifications Symbol
Format Pulse count Resolution Wire count
(letters and numbers)
P Incremental 2500P/r 10,000 5-wire
Interfacce specification S Absolute/Incremental common 17bit 131,072 7-wire
Frame-size symbol I/O command type
Max. current Motor structure
Symbol Frame rating of Current detector rating MSMD, MQMA MAMA
MADD A4-series, A-frame power device Shaft Holding brake Oil seal Shaft Holding brake Oil seal
Symbol Current rating Symbol Symbol
MBDD A4-series, B-frame Symbol Current Power supply Round Key way Without With Without With*1 Round Key way Without With Without With
rating 05 5A
MCDD A4-series, C-frame A A
T1 10A Symbol Specifications 07 7.5A B B
MDDD A4-series, D-frame
T2 15A 1 Single phase, 100V 10 10A S *2 E
MEDD A4-series, E-frame T *2 F
T3 30A 2 Single phase, 200V 15 15A
MFDD A4-series, F-frame
T5 50A 3 3-phase, 200V 20 20A *1 The product with oil seal is a special order MSMA, MDMA, MFMA, MGMA, MHMA
Single/3-phase, 30 30A product. Shaft Holding brake Oil seal
T7 70A 5 Symbol
200V * 2 Key way with center tap Round Key way Without With Without With
TA 100A 40 40A
C
TB 150A 64 64A Products are standard stock items or build to D
90 90A order items. For details, inquire of the dealer. G
A2 120A H
– B2 – – B3 –
2. Installation
Install the driver and the motor properly to avoid a breakdown or an accident. E and F-frame
Driver Mounting bracket

Installation Place
1) Indoors, where the products are not subjected to rain or direct sun beams. The prod-
ucts are not waterproof.
2) Where the products are not subjected to corrosive atmospheres such as hydrogen
sulfide, sulfurous acid, chlorine, ammonia, chloric gas, sulfuric gas, acid, alkaline and
salt and so on, and are free from splash of inflammable gas, grinding oil, oil mist, iron
powder or chips and etc.
3) Well-ventilated and low humidity and dust-free place.
Mounting Direction and Spacing
4) Vibration-free place.
• Reserve enough surround-
Environmental Conditions ing space for effective cool- Fan Fan 100mm
ing. or more
Item Conditions
• Install fans to provide uni-
Ambient temperature 0˚C to 55˚C (free from freezing)
Ambient humidity Less than 90% RH (free from condensation) form distribution of tem-
Storage temperature –20˚C to 80˚C (free from freezing) perature in the control
Storage humidity Less than 90% RH (free from condensation) 10mm 10mm 10mm
panel. 40mm or or or 40mm
Vibration Lower than 5.9m/s2 (0.6G), 10 to 60Hz or more more more or
Altitude Lower than 1000m • Observe the environmental more more
conditions of the control
panel described in the next 100mm
How to Install or more
page.
1) Rack-mount type. Install in vertical position, and reserve enough space around the
servo driver for ventilation. <Note>
Base mount type (rear mount) is standard (A to D-frame) It is recommended to use the conductive paint when you make your own mounting
2) Use the optional mounting bracket when you want to change the mounting face. bracket, or repaint after peeling off the paint on the machine for installing the products, in
order to make noise countermeasure.
A to D-frame e.g.) In case of C-frame
MADD Caution on Installation
MBDD
Mounting bracket We have been making the best effort to ensure the highest quality, however, application
MCDD
MDDD (optional parts) 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 operative range.
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.
Fastening torque of earth screws (M4) to be 0.39 to 0.59N • m.

– B4 – – B5 –
2. Installation
Motor Oil/Water Protection
Installation Place 1) Don't submerge the motor cable to water or oil. Cable Motor
2) Install the motor with the cable outlet facing downward.
Since the conditions of location affect a lot to the motor life, select a place which meets
3) Avoid a place where the motor is subjected to oil or water.
the conditions below.
4) Use the motor with an oil seal when used with the gear re-
1) Indoors, where the products are not subjected to rain or direct sun beam. The prod-
ucts are not waterproof. ducer, so that the oil may not enter to the motor through shaft. Oil / Water
Stress to Cables
salt and so on, and are free from splash of inflammable gas, grinding oil, oil mist, iron 1) Avoid a stress application to the cable outlet and connecting portion by bending or
powder or chips and etc. self-weight.
3) Where the motor is free from grinding oil, oil mist, iron powder or chips. 2) Especially in an application where the motor itself travels, fix the attached cable and
4) Well-ventilated and humid and dust-free place, far apart from the heat source such as contain the extension junction cable into the bearer so that the stress by bending can
a furnace. be minimized.
5) Easy-to-access place for inspection and cleaning 3) Take the cable bending radius as large as possible. (Minimum R20mm)
6) Vibration-free place.
7) Avoid enclosed place. Motor may gets hot in those enclosure and shorten the motor life. Permissible Load to Output Shaft
1) Design the mechanical system so that the applied radial load and/or thrust load to the
Environmental Conditions
motor shaft at installation and at normal operation can meet the permissible value
Item Condition specified to each model.
Ambient temperature 0˚C to 40˚C (free from freezing) *1 2) Pay an extra attention when you use a rigid coupling. (Excess bending load may
Ambient humidity Less than 85% RH (free from condensation)
damage the shaft or deteriorate the bearing life.
Storage temperature –20˚C to 80˚C (free from freezing) *2
Storage humidity Less than 85% RH (free from condensation)
3) Use a flexible coupling with high stiffness designed exclusively for servo application in
Vibration Motor only Lower than 49m/s2 (5G) at running, 24.5m/s2 (2.5G) at stall order to make a radial thrust caused by micro misalignment smaller than the permis-
Impact Motor only Lower than 98m/s2 (10G) sible value.
IP65 (except rotating portion of output shaft and lead wire end) 4) For permissible load of each model, refer to the technical reference. (DV0P4490)
Enclosure • These motors conform to the test conditions specified in EN standards
Motor only (EN60529, EN60034-5). Do not use these motors in application where
rating water proof performance is required such as continuous wash-down
Notes on Installation
operation.
1) Do not apply direct impact to the shaft by hammer while attaching/detaching a cou-
*1 Ambient temperature to be measured at 5cm away from the motor. pling to and from the motor shaft.
*2 Permissible temperature for short duration such as transportation. (Or it may damage the encoder mounted on the other side of the shaft.)
How to Install 2) Make a full alignment. (incomplete alignment may cause vibration and damage the
bearing.)
You can mount the motor either horizontally or vertically as long as you observe the followings.
3) If the motor shaft is not electrically grounded, it may cause
1) Horizontal mounting
electrolytic corrosion to the bearing depending on the condi- Motor
• Mount the motor with cable outlet facing downward for water/oil countermeasure.
2) Vertical mounting tion of the machine and its mounting environment, and may
• Use the motor with oil seal (non-standard) when mounting the motor with gear result in the bearing noise. Check and verification by customer
reducer to prevent the reducer oil/grease from entering to the motor. is required.
3) For mounting dimensions, refer to the technical reference.
– B6 – – B7 –
2. Installation
Console How to Connect
Installation Place
1) Indoors, where the products are not subjected to rain or direct sun beam. The prod-
ucts are not waterproof. Connect to CN X4. S
SET
M
MOD
E
SHIF
T
salt and so on, and are free from splash of inflammable gas, grinding oil, oil mist, iron
powder or chips and etc.
3) Well-ventilated and low humidity and dust-free place.
4) Easy-to-access place for inspection and cleaning
Environmental Conditions
Item Condition <Remarks>
Ambient temperature 0˚C to 55˚C (free from freezing) • Connect the console connector securely to CN X4 connector of the driver.
Ambient humidity Less than 90% RH (free from condensation) • Never pull the cable to plug in or plug out.
Storage temperature –20˚C to 80˚C (free from freezing)
Storage humidity Less than 90% RH (free from condensation)
Vibration Lower than 5.9m/s2 (0.6G), 10 to 60Hz
Conform to JISC0044
Impact
(Free fall test, 1m for 2 directions, 2 cycles)
Altitude Lower than 1000m
<Cautions>
• Do not give strong impact to the products.
• Do not drop the products.
• Do not pull the cables with excess force.
• Avoid the place near to the heat source such as a heater or a large winding resistor.
– B8 – – B9 –
3. System Configuration and Wiring
Overall Wiring (Connecting Example of C-frame, 3-phase)
• Wiring of the Main Circuit PC (to be supplied by customer)
Circuit Breaker (NFB)
Setup support software
Use the circuit breaker matching
"PANATERM® "
capacity of the power source to
DV0P4460 Console (option)
protect the power lines.
DV0P4420
Noise Filter (NF)
Prevents external noise from the pow-
er lines. And reduces an effect of the
noise generated by the servo driver. • Connection to SP • Wiring to Connector,
the Connector, CN X1
IM
CN X4 (option)
X4
Magnetic Contactor (MC) (connection to input power)
G
(Connection to PC or host controller)
Turns on/off the main power of the
L1 (Pin-5)
X3A
servo driver.
X1
Use a surge absorber together L2 (Pin-4) • For manufacturers' use only,
with this. L3 (Pin-3) CN X3A and X3B
X3B
• Never start nor stop the servo mo- (Not for individual use)
L1C (Pin-2)
tor with this Magnetic Contactor.
L2C (Pin-1)
Reactor (L)
Reduces harmonic current of the
• Wiring to Connector, CN X5
main power.
X5
X2
(Connection to host controller)
For specifications, refer to the • Connection to the Connector, CN X2
downloaded Instruction Manual (connection to external components)
from our Web Site. RB1 (Pin-6)
RB2 (Pin-4) Junction cable for encoder
Pin RB1 (6-pin), RB2 (4-pin), and X6
RB3 (5-pin) Handle lever • Wiring to Connector, CN X6
RB2 and RB3 to be kept shorted for Use this for connector X7 (Connection to encoder)
normal operation. connection. Store this • Wiring to
When the capacity shortage of after connection for other Connector, CN X7
occasions. Ground U-phase (red) (Connection to
the regenerative resister is found, (earth)
(see page for connection.) V-phase (white) external scale)
disconnect a shorting bar be- W-phase (black)
Short bar
tween RB2 and RB3, then connect
Regenerative resistor Junction cable for motor
the external regenerative resister
(optional) • Wiring to Connector,
between RB1 and RB2. CN X2
<Remarks>
(Note that no regenerative resister When you use an external (Connection to
is equipped in Frame A and B type. regenerative resister, install motor driving
Install an external regenerative phase and DC Power supply for brake
an external protective apparatus, such as DC24V
resister on incombustible materi- thermal fuse without fail. ground)
(to be supplied by customer)
al, such as metal. Follow the same
For resistor value and capacity, refer to the Junction cable
wiring connection as the above.) downloaded Instruction Manual from our Web Site. for brake
When you connect an external re- Thermal fuse and thermostat are built in to the
generative resister, set up servo regenerative resistor (Option). If the thermal
parameter No. 6C to 1 or 2. fuse is activated, it will not resume. : High voltage
– B10 – – B11 –
Overall Wiring (Connecting Example of E-frame)
• Wiring of the Main Circuit PC (to be supplied by customer)
Circuit Breaker (NFB) Setup support software
Use the circuit breaker matching "PANATERM® "
capacity of the power source to DV0P4460
protect the power lines.
Noise Filter (NF)
Prevents external noise from the pow- SP
IM
Console (option)
X4
er lines. And reduces an effect of the G
DV0P4420
noise generated by the servo driver. • Wiring to Connector, CN X4 (option)
X3A
Magnetic Contactor (MC) (Connection to PC or host
• For manufacturers' use controller)
Turns on/off the main power of the • Connection X1
X3B
only, CN X3A and X3B
servo driver. with input (Not for individual use)
Use a surge absorber together power supply
with this. L1
• Never start nor stop the servo mo- L2
X5
tor with this Magnetic Contactor. • Wiring to Connector, CN X5
L3 (Connection to host controller)
Reactor (L)
r
Reduces harmonic current of the
main power. t X6 • Wiring to Connector, CN X6
For specifications, refer to the (Connection to encoder)
X7
Junction cable
downloaded Instruction Manual for encoder
from our Web Site.
Pin P, B1 and B2... • Connection to external • Wiring to Connector, CN X7
B1 and B2 to be kept shorted for components (Connection to external scale)
normal operation. P • Connection to motor driving
phase and ground
When the capacity shortage of B2 Ground
(earth) Junction cable
the regenerative resister is From a top for motor
Short bar
found, disconnect a short bar U-phase
between B1 and B2, then con- Regenerative resistor V-phase
W-phase
nect the external regenerative (optional)
resister between P and B2. <Remarks> Junction cable for brake
Install an external regenera- When you use an external
regenerative resister, install DC Power supply for brake
tive resister on incombustible DC24V
an external protective apparatus, such as thermal
material, such as metal. Follow (to be supplied by customer)
fuse without fail.
the same wiring connection as
For resistor value and capacity, refer to the
the above.
downloaded Instruction Manual from our Web Site.
When you connect an external Thermal fuse and thermostat are built in to the
regenerative resister, set up servo regenerative resistor (Option). If the thermal fuse
parameter No. 6C to 1 or 2. is activated, it will not resume. : High voltage
– B12 – – B13 –
Required Circuit Noise Cable Cable
Applicable Rated Noise Surge Magnetic diameter
Driver and List of Applicable Peripheral Equipments Driver
motor
Voltage
output
Power breaker
(at the rated (rated
load) current) filter
filter for diameter Connection
absorber signal contactor (main circuit) (control circuit)
approx.
Applicable Rated Required
Power breaker
Circuit
Noise Surge Noise Cable
Magnetic diameter Cable MGMA 2.0kW 3.8kVA
Driver Voltage (rated filter for diameter Connection
motor output (at the rated
load) current) filter absorber signal contactor (main circuit) (control circuit)
MDMA
approx.
MSMD Single to50W 100W 0.4kVA BMFT61041N BMF6352N
phase, MHMA approx.
approx. (3P+1a) (3P+2a2b)
MQMA 100V 100W 0.4kVA 3.0kW 4.5kVA
MSMA
50W approx. 3.5mm2
MSMD to 200W 0.5kVA AWG12
MADD MGMA Terminal
approx. block
Single 100W 0.3kVA BMFT61542N
MQMA phase, MDMA M5
approx. (3P+1a) 3- phase,
200V 200W 0.5kVA approx. 0.75mm2 11.0 or
smaller
DV0P4170 DV0P4190 MFDD MHMA 200V 4.0kW 6kVA 50A DV0P3410 DV0P1450 DV0P1460
approx. AWG18
MAMA 100W 0.3kVA
10A MSMA
MSMD Single approx. BMFT61041N approx. ø5.3
phase, 200W 0.5kVA MFMA 6.8kVA BMF6652N
(3P+1a) 0.75 to 4.5kW approx.
MQMA 100V 2.0mm2 (3P+2a2b)
MGMA 7.5kVA
AWG
MBDD MSMD approx. 14 to 18 5.3mm2
Single 400W 0.9kVA MDMA
Connection to exclusive connector

BMFT61542N AWG10
MQMA phase, (3P+1a) approx.
200V MHMA 5.0kW 7.5kVA
approx.
MAMA 200W 0.5kVA
MSMA
MQMA Single approx. BMFT61541N
phase, 400W 0.9kVA (3P+1a) • Select a single and 3-phase common specifications according to the power source.
100V
MSMD approx.
750W 1.3kVA • Manufacturer of circuit breaker and magnetic contactor : Matsushita Electric Works.
MCDD DV0P4180
MAMA Single/
DV0P1460 0.75mm2 To comply to EC Directives, install a circuit breaker between the power and the noise
approx. BMFT61542N AWG18
3- phase, 400W 0.9kVA (3P+1a) filter without fail, and the circuit breaker should conform to IEC Standards and UL
MFMA 200V
approx.
recognized (Listed and marked).
MHMA 500W 1.1kVA 15A
5000Arms, 240V is the maximum capacity to be delivered to the circuit of 750W or
approx.
MAMA 750W 1.6kVA larger model when the maximum current value of the circuit breaker is limited to 20A.
MDMA approx.
1.0kW 1.8kVA • For details of noise filters, refer to P.B48, "Noise Filter".
MHMA <Remarks>
approx. DV0P1450
MGMA 900W 1.8kVA BMFT61842N 2.0mm2 • Select and use the circuit breaker and noise filter with matching capacity to those of
Single/ approx. (3P+1a) AWG14
MDDD MSMA 3- phase, 1.0kW 1.8kVA the power source, considering the load conditions as well.
200V
MHMA • Terminal block and protective earth terminal
20A
MDMA DV0P4220 Use a copper conductor cable with temperature rating of 60˚C or higher.
approx.
1.5kW 2.3kVA
MSMA Protective earth terminal is M4 for A to D-frame, and M5 for E and F-frame.
MFMA Larger tightening torque of the screw than the max. value (M4 : 1.2 N • m, M5 : 2.0 N • m)
MDMA
Terminal may damage the terminal block.
block
MSMA
approx.
2.0kW 3.3kVA
2.0mm2 M5
11.0 or
• Earth cable diameter should be 2.0mm2 (AWG14) or larger for 50W to 2.0kW model,
BMF6352N AWG14 smaller
MEDD 3- phase, 30A (3P+2a2b) and 3.5mm2 (AWG12) or larger for 2.5kW to 4.0kW, and 5.3mm2 (AWG10) or larger
MHMA 200V
approx. 3.5mm2 for 4.5kW to 5kW model.
MFMA 2.5kW 3.8kVA AWG12 ø5.3
• Use the attached exclusive connectors for A to D-frame, and maintain the peeled off
length of 8 to 9mm.
• Tightening torque of the screws for connector (CN X5) for the connection to the host
to be 0.3 to 0.35 N • m. Larger tightening torque than these may damage the connector
at the driver side.
– B14 – – B15 –
Wiring of the Main Circuit (A to D-frame) Wiring of the Main Circuit (E and F-frame)
• Wiring should be performed by a specialist or an authorized personnel. • Wiring should be performed by a specialist or an authorized personnel.
• Do not turn on the power until the wiring is completed. • Do not turn on the power until the wiring is completed.
Tips on Wiring Tips on Wiring

8~9mm
1) Take off the cover fixing screws, and detach the terminal cover.
1) Peel off the insulation cover of the cable.
2) Make wiring
(Observe the dimension as the right fig. shows.) Use clamp type terminals of round shape with insulation cover for wiring to the termi-
2) Insert the cable to the connector detached nal block. For cable diameter and size, rater to "Driver and List of Applicable Periph-
from the driver.(See P.B18 for details.) eral Equipments" (P.B14 and B15).
3) Connect the wired connector to the driver. 3) Attach the terminal cover, and fix with screws.
• Check the name plate of the driver for power Fastening torque of cover fixed screw in less than 0.2 N • m.
specifications. • Check the name plate of the driver for power
• Provide a circuit breaker, or a leakage breaker. specifications.
The leakage breaker to be the one designed for • Provide a circuit breaker, or a leakage breaker.
"Inverter" and is equipped with countermeasures The leakage breaker to be the one designed for
for harmonics. "Inverter" and is equipped with countermeasures
• Provide a noise filter without fail. for harmonics.
Power
5 L1 • Provide a surge absorber to a coil of the Magnetic L1 • Provide a noise filter without fail.
NFB NF MC L Contactor. Never start/stop the motor with this
supply 4 L2
Magnetic Contactor.
Power
NFB NF MC L L2
• Provide a surge absorber to a coil of the
supply Magnetic Contactor. Never start/stop the motor
3 L3 Connect a fuse in series with the surge absorber.
with this Magnetic Contactor.
2 L1C
Ask the manufacturer of the Magnetic Contactor L3 Connect a fuse in series with the surge absorber.
for the fuse rating.
Ask the manufacturer of the Magnetic Contactor
1 L2C • Provide an AC Reactor. r for the fuse rating.
• Connect L1 and L1C, and L3 and L2C at single
CN X1 phase use (100V and 200V), and don't use L2. • Provide an AC Reactor.
t
• Match the colors of the motor lead wires to those of • Don't disconnect the short bar between B1 and
6 RB1
the corresponding motor output terminals (U,V,W). P B2. Disconnect this only when an external
5 RB3 • Don't disconnect the shorting cable between RB2 regenerative register is used.
and RB3 (C and D frame type). Disconnect this only B1 • Match the colors of the motor lead wires to those
Yellow
(X2)
4 RB2 when the external regenerative register is used. of the corresponding motor output terminals
U 3 U • Avoid shorting and ground fault. Don't B2 (U,V,W).
Red
1 connect the main power.
Yellow
(X2) • Avoid shorting and ground fault.
V 2 V * Connect pin 3 of the connector on the amplifier Red U U Don't connect the main power.
White 2 1 W side with pin 1 of the connector on the motor side.
W V V
White • Earth-ground this.
Black 3 CN X2 • Earth-ground this. • Connect the protective earth terminal ( ) of the
Green E • Connect the protective earth terminal ( ) of the Black
W W driver and the protective earth (earth plate) of the
yellow 4 driver and the protective earth (earth plate) of the control panel without fail to prevent electrical
control panel without fail to prevent electrical shock. Green E
yellow shock.
• Don't co-clamp the earth wires to the protective
• Don't co-clamp the earth wires to the protective
earth terminal ( ) . Two terminals are provided.
Motor • Don't connect the earth cable to other earth terminal ( ) . Two terminals are provided.
inserting slot, nor make them touch. • Don't connect the earth cable to other
Ground resistance : 100Ω max. Motor inserting slot, nor make them touch.
For applicable wire, • Compose a duplex Brake Control Circuit so that Ground resistance : 100Ω max.
refer to P.B14 and B15. the brake can also be activated by an external For applicable wire, • Compose a duplex Brake Control Circuit so that
emergency stop signal. refer to P.B14 and B15. the brake can also be activated by an external
DC DC power supply emergency stop signal.
• The Electromagnetic Brake has no polarity.
24V for brake • For the capacity of the electromagnetic brake and • The Electromagnetic Brake has no polarity.
DC
how to use it, refer to P.B51, "Specifications of 24V DC power supply • For the capacity of the electromagnetic brake and
Surge absorber Built-in Holding Brake". for brake how to use it, refer to P.B51, "Specifications of
• Provide a surge absorber. Built-in Holding Brake".
• Connect a 5A fuse in series with the surge absorber.
Surge absorber
Fuse (5A) • Provide a surge absorber.
Fuse (5A) • Connect a 5A fuse in series with the surge absorber.
– B16 – – B17 –
Wiring method to connector (A to D-frame) Wiring Diagram
• Follow the procedures below for the wiring connection to the Connector CN X1 and X2 . Compose the circuit so that the main circuit power will be shut off when an error occurs.
In Case of Single Phase, 100V (A and B-frame)
How to connect 8 to 9mm
+10% +10%
1. Peel off the insulation cover of the cable. Power supply Single phase, 100V –15% to 115V –15%
Built-in thermostat of an external
(see the right fig for exact length for peeling.) ON OFF ALM
MC
regenerative resistor (light yellow)
MC
Surge absorber
2. Insert the cable to the connecter in the following 2 methods.
NFB MC L CN X1
(a) Using the attached Handle Lever
Noise
L1
filter
Main power
supply
(b) Using a screw driver (blade width of 3.0 to 3.5 mm) L3
L1C Control power
L2C supply
(a) Using handle lever RB1

CN X2
External regenerative resistor
172167-1 RB3
1 2 3 Tyco Electronics AMP RB2
Red
1 1 U
White Motor
2 2 V connection
Black
3 3 W
Green
4 4
Motor
CN X5
Attach the handle lever Insert the peeled cable Release the lever. 172159-1 ALM
15
Tyco Electronics AMP ALM
to the handling slot on while pressing down the DC12 to 24V
17
the upper portion. Press lever, until it hits the (±5%) COM–
down the lever to push insertion slot (round

down the spring. hole).
* You can pull out the cable by pushing down the spring as the above. In Case of Single Phase, 200V (A and B-frame)
+10% +10%
Power supply Single phase, 200V –15% to 240V –15%
(b) Using screw driver Built-in thermostat of an external
ON OFF ALM regenerative resistor (light yellow)
1 2 3 MC
MC
Surge absorber
NFB MC L CN X1
Noise
L1
filter
Main power
L3 supply
L1C Control power
Use a reactor for L2C supply
3-phase
CN X2
External regenerative resistor RB1
172167-1 RB3
Press the screw driver Insert the peeled cable Release the screw Tyco Electronics AMP RB2
to the handling slot on while pressing down the driver. Red
1 1 U
White Motor
the upper portion to screw driver, until it hits the Black
2 2 V connection
3 3 W
push down the spring. insertion slot (round hole). Green
4 4
* You can pull out the cable by pushing down the spring as the above.
Motor
<CAUTION>
172159-1 ALM CN X5
• Peel off the cable with exact length (8 to 9 mm). Tyco Electronics AMP
15
ALM
• Take off the connector from the Servo Driver before making connection. DC12 to 24V
17
(±5%) COM–
• Insert one cable into each one of cable insertion slot.
• Pay attention to injury by screw driver.
– B18 – – B19 –
In Case of Single Phase, 200V (C and D-frame) * When you use motor model of In Case of 3-Phase, 200V (E and F-frame) [Motor portion]
+10% +10% MSMA, MDMA, MFMA, MHMA +10% +10% Connector : by Japan Aviation Electronics Ind.
Power supply Single phase, 200V –15% to 240V –15% Power supply 3-phase, 200V –15% to 230V –15%
and MGMA, use the connections
<Remarks> Built-in thermostat of an external D A
as the below table shows. Built-in thermostat of an external
When you use single regenerative resistor (light yellow) regenerative resistor (light yellow)
phase, connect the main ON OFF ALM ON OFF ALM
C B
power between L1 and MC
MC
[Motor portion] MC
MC
Surge absorber JL04V-2E20-4PE-B-R

L3 terminals. Connector : by Japan Aviation Electronics Ind. Surge absorber
NFB MC L CN X1 JL04HV-2E22-22PE-B-R
L1 D A NFB MC L
Noise
PIN No. Application
filter
Main power L1
L2 supply
Noise
Main power
filter
Use a reactor for L3 C B L2 supply A U-phase
3-phase L1C L3
Control power
supply JL04V-2E20-4PE-B-R B V-phase
L2C Control power
r
(Remove the short wire when you connect JL04HV-2E22-22PE-B-R supply C W-phase
the external regenerative resistor.) t
External regenerative resistor RB1
CN X2 PIN No. Application D Ground
External regenerative resistor P
172167-1 RB3 A U-phase
Tyco Electronics AMP (Remove the short bar when you connect B1
RB2 B V-phase
Red
1 1
* U
the external regenerative resistor.)
B2 G H A
White Motor C W-phase Red
2 2 V connection U Motor
Black D Ground F I B
3 3 W White connection
Green V
4 4 Black E D C
W
G H A Green
JL04V-2E20-18PE-B-R
F I B
Motor PIN No. Application
172159-1 ALM CN X5 E D C G Brake
Tyco Electronics AMP 15 Motor
ALM
JL04V-2E20-18PE-B-R H Brake
DC12 to 24V
(±5%) 17 ALM A NC
COM– PIN No. Application 15
ALM
F U-phase
G Brake DC12 to 24V
H Brake
(±5%) 17 I V-phase
COM–
In Case of 3-Phase, 200V (C and D-frame) A NC B W-phase
+10% +10% F U-phase E Ground
Power supply 3-phase, 200V –15% to 240V –15% D Ground
I V-phase
<Remarks> Built-in thermostat of an external B W-phase C NC
When you use single regenerative resistor (light yellow)
phase, connect the main ON OFF ALM E Ground
MC
MC D Ground
power between L1 and L3 Surge absorber A B C
terminals. C NC
NFB MC L CN X1
D E F
L1
Noise
filter
L2 Main power A B C
supply G H I
L3
D E F
L1C Control power JL04V-2E24-11PE-B-R
L2C supply
(Remove the short wire when you connect G H I PIN No. Application
the external regenerative resistor.)
CN X2 A Brake
External regenerative resistor RB1 JL04V-2E24-11PE-B-R
172167-1 RB3
PIN No. Application
B Brake
Tyco Electronics AMP RB2
Red
1
*1 U A Brake
C NC
White
2 2 V
Motor
B Brake D U-phase
Black connection
3 3 W C NC E V-phase
Green
4 4 F W-phase
D U-phase
E V-phase G Ground
F W-phase H Ground
Motor
G Ground I NC
172159-1 ALM CN X5 Ground
Tyco Electronics AMP 15 H
ALM
I NC <Remark>
DC12 to 24V
(±5%) 17 Do not connect anything to NC.
COM– <Remark>
Do not connect anything to NC.
– B20 – – B21 –
Wiring to the Connector, CN X6 (Connection to Encoder) Wiring Diagram In case of 17-bit absolute/incremental encoder
Wiring Diagram In case of 2500P/r incremental encoder MSMD 50W to 750W

MAMA 100W to 750W
MSMD 50W to 750W
MQMA 100W to 400W
MAMA 100W to 750W CN X6
White 7 1 E5V +5V
MQMA 100W to 400W E5V
Black 8 2 E0V 0V Regulator
E0V
3
CN X6
White 4 1 E5V +5V 4
E5V
Black 5 2 0V Regulator Red 1 battery 5
E0V E0V BAT+ PS
3 Pink 2 6
BAT– PS
4 Light Blue 4
PS
Light Blue 2 5 Purple 5
PS PS PS
Purple 3 6 Yellow/Green 3
PS PS FG
6
FG Case
Twisted pair
Twisted pair Case 172169-1 172161-1
172168-1 172160-1 (by Tyco Electronics, AMP) (by Tyco Electronics, AMP)
(by Tyco Electronics, AMP) (by Tyco Electronics, AMP) motor Junction cable
Motor side Driver side
motor Junction cable
MSMA 1kW to 5kW MFMA 400W to 4.5kW

MDMA 1kW to 5kW MGMA 900W to 4.5kW
MSMA 1kW to 5kW MFMA 400W to 4.5kW MHMA 500W to 5kW
MDMA 1kW to 5kW MGMA 900W to 4.5kW Pin No. of connector CN X6
H 1 E5V +5V
MHMA 500W to 5kW E5V
Regulator
Pin No. of connector CN X6 E0V G 2 0V
E0V
E5V H 1 E5V +5V 3
0V Regulator
E0V G 2 E0V 4
3 T battery 5
BAT+ PS
4 S 6
BAT– PS
K 5 K
PS PS PS
L 6 L
PS PS PS
J J
FG FG
Straight plug N/MS3106B20-29S
Cable clamp N/MS3057-12A Case
Twisted pair
Straight plug N/MS3106B20-29S (Japan Aviation Electronics Industry, Ltd.)
Cable clamp N/MS3057-12A Case
Twisted pair
(by Japan Aviation Electronics Ind.) motor
Junction cable
motor
Junction cable
– B22 – – B23 –
Wiring for Connector CN X5 List of Signal for Connector CN X5
Control signal power supply 1

Driver side Common input signals
COM+ 4.7kΩ
Emergency stop input 2 Connector
EMG-STP 4.7kΩ Application Code pin No. Function
CCW over-travel inhibit input 19
CCWL 4.7kΩ • Connected to the + terminal of an external DC
CW over-travel inhibit input 20
CWL 4.7kΩ COM+ 1 power supply (12 to 24 V)
Home sensor input 21 Z-LS Control signal
4.7kΩ • Use a 12 V (±5%) to 24 V (±5%) power supply.
Servo-ON signal input 23 power supply
SRV-ON 4.7kΩ • Connected to the – terminal of an external DC
COM– 17
Strobe signal input 24
STB power supply (12 to 24 V).
4.7kΩ
Point specifying input 3 • The power supply capacity differs depending on
P1IN 4.7kΩ
Point specifying input 4 the configuration of the input/output circuits used.
P2IN
Point specifying input 5
4.7kΩ A capacity of more than 0.5A is recommended.
P4IN
4.7kΩ • When connection with COM– is opened, emergen-
P8IN 4.7kΩ Emergency stop EMG- cy stop input error (error code No.39) occurs, and
Point specifying input 7 2
P16IN 4.7kΩ input STP the circuit trips.
P32IN 4.7kΩ
• Tripping can be reset using an alarm clear input
Multi-function input 1 22 initiated by specifying point 0 or assigning the mul-
EX-IN1 4.7kΩ
Multi-function input 2 25
EX-IN2 11
ti-function inputs (EX-IN1, EX-IN2).
OA+ A-phase • Specify an operation point number when operation
Present position 12 330Ω
output
output MAX 50mA 29 OA- command is input.
P1OUT 13 P1IN 3
Divider
OB+ B-phase The number at which operation point can be

Present position 14 330Ω output
VDC output MAX 50mA 30 OB- specified depends on the number of points set by
P2OUT 9
12 to OZ+ Z-phase servo parameter No.57.
Present position 10 330Ω output P2IN 4
24V output MAX 50mA 31 OZ- Servo parameter No.58 can be used for setting
P4OUT input logic.
Present position
output MAX 50mA 32 When the point described below is specified,
P8OUT 26 P4IN 5 special operation is performed.
GND
Present position • Specify point 0, and input a strobe signal, then
output MAX 50mA 33 16 Z-phase output (open collector) Point specifying
P16OUT CZ alarm is cleared.
Present position input
• Specify the maximum point number specified in
output MAX 50mA 34 P8IN 6
P32OUT servo parameter No. 57, and input a strobe signal,
Motor operation then system returns to the home position.
condition output MAX 50mA 28 • Specify the maximum point number specified in
BUSY
Positioning completion P16IN 7 servo parameter No. 57 –1 and input a strobe signal,
output / Output during
deceleration MAX 50mA 27 then high-speed normal rotation jog is performed.
COIN/
DCLON • Specify the maximum point number specified in
Servo alarm output MAX 50mA 15 P32IN 8 servo parameter No. 57 –2 and input a strobe signal,
ALM
then high-speed reverse rotation jog is performed.
Brake release
signal MAX 50mA 36 • CCW drive prohibition input (CCWL).
BRK-OFF
• Connect so as to open COM– connection when
Control signal power supply 17 movable part of the equipment exceeds the
COM–
CCW over-travel movable range in CCW direction.
CCWL 19 • When this input is open, operation command in
18 inhibit input
FG CCW direction is not issued. (Torque is generated)
CN X5 • Servo parameter No. 53, 54, and 55 enable for
( represents twisted pair.) setting of valid/invalid, input logic, and operation.
– B24 – – B25 –
Connector Common output signals and their functions
Application Code pin No. Function
• CW drive prohibition input (CWL). Connector
• Connect so as to open COM– connection when Application Code pin No. Function
movable part of the equipment exceeds the Output signal indicating that the alarm is on.
Servo alarm
CW over-travel movable range in CW direction. ALM 15 Output transistor turns on in normal condition, and
CWL 20 output
inhibit input • When this input is open, operation command in output transistor turns off when alarm is on.
CW direction is not issued. (Torque is generated) • This output signal can be used by choosing
• Servo parameter No.53, 54, and 55 enable setting positioning completion output (COIN) or output during
of valid/invalid, input logic, and operation. deceleration (DCLON) by servo parameter No.64.
• Connect so as to close the home sensor input when COIN: When the amount of position deviation pulse
Positioning
Home sensor system is in the vicinity of home position (default). completion is within the range set by servo parameter No.60
Z-LS 21 COIN/ (in-position range), the transistor turns on.
input Servo parameter No.56 can be used for setting input logic. output/ 27
DCLON However, while the operation command is being
• Connected to the home sensor signal. Output during
deceleration processed, it will not turn ON even inside the
• Connect so as to close the home sensor input positioning completion range.
when system is in the vicinity of home position. DCLON: Transistor turns ON while the motor is
Pr56 can be used for setting input logic. decelerating. However, the signal is not output when the
• When servo amplifier is connected to COM– of control motor has stopped because the deceleration time is zero.
signal power supply, it is set in servo-ON condition. • Transistor turns OFF while the servo amplifier is
• When connection to COM– is opened, servo-OFF processing operation command.
condition is set, and energization of motor is cut off. <Notes>
• Dynamic brake operation and deviation counter clearing Motor operation
BUSY 28 When an operation command has been started by
operation in servo-OFF condition can be chosen by condition output
Servo-ON signal the strobe signal input (STB), the motor operation
SRV-ON 23 servo parameter No.69 (sequence at servo-off). status output remains OFF until the strobe signal
input
• Servo parameter No.5D enable setting of valid/invalid. input is set to the opened condition.
Note. 1 When shifting from servo-OFF to servo-ON, • Outputs the present motor position (point number)
make sure that the motor is stopped. when the step operation is completed.
Note 2 After shifting to servo-ON, allow 100ms or P1OUT 29 • All the transistors are OFF (point 0) when the power is turned
more before giving an instruction. on. However, when the absolute mode is established or when
Note 3 Frequent repeating of servo-ON/OFF may the 16 bit positioning parameter No.38 is set to 1 (homing is
damage the dynamic brake circuit contained in invalid), the maximum point number set in the servo
servo amplifier. Avoid such a use. P2OUT 30 parameter No.57 (input point number selection) is output.
• When this is connected to COM– of the control • Upon completion of homing, the maximum point
signal power supply, the servo amplifier starts the number set in the servo parameter No.57 (input
movement to the specified point. point number selection) is output.
• When 10ms or more has passed after setting speci- P4OUT 31 • During high-speed normal rotation jog operations,
fied point input, connect the strobe signal input (STB) Present position the maximum point number set in the servo
Strobe signal output parameter No.57 (input point number selection)
STB 24 to COM–. It is possible that the servo amplifier is un-
input minus 1 is output after the motor has stopped.
able to read specified point input properly.
• Input STB signal 10ms or longer. Also, reset STB P8OUT 32 • During high-speed reverse rotation jog operations,
the maximum point number set in the servo
signal to opened condition after receiving BUSY
parameter No.57 (input point number selection)
signal from the servo amplifier in order to ensure
minus 2 is output after the motor has stopped.
that STB signal is received reliably. When an alarm has occurred, all the transistors are set OFF.
Function can be selected and set by Pr5A and 5C P16OUT 33
Multi-function <Note>
EX-IN1 22 out of the options below. When an operation has been aborted because of servo
input 1 Instantaneous stop, temporary stop, deceleration OFF, instantaneous stop or deceleration stop, the last
stop, high-speed normal rotation jog, high-speed status is held as the current position output. To obtain
Multi-function reverse rotation jog, and alarm clearing P32OUT 34 the correct output, move to the reference position
EX-IN2 25
input 2 Input logic can be set by servo parameter No.59 and 5B. (home point, absolute position command point).
– B26 – – B27 –
Application Code
Connector
Function Operation Timing after Power-ON
pin No.
• Defines the timing signal to activate the Control
electromagnetic brake for the motor. power supply OFF ON
When the electromagnetic brake is released, the (L1C,L2C)
Brake release output transistor turns ON. Approx. 100 to 300ms
BRK-OFF 36 Internal control
output • Output timing of this signal can be set by servo OFF Approx. 2s Activated
power supply
parameter No.6A (mechanical brake delay at motor
Approx. 1.5s
standstill) and servo parameter No.6B (Mechanical *3
brake delay at motor in motion). Microcomputer Reset Initialize ON
0s or more
Output signal (pulse train) and function Main power supply
OFF ON
Connector (L1, L2, L3) *2
Application Code pin No. Function Approx. 10ms
or more
• Division-processed encoder signal or external Servo alarm output
OA+ 11 OFF ON
scale signal (A/B-phase) is output in differential (X5 Pin 15) Approx. 10ms
A-phase output or more
mode. (RS422) *2
OA– 12 0ms or more
• Servo parameter No.44 (numerator of output pulse Servo-ON input
ratio) and servo parameter No.45 (denominator of OFF ON
OB+ 13 (X5 Pin 23)
output pulse ratio) can be used to set the division
B-phase output ratio. Approx. 2ms
OB– 14 • Servo parameter No.46 (pulse output logic Dynamic brake ON OFF
inversion) can be used to select the logic relation
Approx.
of phase B with regard to the pulse of phase A, 40ms
OZ+ 9 and its output source. Motor energized Not energized Energized
• Ground of line driver of the output circuit is
Z-phase output
connected to signal ground (GND); not insulated. Approx. 2ms
OZ– 10 • The maximum output frequency is 4 Mpps (after BRK-OFF output OFF (Brake engaged) ON
being multiplied by 4). (X5 Pin 36) (Brake released)
• Open collector output of Z-phase signal. Point specifying input
Z-phase output CZ 16 • Emitter side of the transistor of the output circuit is Point setting
(P1IN - P32IN)
connected to signal ground (GND); not insulated.
MIN 10ms
Strobe signal
OFF ON
Others (STB) Approx. 100ms or more *1
Connector <Notes>
Application Code pin No. Function • The above chart shows the timing from AC power-ON to command input.
• Internally connected to the ground terminal inside • Activate the external command input according to the above timing chart.
Frame ground FG 18
the servo amplifier. *1. In this term Servo-ON input (CN X5 SRV-ON:pin23) turns ON as a hard ware, but operation
• Signal ground command can not be received.
Signal ground GND 26 • Internally insulated from the control signal power *2. Servo alarm output (CN X5 ALM:pin15) turns ON when the microcomputer's initialization is
supply (COM–) inside the servo amplifier. completed, and the condition of no error is occurring. Servo-ON input turns ON after Servo
alarm turns ON and the main power supply is activated sufficiently.
*3. After Internal control power supply , protective functions are active from approx. 1.5 sec after
the start of initializing microcomputer. Please set the signals, especially for protective function,
for example over-travel inhibit input (CWL,CCWL) or emergency stop input (EMG-STP), so as
to decide their logic until this term.
– B28 – – B29 –
Overview of function Setup with the Front Panel
Operation instruction is specified by use of signal for point specifying input (P1IN to P32IN). Composition of Touch Panel and Display
See the table below for the relation between point specifying input and operation in-
struction. Display LED (2 digits)
In order to execute an instruction, determine the kind of instruction by P1IN to P32IN, In the case of an error, the alarm code will flash.
and then input a strobe signal. In the case of a warning, the warning code (about 2
seconds) will alternate at about 4 seconds intervals
<Remarks> with .
Because down of the signal wires during moving operation or exceptionally larger exter-
nal noise disturbance may result in unexpected action, the protective equipments like ID address setup rotary switch
limit sensors or emergency stop input must be installed before using. LSD : Lower-shifting (Default : 0)
MSD : Upper-shifting (Default : 0)
Ex) When servo parameter No.57 = 3 (6 bits) is set
For manufacturers' use only.
Point No. P32IN P16IN P8IN P4IN P2IN P1IN Description
(Not for individual use)
0 (00H) H H H H H H Alarm clearing instruction
1 (01H) H H H H H L Moves to step parameter 1.
Output signal (Analog signal)
2 (02H) H H H H L H Moves to step parameter 2.
3 (03H) H H H H L L Moves to step parameter 3. Speed monitor output
4 (04H) H H H L H H Moves to step parameter 4. Torque monitor output
5 (05H) H H H L H L Moves to step parameter 5. Signal ground
6 (06H) H H H L L H Moves to step parameter 6.
7 (07H) H H H L L L Moves to step parameter 7.
8 (08H) H H L H H H Moves to step parameter 8. Output Signals (Analog) and Their Functions
9 (09H) H H L H H L Moves to step parameter 9.
10 (0AH) H H L H L H Moves to step parameter 10. Application Code Function
• •
• • Speed monitor SP • The content of the output signal varies depending on Pr07
• •
signal output (Speed monitor (IM) selection).
59 (3BH) L L L H L L Moves to step parameter 59.
• You can set up the scaling with Pr07 value.
60 (3CH) L L L L H H Moves to step parameter 60.
61 (3DH) L L L L H L High-speed jog operation (negative) SV.Pr07 Control mode Function
62 (3EH) L L L L L H High-speed jog operation (positive) • Feeds out the voltage in proportion to the motor speed with
63 (3FH) L L L L L L Homing instruction Motor polarity.
0 to 4
<Notes> speed + : rotates to CCW
– : rotates to CW
• H indicates the opened contact condition and L the closed contact condition.
• Feeds out the voltage in proportion to the command speed
• The number of point inputs can be set by servo parameter No.57. Command with polarity.
5 to 9
• The logic of point input can be changed by servo parameter No.58. speed + : rotates to CCW
The table above describes the case where servo parameter No.58 is "1: Point input – : rotates to CW
valid by closed connection with COM–".
In the case of "0: Point input valid by opened connection with COM–", "H" and "L" are
reversed.
• Point number of "High-speed jog operation (negative)", "High-speed jog operation
(positive)", and "Homing instruction" depends on the setting of servo parameter No.57.
– B30 – – B31 –
3. System Configuration and Wiring 4. Parameter
Application Code Function Outline of Parameter
Torque monitor IM • The content of output signal varies depending on Pr08 This driver is equipped with various parameters to set up its characteristics and func-
(Torque monitor (IM) selection). tions. This section describes the outline of each parameter. Read and comprehend very
signal output
• You can set up the scaling with Pr08 value.
well so that you can adjust this diver in optimum condition for your running requirements.
SV.Pr08 Control mode Function
<Remarks>
• Feeds out the voltage in proportion to the motor torque
0, Torque command with polarity. The parameter numbers not be mentioned in this section are not for individual use but
11,12 command + : generates CCW torque for manufacturers' use .Do not change these parameters from the default setting.
– : generates CW torque
• Feeds out the voltage in proportion to the positional How to Set
Positional deviation pulse counts with polarity.
1–5 deviation + : positional command to CCW of motor position • You can refer and set up the parameter with either one of the following.
– : positional command to CW of motor position 1) console (DV0P4420, option)
2) combination of the setup support software, "PANATERM®" (Option, DV0P4460: Japa-
nese / English version) and PC.
<Note>
For setup of the parameters on PC screen, refer to the instruction manual of the
"PANATERM®".
Outline of PANATERM®
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 and 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.
How to Connect
RS232 connection cable (option)
DV0P1960 (for DOS/V machines)
Connect to CN X4
Connect to CN X4
Setup disc of setup support software,

PANATERM®
Console : DV0P4420 (option) • DV0P4460 : Japanese / English version (option)
<Remarks>
• Connect the console connector to the connector, CN X4 of the driver securely.
• Do not pull the cable to insert/unplug.
– B32 – – B33 –
4. Parameter
Setup with the Console Composition of Parameters
Display LED (6-digit) • Servo parameter

All of LED will flash when error occurs, and switch to Servo
Group parameter No. Outline
error display screen.
Servo Function selection 01 to 03, You can select a control mode,
parameter 07,08,0B, and set up a baud rate.
Display LED (in 2 digits) 0C,0F
Parameter No. is displayed at parameter setup mode. Adjustment 10 to 1E, You can set up servo gains (1st
Point No. is displayed at teaching mode. 27 to 2E and 2nd) of position, velocity,
integration, etc, and time constants
Press this to shift the digit for data change. of various filters.
20 to 26, Parameters related to Real Time
Press these to change data or execute selected action 2F Auto-Gain Tuning. You
of parameter. can set up a mode and select a
Numerical value increases by pressing , , mechanical stiffness.
decreases by pressing . 30 to 35 You can set up parameters related
to gain
SET Button switching(1st 2nd)
Press this to shift each mode which is selected by Position Control 44 to 46, You can set up dividing of encoder
mode switching button to EXECUTION display. 4C, 4D output pulse.
Input signals 53 to 5D You can set up the logic of input
Mode Switching Button Press this to switch 7 kinds of mode. signals and the number of point
1) Monitor mode 6) Auxiliary function mode input.
2) Teaching mode • Alarm clear 5E to 5F You can set up a torque limit of
torque command.
• Target position settings established • Absolute encoder clear
Sequence 60, 64, 65, You can set up detecting
by teaching 7) Copy mode
67 to 6E conditions of output signals,
• Test operation • Copying of parameters from
such as positioning-completion.
3) Parameter setup mode the driver to the console. You can also set up a
4) EEPROM write mode • Copying of parameters from deceleration/stop action at
5) Normal auto-gain tuning mode the console to the driver. main power-off, at alarm output
and at servo-off,
The data for the parameters is set after the mode has been switched to the parameter and clear condition of the deviation
setup mode. For details on operation, refer to the instruction manual provided with the counter.
console. 70, 72, 73 You can set up actions of
protective functions.
Full-Closed Control 78 to 7C You can set up dividing of external
scale.
– B34 – – B35 –
4. Parameter
• 16-bit positioning parameter List of Servo Parameters
16-bit positioning
Parameters for Functional Selection
16-bit Motor speed 00 to 0F You can set speed data of step
positioning Acceleration and operation. Servo Related control
parameter Set up of parameter Range Default Unit mode
parameter Deceleration 10 to 1F You can set acceleration and No.
deceleration data of step operation. 01 7-segment LED status for console, initial condition display 0 to 15 1 – P, F
Homing 30 to 3B You can set data for homing. 02*1 Control mode 0, 6 0 – P, F
Jog operation 40 to 45 You can set data for jog operation. 03 Torque limit selection 0 to 3 1 – P, F
Others 48 to 54 You can set data for teaching or
07 Speed monitor (SP) selection 0 to 9 3 – P, F
operation direction and so on.
08 Torque monitor (IM) selection 0 to 12 0 – P, F
• 32-bit positioning parameter 0B*1 Absolute encoder set up 0 to 2 1 – P, F
32-bit positioning 0C*1 Baud rate of RS232 0 to 5 2 – P, F
0F Node address (Read Only) *2 – – P, F
32-bit positioning parameter 00 to 03 You can set data for offset or
maximum movement. *2 Depend on Rotary switch of the front panel.
• Step parameter Parameters for Adjustment of Time Constant for Gains and Filters
Group Outline Servo Default
Related control
Step Operation mode Specifying the positioning procedure.
parameter
No.
Set up of parameter Range A to
mode D to Unit
C-frame F-frame
parameter ABS (absolute position), INC (relative position), 10 1st position loop gain 0 to 3000 <63> <32> 1/s P, F
Rotary (rotation coordinates), and Dwell time 11 1st velocity loop gain 1 to 3500 <35> <18> Hz P, F
(standby time)
12 1st velocity loop integration time constant 1 to 1000 <16> <31> ms P, F
Position/waiting time Inputting the coordinate data for positioning.
When dwell time is selected in operation mode, 13 1st speed detection filter 0 to 5 <0> – P, F
set the standby time. 14 1st torque filter time constant 0 to 2500 <65> <126> 0.01ms P, F
Speed Selecting a speed selection number in 15 Velocity feed forward –2000 to 2000 <300> 0.1% P, F
positioning. 16 Feed forward filter time constant 0 to 6400 <50> 0.01ms P, F
Setting the speed by 16-bit positioning parameter. 18 2nd position loop gain 0 to 3000 <73> <38> 1/s P, F
Acceleration Selecting an acceleration speed selecting
19 2nd velocity loop gain 1 to 3500 <35> <18> Hz P, F
number in positioning.
Setting the speed by 16-bit positioning parameter. 1A 2nd velocity loop integration time constant 1 to 1000 <1000> ms P, F
Deceleration Selecting a deceleration speed selecting 1B 2nd speed detection filter 0 to 5 <0> – P, F
number in positioning. 1C 2nd torque filter time constant 0 to 2500 <65> <126> 0.01ms P, F
Setting the speed by 16-bit positioning parameter. 1D 1st notch frequency 100 to 1500 1500 Hz P, F
Block Choosing either single operation or block
1E 1st notch width selection 0 to 4 2 – P, F
operation.
<Notes>
• For parameters with suffix of "*1", change will be validated after the reset of the control power.
• In this document, following symbols represent each mode. • For parameters which default values are parenthesized by "< >", default value varies auto-
Setup value of matically by the real-time auto-gain tuning function. Set up servo parameter No.21 (Setup of
Symbol Control mode
servo parameter No.02 Real-time auto-gain tuning mode) to 0 (invalid) when you want to adjust manually.
P Position control 0 * In this documentation, each mode is represented by the following symbols
F Full-Closed control 6 P : Position control, F : Full-closed control.
– B36 – – B37 –
4. Parameter
Servo
parameter Set up of parameter Range Default Unit Related control Parameters for Position Control
No. mode
Servo Related control
27 Velocity observer 0 to 1 <0> – P parameter Set up of parameter Range Default Unit
No. mode
28 2nd notch frequency 100 to 1500 1500 Hz P, F
44*1 Numerator of output pulse ratio 1 to 32767 10000 – P, F
29 2nd notch width selection 0 to 4 2 – P, F
45*1 Denominator of output pulse ratio 0 to 32767 10000 – P, F
2A 2nd notch depth selection 0 to 99 0 – P, F
46*1 Pulse output logic inversion 0 to 3 0 – P, F
2B 1st vibration suppression frequency 0 to 2000 0 0.1Hz P, F
4C Smoothing filter 0 to 7 1 – P, F
2C 1st vibration suppression filter –200 to 2000 0 – P, F
4D*1 FIR filter set up 0 to 31 0 – P, F
2D 2nd vibration suppression frequency 0 to 2000 0 0.1Hz P, F
2E 2nd vibration suppression filter –200 to 2000 0 – P, F
Parameters for Input signals
Servo
Parameters for Auto-Gain Tuning parameter Set up of parameter Range Default Unit Related control
No. mode
Servo Default Related control 53 Over-travel inhibit input valid 0 to 1 1 – P, F
parameter
No.
Set up of parameter Range A to D to Unit mode
C-frame F-frame 54 Over-travel inhibit input logic 0 to 1 0 – P, F
20 Inertia ratio 0 to 10000 <250> % P, F
55 Over-travel inhibit input operation setting 0 to 3 1 – P, F
21 Real time auto tuning set up 0 to 7 1 – P, F
56 Home sensor input logic 0 to 1 1 – P, F
22 Machine stiffness at auto tuning 0 to 15 4 1 – P, F
57*1 Selecting the number of input points 0 to 3 2 – P, F
23 Adaptive filter mode 0 to 2 1 – P, F
58 Point specifying input logic setting 0 to 1 1 – P, F
24 Vibration suppression filter switching selection 0 to 2 0 – P, F
59 Multi-function input 1 Signal logic 0 to 1 1 – P, F
25 Normal auto tuning motion setup 0 to 7 0 – P, F
5A*1 Multi-function input 1 Signal selection 0 to 6 0 – P, F
26 Software limit set up 0 to 1000 10 0.1rev P, F
5B Multi-function input 2 Signal logic 0 to 1 1 – P, F
2F*3 Adaptive filter frequency 0 to 64 0 – P, F
5C*1 Multi-function input 2 Selection logic 0 to 6 0 – P, F
*3 this parameter will be automatically set up when the adaptive filter is validated (servo 5D*1 Servo-ON input valid 0 to 1 1 – P, F
parameter No.23, “Setup of adaptive filter mode” is “1”, and you cannot set this up at
your discretion. Set up servo parameter No.23, “Setup of adaptive filter mode” to “0”
Parameters for Torque limit
(invalid) to clear this parameter.
parameter
No.
Set up of parameter Range Default Unit mode
Parameters for Adjustment (2nd Gain Switching Function) 5E 1st torque limit 0 to 500 <500>*4 % P, F
Servo Related control 5F 2nd torque limit 0 to 500 <500>*4 % P, F
parameter
No.
30 2nd gain action set up 0 to 1 <1> – P, F
31 1st control switching mode 0 to 10 <10> – P, F
32 1st control switching delay time 0 to 10000 <30> 166µs P, F <Notes>
33 1st control switching level 0 to 20000 <50> – P, F • For parameters with suffix of "*1", change will be validated after the reset of the control power.
34 1st control switching hysteresis 0 to 20000 <33> – P, F *4 Defaults of Pr5E and Pr5F vary depending on the combination of the driver and the motor.
(1+Setup value)
35 Position loop gain switching time 0 to 10000 <20> x 166µs P, F • For parameters which default values are parenthesized by "< >", default value varies
* In this documentation, each mode is represented by the following symbols automatically by the real-time auto-gain tuning function. Set up Pr21 (Setup of Real-
P : Position control, F : Full-closed control. time auto-gain tuning mode) to 0 (invalid) when you want to adjust manually.
– B38 – – B39 –
4. Parameter
Parameters for Sequence List of 16-bit Positioning Parameters
Servo Default Related control
parameter
No.
Set up of parameter Range A, C to Unit mode
Parameters for Motor speed
B-frame F-frame
60 In-position range 0 to 32767 131 Pulse P, F 16-bit Related control
positioning
parameter No.
64 Output signal selection 0 to 1 0 – P, F
00 1st speed 0 to 6000 0 r/min P, F
65 Undervoltage error response at main power-off 0 to 1 1 – P, F
01 2nd speed 0 to 6000 0 r/min P, F
67 Error response at main power-off 0 to 9 0 – P, F
02 3rd speed 0 to 6000 0 r/min P, F
68 Error response action 0 to 3 0 – P, F
03 4th speed 0 to 6000 0 r/min P, F
69 Sequence at Servo-OFF 0 to 9 0 – P, F
6A Mechanical brake delay at motor standstill 0 to 100 0 2ms P, F
6B Mechanical brake delay at motor in motion 0 to 100 0 2ms P, F
6C*1 External regenerative resistor set up 0 to 3 3 0 – P, F
6D*1 Main power-off detection time 35 to 1000 35 2ms P, F
6E Emergency stop torque set up 0 to 500 0 – P, F
0A 11th speed 0 to 6000 0 r/min P, F
Parameters for Protective function
0B 12th speed 0 to 6000 0 r/min P, F
parameter Set up of parameter Range Default Unit 0C 13th speed 0 to 6000 0 r/min P, F
No. mode
0D 14th speed 0 to 6000 0 r/min P, F
70 Position deviation error level 0 to 32767 25000 256Pulse P, F
0E 15th speed 0 to 6000 0 r/min P, F
72 Overload level 0 to 500 0 % P, F
0F 16th speed 0 to 6000 0 r/min P, F
73 Overspeed level 0 to 20000 0 r/min P, F
Parameters for Acceleration and Deceleration

Parameters for Full-Closed Control
16-bit Related control
Servo Related control positioning
parameter No.
parameter
No.
10 1st acceleration 0 to 10000 0 ms P, F
78*1 Numerator of external scale ratio 0 to 32767 10000 – F
11 1st S-shaped acceleration 0 to 1000 0 ms P, F
79*1 Multiplier of numerator of external scale ratio 0 to 17 0 – F
12 1st deceleration 0 to 10000 0 ms P, F
7A*1 Denominator of external scale ratio 1 to 32767 10000 – F
16 X external 13 1st S-shaped deceleration 0 to 1000 0 ms P, F
7B*1 Setup of hybrid deviation excess 1 to 10000 100 scale pulses F
14 2 nd acceleration 0 to 10000 0 ms P, F
7C*1 External scale direction 0 to 1 0 – F
15 2 nd S-shaped acceleration 0 to 1000 0 ms P, F
16 2 nd deceleration 0 to 10000 0 ms P, F
17 2 nd S-shaped deceleration 0 to 1000 0 ms P, F
<Notes> * In this documentation, each mode is represented by the following symbols

• For parameters with suffix of "*1", change will be validated after the reset of the control power. P : Position control, F : Full-closed control.
– B40 – – B41 –
positioning
parameter No.
Set up of parameter Range Default Unit mode Other Parameters
18 3rd acceleration 0 to 10000 0 ms P, F 16-bit Related control
positioning
parameter No.
19 3rd S-shaped acceleration 0 to 1000 0 ms P, F
1A 3rd deceleration 0 to 10000 0 ms P, F 48 Teaching movement amount setting 0 to 32767 0 Pulse P, F
1B 3rd S-shaped deceleration 0 to 1000 0 ms P, F 49 Instantaneous stop deceleration time 0 to 10000 0 ms P, F
1C 4 th acceleration 0 to 10000 0 ms P, F 50*1 Operation direction setting 0 to 1 1 – P, F
1D 4 th S-shaped acceleration 0 to 1000 0 ms P, F 51*1 Wrap around permission 0 to 1 0 – P, F
1E 4 th deceleration 0 to 10000 0 ms P, F 52*1 Sequential operation setting 0 to 1 0 – P, F
1F 4 th S-shaped deceleration 0 to 1000 0 ms P, F 53 Sequential operation maximum point number 0 to 60 0 – P, F
54*1 Block operation type 0 to 1 0 – P, F
Parameters for Homing

16-bit Related control List of 32-bit Positioning Parameters
positioning
parameter No.
30 Homing speed (fast) 0 to 6000 0 r/min P, F positioning
parameter No.
31 Homing speed (slow) 0 to 6000 0 r/min P, F –2147483647
32 Homing offset speed 0 to 6000 0 r/min P, F 00*1 Home offset 0 Pulse P, F
to 2147483647
33 Homing acceleration 0 to 10000 0 ms P, F 01*1 Setting of maximum movement in plus direction 0 to 2147483647 0 Pulse P, F
34 Homing deceleration 0 to 10000 0 ms P, F 02*1 Setting of maximum movement in minus direction –2147483648 to 0 0 Pulse P, F
35 Homing direction 0 to 1 0 – P, F 03*1 Movement per rotation in rotation coordinates 0 to 2147483647 0 Pulse P, F
36 Homing type 0 to 7 0 – P, F
37 Home complete type 0 to 1 0 – P, F
38*1 Homing skip 0 to 1 0 – P, F List of Step Parameters
39 Bumping detection time 0 to 10000 0 ms P, F Step Related control
parameter No. Set up of parameter Range Default Unit mode
3A Torque limit for bumping homing 0 to 100 0 % P, F
3B Homing Z-phase count setting 0 to 100 0 – P, F Operation mode ABS/INC/Rotary/Dwelltime Incremental – P, F
–2147483648
Position/waiting time 0 Pulse/10ms P, F
01H to 2147483647
Parameters for Jog operation
to Speed V1 to V16 V1 – P, F
positioning Set up of parameter Range Default Unit 3CH Acceleration A1 to A4 A1 – P, F
parameter No. mode
Deceleration D1 to D4 D1 – P, F
40 Jog speed (low) 0 to 6000 0 r/min P, F
Block Single/Block Single – P, F
41 Jog speed (high) 0 to 6000 0 r/min P, F
42 Acceleration setting in jog operation 0 to 10000 0 ms P, F
43 Setting of S-shaped acceleration in jog operation 0 to 1000 0 ms P, F
44 Setting of deceleration in jog operation 0 to 10000 0 ms P, F <Notes>
45 Setting of S-shaped deceleration in jog operation 0 to 1000 0 ms P, F • For parameters with suffix of "*1", change will be validated after the reset of the con-
trol power.
* In this documentation, each mode is represented by the following symbols
P : Position control, F : Full-closed control.
– B42 – – B43 –
5. Protective Functions
Protective Function (What Is Error Code ?) <Protective function table>
Error Error
• Various protective functions are equipped in the driver. When these are triggered, the code Protective function code Protective function
No. No.
motor will stall due to error, the driver will turn the Servo-Alarm output (ALM) to off (open).
11 Control power supply under- voltage protection 44 * Absolute single turn counter error protection
• Error status ands their measures 12 Over-voltage protection 45 * Absolute multi-turn counter error protection
• During the error status, the error code No. will be displayed on the front panel LED, 13 Main power supply under-voltage protection 47 Absolute status error protection
and you cannot turn Servo-ON. 14 * Over-current protection 48 * Encoder Z-phase error protection
• You can clear the error status by turning on the alarm clear input for 120ms or longer. 15 * Over-heat protection 49 * Encoder CS signal error protection
16 Over-load protection 50 * External scale status 0 error protection
• When overload protection is triggered, you can clear it by turning on the alarm clear
signal 10 sec or longer after the error occurs. You can clear the time characteristics
18 * Over-regeneration load protection 51 * External scale status 1 error protection
by turning off the connection between L1C and L2C or r and t of the control power
21 * Encoder communication error protection 52 * External scale status 2 error protection
supply of the driver.
23 * Encoder communication data error protection 53 * External scale status 3 error protection
24 Position deviation excess protection 54 * External scale status 4 error protection
• You can also clear the above error by operating the "PANATERM®". 25 * Hybrid deviation excess error protection 55 * External scale status 5 error protection
<Remarks> 26 Over-speed protection 68 Homing error protection
• When the protective function with a prefix of "*" in the protective function table is 28 * External scale communication data error 69 Undefined data error protection
triggered, you cannot clear with alarm clear input (A-CLR). For resumption, shut off 29 Deviation counter overflow protection 70 * Present position overflow error protection
the power to remove the cause of the error and re-enter the power. 34 Software limit protection 71 Drive prohibition detection error protection
• Following errors will not be stored in the error history. 35 * External scale communication error protection 72 * Maximum movement limit error protection
Control power supply under-voltage protection (Error code No. 11) 36 * EEPROM parameter error protection 82 * ID setting error protection
Main power supply under-voltage protection (Error code No. 13) 37 * EEPROM check code error protection 93 * External scale auto recognition error protection
EEPROM parameter error protection (Error code No. 36) 39 Emergency stop input error protection 95 * Motor auto recognition error protection
EEPROM check code error protection (Error code No. 37) 40 Absolute system down error protection Other
* Other error
Emergency stop input error protection (Error code No. 39) 41 * Absolute counter over error protection No.
External scale auto recognition error protection (Error code No. 93) 42 Absolute over-speed error protection
Motor auto recognition error protection (Error code No. 95)
Warning Function
• The MINAS-A4P Series outputs a warning sig- Warning
code No. Warning function
nal before its protective function is activated,
enabling you to check the overload and other 16 Over-load warning
error conditions in advance. 18 Over-regeneration warning
The warning code (about 2 seconds) will al- 40 Battery warning
ternate at about 4 seconds intervals with 88 Fan-lock warning
on 7-segment LED of front panel when the 89 External scale warning
warning is on.
– B44 – – B45 –
6. Maintenance and Inspections
Routine maintenance and inspection of the driver and motor are essential for the proper
Guideline for Parts Replacement
and safe operation.
Use the table below for a reference. Parts replacement cycle varies depending on the
Notes on Maintenance and Inspection actual operating conditions. Defective parts should be replaced or repaired when any
1) Turn on and turn off should be done by operators or inspectors themselves. error have occurred.
2) Internal circuit of the driver is kept charged with high voltage for a while even after
Disassembling for inspection and repair should
power-off. Turn off the power and allow 15 minutes or longer after LED display of the
be carried out only by authorized dealers or ser-
front panel has gone off, before performing maintenance and inspection.
Prohibited vice company.
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 Standard replacement
driver. Product Component cycles (hour) Note
Smoothing condenser Approx. 5 years

Inspection Items and Cycles 2 to 3 years
Cooling fan
General and normal running condition (10,000 to 30,000 hours)
Ambient conditions : 30˚C (annual average), load factor of 80% Aluminum electrolytic
Approx. 5 years
or lower, operating hours of 20 hours or less per day. capacitor (on PCB)
Driver
Perform the daily and periodical inspection as per the items below. Approx. 100,000 times
Rush current
(depending on working
Type Cycles Items to be inspected preventive relay
condition)
• Ambient temperature, humidity, speck, dust or foreign object Approx. 20,000 times These hours or cycles are
Rush current
• Abnormal vibration and noise (depending on working reference.
• Main circuit voltage preventive resistor
condition) When you experience any
• Odor error, replacement is re-
Daily 3 to 5 years
Daily • Lint or other particles at air holes Bearing quired even before this
inspection (20,000 to 30,000 hours)
• Cleanness at front portion of the driver and connecter standard replacement cy-
• Damage of the cables Oil seal 5000 hours cle.
• Loose connection or misalignment between the motor and 3 to 5 years
Encoder
machine or equipment (20,000 to 30,000 hours)
• Pinching of foreign object at the load Motor Life time varies depending
• Loose tightening on working conditions.
Periodical
Annual • Trace of overheat Battery Refer to the instruction
inspection
• Damage of the terminals
for absolute encoder manual attached to the
<Notes> battery for absolute
Inspection cycle may change when the running conditions of the above change. encoder.
Motor with
10,000 hours
gear reducer Gear reducer
– B46 – – B47 –
7. Conformity to EC Directives and UL Standards
EC Directives Composition of Peripheral Equipments
The EC Directives apply to all such electronic products as those having specific func-
Installation Environment
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 Use the servo driver in the environment of Pollution Degree 1 or 2 prescribed in IEC-
marking on the products. 60664-1 (e.g. Install the driver in control panel with IP54 protection structure.)
However, our AC servos meet the relevant EC Directives for Low Voltage Equipment so Control box
that the machine or equipment comprising our AC servos can meet EC Directives.
Controller
EMC Directives
Insulated
MINAS Servo System conforms to relevant standard under EMC Directives setting up power supply
certain model (condition) with certain locating distance and wiring of the servo motor for interface CN X5
and the driver. And actual working condition often differs from this model condition espe- Driver
cially in wiring and grounding. Therefore, in order for the machine to conform to the EMC Noise filter for Noise filter
Power signal lines for signal
Directives, especially for noise emission and noise terminal voltage, it is necessary to supply CN X1 lines
Circuit Ground-fault L1
examine the machine incorporating our servos. breaker Noise filter L2 CN X2 Motor
breaker (RCD) L3 U
V M
Conformed Standards L1C
W
RE
Surge L2C
Subject Conformed Standard absorber
CN X6
Motor IEC60034-1 IEC60034-5 UL1004 CSA22.2 No.100 Conforms to
Low-Voltage Protective earth (PE)
EN50178 UL508C Directives
Radio Disturbance Characteristics of Industrial, Scien-
Power Supply
EN55011 +10% +10%
tific and Medical (ISM) Radio-Frequency Equipment 100V type : Single phase, 100V to 115V 50/60Hz
–15% –15%
Motor/ EN61000-6-2 Immunity for Industrial Environments (A, B and C-frame)
+10% +10%
200V type : Single phase, 200V to 240V 50/60Hz
Motor IEC61000-4-2 Electrostatic Discharge Immunity Test –15% –15%
Standards (B, C-frame)
and IEC61000-4-3 Radio Frequency Electromagnetic Field Immunity Test referenced by +10% +10%
200V type : Single/3-phase, 200V to 240V 50/60Hz
driver EMC Directives –15% –15%
IEC61000-4-4 Electric High-Speed Transition Phenomenon/Burst Immunity Test (C, D-frame)
+10% +10%
IEC61000-4-5 Lightening Surge Immunity Test 200V type : 3-phase, 200V to 230V 50/60Hz
–15% –15%
IEC61000-4-6 High Frequency Conduction Immunity Test (E, F-frame)
IEC61000-4-11 Instantaneous Outage Immunity Test (1) This product is designed to be used at over-voltage category (Installation category) II
IEC : International Electrotechnical commission of EN 50178:1997. If you want to use this product un over-voltage category (Installa-
E N : Europaischen Normen tion category) III, install a surge absorber which complies with EN61634-11:2002 or
EMC : Electromagnetic Compatibility other relevant standards at the power input portion.
UL : Underwriters Laboratories (2) Use an insulated power supply of DC12 to 24V which has CE marking or complies
CSA : Canadian Standards Association with EN60950
<Precautions in using options> Circuit Breaker
Use options correctly after reading operation manuals of the options to better under-
stand the precautions. Install a circuit breaker which complies with IEC Standards and UL recognizes (Listed
Take care not to apply excessive stress to each optional part. and marked) between power supply and noise filter.
– B48 – – B49 –
7. Conformity to EC Directives and UL Standards
Noise Filter Surge Absorber
When you install one noise filter at the power supply for multi-axes application, contact Provide a surge absorber for the primary side of noise filter.
to a manufacture of the noise filter. <Remarks>
Voltage specifications Take off the surge absorber when you execute a dielectric test to the machine or equip-
Option part No. for driver Manufacturer’s part No. Applicable driver (frame) Manufacturer
DV0P4170 Single phase 100V/200V SUP-EK5-ER-6 A and B-frame Okaya Electric Ind.
ment, or it may damage the surge absorber.
Voltage specifications
100.0±2.0 Terminal cover Option part No. for driver Manufacturer's part No. Manufacturer
88.0 (transparent)
7.0 5.0 DV0P1450 3-phase 200V R . A .V-781BXZ-4 Okaya Electric Ind.
75.0 53.1±1.0
Circuit diagram
IN OUT
5.5±1
11±1
1 L
Cy
L 3 ø4.2±0.2
2.0 Circuit diagram
12.0
50.0
60.0
R Cx Cx
LABEL
Cy
1 2 3
10.0
28.5±1
4
6-M4 (11.6)
2–ø4.5 x 6.75 2–ø4.5
(13.0)
UL-1015 AWG16
+30
200 -0
DV0P4180 3SUP-HQ10-ER-6 C-frame
4.5±0.5
3-phase 200V Okaya Electric Ind. 1 2 3
DV0P4220 3SUP-HU30-ER-6 D and E-frame
281
A
B H Circuit diagram
C 41±1
IN OUT
Earth terminal
M4 1 L1 4
2 5
10
F
LABEL
D
E
3 6 Voltage specifications
Option part No. for driver Manufacturer's part No. Manufacturer
Screw for cover R Cx1 Cx1
M3
DV0P4190 Single phase 100/200V R . A .V-781BWZ-4 Okaya Electric Ind.
M4 Cy1
5.5±1
11±1
Cover A B C D E F G H K L ø4.2±0.2
DV0P4180 115 105 95 70 43 10 52 5.5 M4 M4 Circuit diagram
G
Body DV0P4220 145 135 125 70 50 10 52 5.5 M4 M4

1 2
28.5±1
DV0P3410 Three-phase 200V 3SUP-HL50-ER-6B F-frame Okaya Electric Ind. UL-1015 AWG16
+30
200 -0
286±3.0
Circuit diagram
270 IN OUT
255±1.0
4.5±0.5
2-ø5.5 x 7 2-ø5.5
1 2
150 240 1 4
281
2 5
6-6M
(13) (18)
90±1.0
120
L A B E L 3 6 41±1
– B50 – – B51 –
7. Conformity to EC Directives and UL Standards 8. Built-in Holding Brake
Noise Filter for Signal Lines * 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
Install noise filters for signal lines to all cables (power cable, motor cable, encoder cable
and interface cable) servo is shut off.
* In case of D-frame, install 3 noise 39±1
34±1 Mass: 62.8g Use this built-in brake for "Holding" purpose only, that is to hold the stalling status.
filters at power line.
Never use this for "Brake" purpose to stop the load in motion.
Option part No. DV0P1460
13±1
Output Timing of BRK-OFF Signal
30±1
Manufacturer's part No. ZCAT3035-1330
Manufacturer TDK Corp.
• For the brake release timing at power-on, or braking timing at Servo-OFF/Servo-Alarm
<Caution> Fix the signal line noise filter in place to eliminate excessive stress to the cables. while the motor is in motion, refer to the technical reference. (DV0P4490)
• With the parameter, servo parameter No.6B (Setup of mechanical brake action while
Ground-Fault Breaker the motor is in motion), you can set up a time between when the motor enters to a
Install a type B ground fault breaker (RCD) at primary side of the power supply. 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.
Grounding
(1) Connect the protective earth terminal ( ) of the driver and the protective earth <Notes>
terminal (PE) of the control box without fail to prevent electrical shocks. 1. The lining sound of the brake (chattering and etc.) might be generated while running
(2) Do not make a joint connection to the protective earth terminals ( ). 2 terminals are the motor with built-in brake, however this does not affect any functionality.
provided for protective earth. 2. Magnetic flux might be generated through the motor shaft while the brake coil is ener-
<Note> gized (brake is open). Pay an extra attention when magnetic sensors are used nearby
For driver and applicable peripheral equipments, refer to P.B14 "Driver and List of Ap- the motor.
plicable Peripheral Equipments" .
Conformity to UL Standards Specifications of Built-in Holding Brake

Static Rotor Engaging Releasing Exciting Permissible Permissible
Observe the following conditions of (1) and (2) to make the system conform to UL508C Motor Motor Releasing
friction
torque
inertia
x 10 –4 time time current
DC A voltage work (J) per total work
series output
(File No. E164620). N •m kg • m2 ms ms* (at cool-off) one braking x 103J
(1) Use the driver in an environment of Pollution Degree 2 or 1 prescribed in IEC60664- 50W, 100W 0.29 or more 0.002 35 or less 0.25 39.2 4.9
MSMD 10 or less DC2V
1. (e.g. Install in the control box with IP54 enclosure.) 200W, 400W 1.27 or more 0.018 50 or less 0.30 137 44.1
MAMA or more
(2) Install a circuit breaker or fuse which are UL recognized (Listed marked) between 750W 2.45 or more 0.075 70 or less 20 or less 0.35 196 147
the power supply and the noise filter without fail. 100W 0.29 or more 0.03 50 or less 0.29 DC1V 137 44.1
For the rated current of the circuit breaker or fuse, refer to P.14, "Driver and List of MQMA 15 or less
200W, 400W 1.27 or more 0.09 60 or less 0.41 or more 196 147
Applicable Peripheral Equipments". 1.0kW 4.9 or more 0.25 0.74 196
Use a copper cable with temperature rating of 60˚C or higher. 50 or less 15 (100)
1.5kW, 2.0kW 7.8 or more 392
Tightening torque of more than the max. values (M4:1.2N • m, M5: 2.0N • m) may break 0.33 or less 0.81 DC2V 490
MSMA 3.0kW 11.8 or more 80 or less
the terminal block. or more
50 (130)
(3) Over-load protection level 4.0kW, 5.0kW 16.1 or more 1.35 110 or less 0.90 1470 2156
or less
Over-load protective function will be activated when the effective current exceeds 115%
or more than the rated current based on the time characteristics. Confirm that the effec- (Continues to next page)
tive current of the driver does not exceed the rated current. Set up the peak permissible
current with servo parameter No.5E (Setup of 1st torque limit) and servo parameter
No.5F (Setup 2nd torque limit).
– B52 – – B53 –
8. Built-in Holding Brake 9. Dynamic Brake
Static Rotor Engaging Releasing Exciting Permissible Permissible This driver is equipped with a dynamic brake for emergency stop.
Motor Motor Releasing
friction
torque
inertia
x 10 –4 time time current
DC A voltage work (J) per total work
series output Pay a special attention to the followings.
N •m kg • m2 ms ms* (at cool-off) one braking x 103J
70 (200) <Caution>
1.0kW 4.9 or more 80 or less 0.59 588 780
or less
1.35 1.Dynamic brake is only for emergency stop.
1.5kW, 2.0kW 13.7 or more 100 or less 50 (130) 0.79 1176 1470
3.0kW 16.1 or more 110 or less or less 0.90 1470 2156 Do not start/stop the motor by turning on/off the Servo-ON signal (SRV-ON).
MDMA
35 (150) Or it may damage the dynamic brake circuit of the driver.
4.0kW 21.5 or more 4.25 90 or less 1.10 1078 2450
or less
The motor becomes a dynamo when driven externally, and shorting current
25 (200)
5.0kW 24.5 or more 4.7 1.30 1372 2940 runs while this dynamic brake is activated and might cause smoking or fire.
or less
80 or less
70 (200) 2. Dynamic brake is a short-duration rating, and designed for only emergency stop. Al-
500W, 1.0kW 4.9 or more 0.59 588 784
or less low approx. 3 minutes pause when the dynamic brake is activated during high-speed
1.35
50 (130) running.
MHMA 1.5kW 13.7 or more 100 or less 0.79 1176 1470
or less
• You can activate the dynamic brake in the following cases.
25 (200) DC2V
2.0kW to 5.0kW 24.5 or more 4.7 1.30 1372 2940 1) when the main power is turned off
or less or more
2) at Servo-OFF
70 (200)
400W 4.9 or more 1.35 80 or less 0.59 588 784 3) when one of the protective function is activated.
or less
35 (150)
In the above cases from 1) to 3), you can select either activation of the dynamic
MFMA 1.5kW 7.8 or more 4.7 0.83 1372 2940 brake or making the motor free-run during deceleration or after the stop, with pa-
or less
2.5kW 21.6 or more 100 (450) 1470 rameter.
8.75 150 or less 0.75 1470
4.5kW 31.4 or more or less 2156 Note that when the control power is off, the dynamic brake will be kept activated.
50 (130)
900W 13.7 or more 100 or less 0.79 1176 1470
1.35 or less
25 (200)
MGMA 2.0kW 24.5 or more 80 or less 1.3
or less
1372 2940
4.7 50 (130)
3.0kW, 4.5kW 58.8 or more 150 or less 1.4
or less
• Excitation voltage is DC24V±10%.

• Values represent the ones with DC-cutoff using a surge absorber for holding brake.
Values in ( ) represent those measured by using a diode (V03C by Renesas Technol-
ogy 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.
• Permissible angular acceleration : 30000rad/s2 for MAMA series
10000rad/s2 for MSMD, MQMA, MSMA MDMA,MHMA MFMA and MGMA series
• 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.)
– B54 – – B55 –
10. Check of the Combination of the Driver and the Motor
This drive is designed to be used in a combination with the motor which are specified by us. Applicable motor Applicable driver
Power
Check the series name of the motor, rated output torque, voltage specifications and supply Motor Rated Rated
Model Model Frame
series rotational speed output
encoder specifications.
Single/3-phase, MFMA042P1* 400W MCDDT3520P C-frame
MFMA
200V MFMA152P1* 1.5kW MDDDT5540P D-frame
Incremental Specifications, 2500P/r 3-phase,
Middle 2000r/min
MFMA252P1* 2.5kW MEDDT7364P E-frame
inertia
<Remarks> Do not use in other combinations than those listed below. 200V MFMA452P1* 4.5kW MFDDTB3A2P F-frame
Single/3-phase, 200V MGMA092P1* 900W MDDDT5540P D-frame
Applicable motor Applicable driver MGMA
Power MGMA202P1* 2.0kW MFDDTA390P
Motor Rated Rated Middle 1000r/min
supply Model Model Frame 3-phase, 200V MGMA302P1* 3.0kW F-frame
series rotational speed output inertia MFDDTB3A2P
MGMA452P1* 4.5kW
Single phase, MAMA012P1* 100W MADDT1207P A-frame
MAMA <Note>
200V MAMA022P1* 200W MBDDT2210P B-frame
Ultra low 5000r/min Suffix of " * " in the applicable motor model represents the motor structure.
3-phase, MAMA042P1* 400W MCDDT3520P C-frame
inertia
200V MAMA082P1* 750W MDDDT5540P D-frame
Single phase,
MQMA011P1* 100W MADDT1107P A-frame Absolute/Incremental Specifications, 17-bit
MQMA021P1* 200W MBDDT2110P B-frame
100V MQMA <Remarks> Do not use in other combinations than those listed below.
MQMA041P1* 400W MCDDT3120P C-frame
Low 3000r/min
MQMA012P1* 100W MADDT1205P A-frame Applicable motor Applicable driver
Single phase, inertia Power
MQMA022P1* 200W MADDT1207P A-frame Motor Rated Rated
200V supply Model Model Frame
MQMA042P1* 400W MBDDT2210P B-frame series rotational speed output
MSMD5AZP1* 50W MADDT1105P Single phase, MAMA012S1* 100W MADDT1207P A-frame
A-frame MAMA
Single phase, MSMD011P1* 100W MADDT1107P 200V MAMA022S1* 200W MBDDT2210P B-frame
100V MSMD021P1* 200W MBDDT2110P B-frame Ultra low 5000r/min
3-phase, MAMA042S1* 400W MCDDT3520P C-frame
MSMD MSMD041P1* 400W MCDDT3120P C-frame inertia
200V MAMA082S1* 750W MDDDT5540P D-frame
Low 3000r/min MSMD5AZP1* 50W MQMA011S1* 100W MADDT1107P A-frame
MADDT1205P Single phase,
Single phase, inertia MSMD012P1* 100W A-frame MQMA021S1* 200W MBDDT2110P B-frame
200V MSMD022P1* 200W MADDT1207P 100V MQMA
MQMA041S1* 400W MCDDT3120P C-frame
MSMD042P1* 400W MBDDT2210P B-frame Low 3000r/min
MQMA012S1* 100W MADDT1205P A-frame
MSMD082P1* 750W MCDDT3520P C-frame Single phase, inertia
Single/3-phase, MQMA022S1* 200W MADDT1207P A-frame
MSMA102P1* 1.0kW 200V
200V MDDDT5540P D-frame MQMA042S1* 400W MBDDT2210P B-frame
MSMA152P1* 1.5kW MSMD5AZS1* 50W MADDT1105P
MSMA A-frame
MSMA202P1* 2.0kW MEDDT7364P E-frame Single phase, MSMD011S1* 100W MADDT1107P
Low 3000r/min
3-phase, MSMA302P1* 3.0kW MFDDTA390P 100V MSMD021S1* 200W MBDDT2110P B-frame
inertia
200V MSMA402P1* 4.0kW F-frame MSMD MSMD041S1* 400W MCDDT3120P C-frame
MFDDTB3A2P
MSMA502P1* 5.0kW Low 3000r/min MSMD5AZS1* 50W
Single/3-phase, MDMA102P1* 1.0kW MDDDT3530P MADDT1205P
D-frame Single phase, inertia MSMD012S1* 100W A-frame
200V MDMA152P1* 1.5kW MDDDT5540P 200V MSMD022S1* 200W MADDT1207P
MDMA
MDMA202P1* 2.0kW MEDDT7364P E-frame MSMD042S1* 400W MBDDT2210P B-frame
Middle 2000r/min
3-phase, MDMA302P1* 3.0kW MFDDTA390P MSMD082S1* 750W MCDDT3520P C-frame
inertia Single/3-phase,
200V MDMA402P1* 4.0kW F-frame MSMA102S1* 1.0kW
MFDDTB3A2P 200V MDDDT5540P D-frame
MDMA502P1* 5.0kW MSMA152S1* 1.5kW
MHMA052P1* 500W MCDDT3520P C-frame MSMA
Single/3-phase, MSMA202S1* 2.0kW MEDDT7364P E-frame
MHMA102P1* 1.0kW MDDDT3530P Low 3000r/min
200V D-frame 3-phase, MSMA302S1* 3.0kW MFDDTA390P
MHMA MHMA152P1* 1.5kW MDDDT5540P inertia
200V MSMA402S1* 4.0kW F-frame
High 2000r/min MHMA202P1* 2.0kW MEDDT7364P E-frame MFDDTB3A2P
MSMA502S1* 5.0kW
3-phase, inertia MHMA302P1* 3.0kW MFDDTA390P
200V MHMA402P1* 4.0kW F-frame (continues to next page)
MFDDTB3A2P
MHMA502P1* 5.0kW
– B56 – – B57 –
10. Check of the Combination of the Driver and the Motor 10. General specifications
Applicable motor Applicable driver For detail specifications, refer to engineering material or downloaded Instruction
Power
supply Motor Rated Rated
series rotational speed
Model
output
Model Frame Manual from our Web Site.
Single/3-phase, MDMA102S1* 1.0kW MDDDT3530P +10%
D-frame Main circuit power Single-phase 100 to 115V –15% 50/60Hz
100V-
200V MDMA152S1* 1.5kW MDDDT5540P +10%
MDMA line Control circuit power Single-phase 100 to 115V –15% 50/60Hz
MDMA202S1* 2.0kW MEDDT7364P E-frame
Input power supply

Middle 2000r/min
3-phase, MDMA302S1* 3.0kW MFDDTA390P Type +10%
Single-phase 200 to 240V –15% 50/60Hz
inertia A, B
200V MDMA402S1* 4.0kW F-frame Main
MFDDTB3A2P Type
circuit
+10%
Single/three-phase 200 to 240V –15% 50/60Hz
MDMA502S1* 5.0kW C, D
power
MHMA052S1* 500W MCDDT3520P C-frame 200V- Type +10%
Three-phase 200 to 230V –15% 50/60Hz
Single/3-phase, line E, F
MHMA102S1* 1.0kW MDDDT3530P
200V D-frame Control Type +10%
MHMA MHMA152S1* 1.5kW MDDDT5540P A to D Single-phase 200 to 240V –15% 50/60Hz
circuit
High 2000r/min MHMA202S1* 2.0kW MEDDT7364P E-frame power
Type +10%
Single-phase 200 to 230V –15% 50/60Hz
3-phase, inertia MHMA302S1* 3.0kW MFDDTA390P E, F
Temperature Operation temperature: 0 to 55 degrees Storage temperature: –20 to 80 degrees
200V MHMA402S1* 4.0kW F-frame
MFDDTB3A2P Operation Humidity Operation/storage humidity 90%RH or less (no condensation)
MHMA502S1* 5.0kW conditions Height above the sea Height above the sea level: 1000 m or less
Basic specifications
Single/3-phase, MFMA042S1* 400W MCDDT3520P C-frame Vibration 2
5.88 m/s or less, 10 to 60 Hz (Continuous operation at resonance point is not allowed)
MFMA
200V MFMA152S1* 1.5kW MDDDT5540P D-frame Control method IGBT PWM method, sinusoidal drive
Middle 2000r/min
3-phase, MFMA252S1* 2.5kW MEDDT7364P E-frame Control mode Select Position control or Full-closed control by parameter.
inertia 17 Bit (resolution: 131072) 7-serial absolute encoder
200V MFMA452S1* 4.5kW MFDDTB3A2P F-frame Encoder feedback
2500 p/r (resolution: 10000) 5-serial incremental encoder
Single/3-phase, 200V MGMA092S1* 900W MDDDT5540P D-frame
MGMA External scale feedback Compatible with ST771 and AT500 made by Mitutoyo Corporation
MGMA202S1* 2.0kW MFDDTA390P CW over-travel inhibit, CCW over-travel inhibit, Home sensor, Emergency stop, Point specifying x6
Middle 1000r/min Input
3-phase, 200V MGMA302S1* 3.0kW F-frame Control Servo-ON, Strobe, Multi- function input x2
inertia MFDDTB3A2P
MGMA452S1* 4.5kW signal Servo alarm, Brake release signal, Present position output x6,
Output
Positioning completion / Output during deceleration, Motor operation condition,
<Notes> Encoder pulse (A/B/Z-phase) or external scale pulse (EXA/EXB-phase)is output
1) Suffix of " * " in the applicable motor model represents the motor structure. Pulse signal Output by the line driver.
For encoder Z-phase pulse, an open collector output is also available.
2) Default of the driver is set for the incremental encoder specifications. Setup with Panaterm® or a console is available.
Setup
When you use in absolute, make the following operations. (Panaterm® and a console are sold separately)
[1] 7-segment LED 2-digit
a) Install a battery for absolute encoder. Front panel
[2] Analogue monitor pin (velocity monitor and torque monitor)
b) Switch the parameter servo parameter No.0B (Absolute encoder setup) from "1 Type A-B : No internal regenerative resist (external only)
Regeneration
Type C-F : internal regenerative resist (external is also available)
(default)" to "0". Dynamic brake Built in
3) No wiring for back up battery is required when you use the absolute 17-bit encoder in Position Instantaneous speed observer Usable
control Vibration reducing control Usable
incremental. Full- External scale division gradual Ratio between the encoder pulse (numerator) and the external scale pulse
closed
related increase setting range (denominator) can be set within the setting range : (1 to 10000 x 2(0–17))/(1 to 10000)
The number of points maximum 60 points
Homing operation, Jog operation, Step operation, Continuous block operation, Combined
Operation mode
block operation, Sequential operation, Teaching (need a console sold separately)
Function Load inertia is determined at real time in the state of actual operation and gain
Real time
Auto corresponding to the rigidity is set automatically.
Common tuning Load inertia is determined by driving the equipment with operation command
Normal mode
within the amplifier and gain corresponding to the rigidity is set automatically.
The following control input signal can be masked:
Unnecessary wiring
CW over-travel inhibit, CCW over-travel inhibit, multi function input1 and 2 ,
mask function
point specifying input(P8-IN,P16-IN,P32-IN), Servo-ON
Division function of encoder feedback pulse The number of pulses can be set up arbitrarily. (at the maximum encoder pulse)
Protection Hardware error Overload, undervoltage, overspeed, overload, overheat, over current, encoder error, etc.
function Software error Large positional deviation, Undefined data error , EEPROM error, etc.
Alarm data trace back function Traceable up to 14 alarm data including present alarm data.
– B58 – – B59 –
After-Sale Service (Repair)
Repair
Consult to a dealer from whom you have purchased the product for details of repair.
When the product is incorporated to the machine or equipment you have purchased,
consult to the manufacture 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 designed
or manufactured to be used in a machine or system that may cause personal death
when it is failed.
• Install a safety equipments or apparatus in your application, when a serious accident
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 elec-
tricity, or failure in input power, wiring and components may result in unexpected ac-
tion. 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- Technical information
ment, and may result in the bearing noise. Checking and verification by customer is Technical information of this product (Instruction Manual, CAD data) can be downloaded
required. from the following web site.
• Failure of this product depending on its content, may generate smoke of about one http://industrial.panasonic.com/ww/i_e/25000/motor_fa_e/motor_fa_e.html
cigarette. Take this into consideration when the application of the machine is clean
room related. MEMO (Fill in the blanks for reference in case of inquiry or repair.)
• Please be careful when using in an environment with high concentrations of sulphur or M DD
sulphuric gases, as sulphuration can lead to disconnection from the chip resistor or a Date of
Model No. M MD
poor contact connection. purchase
M MA
• 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.
Dealer
Tel : ( ) -
Motor Company
Matsushita Electric Industrial Co., Ltd.
7-1-1 Morofuku, Daito, Osaka, 574-0044, Japan Tel : (81)-72-871-1212
– B60 –
MEMO

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Technical reference

・This product is for industrial

<Contents> page page

Driver Mounting bracket

Fastening torque of earth screws (M4) to be 0.39 to 0.59N • m.

Connection to exclusive connector

Tips on Wiring Tips on Wiring

(a) Using handle lever RB1

down the lever to push insertion slot (round

Surge absorber JL04V-2E20-4PE-B-R

Wiring Diagram In case of 2500P/r incremental encoder MSMD 50W to 750W

MSMA 1kW to 5kW MFMA 400W to 4.5kW

Control signal power supply 1

OB+ B-phase The number at which operation point can be

Setup disc of setup support software,

Display LED (6-digit) • Servo parameter

Parameters for Acceleration and Deceleration

<Notes> * In this documentation, each mode is represented by the following symbols

Parameters for Homing

Smoothing condenser Approx. 5 years

Body DV0P4220 145 135 125 70 50 10 52 5.5 M4 M4

Conformity to UL Standards Specifications of Built-in Holding Brake

• Excitation voltage is DC24V±10%.

Input power supply

Cautions for Proper Use

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・This product is for industrial 　　