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This product image is 200W type of A5-series.

Operating Instructions (Overall)

AC Servo Motor & Driver

MINAS A5-series

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Thank you for purchasing this Panasonic product.

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Before operating this product, please read the instructions carefully, and save this manual for future use.

Summary of content (478 pages)

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Operating Instructions (Overall) AC Servo Motor & Driver MINAS A5-series * This product image is 200W type of A5-series. Thank you for purchasing this Panasonic product. Before operating this product, please read the instructions carefully, and save this manual for future use.
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Thank you for purchasing Digital AC Servo Motor & Driver, MINAS A5-series. This instruction manual contains information necessary to correctly and safely use the MINAS A5-series motor and driver. By reading this instruction manual, you will learn how to identify the model of the motor and driver that will be best suitable your application, how to wire and set up them, how to set parameters, and how to locate possible cause of symptom and to take corrective action. This is the original instruction.
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Organization of this manual 1 Before Using the Products 1. Before Using the Products Check of the Driver Model ... Installation 2. Preparation 2 Preparation Describes how to identify and select the desired product and components, how to UHDG WKH VSHFLÀFDWLRQV DQG KRZ WR LQVWDOO WKH HTXLSPHQW Operating requirements and procedure Shows the timing chart and the list of parameters, and describes how to make wiring and to use the front panel. 3 Connection 3. Connection Wiring ...
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Contents page Organization of this manual ............................................................................................ 3 Safety Precautions ............................................................................................................. 6 Conformance to international standards ................................................................... 10 Maintenance and Inspections ....................................................................................... 11 1.
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1 4. Setup ........................................................................................................................ 4-1 1. Describes parameters ............................................................................................... 4-2 2. JOG running ............................................................................................................ 4-59 1. Gain Adjustment ....................................................................................................
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Safety Precautions Please observe safety precautions fully. The following explanations are for things that must be observed in order to prevent harm to people and damage to property. 0LVXVHV WKDW FRXOG UHVXOW LQ KDUP RU GDPDJH DUH VKRZQ DV IROORZV FODVVLÀHG DFFRUGLQJ WR WKH degree of potential harm or damage. Danger Indicates great possibility of death or serious injury. Caution Indicates the possibility of injury or property damage.
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1 Installation area should be free from excessive dust, and from splashing water and oil. Mount the motor, driver and peripheral equipments on incombustible material such as metal. Correctly run and arrange wiring. 3 4 5 )DLOXUH WR KHHG WKLV UHTXLUHPHQW will result in electric shock, perVRQDO LQMXU\ ÀUH PDOIXQFWLRQ RU damage.
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Safety Precautions Please observe safety precautions fully. Caution Do not hold the motor cable or motor shaft during the transportation. Failure to observe this instruction could result in injuries. Don't drop or cause topple over of something during transportation or installation. Failure to observe this instruction could result in injuries and breakdowns. Do not step on the Product nor place the heavy object on them.
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1 2EVHUYH WKH VSHFLÀHG PRXQWLQJ PHWKRG DQG GLrection. )DLOXUH WR KHHG WKHVH UHTXLUHments will result in personal injury or malfunction. Using it for transportation of the machine will cause personal injury or malfunction. Don't place any obstacle object around the motor and peripheral, which blocks air passage. Temperature rise will cause EXUQ LQMXU\ RU ÀUH 3 )DLOXUH WR KHHG WKHVH UHTXLUHments will result in personal injury or malfunction.
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Conformance to international standards Conformed Standards Driver EC Directives EMC Directives EN55011 EN61000-6-2 EN61800-3 Low-Voltage Directives EN61800-5-1 Machinery Directives Functional safety (*1) Motor – EN60034-1 EN60034-5 EN954-1 (Cat. 3) ISO13849-1 (PL c,d*2) (Cat. 3) EN61508 (SIL 2) EN62061 (SIL 2) EN61800-5-2 (STO) IEC61326-3-1 – UL1004-1 to 750W (200V) ( E327868: from ) 6.0kW UL Standards UL508C (E164620) UL1004 ( CSA Standards C22.2 No.
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Maintenance and Inspections 1 Before Using the Products Routine maintenance and inspection of the driver and motor are essential for the proper and safe operation. 2 Notes on Maintenance and Inspection Preparation 3 Connection 1) Turn on and turn off should be done by operators or inspectors themselves. When establishing a system using safety functions, completely understand the applicable safety standards and the operating instruction manual or technical documents for the product.
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Maintenance and Inspections Guideline for Parts Replacement Use the table below for a reference. Parts replacement cycle varies depending on the actual operating conditions. Defective parts should be replaced or repaired when any error have occurred. Prohibited Product Disassembling for inspection and repair should be carried out only by authorized dealers or service company. Component Standard replacement cycles (hour) Smoothing condenser Approx.
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1. Introduction Before Using the Products 1. Before Using the Products 1 2 Outline .........................................................................................................1-2 On Opening the Product Package ...............................................................1-2 Preparation 2. Driver Check of the Model ......................................................................................1-3 Parts Description A to E-frame......................................................
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1Before Using the Products 1. Introduction Outline The AC Servo Motor & Driver, MINAS A5-series is the latest servo system that meets all GHPDQGV IURP D YDULHW\ RI PDFKLQHV ZKLFK UHTXLUH KLJK VSHHG KLJK SUHFLVLRQ DQG KLJK SHUIRUPDQFH RU ZKLFK UHTXLUH VLPSOLÀHG VHWWLQJV Compared with the preceding A4-series, product of A5-series offers superior performance ZKLOH UHTXLULQJ VLPSOH VHWXS DQG DGMXVWPHQW E\ WKH XVHU Newly designed motors have wide range of outputs from 50 W to 15.
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1 Before Using the Products 2. Driver 1Before Using Check of the Model the Products Contents of Name Plate Model number Serial Number e.g.) : P09 04 0001N Input/output voltage 2 Lot number Number of phase Preparation Month of production Rated input/output current Year of production (Lower 2 digits of AD year) Input/output frequency Rated output of applicable motor Manufacture date e.g.
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1Before Using the Products 2.
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2. Driver 1 Before Using the Products Parts Description F-frame Details of terminal block 2 Front panel Connector X7: Monitor connector Control power input terminals Terminals for external regenerative resistor Terminals for motor connection * NC is no connect.
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2.
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2.
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2.
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2.
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2.
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the Products Specifications (Velocity, position, torque, full-closed control type) Main circuit Single phase, 100 to 120V Control circuit Single phase, 100 to 120V 100V A to Control D-frame circuit E to H-frame Main circuit 400V *1 Control circuit temperature Environment humidity Altitude Vibration Encoder feedback Feedback scale feedback Input Control signal Analog signal Input Output Input Pulse signal Output Safety function Front panel Regeneration Dynamic brake 50/60Hz 50/60Hz 50/60Hz
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2. Driver Specifications (Velocity, position, torque, full-closed control type) Control input Control output Control input Position control Control output Max.
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Single phase, 100 to 120V +10% 50/60Hz –15% Control circuit Single phase, 100 to 120V +10% 50/60Hz –15% A to D-frame Single/3-phase, 200 to 240V +10% 50/60Hz –15% E to F-frame 3-phase, 200 to 230V +10% 50/60Hz –15% A to D-frame Single phase, 200 to 240V +10% 50/60Hz –15% E to F-frame Single phase, 200 to 230V +10% 50/60Hz –15% 100V Input power 200V Control circuit D to F-frame Control circuit D to F-frame Withstand voltage Environment Both operating and storage : 20 to 85%RH or less
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2. Driver Specifications (Only for position control type) Control input (1) Deviation counter clear (2) Command pulse inhibition (3) Command dividing gradual increase switching (4) Damping control switching etc. Control output Positioning complete (In-position) etc. Position control Pulse input Max.
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1 Before Using the Products 2.
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2. Driver Block Diagram E-frame (200 V) U P L1 L2 L3 Fuse + V Resistor Fuse Voltage detection N Fan L1C Fuse + M W RE Gate drive (12V +5V PS for gate drive PS for RE DC/DC L2C B1 B3 B2 Front panel Error detection Sequence control Display operation control X1 Parameter control Protective curcuit EEPROM USB X2 Serial X3 Safety function X4 Alarm signal Pulse train command Analog velocity command Division/ + mulitiplication – Position deviation amp.
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2.
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2. Driver Block Diagram D-frame (400 V) U P L1 L2 L3 Fuse + V Fuse W Voltage detection N RE Fan 24V M Resistor Fuse + DC/DC 0V ±12V +5V PS for gate drive PS for RE Gate drive B1 B3 B2 Front panel Error detection Sequence control Display operation control X1 Parameter control Protective curcuit EEPROM USB X2 Serial X3 Safety function X4 Alarm signal Pulse train command Analog velocity command Division/ + mulitiplication – Position deviation amp.
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2.
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2.
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1 Before Using the Products 3. Motor 1Before Using Check of the Model the Products Contents of Name Plate Serial Number e.g.) : 09 04 0001N Model Rated input voltage/current 2 Rated output Rated frequency Rated rotational speed M S M E 5 A Z S 1 S 1 to 4 Type 5 to 6 7 Motor rated output Symbol MSMD *1 *1 MSME *2 MDME *2 MFME *2 MGME *2 *2 *1 The position control type only. *2 Only for position control type is MSME, MDME and MHME: 1.0kW to 5.0kW, MGME: 0.9kW to 3.0kW, MFME is none.
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3. Motor 1Before Using Parts Description the Products 060( : WR : Connector for encoder Connector for motor Flange Motor frame Mounting holes (X4) [with Brake] Connector for encoder Connector for brake Connector for motor Flange Motor frame Mounting holes (X4) e.g.) : Low inertia type (MSME series, 50W) MSME MDME MFME MGMA MHME 750W(400V), 1.0kW to 5.0kW 400W to 15.0kW 1.5kW to 4.5kW 0.9kW to 6.0kW 1.0kW to 7.
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the Products 4.
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4.
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the Products 4.
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4.
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the Products 4.
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1Before Using the Products 5. Installation Driver Install the driver properly to avoid a breakdown or an accident. Installation Place 1) Install the driver in a control panel enclosed in noncombustible material and placed indoor where the product is not subjected to rain or direct sunlight. The products are not waterproof.
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5. Installation 1 Mounting Direction and Spacing Fan Control panel Fan 100mm or more 2 Preparation 5HVHUYH HQRXJK VXUURXQGLQJ VSDFH IRU HIIHFWLYH FRROLQJ ,QVWDOO IDQV WR SURYLGH XQLIRUP GLVWULEXWLRQ RI WHPSHUDWXUH LQ WKH FRQWURO SDQHO ' WR + IUDPH LV SURYLGHG ZLWK D FRROLQJ IDQ DW WKH ERWWRP (On the H-frame, the cooling fan is also installed on the upper side.) Observe the environmental conditions of the control panel described in the previous page.
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5. Installation Driver Be sure to conduct wiring properly and securely. Insecure or improper wiring may cause the motor running out of control or being damaged from overheating. In addition, pay attention not to allow conductive materials, such as wire chips, entering the driver during the installation and wiring. 6HFXUH WKH VFUHZV DQG HDUWK VFUHZ RQ WKH WHUPLQDO EORFN ZLWK WKH WRUTXH VSHFLÀHG LQ WKH VSHFLÀcation.
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5. Installation 1 Relationship between Wire Diameter and Permissible Current :KHQ VHOHFWLQJ D FDEOH UHIHU WR WKH IROORZLQJ VHOHFWLRQ JXLGH VKRZLQJ UHODWLRQVKLS EHWZHHQ FDEOH VSHFLÀFDWLRQ DQG FXUUHQW FDUU\LQJ FDSDFLW\ Example: Power supply 3-phase, 200 V, 35 A, ambient temperature 30°C 49 61 88 115 139 162 217 298 395 7KH FXUUHQW FRUUHFWLRQ FRHIÀFLHQW LV GHWHUPLQHG XVLQJ WKH IROORZLQJ IRUPXOD 4 (Max. permissible temp. – ambient temp.
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1Before Using the Products 5. Installation Motor Install the motor properly to avoid a breakdown or an accident. Installation Place Since the conditions of location affect a lot to the motor life, select a place which meets the conditions below. 1) Indoors, where the products are not subjected to rain or direct sun beam. The products are not waterproof.
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5. Installation 1 Before Using the Products Motor Oil/Water Protection 2 Motor Preparation 1) Don't submerge the motor cable to water or oil. 2) Install the motor with the cable outlet facing downward. 3) Avoid a place where the motor is always subjectCable ed to oil or water. 4) Use the motor with an oil seal when used with the gear reducer, so that the oil may not enter to the Oil / Water motor through shaft.
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5.
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the Products 6. Permissible Load at Output Shaft Motor Radial load (P) direction L Thrust load (A and B) direction 1 Before Using the Products 1Before Using 2 A M P Unit : N (1kgf=9.8N) At assembly Motor series MSME During running Thrust load Radial thrust A-direction B-direction 88 117.6 68.6 58.8 200W, 400W 392 147 196 245 98 750W 686 294 392 392 147 50W, 100W 147 88 117.6 68.6 58.
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6. Permissible Load at Output Shaft Motor L P Motor series MSMD MSME MDME 1-36 Motor output Formula of Load and load point relation Motor series Motor output Formula of Load and load point relation 50W P＝ 3533 L+39 0.9kW P＝ 33957 L+14.5 100W P＝ 4905 L+59 2.0kW P＝ 69384 L+19 200W 14945 P＝ L+46 3.0kW P＝ 86730 L+19 400W P＝ 19723 L+65.5 4.5kW 6.0kW P＝ 89964 L+20 750W P＝ 37044 L+77 1.5kW P＝ 25235 L+19 50W P＝ 3533 L+39 2.5kW P＝ 40376 L+19 100W P＝ 4905 L+59 4.
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2. Preparation 1 Before Using the Products 1. Conformance to international standards EC Directives .............................................................................................2-2 Composition of Peripheral Equipments ......................................................2-6 2. System Configuration and Wiring Driver and List of Applicable Peripheral Equipments ...............................2-10 A to G-frame, 100/200 V type: Overall Wiring/ Wiring of the Main Circuit/ Wiring Diagram ......
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1. Conformance to international standards 2 Preparation EC Directives EC Directives 7KH (& 'LUHFWLYHV DSSO\ WR DOO VXFK HOHFWURQLF SURGXFWV DV WKRVH KDYLQJ VSHFLÀF IXQFWLRQV and have been exported to EU and directly sold to general consumers. Those products DUH UHTXLUHG WR FRQIRUP WR WKH (8 XQLÀHG VWDQGDUGV DQG WR IXUQLVK WKH &( PDUNLQJ RQ WKH products.
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1. Conformance to international standards 1 SEMI F47 ,QFOXGHV D IXQFWLRQ LQ FRPSOLDQFH ZLWK WKH 6(0, ) VWDQGDUG IRU YROWDJH VDJ LPPXQLW\ under no load or light load. ,GHDO IRU WKH VHPLFRQGXFWRU DQG /&' LQGXVWULHV (1) Excluding the single-phase 100-V type. (2) Please verify the actual compliance of your machine with the F47 standard for voltage sag immunity.
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1. Conformance to international standards EC Directives Installation Environment Use the servo driver in the environment of Pollution Degree 1 or 2 prescribed in IEC-60664-1 (e.g. Install the driver in control panel with IP54 protection structure.
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1.
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1. Conformance to international standards 1 Before Using the Products &RPSRVLWLRQ RI 3HULSKHUDO (TXLSPHQWV Noise Filter Option part No. 9ROWDJH VSHFLÀFDWLRQV for driver Manufacturer’s part No.
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1. Conformance to international standards &RPSRVLWLRQ RI 3HULSKHUDO (TXLSPHQWV Noise Filter for Signal Lines Signal line, Encoder line, Control power line, Power line (A to D-frame: 100V/ 200V and D to F-frame: 400V) and Motor line (A to F-frame). Option part No. Manufacturer’s part No. Manufacturer DV0P1460 ZCAT3035-1330 TDK Corp. 5HFRPPHQGHG FRPSRQHQWV Option part No. Manufacturer’s part No.
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1. Conformance to international standards 1 Before Using the Products &RPSRVLWLRQ RI 3HULSKHUDO (TXLSPHQWV Residual current device Install a type B Residual current device (RCD) at primary side of the power supply. 2 Grounding Preparation (1) To prevent electric shock, be sure to connect the ground terminal ( ) of the driver, and the ground terminal (PE) of the control panel. (2) The ground terminal ( ) must not be shared with other equipment. Two ground terminals are provided.
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2. 6\VWHP &RQÀJXUDWLRQ DQG :LULQJ 2 'ULYHU DQG /LVW RI $SSOLFDEOH 3HULSKHUDO (TXLSPHQWV Preparation Driver Applicable Voltage motor *1 Rated output MSME 3-phase, 200V MHME MDME MFME MDDH MSME MSME MDME MHME MGME 3-phase, 400V MSME MDME MFME MHME MDME MSME 3-phase, MHME 200V MEDH 0.9kW 1.0kW 1.5kW 1.0kW approx. 0.5kVA approx. 1.3kVA approx. 1.8kVA approx. 1.8kVA ) ( ) approx. 2.3kVA ／ DV0P1450 DV0P4170 DV0P4190 DV0P4170 DV0P4190 ／／ DV0PM20042 DV0P1450 20A (3P+1a) 0.
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2. 6\VWHP &RQÀJXUDWLRQ DQG :LULQJ 1 Driver Applicable Voltage motor *1 Rated output 5HTXLUHG Power 6.0kW approx. 9.0kVA MHME 7.5kW approx. 11kVA MDME 7.5kW approx. 11kVA 6.0kW approx. 9.0kVA 7.5kW approx. 11kVA 11kW approx. 17kVA 3-phase, 200V MGDH MGME 3-phase, 400V MHME 3-phase, 200V 15kW MHDH MDME 11kW approx. 22kVA 60A 30A FS5559-60-34 ( Recommended component ) FN258-42-07 or FN258-42-33 DV0PM20050 50A 60A 5.
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2. 6\VWHP &RQÀJXUDWLRQ DQG :LULQJ 1 : High voltage 3& WR EH VXSSOLHG E\ FXVWRPHU Wiring to Connector, X7 0RQLWRU RXWSXW 2 3 6HWXS VXSSRUW VRIWZDUH ´3$1$7(50µ 3OHDVH GRZQORDG IURP RXU ZHE VLWH :LULQJ WR &RQQHFWRU ; P.2-51 &RQQHFWLRQ WR 3& 3$1$7(50 :LULQJ WR &RQQHFWRU ; 3 &RQQHFWLRQ WR 6DIHW\ E\ SDVV SOXJ &KDUJH ODPS 5HG /(' *1 4 6KRUW FLUFXLW ZLUH % % :LULQJ WR &RQQHFWRU ; P.2-54 &RQQHFWLRQ WR KRVW FRQWUROOHU :LULQJ WR &RQQHFWRU ; P.
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2. 6\VWHP &RQÀJXUDWLRQ DQG :LULQJ 2 Wiring of the Main Circuit (A to D-frame, 100/200 V type) Preparation A to D-frame, 100 V / 200 V type :LULQJ VKRXOG EH SHUIRUPHG E\ D VSHFLDOLVW RU DQ DXWKRUL]HG SHUVRQQHO 'R QRW WXUQ RQ WKH SRZHU XQWLO WKH ZLULQJ LV FRPSOHWHG 1HYHU WRXFK WKH SRZHU FRQQHFWRU ;$ DQG ;% WR ZKLFK KLJK YROWDJH LV DSSOLHG There is a risk of electric shock. Tips on Wiring 1) Wire connector (XA and XB). 2) Connect the wired connector to the driver.
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Preparation Wiring Diagram (A to D-frame, 100/200 V type) Compose the circuit so that the main circuit power will be shut off when an error occurs. In Case of Single Phase, A to D-frame, 100 V / 200 V type Power supply Single phase, 100V –15% to 120V +10% Single phase, 200V –15% to 240V +10% Remarks ON OFF ALM MC Coil surge suppression units L Noise filter MCCB L1 L2 L3 L1C L2C MC Remove the short wire when you connect the external regenerative resistor.
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2. 6\VWHP &RQÀJXUDWLRQ DQG :LULQJ 2 Wiring of the Main Circuit (E-frame, 200 V type) Preparation E-frame, 200 V type :LULQJ VKRXOG EH SHUIRUPHG E\ D VSHFLDOLVW RU DQ DXWKRUL]HG SHUVRQQHO 'R QRW WXUQ RQ WKH SRZHU XQWLO WKH ZLULQJ LV FRPSOHWHG 1HYHU WRXFK WKH SRZHU FRQQHFWRU ;$ ;% DQG ;& WR ZKLFK KLJK YROWDJH LV DSSOLHG There is a risk of electric shock. Tips on Wiring 1) Wire connector (XA, XB and XC). 2) Connect the wired connector to the driver.
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2. 6\VWHP &RQÀJXUDWLRQ DQG :LULQJ Preparation Wiring Diagram (E-frame, 200 V type) Compose the circuit so that the main circuit power will be shut off when an error occurs. In Case of 3-Phase, E-frame, 200 V type 2 Power supply 3-phase, 200V –15% to 230V +10% OFF ALM MC Built-in thermostat of an external regenerative resistor (light yellow) Preparation ON Noise filter Coil surge suppression units MCCB L MC Red White * These colors Black are used for Green optional cable.
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2. 6\VWHP &RQÀJXUDWLRQ DQG :LULQJ 2 Preparation Overall Wiring (F-frame, 200 V type) Connecting Example of F-frame $SSO\ WKH YROWDJH GHVLJQDWHG RQ WKH QDPHSODWH from the power source. 0DLQV Residual current device Symmetric current should be 5000 Arms or below. If the short-circuit current on the power source exceeds this value, use a current-limiting device (e.g. current-limiting fuse, current-limiting circuit breaker or transformer).
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2. 6\VWHP &RQÀJXUDWLRQ DQG :LULQJ 1 : High voltage :LULQJ WR &RQQHFWRU ; 0RQLWRU RXWSXW P.2-60 Before Using the Products Overall Wiring (F-frame, 200 V type) PC (to be supplied by customer) Setup support software ´3$1$7(50µ Please download from our web site. 2 :LULQJ WR &RQQHFWRU ; P.2-51 &RQQHFWLRQ WR 56 56 or host controller :LULQJ WR &RQQHFWRU ; 3 P.2-53 :LULQJ WR &RQQHFWRU ; P.2-54 &RQQHFWLRQ WR KRVW FRQWUROOHU :LULQJ WR &RQQHFWRU ; P.
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2. 6\VWHP &RQÀJXUDWLRQ DQG :LULQJ 2 Wiring of the Main Circuit (F-frame, 200 V type) Preparation F-frame, 200 V type :LULQJ VKRXOG EH SHUIRUPHG E\ D VSHFLDOLVW RU DQ DXWKRUL]HG SHUVRQQHO 'R QRW WXUQ RQ WKH SRZHU XQWLO WKH ZLULQJ LV FRPSOHWHG Never touch the terminal to which high voltage is applied. There is a risk of electric shock.
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2. 6\VWHP &RQÀJXUDWLRQ DQG :LULQJ Preparation Wiring Diagram (F-frame, 200 V type) Compose the circuit so that the main circuit power will be shut off when an error occurs. In Case of 3-Phase, F-frame, 200 V type 2 Power supply 3-phase, 200V –15% to 230V +10% OFF ALM MC Built-in thermostat of an external regenerative resistor (light yellow) Preparation ON Noise filter Coil surge suppression units MCCB L MC (Remove the short wire when you connect the external regenerative resistor.
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2. 6\VWHP &RQÀJXUDWLRQ DQG :LULQJ 2 Preparation Overall Wiring (G-frame, 200 V type) Connecting Example of G-frame $SSO\ WKH YROWDJH GHVLJQDWHG RQ WKH QDPHSODWH from the power source. 0DLQV Residual current device Symmetric current should be 5000 Arms or below. If the short-circuit current on the power source exceeds this value, use a current-limiting device (e.g. current-limiting fuse, current-limiting circuit breaker or transformer).
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2. 6\VWHP &RQÀJXUDWLRQ DQG :LULQJ 1 : High voltage Before Using the Products Overall Wiring (G-frame, 200 V type) PC (to be supplied by customer) 2 P.2-60 6HWXS VXSSRUW VRIWZDUH ´3$1$7(50µ Please download from our web site. :LULQJ WR &RQQHFWRU ; Preparation :LULQJ WR &RQQHFWRU ; 0RQLWRU RXWSXW P.2-51 &RQQHFWLRQ WR 3& 3$1$7(50 ワヤ L1 ヹヒロヒヤヹビ L2 ロビヤヹピ L3 ワヤ :LULQJ WR &RQQHFWRU ; P.2-53 &RQQHFWLRQ WR 6DIHW\ E\ SDVV SOXJ 3 Connection :LULQJ WR &RQQHFWRU ; P.
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2. 6\VWHP &RQÀJXUDWLRQ DQG :LULQJ 2 Wiring of the Main Circuit (G-frame, 200 V type) Preparation G-frame, 200 V type :LULQJ VKRXOG EH SHUIRUPHG E\ D VSHFLDOLVW RU DQ DXWKRUL]HG SHUVRQQHO 'R QRW WXUQ RQ WKH SRZHU XQWLO WKH ZLULQJ LV FRPSOHWHG Never touch the terminal to which high voltage is applied. There is a risk of electric shock.
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Wiring Diagram (G-frame, 200 V type) Preparation Compose the circuit so that the main circuit power will be shut off when an error occurs. In Case of 3-Phase, G-frame, 200 V type 2 Power supply 3-phase, 200V –15% to 230V +10% ALM OFF MC1 Built-in thermostat of an external regenerative resistor (light yellow) Preparation ON Coil surge suppression units L Noise filter MCCB Power supply (3-phase) 1 Before Using the Products 2.
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2. 6\VWHP &RQÀJXUDWLRQ DQG :LULQJ 2 Preparation Overall Wiring (H-frame, 200 V type) Connecting Example of H-frame $SSO\ WKH YROWDJH GHVLJQDWHG RQ WKH QDPHplate from the power source. Mains Residual current device Symmetric current should be 5000 Arms or below. If the short-circuit current on the power source exceeds this value, use a current-limiting device (e.g. current-limiting fuse, current-limiting circuit breaker or transformer).
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2. 6\VWHP &RQÀJXUDWLRQ DQG :LULQJ 1 : High voltage :LULQJ WR &RQQHFWRU ; P.2-60 0RQLWRU RXWSXW Before Using the Products Overall Wiring (H-frame, 200 V type) PC (to be supplied by customer) Setup support software “PANATERM” Please download from our web site. 2 ヹビ Preparation :LULQJ WR &RQQHFWRU ; P.2-51 &RQQHFWLRQ WR 3& 3$1$7(50 ヹヒヹピ :LULQJ WR &RQQHFWRU ; P.2-51 &RQQHFWLRQ WR 56 56 or host controller ヹフ 3 ヹブヤラモンヨユ :LULQJ WR &RQQHFWRU ; P.
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2. 6\VWHP &RQÀJXUDWLRQ DQG :LULQJ 2 Wiring of the Main Circuit (H-frame, 200 V type) Preparation H-frame, 200 V type :LULQJ VKRXOG EH SHUIRUPHG E\ D VSHFLDOLVW RU DQ DXWKRUL]HG SHUVRQQHO 'R QRW WXUQ RQ WKH SRZHU XQWLO WKH ZLULQJ LV FRPSOHWHG Never touch the terminal to which high voltage is applied. There is a risk of electric shock.
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Wiring Diagram (H-frame, 200 V type) Preparation Compose the circuit so that the main circuit power will be shut off when an error occurs.
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2 2. 6\VWHP &RQÀJXUDWLRQ DQG :LULQJ Preparation Overall Wiring (D, E-frame, 400 V type) Connecting Example of D, E-frame $SSO\ WKH YROWDJH GHVLJQDWHG RQ WKH QDPHSODWH from the power source. Symmetric current should be 5000 Arms or below. If the short-circuit current on the power source exceeds this value, use a current-limiting device (e.g. current-limiting fuse, current-limiting circuit breaker or transformer).
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2. 6\VWHP &RQÀJXUDWLRQ DQG :LULQJ 1 : High voltage :LULQJ WR &RQQHFWRU ; P.2-60 0RQLWRU RXWSXW PC (to be supplied by customer) Setup support software ´3$1$7(50µ Please download from our web site. :LULQJ WR &RQQHFWRU ; 2 P.2-51 &RQQHFWLRQ WR 3& 3$1$7(50 :LULQJ WR &RQQHFWRU ; Preparation Handle lever Use this for connector connection. Store this after connection for other occasions. (Refer to P.2-50 for connection.
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2. 6\VWHP &RQÀJXUDWLRQ DQG :LULQJ 2 Wiring of the Main Circuit (D, E-frame, 400 V type) Preparation D, E-frame, 400 V type :LULQJ VKRXOG EH SHUIRUPHG E\ D VSHFLDOLVW RU DQ DXWKRUL]HG SHUVRQQHO 'R QRW WXUQ RQ WKH SRZHU XQWLO WKH ZLULQJ LV FRPSOHWHG 1HYHU WRXFK WKH SRZHU FRQQHFWRU ;$ ;% ;& DQG ;' WR ZKLFK KLJK YROWDJH LV DSplied. There is a risk of electric shock. Tips on Wiring 1) Wire connector (XA, XB, XC and XD). 2) Connect the wired connector to the driver.
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Preparation Wiring Diagram (D, E-frame, 400 V type) Compose the circuit so that the main circuit power will be shut off when an error occurs. In Case of 3-Phase, D, E-frame, 400 V type 2 Power supply 3-phase, 380V –15% to 480V +10% OFF ALM MC Built-in thermostat of an external regenerative resistor (light yellow) Coil surge suppression units Insulated + XD Note 1) 24V 0V ï MCCB L Noise filter DC24V L1 L2 L3 (Remove the short wire when you connect the external regenerative resistor.
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2. 6\VWHP &RQÀJXUDWLRQ DQG :LULQJ 2 Preparation Overall Wiring (F-frame, 400 V type) Connecting Example of F-frame $SSO\ WKH YROWDJH GHVLJQDWHG RQ WKH QDPHSODWH from the power source. Symmetric current should be 5000 Arms or below. If the short-circuit current on the power source exceeds this value, use a current-limiting device (e.g. current-limiting fuse, current-limiting circuit breaker or transformer). 0DLQV Residual current device * Use a power supply with 2 A or larger capacity.
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2. 6\VWHP &RQÀJXUDWLRQ DQG :LULQJ 1 : High voltage Before Using the Products Overall Wiring (F-frame, 400 V type) PC (to be supplied by customer) 2 P.2-60 6HWXS VXSSRUW VRIWZDUH ´3$1$7(50µ Please download from our web site. :LULQJ WR &RQQHFWRU ; Preparation :LULQJ WR &RQQHFWRU ; 0RQLWRU RXWSXW P. &RQQHFWLRQ WR 3& 3$1$7(50 3 :LULQJ WR &RQQHFWRU ; P. &RQQHFWLRQ WR 56 56 or host controller Connection :LULQJ WR &RQQHFWRU ; P.
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2. 6\VWHP &RQÀJXUDWLRQ DQG :LULQJ 2 Wiring of the Main Circuit (F-frame, 400 V type) Preparation F-frame, 400 V type :LULQJ VKRXOG EH SHUIRUPHG E\ D VSHFLDOLVW RU DQ DXWKRUL]HG SHUVRQQHO 'R QRW WXUQ RQ WKH SRZHU XQWLO WKH ZLULQJ LV FRPSOHWHG Never touch the terminal to which high voltage is applied. There is a risk of electric shock.
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Wiring Diagram (F-frame, 400 V type) Preparation Compose the circuit so that the main circuit power will be shut off when an error occurs. In Case of 3-Phase, F-frame, 400 V type 2 Power supply 3-phase, 380V –15% to 480V +10% OFF ALM MC Built-in thermostat of an external regenerative resistor (light yellow) Coil surge suppression units Note 1) Insulated + 24V 0V ï MCCB Noise filter DC24V (Remove the short wire when you connect the external regenerative resistor.
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2. 6\VWHP &RQÀJXUDWLRQ DQG :LULQJ 2 Preparation Overall Wiring (G-frame, 400 V type) Connecting Example of G-frame $SSO\ WKH YROWDJH GHVLJQDWHG RQ WKH QDPHplate from the power source. Symmetric current should be 5000 Arms or below. If the short-circuit current on the power source exceeds this value, use a current-limiting device (e.g. current-limiting fuse, current-limiting circuit breaker or transformer).
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2. 6\VWHP &RQÀJXUDWLRQ DQG :LULQJ 1 : High voltage Before Using the Products Overall Wiring (G-frame, 400 V type) PC (to be supplied by customer) :LULQJ WR &RQQHFWRU ; 0RQLWRU RXWSXW P. 2 :LULQJ WR &RQQHFWRU ; P. &RQQHFWLRQ WR 3& 3$1$7(50 ワヤ L1 ヹヒ :LULQJ WR &RQQHFWRU ; P. &RQQHFWLRQ WR 56 56 or host controller Preparation 6HWXS VXSSRUW VRIWZDUH ´3$1$7(50µ Please download from our web site. 3 ビフヷパヷヹピ L3 :LULQJ WR &RQQHFWRU ; P.
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2. 6\VWHP &RQÀJXUDWLRQ DQG :LULQJ 2 Wiring of the Main Circuit (G-frame, 400 V type) Preparation G-frame, 400 V type :LULQJ VKRXOG EH SHUIRUPHG E\ D VSHFLDOLVW RU DQ DXWKRUL]HG SHUVRQQHO 'R QRW WXUQ RQ WKH SRZHU XQWLO WKH ZLULQJ LV FRPSOHWHG Never touch the terminal to which high voltage is applied. There is a risk of electric shock.
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Wiring Diagram (G-frame, 400 V type) Preparation Compose the circuit so that the main circuit power will be shut off when an error occurs. In Case of 3-Phase, G-frame, 400 V type 2 Power supply 3-phase, 380V –15% to 480V +10% OFF ALM MC1 Built-in thermostat of an external regenerative resistor (light yellow) Preparation ON MCCB Noise filter Coil surge suppression units Power supply (3-phase) L Insulated + Note 1) DC24V ï 1 Before Using the Products 2.
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2. 6\VWHP &RQÀJXUDWLRQ DQG :LULQJ 2 Preparation Overall Wiring (H-frame, 400 V type) Connecting Example of H-frame Mains Residual current device Symmetric current should be 5000 Arms or below. If the short-circuit current on the power source exceeds this value, use a current-limiting device (e.g. current-limiting fuse, current-limiting circuit breaker or transformer). Neutral point $SSO\ WKH YROWDJH GHVLJQDWHG RQ WKH QDPHplate from the power source.
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2. 6\VWHP &RQÀJXUDWLRQ DQG :LULQJ 1 : High voltage :LULQJ WR &RQQHFWRU ; 0RQLWRU RXWSXW P.2-60 Before Using the Products Overall Wiring (H-frame, 400 V type) PC (to be supplied by customer) Setup support software “PANATERM” Please download from our web site. 2 ヹビ Preparation :LULQJ WR &RQQHFWRU ; P.2-51 &RQQHFWLRQ WR 3& 3$1$7(50 ヹヒヹピ :LULQJ WR &RQQHFWRU ; P.2-51 &RQQHFWLRQ WR 56 56 or host controller ヹフヹブ :LULQJ WR &RQQHFWRU ; ヹプ P.
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2. 6\VWHP &RQÀJXUDWLRQ DQG :LULQJ 2 Wiring of the Main Circuit (H-frame, 400 V type) Preparation H-frame, 400 V type :LULQJ VKRXOG EH SHUIRUPHG E\ D VSHFLDOLVW RU DQ DXWKRUL]HG SHUVRQQHO 'R QRW WXUQ RQ WKH SRZHU XQWLO WKH ZLULQJ LV FRPSOHWHG Never touch the terminal to which high voltage is applied. There is a risk of electric shock.
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Wiring Diagram (H-frame, 400 V type) Preparation Compose the circuit so that the main circuit power will be shut off when an error occurs.
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2. 6\VWHP &RQÀJXUDWLRQ DQG :LULQJ 2 Specifications of Motor connector Preparation :KHQ WKH PRWRUV RI 060' 0+0'! DUH XVHG WKH\ DUH FRQQHFWHG DV VKRZQ EHORZ Connector: Made by Tyco Electronics k.k, (The figures below show connectors for the motor.) &RQQHFWRU IRU HQFRGHU 3 6 2 5 PIN No. Application NC 1 PS 2 PS 3 E5V 4 E0V 5 FG(SHIELD) 6 1 4 172168-1 20-bit Incremental &RQQHFWRU IRU EUDNH 2 4 &RQQHFWRU IRU PRWRU 1 3 1 2 172167-1 PIN No.
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2. 6\VWHP &RQÀJXUDWLRQ DQG :LULQJ 1 :KHQ WKH PRWRUV RI 060( : 9 N: WR N: 0'0( 0)0( 0*0( 0+0(! DUH XVHG WKH\ DUH FRQQHFWHG DV VKRZQ EHORZ Connector: Made by Japan Aviation Electronics Industry, Ltd. (The figures below show connectors for the motor.) &RQQHFWRU IRU HQFRGHU M K J A B N L C P T G 1 2 3 4 5 6 7 8 9 10 D R S H E F JN2AS10ML3-R N/MS3102A20-29P 20-bit Incremental PIN No.
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2. 6\VWHP &RQÀJXUDWLRQ DQG :LULQJ 2 Wiring method to connector Preparation )ROORZ WKH SURFHGXUHV EHORZ IRU WKH ZLULQJ FRQQHFWLRQ WR WKH &RQQHFWRU XA , XB and XC . How to connect 1. Peel off the insulation cover of the cable. )RU VLQJOH ZLUH 3OHDVH REH\ WKH OHQJWK LQ ÀJXUH )RU VWUDQGHG ZLUHV IHUUXOHV PXVW EH XVHG DV LOOXVWUDWHG EHORZ Example: Ferrules with plastic insulating sleeve (AI series, Phoenix Contact, Ltd.
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1 Connecting host computer Preparation This is used for USB connection to a personal computer. It is possible to change the parameter setting and perform monitoring. Application Caution Connector Pin No. VBUS 1 Dï 2 D+ 3 — 4 Do not connect. GND 5 Connected to ground of control circuit. Contents 2 Use for communication with personal computer. Preparation USB signal terminal Symbol Before Using the Products 3.
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4. Wiring to the connector, X2 Connecting host computer 7KLV VHUYR GULYHU IHDWXUHV NLQGV RI FRPPXQLFDWLRQ IXQFWLRQ 56 DQG 56 DQG \RX FDQ XVH LQ 3 connecting methods. To communicate with a single driver through RS232 Connect the host (PC or controller) to an driver through RS232. [How to connect] Shut off both powers of the PC andthe driver before inserting/pulling out the connector.
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1 Safety function connector Preparation Application Connector Pin No. – 1 – 2 SF1ï 3 SF1+ 4 SF2ï 5 SF2+ 6 EDMï 7 EDM+ 8 FG Shell NC Contents Do not connect. Safety input 2 EDM output Frame ground Connection Safety input 1 3 These are two independent circuits that turn off the operation signal to the power module to shut off the motor current. This is an output for monitoring the failure of the safety function. Connected with protective earth terminal in the servo driver.
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6. Wiring to the connector, X4 2 Connection to Host Controller Preparation Tips on wiring 3m or shorter Peripheral apparatus such as host controller should be located within3m. Controller 30cm or longer Separate the main circuit at least 30cm away. Don't pass them in the same duct, nor bind them together. Power supply Motor Power supply for control signals (VCC) between COM+ and COM– (VDC) should be prepared by customer.
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1 Connect on to External Scale Preparation Provide a power supply for the external scale on your part or use the following power output (250mA or less). Symbol Connector Pin No. Contents Power supply output EX5V 1 Supply the power of external scale or A, B, Z phase encoder. EX0V 2 Connected to ground of control circuit. I/F of external scale signals EXPS 3 /EXPS 4 Serial signal The transmission / reception method.
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7. Wiring to the connector, X5 Connect on to Feedback Scale Wiring Diagram of X5 2 EX0V 3 EXPS 4 EXPS 5 EXA 6 EXA 7 EXB 8 EXB 9 EXZ 10 EXZ EX5V +5V EX0V 0V EXPS Regulator Connector X5 1 EX5V EXPS EXA EXA EXB EXB EXZ EXZ Twisted pair MUF-PK10-X (J.S.T. Mfg. Co., Ltd.) FG Shell of X5 (FG) Detection head External scale side Junction cable Servo driver External scale unit How to Wiring Wire the signals from the external scale to the external scale connector, X5.
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1 Before Using the Products 8. Wiring to the connector, X6 2 Connection to Encoder Preparation Tips on Wiring Maximum cable length between the driver and the motor to be 20m. Consult with a dealer or distributor if you want to use the longer cable than 20m. (Refer to the back cover.) Power supply 20m max. Keep this wiring away from the main circuit by 30 cm or more. Don't guide this wiring through the same duct with the main, nor bind them together.
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8.
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8. Wiring to the connector, X6 1 Before Using the Products Connection to Encoder In case of 17-bit absolute encoder 2 ] 1 5 2 6 3 7 4 1 X6 E5V 2 E0V 3 battery +5V 0V Preparation [ Connector pin assignment E5V 6 E0V 3 5 BAT+ 2 BATï 7 PS 4 PS 1 FG Regulator MSME 50W to 750W 4 5 6 PS PS Shell (FG) 3 Twisted pair Encoder cable Motor Driver 7LJKWHQ WKH PRWRU FRQQHFWRU PRXQWLQJ VFUHZ 0 ZLWK D WRUTXH EHWZHHQ DQG Nm.
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9. Wiring to the connector, X7 2 Monitor output Preparation The connector X7 of the front panel is for monitor output. Analogue output : 2 systems Digital output : 1 systems In both cases, it is possible to switch the output signal by setting parameters. Output circuit 6 Connector X7 Manufacturer’s part No.: 530140610 Manufacturer: Japan Molex Inc. 1 X7 Nї AM1 1 Nї AM2 2 Nї DM 4 Measuring instrument GND 3 Symbol Connector Pin No.
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1 Preparation Before Using the Products 10. Timing Chart 2 Timing on power-up Servo-on signal accept timing on power-up Control power supply (L1C,L2C) 2 ON approx.100 to 300 ms OFF approx.2s Preparation Internal control power supply OFF established approx.1.
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10. Timing Chart 2 Alarm Preparation When an Error (Alarm) Has Occurred (at Servo-ON Command) Alarm alarm normal 0.5 to 5 ms Dynamic brake released engaged *2 Motor energization energized non-energized Servo-Ready output output Tr ON (ready) (S-RDY) Servo-Alarm output output Tr ON (not Alarm) (ALM) External brake release output (BRK-OFF) output Tr OFF (not ready) output Tr OFF (Alarm) value of Pr4.38 output Tr ON (Break release) output Tr OFF (Break engage) t1 *1 when setup value of Pr4.
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1 Preparation Before Using the Products 10. Timing Chart 2 Servo-Lock Servo-ON/OFF Action While the Motor Is at Stall (Servo-Lock) Remarks To turn on/off the servo during normal operation, first stop the motor. 2 Servo-ON input (SRV-ON) input coupler OFF input coupler ON input coupler OFF Dynamic brake engaged *3 released 1 to 6ms engaged *2 Preparation approx.2ms t1 *1 Motor energization not-energized approx.60ms Caution output Tr OFF (Break engage) not-energized approx.
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10. Timing Chart 2 Servo-ON/OFF Preparation Servo-ON/OFF Action While the Motor Is in Motion Remarks 7LPLQJ DW HPHUJHQF\ VWRS RU WULS 'R QRW UHSHDW WKLV VHTXHQFH at Servo-ON Servo-ON input (SRV-ON) input coupler OFF at Servo-OFF input coupler OFF input coupler ON *4 Dynamic brake Motor energization 1 to 5ms engaged *3 released not-energized energized engaged *3 not-energized *5 approx.60ms Setup value of Pr4.38 approx.
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1 Outline Preparation In the applications where the motor drives the vertical axis, this brake would be used to hold and prevent the work (moving load) from falling by gravity while the power to the servo is shut off. Caution Connecting Example The following shows the example when the brake is controlled by using the brake release output signal (BRK-OFF) of the driver.
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11. Built-in Holding Brake 2 Preparation Motor series MSMD Specifications Motor output Static friction WRUTXH N·m 50W, 100W 0.29 or less 200W, 400W 1.27 or less Exciting Permissible Rotor Engaging Releasing Permissible Permissible current Releasing angular inertia time time work (J) per total work DC A acceleration voltage –4 2 3 ms x 10 J ms one braking x 10 kg·m rad/s2 (at cool-off) 0.002 0.018 50 or less 15 or less 0.36 2.45 or less 0.075 70 or less 20 or less 0.42 50W, 100W 0.
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1 Before Using the Products 12. Dynamic Brake 2 Outline Preparation This driver (A to G-frame) is equipped with a dynamic brake for emergency stop. Pay a special attention to the followings. The H-frame driver does not incorporate the dynamic brake. Caution 2 1. Dynamic brake is only for emergency stop. The Motor becomes a dynamo when driven externally and short circuit curUHQW RFFXUUHG ZKLOH G\QDPLF EUDNH LV DFWLYDWHG PD\ FDXVH VPRNLQJ RU ÀUH 3 Connection 2.
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12. Dynamic Brake 2 Preparation Connections of external dynamic brake resistor (Example) G-frame, 200 V 0DLQV Residual FXUUHQW GHYLFH / & / & L1 ワヤ L1 L2 ヹヒロヒヤヹビ L2 ロビヤ L3 ヹピ L3 B1 ワヤワヤヹフュャヒ B2 ュャビ NC ワヤ U-phase ヹブ U ワヤ V-phase ヹプ V : SKDVH ュャピュャフ W ワヤヤラモンヨユ $X[LOLDU\ FRQWDFW Thermal fuse (one fuse for each resistor) (to be supplied by customer) Disconnect the shorting bar (between DB3 9'& SRZHU VXSSO\ and DB4).
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12. Dynamic Brake 1 Before Using the Products Connections of external dynamic brake resistor (Example) G-frame, 400 V * Use a power supply with 5 A or larger capacity.
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12. Dynamic Brake 2 Condition setting chart Preparation 1) Setup of driving condition from deceleration to after stop by main power-off (Pr5.07) Sequence at main power-off (Pr5.07) Driving condition During deceleration After stalling Contents of deviation counter Setup value of Pr5.
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12. Dynamic Brake 1 3) Setup of driving condition from deceleration to after stop by activation of protective function (Pr5.10) Sequence at over-travel inhibit input (Pr5.10) Driving condition During deceleration After stalling Contents of deviation counter Before Using the Products Condition setting chart 2 Setup value of Pr5.
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13. Setup of Parameter and Mode 2 Preparation Outline / Setup / Connection Outline of Parameter This driver is equipped with various parameters to set up its characteristics and functions. This section describes the function and purpose of each parameter. Read and comprehend very well so that you can adjust this driver in optimum condition for your running requirements.
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Composition and List of Parameters Preparation 7KH SDUDPHWHU 1R LV GLVSOD\HG LQ WKH IRUP RI 3U; << ; &ODVVLÀFDWLRQ << 1R )RU WKH GHWDLOV RQ WKH SDUDPHWHUV UHIHU WR 3 ´'HWDLOV RI SDUDPHWHUµ Parametr No. Class No.* Class name Group page 00 to 17 Basic setting Parameter for Basic setting P.2-74 1 00 to 27 Gain adjustment Parameter for Gain adjustment P.2-75 2 00 to 23 Damping control Parameter for Damping control P.
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13. Setup of Parameter and Mode 2 Preparation List of Parameters [Class 0] Basic setting Parametr No. Default Title Range Class No.
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13. Setup of Parameter and Mode 1 [Class 1] Gain adjustment Parametr No. Default Title Range Class No. A,B C D,E,F G,H -frame -frame -frame -frame Unit Turning Related on of Control Mode Detail power page supply P S T F 1 00 1st gain of position loop 0 to 30000 480 320 0.1/s* ○ 1 01 1st gain of velocity loop 1 to 32767 270 180 0.1Hz* ○ ○ ○ ○ 1 02 1st time constant of velocity loop integration 1 to 10000 210 310 0.
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13. Setup of Parameter and Mode List of Parameters [Class 2] Damping control Parametr No. Default Title Range Class No.
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13. Setup of Parameter and Mode 1 >&ODVV @ 9HURFLW\ 7RUTXH )XOO FORVHG FRQWURO Parametr No. Default Title Range Class No.
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13. Setup of Parameter and Mode List of Parameters [Class 4] I/F monitor setting Parametr No. Default Title Range Class No. A,B C D,E,F G,H -frame -frame -frame -frame Unit Turning Related on of Control Mode Detail power page supply P S T F 4 00 SI1 input selection (Pin No.8) 0 to 00FFFFFFh 8553090 ï ○ ○ ○ ○ ○ 4-33 4 01 SI2 input selection (Pin No.9) 0 to 00FFFFFFh 8487297 ï ○ ○ ○ ○ ○ 4 02 SI3 input selection (Pin No.
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13. Setup of Parameter and Mode 1 Parametr No. Range Class No. 4 30 Unit Related Turning on of Control Mode Detail power page supply P S T F 0 0.
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13. Setup of Parameter and Mode List of Parameters Parametr No. Default Title Range Class No. 5 10 Sequence at alarm 5 11 5 A,B C D,E,F G,H -frame -frame -frame -frame Unit Related Turning on of Control Mode Detail power page supply P S T F 0 to 7 0 ï ○ ○ ○ ○ 4-45 Torque setup for emergency stop 0 to 500 0 % ○ ○ ○ ○ 12 Over-load level setup 0 to 500 0 % ○ ○ ○ ○ 5 13 Over-speed level setup 0 to 20000 0 r/min 5 14 Motor working range setup 0 to 1000 10 0.
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13. Setup of Parameter and Mode 1 [Class 6] Special setting Parametr No. Default Title Range Class No. 00 Analog torque feed forward conversion gain 6 02 6 Turning Related on of Control Mode Detail power page supply P S T F 0 to 100 0 0.1V/100%* Velocity deviation excess setup 0 to 20000 0 r/min ○ 04 JOG trial run command speed 0 to 500 300 r/min ○ ○ ○ ○ 4-51 6 05 Position 3rd gain valid time 0 to 10000 0 0.
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13. Setup of Parameter and Mode 2 Preparation 6HWXS RI 7RUTXH /LPLW Torque limit setup range is 0 to 300 and default is 300 except the combinations of the motor and the driver listed in the table below. Frame Model No. MDDHT5540 D MDDHT3420 MFDHTA390 MFDHTB3A2 F MFDHT5440 MFDHTA464 Applicable motor Max. value of Frame WRUTXH OLPLW Model No. Applicable motor Max.
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13. Setup of Parameter and Mode 1 Cautions on Replacing the Motor As stated previously, torque limit setup range might change when you replace the combination of the motor and the driver. Pay attention to the followings. Before Using the Products 6HWXS RI 7RUTXH /LPLW 2 :KHQ WKH PRWRU WRUTXH LV OLPLWHG e.g.1) before replacing the motor after replacing the motor MADHT1507 MADHT1507 3 MSME012S1A MSME022S1A Pr0.13 Setup range : 0 to 300% Setup value : 100%. Torque limit value 0.
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14. 2 Preparation Setup of command division and multiplication ratio (electronic gear ratio) Relation between Electronic Gear and Position Resolution or Traveling Speed Driver Electronic gear ratio Pulse train position command [ Travel distance : P1 [P] Traveling speed : F [PPS] ] D= Rotational speed : N[r/min] + Pr0.09 Pr0.
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14. Setup of command division and multiplication ratio (electronic gear ratio) 1 Electronic gear ratio D= 0.0005×217×1 = 10 Lead of ball screw, L =20mm Gear reduction ratio, R = 1 Position resolution, у0 PP Encoder, 17-bit (E= 217P/r) 0.00005×217×1 = 0.32768 20 0.00005×220×1 = 20 5×220 20×105 655360 = 100000 D < 1, hence use 120-bit.
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15. How to Use the Front Panel 2 Setup Preparation Setup with the Front Panel Display LED (6-digit) Switch to error display screen when error occurs, and LED will flash (about 2Hz). LED will flash slowly (about 1Hz) when warning occurs. 6 1 X7 Shifting of the digit for data changing to higher digit. X7 Output connector for monitor Note 2-86 Mode switching button (valid at SELECTION display) Press this to switch 4 kinds of mode.
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15. How to Use the Front Panel 1 Before Using the Products Setup Initial Status of the Front Panel Display (7 Segment LED) Status 2 Front panel display shows the following after turning on the power of the driver. approx. 0.6 sec approx. 0.6 sec Initial display of LED (Determined by the setup of Parameter, Pr5.28 "Initial status of LED".) 3 Upon Occurrence of an Alarm Connection If a driver alarm is generated, the front panel display shows the following repeatedly. approx. 0.8 sec 0.
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15. How to Use the Front Panel 2 Preparation Structure of Each Mode Use each button on the touch panel to select the structure and switch the mode. SELECTION display 0RQLWRU PRGH ,QLWLDO VWDWXV RI WKH &RQVROH /(' 6(7 EXWWRQ P.2-91 0RGH VZLWFKLQJ EXWWRQ 3DUDPHWHU VHW XS PRGH P.2-106 0RGH VZLWFKLQJ EXWWRQ ((3520 ZULWLQJ PRGH P.2-107 0RGH VZLWFKLQJ EXWWRQ $X[LOLDU\ IXQFWLRQ PRGH P.
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15. How to Use the Front Panel 1 Before Using the Products Structure of Each Mode EXECUTION display 2 Preparation 3 WR 105 6(7 EXWWRQ 3 Connection ......P.2-106 6(7 EXWWRQ )RU GHWDLOV RI SDUDPHWHUV UHIHU WR 3 'HWDLOV RI SDUDPHWHU 4 ......P.2-107 Setup 6(7 EXWWRQ ......P.2-109 $ODUP FOHDU 5 ......P.2-110 Adjustment $XWRPDWLF RIIVHW DGMXVWPHQW $, WR 6(7 EXWWRQ ......P.
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15. How to Use the Front Panel 2 Setup of front panel lock Preparation Outline To prevent operational error e.g. unintentional parameter modification, the front panel may be locked. Once locked, operations on the panel are limited as follows: Mode Locked panel conditions Monitor Mode No limitation: all monitored data can be checked. Parameter Set up Mode No parameter can be changed but setting can be checked. EEPROM Writing Mode Cannot be run.
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Monitor Mode (SELECTION display) Preparation To change the monitor display setting, select the display option to be changed from “ SELECTION display”, and press to change to “ EXECUTION display”. to return to the selection display, After completion of changing, press 1 Before Using the Products 15. How to Use the Front Panel 2 2 Monitor Mode SELECTION display Description Pages to refer Display example Description Preparation Display example Pages to refer Positional command deviation P.
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2 15. How to Use the Front Panel Preparation Monitor Mode (EXECUTION display) (1) Display of positional command deviation [command unit] Displays positional deviation of the command unit in High order or Low order. Positional command deviation ......Low order ......High order To switch between Low order (L) and High order (H), press . (2) Display of motor speed, positional command speed, YHORFLW\ FRQWURO FRPPDQG DQG WRUTXH FRPPDQG 0RWRU VSHHG U PLQ Displays the motor speed (r/min).
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15. How to Use the Front Panel 1 (3) Display of Feedback Pulse Sum, Command Pulse Sum and External Scale Feedback Pulse Sum )HHGEDFN 3XOVH 6XP >(QFRGHU IHHGEDFN SXOVH] Before Using the Products Monitor Mode (EXECUTION display) 2 Preparation Feedback Pulse Sum ......Low order ......High order To switch between Low order (L) and High order (H), press . 3 &RPPDQG 3XOVH 6XP >&RPPDQG 3XOVH@ Connection Command Pulse Sum ......Low order ......
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15. How to Use the Front Panel Monitor Mode (EXECUTION display) (5) Display of I/O Signal Status Displays the control input and output signal to be connected to connector X4. Use this function to check if the wiring is correct or not. .....Active *1 .....Inactive *1 Pin No. .....Input signal .....
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15. How to Use the Front Panel 1 Before Using the Products Monitor Mode (EXECUTION display) (6) Display of Analog Input Value 2 Input voltage value [V] Preparation Input signal Select the signal No. to be monitored by pressings (Analog input 1 value, unit [V]) . Displays the value after offset correction. 3 (Analog input 2 value, unit [V]) Connection (Analog input 3 value, unit [V]) Caution Voltage exceeding ± 10V can not be displayed correctly.
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15. How to Use the Front Panel Monitor Mode (EXECUTION display) (7) Display of Error Factor and Reference of History Error code No. ( appears if no error occurs) ........Present error ........History 0 (latest error) ........History 13 (oldest error)
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15.
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15. How to Use the Front Panel Monitor Mode (EXECUTION display) (8) Alarm Display ......No alarm occurred ......High priority alarm Alarm number 7R GLVSOD\ WKH DODUP RFFXUUHQFH FRQGLWLRQ SUHVV RU EXWWRQ alarm No. Alarm Content Latched time *1 A0 Overload protection Load factor is 85% or more the protection level. A1 Over-regeneration alarm Regenerative load factor is 85% or more the protection level. A2 Battery alarm Battery voltage is 3.2 V or lower.
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15. How to Use the Front Panel 1 Before Using the Products Monitor Mode (EXECUTION display) (9) Display of Regenerative Load Factor, Over-load Factor and Inertia Ratio 5HJHQHUDWLYH /RDG )DFWRU 2 Preparation Display the ratio (%) against the alarm trigger level of regenerative protection. This is valid when Pr0.16 (External regenerative resistor setup) is 0 or 1. 2YHU ORDG )DFWRU 3 Connection Displays the ratio (%) against the rated load. Refer to P.
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15. How to Use the Front Panel Monitor Mode (EXECUTION display) 10) Display of the Factor of No-Motor Running Displays the factor of no-motor running in number. .......Position control .......Torque control ....... Velocity control ....... Full-closed control Factor No. Control mode ([SODQDWLRQ RI IDFWRU 1R Factor No. Factor Content P S T F Occurrence of error/alarm ○ ○ ○ ○ An error is occurring, and an alarm is triggered.
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15. How to Use the Front Panel 1 Before Using the Products Monitor Mode (EXECUTION display) (11) Display of No. of changes in I/O signals 2 No. of changes in I/O signals (the signal is invalid) Preparation Pin No. .....Input signal .....
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15. How to Use the Front Panel Monitor Mode (EXECUTION display) (13) Display of absolute external scale position 'LVSOD\V WKH DEVROXWH SRVLWLRQ RI VHULDO DEVROXWH VFDOH ,I D VHULDO LQFUHPHQWDO VFDOH GLVSOD\V WKH VFDOH SRVLWLRQ UHODWLYH WR WKH SRZHU RQ SRVLWLRQ ZKLFK LV GHÀQHG DV External scale data ......Absolute external scale position -Low order ......Absolute external scale position -High order Select encoder or external scale by pressing or button. (14) Display of No.
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15. How to Use the Front Panel 1 Before Using the Products Monitor Mode (EXECUTION display) (17) Display of External Scale Deviation [External Scale Unit] 2 External Scale Deviation [External scale unit] Preparation ......Low order ......High order To switch between Low order (L) and High order (H), press . 3 (18) Display of hybrid deviation [Command unit] Connection Hybrid deviation [Command unit] ......Low order ......
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15. How to Use the Front Panel Monitor Mode (EXECUTION display) (22) Display of motor serial number Motor serial number ......Motor serial number- Low order ......Motor serial number- High order To switch between Low order (L) and High order (H), press (Example of display: Serial number 09040001) or . (23) Display of accumulated operation time Displays accumulated operation time [h]. ......Low order ......High order To switch between Low order (L) and High order (H), press .
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15.
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15. How to Use the Front Panel 2 Parameter Setup Mode Preparation Monitor Mode SELECTION display (Mode switch button) EXECUTION display Parameter Setup Mode SELECTION display 3DUDPHWHU 1R +H[DGHFLPDO 1R Parameter value You can change the value which digit has a flashing decimal point. Class Note For parameters which place is displayed with “ ”, the content changed and written to EEPROM becomes valid after turning off the power once. 3UHVV RU WR VHOHFW SDUDPHWHU 1R to be set.
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Preparation EEPROM Writing Mode Parameter Setup Mode SELECTION display 0RGH VZLWFK EXWWRQ 2 EXECUTION display EEPROM Writing Mode SELECTION display Preparation 7R ZULWH WKH SDUDPHWHU WR ((3520 SUHVV WR FKDQJH WR (;(&87,21 GLVSOD\ 1 Before Using the Products 15. How to Use the Front Panel 2 .HHS SUHVVLQJ XQWLO WKH GLVSOD\ changes to when you execute writing. * “Start” flashes instantaneously and is difficult to check visually.
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2 Preparation 15.
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Preparation Auxiliary Function Mode (EXECUTION display) 1) Alarm Clear Screen This function releases the current alarm status. Certain alarms will persist. If this is the case, refer to P.6-2 “When in Trouble - Protective Function”. 3UHVV WR FDOO IRU (;(&87,21 GLVSOD\ (SET button) 2 Preparation EXECUTION display SELECTION display 1 Before Using the Products 15. How to Use the Front Panel 2 .
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15. How to Use the Front Panel Auxiliary Function Mode (EXECUTION display) (2) Analog inputs 1 to 3 automatic offset adjustment This function automatically adjusts offset setting of analog input. Analog input 1 (AI1)......Pr4.22 (Analog input 1 (AI1) offset setup) Analog input 2 (AI2)......Pr4.25 (Analog input 2 (AI2) offset setup) Analog input 3 (AI3)......Pr4.
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15. How to Use the Front Panel 1 (3) Motor trial run
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15. How to Use the Front Panel Auxiliary Function Mode (EXECUTION display) 3URFHGXUH IRU 7ULDO 5XQ (;(&87,21 GLVSOD\ 6(/(&7,21 GLVSOD\ 3UHVV WR FDOO IRU (;(&87,21 GLVSOD\ 6(7 EXWWRQ .HHS SUHVVLQJ XQWLO WKH GLVSOD\ FKDQJHV WR ZKHQ \RX H[HFXWH 0RWRU WULDO UXQ ´ µ LQFUHDVHV ZKLOH NHHS pressing (for approx. 5sec) as the left fig. shows.
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15. How to Use the Front Panel 1 Before Using the Products Auxiliary Function Mode (EXECUTION display) 4) Clearing of Absolute Encoder
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15. How to Use the Front Panel Auxiliary Function Mode (EXECUTION display) (5) Initialization of parameter Initialize the parameter. EXECUTION display SELECTION display 3UHVV WR FDOO IRU EXECUTION display. (SET button) .HHS SUHVVLQJ XQWLO WKH GLVSOD\ FKDQJHV WR when you execute Initialization of parameter. “ ” increases while keep pressing (for approx. 5sec) as the left fig. shows.
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15. How to Use the Front Panel 1 Before Using the Products Auxiliary Function Mode (EXECUTION display) (6) Release of front panel lock Release the front panel lock setting. (SET button) Preparation 3UHVV WR FDOO IRU EXECUTION display. 2 EXECUTION display SELECTION display .HHS SUHVVLQJ XQWLO WKH GLVSOD\ FKDQJHV WR when you execute Release of front panel lock. “ ” increases while keep pressing (for approx. 5sec) as the left fig. shows.
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3. Connection 1 Before Using the Products 1. Outline of mode 2 Position Control Mode ................................................................................3-2 Velocity Control Mode .................................................................................3-6 Preparation Torque Control Mode ..................................................................................3-9 Full-closed Control Mode ..........................................................................3-12 2.
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1. Outline of mode 1 (2) Electronic gear function 5HOHYDQW SDUDPHWHUV Parameter No. 5DQJH Function 0 to 1048576 6HW WKH FRPPDQG SXOVHV WKDW FDXVHV VLQJOH WXUQ RI WKH PRWRU VKDIW Pr0.08 Command pulse counts per one motor UHYROXWLRQ Pr0.09 1st numerator of HOHFWURQLF JHDU 6HW WKH QXPHUDWRU RI GLYLVLRQ PXOWLSOLFDWLRQ 0 to RSHUDWLRQ PDGH DFFRUGLQJ WR WKH FRPPDQG SXOVH 1073741824 input. Pr0.
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1. Outline of mode Velocity Control Mode (5) Speed coincidence output (V-COIN) 7KLV VLJQDO LV RXWSXW ZKHQ WKH PRWRU VSHHG LV HTXDO WR WKH VSHHG VSHFLILHG E\ WKH VSHHG FRPPDQG 7KH PRWRU VSHHG LV MXGJHG WR EH FRLQFLGHQW ZLWK WKH VSHFLÀHG VSHHG ZKHQ WKH GLIIHUHQFH IURP WKH VSHHG FRPPDQG EHIRUH DIWHU DFFHOHUDWLRQ GHFHOHUDWLRQ LV ZLWKLQ WKH UDQJH VSHFLÀHG E\ 3U ´6SHHG FRLQFLGHQW UDQJHµ 5HOHYDQW SDUDPHWHUV Parameter No. Pr4.
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1. Outline of mode Torque Control Mode Function (1) Process of analog torque command input 7KLV SURFHVV FRQYHUWV WKH DQDORJ WRUTXH FRPPDQG LQSXW YROWDJH WR WKH HTXLYDOHQW GLJLWDO WRUTXH FRPPDQG KDYLQJ WKH VDPH HIIHFW Parameter No. Title Pr3.18 Torque command direction selection Pr3.19 ,QSXW JDLQ RI WRUTXH command Pr3.20 ,QSXW UHYHUVDO RI WRUTXH command Pr4.22 Pr4.
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3 1. Outline of mode Connection Full-closed Control Mode Outline ,Q WKLV IXOO FORVHG FRQWURO \RX FDQ PDNH D SRVLWLRQ FRQWURO E\ XVLQJ D H[WHUQDO VFDOH PRXQWHG H[WHUQDOO\ ZKLFK GHWHFWV WKH SRVLWLRQ GLUHFWO\ DQG IHHGV LW EDFN :LWK WKLV FRQWURO \RX FDQ FRQWURO ZLWKRXW EHLQJ DIIHFWHG E\ WKH SRVLWLRQDO YDULDWLRQ GXH WR WKH EDOO VFUHZ HUURU RU WHPSHUDWXUH DQG \RX FDQ H[SHFW WR DFKLHYH D YHU\ KLJK SUHFLVLRQ SRVLWLRQLQJ LQ sub-micron order.
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3 2. Control Block Diagram Connection Position Control Mode Sum of command pulses [Command unit] Pulse train Input setup PULS Input SIGN selection 0.05 Direction 0.06 setup Mode Positional command speed [r/min] Electric gear One 1st revolu- 0.08 numerator 0.09 tion Denominator 0.10 0.07 ＋ − Smoothing filter 2nd numerator 5.00 3rd numerator 5.01 4th numerator 5.02 Damping control FIR Gain switching Switching 2.13 selection Frequency Filter 1st 2.14 2.15 Primary 2.22 delay 2.23 2nd 2.16 2.
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2. Control Block Diagram Connection Velocity Control Mode 1 Before Using the Products 3 2 Gain switching Analog input 1 16bit A/D AI1 Analog input Offset Filter Torque feed forward 3.02 Gain 1.12 Reversal 3.03 Filter 1.13 Gain 4.23 Mode 1.20 Delay time 1.21 Level 1.22 Hysteresis 1.23 Scaling 4.22 1.14 Preparation Al1 input voltage [Ｖ] 2nd setup Friction compensation additional 6.07 value 3 Notch filter Velocity control Velocity command selection Internal/External 3.
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3 2. Control Block Diagram Connection Torque Control Mode Al2 input voltage [Ｖ] Gain switching Analog input 2 12bit A/D AI2 Analog input Offset Filter 4.25 4.26 Scaling Gain 3.19 Torque command selection Reversal 3.20 Scaling 2nd setup 1.14 Mode 1.24 Delay time 1.25 Level 1.26 Hysteresis 1.27 Internal/External 3.17 switching Direction 3.18 selection Absolute value （Torque command） Analog input 1 16bit A/D AI1 Gain Analog input 3.19 Reversal 3.20 Sign Offset 4.22 Filter 4.
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2. Control Block Diagram Connection Full-closed Control Mode 1 Before Using the Products 3 Internal positional command speed [r/min] Sum of command pulses [Command unit] Mode Positional command speed [r/min] Electric gear One 1st revolu- 0.08 numerator 0.09 tion Denominator 0.10 0.07 ＋ Smoothing filter 2nd numerator 5.00 3rd numerator 5.01 4th numerator 5.02 Damping control 2.23 2.16 2.17 3rd 2.18 2.19 4th 1.14 3rd setup 6.05 Mode 1.15 Scale 6.06 Delay time 1.16 Level 1.17 2.
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3 3. Wiring Diagram to the connector, X4 Connection Example of control mode specific wiring Wiring Example of Position Control Mode Command pulse inhibition input Deviation counter clear input 2.2kї 7 COM+ 33 INH 30 4.7kї 2.2kї 2.2kї Servo-ON input 29 SRV-ON Gain switching input 27 GAIN Electronic gear switching input 1 Damping control switching input 1 Control mode switching input Alarm clear input Servo-Ready output Servo-Alarm output VDC 12 to 24V 2.
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3. Wiring Diagram to the connector, X4 1 Before Using the Products Connecting Example to Host Controller Connection between MINAS A5 and FPG-C32T (Panasonic Electric Works) PLC Driver FPG-C32T (Panasonic Electric Works) A5-series FG 3 PULS1 4 PULS2 5 SIGN1 6 SIGN2 X2 19 CZ COM 13 GND ○ ＋ 25 GND 7 COM＋ Y2 30 CL ○ − 29 SRV-ON 27 GAIN 31 A-CLR COM 9 POT X3 8 NOT 35 S-RDY＋ Y0 CW pulse command output Y1 CCW pulse command output 5.
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3. Wiring Diagram to the connector, X4 Connecting Example to Host Controller Connection between MINAS A5 and F3YP14-ON/F3YP18-ON (Yokogawa Electric Corp.) PLC Driver F3YP14-ON/F3YP18-ON (Yokogawa Electric Corp.
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3. Wiring Diagram to the connector, X4 1 Connection between MINAS A5 and F3NC32-ON/F3NC34-ON (Yokogawa Electric Corp.) PLC Driver F3NC32-ON/F3NC34-ON (Yokogawa Electric Corp.
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3. Wiring Diagram to the connector, X4 Connecting Example to Host Controller Connection between MINAS A5 and CJ1W-NC113 (Omron Corp.) PLC Driver CJ1W-NC113 (Omron Corp.) A5-series 50 FG 3 PULS1 4 PULS2 5 SIGN1 6 SIGN2 A16 23 OZ＋ A14 24 OZ− A1 13,25 GND A2 7 COM＋ A10 30 CL 29 SRV-ON 27 GAIN 31 A-CLR 9 POT 8 NOT 35 S-RDY＋ 34 S-RDY− 37 ALM＋ 36 ALM− 39 INP＋ 38 INP− 41 COM− * Process of shield wire varies with equipment. 1.6kΩ CW pulse command output 1.
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3. Wiring Diagram to the connector, X4 1 Before Using the Products Connecting Example to Host Controller Connection between MINAS A5 and CJ1W-NC133 (Omron Corp.) PLC Driver CJ1W-NC133 CJ1W-NC113 (Omron Corp.
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3. Wiring Diagram to the connector, X4 Connecting Example to Host Controller Connection between MINAS A5 and QD75D1 (Mitsubishi Electric Corp.) PLC Driver QD75D1 (Mitsubishi Electric Corp.
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3. Wiring Diagram to the connector, X4 1 Before Using the Products Connecting Example to Host Controller Connection between MINAS A5 and KV-5000/3000 (keyence Corp.) PLC Driver KV-5000/3000 (keyence Corp.) A5-series FG 4.3kΩ Origin sensor input 3 PULS1 4 PULS2 X axis limit switch CW X axis limit switch CCW 4.3kΩ 4.3kΩ 5 SIGN1 6 SIGN2 14 23 OZ＋ 15 24 OZ− 16 13,25 GND 7 COM＋ 30 CL 29 SRV-ON 27 GAIN 31 A-CLR 9 POT 8 NOT 35 S-RDY＋ 1 3 2kΩ 4 2kΩ 1.
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3 4. Inputs and outputs on connector X4 Connection Interface Circuit (Input) Input Circuit SI Related control mode Connection to sequence input signals P S T F &RQQHFW WR FRQWDFWV RI VZLWFKHV DQG UHOD\V RU RSHQ FROOHFWRU RXWSXW WUDQVLVWRUV :KHQ \RX XVH FRQWDFW LQSXWV XVH WKH VZLWFKHV DQG UHOD\V IRU PLFUR FXUUHQW WR DYRLG FRQWDFW failure.
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4. Inputs and outputs on connector X4 1 PO2 Before Using the Products Interface Circuit (Output) Related control mode Open collector output P S T F 2 Preparation )HHGV RXW WKH = SKDVH VLJQDO DPRQJ WKH HQFRGHU VLJQDOV LQ RSHQ FROOHFWRU 7KLV RXWSXW LV not insulated. 5HFHLYH WKLV RXWSXW ZLWK KLJK VSHHG SKRWR FRXSOHUV DW WKH KRVW VLGH VLQFH WKH SXOVH ZLGWK RI WKH = SKDVH VLJQDO LV QDUURZ Max.
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3 4. Inputs and outputs on connector X4 Connection Input Signal and Pin No.
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4. Inputs and outputs on connector X4 Input Signal and Pin No. ,QSXW IRUPDW FRPPDQG SXOVH Pr0.06 setup value Pr0.
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4. Inputs and outputs on connector X4 1 Control Input &RQWURO VLJQDO KDYLQJ WKH GHVLUHG IXQFWLRQ FDQ EH DSSOLHG WR DQ\ LQSXW SLQ RI , ) FRQQHFWRU 7KH ORJLF FDQ EH FKDQJHG Before Using the Products Input Signal and Pin No.
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4. Inputs and outputs on connector X4 Input Signal and Pin No.
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4. Inputs and outputs on connector X4 Input Signal and Pin No. Title of VLJQDO Gain switching input Symbol GAIN Related control mode 'HIDXOW DVVLJQPHQW 27 (SI4) P S T F SI 3-30 SDJH , ) FLUFXLW 6HOHFW VW RU QG JDLQ Title of VLJQDO Torque limit switching input Symbol TL-SEL Related control mode 'HIDXOW DVVLJQPHQW — P S T F SI 3-30 SDJH , ) FLUFXLW Select 1st or 2nd torque limit. Pr5.21 Torque limit switching input (TL-SEL) Torque limit switching setup (Pr5.23, Pr5.
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4. Inputs and outputs on connector X4 Input Signal and Pin No.
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4. Inputs and outputs on connector X4 1 Before Using the Products Input Signal and Pin No.
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4. Inputs and outputs on connector X4 Input Signal and Pin No.
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4. Inputs and outputs on connector X4 Connection Output Signal and Pin No. Output Signals (Common) and Their Functions 1 Before Using the Products 3 &RQWURO RXWSXW VLJQDO RI GHVLUHG IXQFWLRQ FDQ EH DVVLJQHG WR , ) FRQQHFWRU /RJLF RI WKH RXWSXW 2 SLQ FDQQRW EH FKDQJHG Title of VLJQDO 6LJQDO 6LJQDO %5. 2)) %5. 2)) %5. 2)) SO2 output 3LQ 1R 62 ï 3LQ 1R SO2+ Pr4.11 K (131586) 6 5'< 6 5'< 6 5'< Pr4.12 K (65793) $/0 $/0 $/0 Pr4.
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4. Inputs and outputs on connector X4 Output Signal and Pin No. Title of VLJQDO External brake release signal Symbol %5.
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4. Inputs and outputs on connector X4 1 Title of VLJQDO Alarm output 2 Symbol :$51 Related control mode 'HIDXOW DVVLJQPHQW — , ) FLUFXLW P S T F SO 3-32 SDJH 2XWSXWV WKH ZDUQLQJ RXWSXW VLJQDO VHW WR 3U ´:DUQLQJ RXWSXW VHOHFW µ 7XUQV 21 WKH RXWSXW WUDQVLVWRU XSRQ RFFXUUHQFH RI ZDUQLQJ FRQGLWLRQ 2 Alarm $ Pr6.
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4. Inputs and outputs on connector X4 Output Signal and Pin No.
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4. Inputs and outputs on connector X4 1 Before Using the Products Output Signal and Pin No.
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3 5. IF Monitor Settings Connection How to Assign Various I/O Functions to the I/F Control Input Settings Title of signal SI1 input selection SI2 input selection SI3 input selection SI4 input selection SI5 input selection SI6 input selection SI7 input selection SI8 input selection SI9 input selection SI10 input selection Connector X4 Pin No. 8 9 26 27 28 29 30 31 32 33 Parameter No. Pr4.00 Pr4.01 Pr4.02 Pr4.03 Pr4.04 Pr4.05 Pr4.06 Pr4.07 Pr4.08 Pr4.
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5. IF Monitor Settings 1 Before Using the Products How to Assign Various I/O Functions to the I/F The front panel display is in decimal (six digits). For setting functions and parameters, hexadecimal and decimal numbers should be used respectively. 6 1 The expression of “00 ■■ ＊＊ ▲▲ h” indicates that the number is hexadecimal.
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5. IF Monitor Settings How to Assign Various I/O Functions to the I/F Control Output Settings Title of signal SO1 input SO2 input SO3 input SO4 input SO5 input SO6 input Connector X4 Pin No. 12 40 Parameter No. Pr4.10 Pr4.11 Pr4.12 Pr4.13 Pr4.14 Pr4.
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4. Setup 1 Before Using the Products 5. Details of parameter 2 List of Parameters .......................................................................................4-2 [Class 0] Basic setting ...............................................................................4-4 Preparation [Class 1] Gain adjustment ........................................................................4-13 [Class 2] Damping control ........................................................................
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4 1. Details of parameter Setup List of Parameters $ SDUDPHWHU LV GHVLJQDWHG DV IROORZV Pr0.00 Class Parameter No. 'HÀQLWLRQ RI V\PEROV XQGHU ´5HODWHG PRGHµ 3 SRVLWLRQ FRQWURO 6 YHORFLW\ FRQWURO 7 WRUTXH FRQWURO ) IXOO FORVHG FRQWURO Parametr No. Title Class No.
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1. Details of parameter 1 Parametr No. Class No.
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4 1. Details of parameter Setup [Class 0] Basic setting 'HIDXOW > @ Pr0.
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1. Details of parameter 1 'HIDXOW > @ Pr0.02 Real-time auto-gain tuning setup Range Unit Default Related control mode 0 to 6 — 1 P S T F You can set up the action mode of the real-time auto-gain tuning. 2 0 ,QYDOLG [1] Standard %DVLF PRGH 'R QRW XVH XQEDODQFHG ORDG IULFWLRQ FRPSHQVDWLRQ RU JDLQ VZLWFKLQJ 2 Positioning *1 Main application is positioning.
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1. Details of parameter [Class 0] Basic setting 'HIDXOW > @ Pr0.04 Inertia ratio Range Unit Default Related control mode 0 to 10000 % 250 * P S T F Set 1st inertia ratio. @ 7KH LQHUWLD UDWLR ZLOO EH HVWLPDWHG DW DOO WLPH ZKLOH WKH UHDO WLPH DXWR JDLQ WXQLQJ LV YDOLG DQG LWV UHVXOW ZLOO EH VDYHG WR ((3520 HYHU\ PLQ Caution Pr0.
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1. Details of parameter 1 'HIDXOW > @ Pr0.06 * Pr0.
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1. Details of parameter [Class 0] Basic setting 'HIDXOW > @ Pr0.08 * Command pulse counts per one motor revolution Range Unit Default 0 to 1048576 pulse 10000 Related control mode P Set the command pulses that causes single turn of the motor shaft. :KHQ WKLV VHWWLQJ LV 3U VW QXPHUDWRU RI HOHFWURQLF JHDU DQG 3U 'HQRPLQDWRU RI HOHFWURQLF JHDU EHFRPH YDOLG Pr0.
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1. Details of parameter 1 'HIDXOW > @ Pr0.08 Pr0.09 Pr0.10 Command division/multiplication operation Command pulse input 0 1 to 1073741824 1 to 1073741824 [Pr0.09 setting] Positional command [Pr0.10 setting] :KHQ VHWXS YDOXH RI 3U ʒ WKLV RSHUDWLRQ LV SURFHVVHG DFFRUGLQJ WR VHWXS YDOXH RI 3U DQG Pr0.10.
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1. Details of parameter [Class 0] Basic setting 'HIDXOW > @ Pr5.03 * Denominator of pulse output division Range Unit Default Related control mode 0 to 262144 — 0 P S T F )RU DQ DSSOLFDWLRQ ZKHUH WKH QXPEHU RI RXWSXW SXOVHV SHU RQH PRWRU UHYROXWLRQ LV QRW DQ LQWHJHU VHW WKLV SDUDPHWHU WR D YDOXH RWKHU WKDQ DQG WKH GLYLGLQJ UDWLR FDQ EH VHW E\ XVLQJ Pr0.11 as the numerator and Pr5.03 as the denominator. 2XWSXW SXOVH FRXQWV SHU RQH UHYROXWLRQ 1 3U VHWXS YDOXH / Pr5.
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1. Details of parameter 1 'HIDXOW > @ Pr0.12 * Reversal of pulse output logic Range Unit Default Related control mode 0 to 3 — 0 P S T F Pr0.12 [0] B-phase logic 1RQ UHYHUVDO 2 5HYHUVDO 3 Caution CW direction rotation Encoder $ SKDVH $ SKDVH ([WHUQDO scale B-phase B-phase Encoder $ SKDVH $ SKDVH ([WHUQDO scale B-phase B-phase 3 6HWXS YDOXH DQG DUH YDOLG RQO\ IRU IXOO FORVHG FRQWURO 6HWWLQJ PXVW EH RU LI QRW IRU IXOO closed control.
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1. Details of parameter [Class 0] Basic setting 'HIDXOW > @ Pr0.
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1. Details of parameter Setup [Class 1] Gain adjustment Pr1.00 1st gain of position loop Range Unit 0 to 30000 0.1/s 1 Related Default control mode $ % C-IUDPH 480 P F D to H-IUDPH 320 You can determine the response of the positional control system. +LJKHU WKH JDLQ RI SRVLWLRQ ORRS \RX VHW IDVWHU WKH SRVLWLRQLQJ WLPH \RX FDQ REWDLQ 1RWH WKDW WRR KLJK VHWXS PD\ FDXVH RVFLOODWLRQ 1st gain of velocity loop Range Unit 1 to 32767 0.
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1. Details of parameter [Class 1] Gain adjustment 'HIDXOW > @ Pr1.05 2nd gain of position loop Pr1.06 2nd gain of velocity loop Pr1.07 2nd time constant of velocity loop integration Pr1.08 2nd filter of speed detection Pr1.09 2nd time constant of torque filter Related Default control mode $ % C-IUDPH 570 P F D to H-IUDPH 380 Range Unit 0 to 30000 0.1/s Range Unit 1 to 32767 0.1Hz Range Unit Default Related control mode 1 to 10000 0.
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1. Details of parameter 1 'HIDXOW > @ Pr1.12 7RUTXH IHHG IRUZDUG JDLQ Range Unit Default 0 to 1000 0.1% 0 Related control mode P S F Pr1.13 7RUTXH IHHG IRUZDUG ILOWHU Range Unit Default 0 to 6400 0.01ms 0 Related control mode P S F Caution 2nd gain setup Range Unit Default Related control mode 0 to 1 — 1 P S T F $UUDQJH WKLV SDUDPHWHU ZKHQ SHUIRUPLQJ RSWLPXP DGMXVWPHQW E\ XVLQJ WKH JDLQ VZLWFKLQJ function.
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1. Details of parameter [Class 1] Gain adjustment Pr1.
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1. Details of parameter 1 'HIDXOW > @ Pr1.17 /HYHO RI SRVLWLRQ FRQWURO VZLWFKLQJ Range Unit Default 0 to 20000 Modedependent 50 Related control mode P F )RU SRVLWLRQ FRQWUROOLQJ 6HW XS WULJJHULQJ OHYHO ZKHQ 3U 3RVLWLRQ FRQWURO JDLQ VZLWFKLQJ PRGH LV VHW DW RU 8QLW RI VHWWLQJ YDULHV ZLWK VZLWFKLQJ PRGH Pr1.
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1. Details of parameter [Class 1] Gain adjustment 'HIDXOW > @ Pr1.20 0RGH RI YHORFLW\ FRQWURO VZLWFKLQJ Range Unit Default 0 to 5 — 0 Related control mode S )RU YHORFLW\ FRQWUROOLQJ 6HW WKH FRQGLWLRQ WR WULJJHU JDLQ VZLWFKLQJ Setup value 6ZLWFKLQJ FRQGLWLRQ [0] )L[HG WR WKH VW JDLQ )L[HG WR WKH VW JDLQ 3U WR 3U 1 )L[HG WR WKH QG JDLQ )L[HG WR WKH QG JDLQ 3U WR 3U 2 3 4 Related page Pr1.
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1. Details of parameter 1 'HIDXOW > @ Pr1.24 0RGH RI WRUTXH FRQWURO VZLWFKLQJ Range Unit Default 0 to 3 — 0 Related control mode T )RU WRUTXH FRQWUROOLQJ 6HW WKH FRQGLWLRQ WR WULJJHU JDLQ VZLWFKLQJ 6ZLWFKLQJ FRQGLWLRQ [0] )L[HG WR WKH VW JDLQ )L[HG WR WKH VW JDLQ 3U WR 3U 1 )L[HG WR WKH QG JDLQ )L[HG WR WKH QG JDLQ 3U WR 3U 2 Pr1.
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4 1. Details of parameter Setup [Class 2] Damping control Pr2.00 Adaptive filter mode setup Range Unit Default 0 to 4 — 0 Related control mode P S F 6HW XS WKH UHVRQDQFH IUHTXHQF\ WR EH HVWLPDWHG E\ WKH DGDSWLYH ILOWHU DQG VSHFLI\ WKH operation after estimation. Setup value Pr2.
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1. Details of parameter 1 'HIDXOW > @ Pr2.
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1. Details of parameter [Class 2] Damping control 'HIDXOW > @ Pr2.
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1. Details of parameter 1 Pr2.15 Pr2.17 Pr2.21 2nd damping filter setup 3rd damping filter setup 4th damping filter setup Range Unit Default 0 to 1000 0.1Hz 0 Range Unit Default 0 to 1000 0.1Hz 0 Range Unit Default 0 to 1000 0.1Hz 0 Range Unit Default 0 to 1000 0.
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1. Details of parameter [Class 2] Damping control 'HIDXOW > @ Pr2.23 Positional command FIR filter Range Unit Default 0 to 10000 0.
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4 1. Details of parameter Setup [Class 3] Verocity/ Torque/ Full-closed control 1 Pr3.
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1. Details of parameter [Class 3] Verocity/ Torque/ Full-closed control 'HIDXOW > @ Pr3.02 Input gain of speed command Range Unit Default Related control mode 10 to 2000 U PLQ 9 500 S T %DVHG RQ WKH YROWDJH DSSOLHG WR WKH DQDORJ VSHHG FRPPDQG 635 VHW XS WKH FRQYHUVLRQ gain to motor command speed.
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1. Details of parameter 1 'HIDXOW > @ Pr3.04 Pr3.05 Pr3.07 Pr3.08 Pr3.09 2nd speed of speed setup 3rd speed of speed setup 4th speed of speed setup 5th speed of speed setup 6th speed of speed setup 7th speed of speed setup Pr3.
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1. Details of parameter [Class 3] Verocity/ Torque/ Full-closed control 'HIDXOW > @ Pr3.
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1. Details of parameter 1 'HIDXOW > @ Pr3.17 Selection of torque command Range Unit Default 0 to 2 — 0 Related control mode T You can select the input of the torque command and the speed limit.
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1. Details of parameter [Class 3] Verocity/ Torque/ Full-closed control 'HIDXOW > @ Pr3.21 Speed limit value 1 Range Unit Default 0 to 20000 r/min 0 Related control mode T Set up the speed limit used for torque controlling. 'XULQJ WKH WRUTXH FRQWUROOLQJ WKH VSHHG VHW E\ WKH VSHHG OLPLW YDOXH FDQQRW EH H[FHHGHG :KHQ 3U WKH VSHHG OLPLW LV DSSOLHG XSRQ UHFHLYLQJ SRVLWLYH GLUHFWLRQ FRPPDQG Pr3.
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1. Details of parameter 1 Pr3.24 * 1XPHUDWRU RI H[WHUQDO VFDOH GLYLVLRQ Range Unit Default WR — 0 Related control mode F 6HW XS WKH QXPHUDWRU RI WKH H[WHUQDO VFDOH GLYLGLQJ VHWXS :KHQ VHWXS YDOXH HQFRGHU UHVROXWLRQ LV XVHG DV QXPHUDWRU RI WKH GLYLVLRQ 'HQRPLQDWRU RI H[WHUQDO VFDOH GLYLVLRQ 2 Range Unit Default Related control mode WR — 10000 F Pr3.24 1048576 Pr3.
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1. Details of parameter [Class 3] Verocity/ Torque/ Full-closed control 'HIDXOW > @ Pr3.28 * +\EULG GHYLDWLRQ H[FHVV VHWXS Range Unit WR Command unit Default Related control mode 16000 F
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1. Details of parameter Setup [Class 4] I/F monitor setting Pr4.
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1. Details of parameter [Class 4] I/F monitor setting Pr4.01 * SI2 input selection Pr4.02 * SI3 input selection Pr4.03 * SI4 input selection Pr4.04 * SI5 input selection Pr4.05 * SI6 input selection Pr4.06 * SI7 input selection Caution Pr4.07 * Pr4.08 * Pr4.
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1. Details of parameter 1 'HIDXOW > @ Pr4.
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1. Details of parameter [Class 4] I/F monitor setting 'HIDXOW > @ Pr4.16 Type of analog monitor 1 Range Unit Default Related control mode 0 to 21 — 0 P S T F Select the type of monitor for analog monitor 1. *6HH WKH WDEOH VKRZQ RQ WKH QH[W SDJH Pr4.17 Analog monitor 1 output gain Range Unit Default Related control mode 0 to 214748364 [Monitor unit in Pr4.16] / V 0 P S T F Set up the output gain of analog monitor 1.
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1. Details of parameter 1 Unit Output gain for setting Pr4.17/Pr4.
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1. Details of parameter [Class 4] I/F monitor setting 'HIDXOW > @ Pr4.21 Analog monitor output setup Range Unit Default Related control mode 0 to 2 — 0 P S T F Select output format of the analog monitor. Setup value Signed data output –10 V to 10 V 1 $EVROXWH YDOXH GDWD RXWSXW 9 WR 9 2 'DWD RXWSXW ZLWK RIIVHW 9 WR 9 9 DW FHQWHU [0] Pr4.22 Output format Analog input 1 (AI1) offset setup Range Unit Default Related control mode ï WR 0.
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1. Details of parameter 1 Pr4.29 Analog input 3 (AI3) filter Range Unit Default Related control mode 0 to 6400 0.01ms 0 P S T F 6HW XS WKH WLPH FRQVWDQW RI VW GHOD\ ÀOWHU WKDW GHWHUPLQHV WKH ODJ WLPH EHKLQG WKH YROWDJH applied to the analog input 3. Analog input 3 (AI3) overvoltage setup Range Unit Default Related control mode 0 to 100 0.1V 0 P S T F 6HW XS WKH H[FHVVLYH OHYHO RI WKH LQSXW YROWDJH RI DQDORJ LQSXW E\ XVLQJ WKH YROWDJH DVVRFLDWHG ZLWK RIIVHW Pr4.
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1. Details of parameter [Class 4] I/F monitor setting 'HIDXOW > @ Pr4.34 Zero-speed Range Unit Default Related control mode 10 to 20000 r/min 50 P S T F
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1. Details of parameter 1 'HIDXOW > @ Pr4.36 At-speed (Speed arrival) Range Unit Default Related control mode 10 to 20000 r/min 1000 S T Speed [r/min] Pr4.36+10 3U ï Motor speed Time ï 3U ï ï 3U Pr4.37 OFF ON OFF Mechanical brake action at stalling setup 3 ON Connection the speed arrival output AT-SPEED Range Unit Default Related control mode 0 to 10000 1ms 0 P S T F
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1. Details of parameter [Class 4] I/F monitor setting 'HIDXOW > @ Pr4.39 Brake release speed setup Range Unit Default Related control mode 30 to 3000 r/min 30 P S T F Set up the speed timing of brake output checking during operation. Pr4.40 Selection of alarm output 1 Pr4.
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1. Details of parameter Setup [Class 5] Enhancing setting 1 'HIDXOW > @ Pr5.00 Pr5.
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1. Details of parameter [Class 5] Enhancing setting 'HIDXOW > @ Pr5.
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1. Details of parameter 1 'HIDXOW > @ Pr5.
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1. Details of parameter [Class 5] Enhancing setting 'HIDXOW > @ Pr5.11 Torque setup for emergency stop Range Unit Default Related control mode 0 to 500 % 0 P S T F Set up the torque limit at emergency stop. Note Pr5.12 :KHQ VHWXS YDOXH LV WKH WRUTXH OLPLW IRU QRUPDO RSHUDWLRQ LV DSSOLHG Over-load level setup Range Unit Default Related control mode 0 to 500 % 0 P S T F @ E\ VHWWLQJ XS WKLV to 0.
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1. Details of parameter 1 'HIDXOW > @ Pr5.16 * Alarm clear input setup Range Unit Default Related control mode 0 to 1 — 0 P S T F 6HOHFW DODUP FOHDU LQSXW $ &/5 UHFRJQLWLRQ WLPH 2 Setup value Recognition time [0] 120ms 1 7R 3U ,) UHDGLQJ ÀOWHU Counter clear input mode Range Unit Default 0 to 4 — 3 Related control mode P F You can set up the clearing conditions of the counter clear input signal.
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1. Details of parameter [Class 5] Enhancing setting Pr5.
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1. Details of parameter 1 'HIDXOW > @ Pr5.23 7RUTXH OLPLW VZLWFKLQJ VHWXS Range Unit Default 0 to 4000 ms/100% 0 Related control mode P S F 6SHFLI\ WKH UDWH RI FKDQJH VORSH IURP VW WR QG GXULQJ WRUTXH OLPLW VZLWFKLQJ 7RUTXH OLPLW VZLWFKLQJ VHWXS Range Unit Default 0 to 4000 ms/100% 0 2 Related control mode P S F 6SHFLI\ WKH UDWH RI FKDQJH VORSH IURP QG WR VW GXULQJ WRUTXH OLPLW VZLWFKLQJ Pr5.
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1. Details of parameter [Class 5] Enhancing setting 'HIDXOW > @ Pr5.28 * LED initial status Range Unit Default Related control mode 0 to 35 — 1 P S T F
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1. Details of parameter 1 Pr5.
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4 1. Details of parameter Setup [Class 6] Special setting 'HIDXOW > @ Pr6.00 $QDORJ WRUTXH IHHG IRUZDUG FRQYHUVLRQ gain Range Unit Default 0 to 100 0.
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1. Details of parameter 1 'HIDXOW > @ Pr6.
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1. Details of parameter [Class 6] Special setting 'HIDXOW > @ Pr6.13 2nd Inertia ratio Range Unit Default Related control mode 0 to 10000 % 250 P S T F Set 2nd inertia ratio. @ Caution Pr6.
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1. Details of parameter 1 'HIDXOW > @ Pr6.
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1. Details of parameter [Class 6] Special setting 'HIDXOW > @ Pr6.24 Disturbance observer filter Range Unit Default 0 to 2500 0.
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1. Details of parameter 1 Pr6.
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1.
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4 2.
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2.Trial Run (JOG run) 1 Trial Run (JOG run) at Velocity Control Mode 29 DC 12V to 24V 26 41 15 COM+ SRV-ON ZEROSPD COMï SPR/TRQR/SPL GND Run with ZEROSPD switch close, and Stop with open 5 In case of bi-directional operation (Positive/Negative), provide a bipolar power supply, or use with Pr3.15 = 3.
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2.
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4 2.Trial Run (JOG run) Setup Setup of Motor Rotational Speed and Input Pulse Frequency Motor rotational speed (r/min) Pr0.
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MEMO 4-64
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5. Adjustment 1 Before Using the Products 1. Gain Adjustment 2 Outline ........................................................................................................5-2 2. Real-Time Auto-Gain Tuning Preparation Basic ...........................................................................................................5-4 3. Adaptive filter $GDSWLYH ÀOWHU ............................................................................................5-10 4.
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5 1. Gain Adjustment Adjustment Outline Purpose ,W LV UHTXLUHG IRU WKH VHUYR GULYHU WR UXQ WKH PRWRU LQ OHDVW WLPH GHOD\ DQG DV IDLWKIXO DV SRVVLEOH DJDLQVW WKH FRPPDQGV IURP WKH KRVW FRQWUROOHU
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1. Gain Adjustment 1 Type Function Explanation Pages to refer $GDSWLYH ÀOWHU 5HGXFHV WKH UHVRQDQFH YLEUDWLRQ SRLQW E\ DXWRPDWLFDOO\ VHWWLQJ XS WKH QRWFK ÀOWHU FRHIÀFLHQW ZKLFK UHPRYHV WKH UHVRQDQFH FRPSRQHQW IURP WKH WRUTXH FRPPDQG ZKLOH HVWLPDWLQJ WKH UHVRQDQFH IUHTXHQF\ IURP WKH YLEUDWLQJ FRPSRQHQW ZKLFK DSSHDUV LQ WKH PRWRU VSHHG LQ DFWXDO RSHUDWLQJ FRQGLWLRQ P.
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2. Real-Time Auto-Gain Tuning Basic Parameters set/changed by real-time auto-gain tuning 3DUDPHWHUV ZKLFK DUH XSGDWHG 7KH UHDO WLPH DXWR WXQLQJ IXQFWLRQ XSGDWHV WKH IROORZLQJ SDUDPHWHUV DFFRUGLQJ WR 3U 5HDO WLPH DXWR WXQLQJ VHWXS DQG 3U 5HDO WLPH DXWR WXQLQJ FXVWRP VHWXS DQG E\ XVLQJ WKH ORDG FKDUDFWHULVWLF HVWLPDWH YDOXHV Class No.
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2. Real-Time Auto-Gain Tuning 1 3DUDPHWHUV ZKLFK DUH VHW LQ UHVSRQVH WR JDLQ VZLWFKLQJ VHWXS 7KH UHDO WLPH DXWR WXQLQJ IXQFWLRQ VHWV WKH IROORZLQJ SDUDPHWHUV DV WKH JDLQ LV switched. Class No. Title 2 Function 14 2nd gain setup 6HWV WR LI WKH FXUUHQW VHWWLQJ LV QRW maintained. 1 15 0RGH RI SRVLWLRQ FRQWURO VZLWFKLQJ Sets to 10 to enable the gain switching. Sets to 0 to disable the gain switching.
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2. Real-Time Auto-Gain Tuning 1 Before Using the Products Basic Basic gain parameter setup table 1st gain Pr1.00 Pr1.01 2nd gain Pr1.02 Pr1.04 *2 Pr1.06 Pr1.07 Pr1.09 *2 A4 Series Stiffness setup Time Time constant constant of velocity of torque (reference) loop *1 filter integration [0.01ms] [0.
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5 $GDSWLYH ÀOWHU Adjustment Adaptive filter Outline (VWLPDWHV WKH UHVRQDQFH IUHTXHQF\ RXW RI YLEUDWLRQ FRPSRQHQW SUHVHQWHG LQ WKH PRWRU VSHHG LQ PRWLRQ WKHQ UHPRYHV WKH UHVRQDQFH FRPSRQHQW IURP WKH WRUTXH FRPPDQG E\ VHWWLQJ XS WKH QRWFK ÀOWHU FRHIÀFLHQW DXWRPDWLFDOO\ KHQFH UHGXFHV WKH UHVRQDQFH YLEUDtion.
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$GDSWLYH ÀOWHU 1 How to Operate (QWHU WKH DFWLRQ FRPPDQG ZLWK 3U $GDSWLYH ÀOWHU PRGH VHW WR D YDOXH RWKHU WKDQ ,I WKH UHVRQDQFH SRLQW DIIHFWV WKH PRWRU VSHHG SDUDPHWHUV RI UG QRWFK ÀOWHU DQG RU WK QRWFK ÀOWHUV DUH DXWRPDWLFDOO\ VHW DFFRUGLQJ WR WKH QXPEHU RI DGDSWLYH ÀOWHUV 00 Function 0 >$GDSWLYH ÀOWHU LQYDOLG@ 7KH DGDSWLYH ÀOWHU LV GLVDEOHG 3DUDPHWHUV UHODWHG WR WKH UG DQG WK QRWFK ÀOWHU KROG WKH FXUUHQW YDOXH 1 >$GDSWLYH ÀOWHU ÀOWHU LV YDOLG@ 2QH DGDSWLYH ÀOWHU LV HQDEOHG
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$GDSWLYH ÀOWHU Adaptive filter Caution ,PPHGLDWHO\ DIWHU WKH ÀUVW VHUYR RQ DW VWDUW XS RU DIWHU LQFUHDVLQJ VWLIIQHVV VHWWLQJ ZLWK WKH UHDO WLPH DXWR WXQLQJ HQDEOHG DEQRUPDO VRXQG RU RVFLOODWLRQ PD\ EH JHQHUDWHG XQWLO WKH DGDSWLYH ÀOWHU VWDELOL]HV ,I VXFK DEQRUPDOLW\ ODVWV RU UHSHDWV IRU RU PRUH UHFLSURFDWLQJ RSHUDWLRQV WDNH WKH IROORZLQJ FRXQWHUPHDVXUHV :ULWH WKH SDUDPHWHUV ZKLFK KDYH JLYHQ WKH QRUPDO RSHUDWLRQ LQWR ((3520 /RZHU WKH VHWXS RI 3U 6HOHFWLRQ RI PD
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5 4. Manual Gain Tuning (Basic) Adjustment Adjustment in Position Control Mode 3RVLWLRQ FRQWURO RI 0,1$6 $ VHULHV LV GHVFULEHG LQ %ORFN GLDJUDP RI 3 0DNH DGMXVWPHQW LQ SRVLWLRQ FRQWURO SHU WKH IROORZLQJ SURFHGXUHV 6HW XS WKH IROORZLQJ SDUDPHWHUV WR WKH YDOXHV RI WKH WDEOH EHORZ Parameter No. (Pr ) Title of parameter Standard value Parameter No. (Pr ) Title of parameter Standard value 1.00 1st gain of position loop 270 0.04 Inertia ratio 1.01 1st gain of velocity loop 150 0.
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4. Manual Gain Tuning (Basic) Adjustment Gain Switching Function 1 Action Command speed Status Gain Stop (Servo-Lock) Low gain (1st gain) Run High gain (2nd gain) Stop (Servo-Lock) Time Low gain (1st gain) 3 )ROORZLQJ LV WKH H[DPSOH ZKHQ \RX ZDQW WR UHGXFH WKH QRLVH DW PRWRU LQ VWDOO 6HUYR /RFN E\ VHWWLQJ XS WR ORZHU JDLQ DIWHU WKH PRWRU VWRSV 0DNH DGMXVWPHQW UHIHUULQJ WR WKH EDVLF JDLQ SDUDPHWHU VHWXS WDEOH 3 DV ZHOO Parameter No. (Pr ) 1.01 1.02 1.03 1.04 1.10 1.
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4. Manual Gain Tuning (Basic) Gain Switching Function Setup of Gain Switching Condition 3RVLWLQJ FRQWURO PRGH )XOO FORVHG FRQWURO PRGH Setup parameters at position control, full-closed control Setup of gain switching condition Pr1.15 0 Switching condition to 2nd gain : Corresponding parameter is valid, – : invalid) Fig. )L[HG WR VW JDLQ Delay time *1 Level Hysteresis *2 Pr1.16 Pr1.17 Pr1.
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4. Manual Gain Tuning (Basic) 1 Fig.A speed N Fig. B command speed S 2 уS level switching level Preparation level switching level delay 1st 1st gain 2nd 2nd 1st 1st Before Using the Products Gain Switching Function 1st gain 2nd 2nd 1st 3 Fig. C motor speed or commanded speed S level Fig. D delay 1st 2nd gain Connection speed N deviation pulse 1st level 4 delay 1st 2nd gain Fig. F Setup Fig.
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5 4.
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4. Manual Gain Tuning (Basic) 1 Before Using the Products Suppression of Machine Resonance Machine characteristics at resonance Resonance gain 2 Anti-resonance Preparation frequency Notch filter characteristics gain Notch 3 frequency width torque command after filtering torque command Connection width Depth 4 frequency frequency Adaptive filter 1st notch filter 2nd to 4th notch filter Suppress resonance point instantaneously.
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4. Manual Gain Tuning (Basic) Suppression of Machine Resonance Notch width and depth 7KH ZLGWK RI WKH QRWFK ÀOWHU LV WKH UDWLR RI WKH ZLGWK RI ² G% DWWHQXDWLRQ IUHTXHQF\ EDQG ZLWK UHVSHFW WR WKH QRWFK IUHTXHQF\ DW LWV FHQWHU ZKHQ GHSWK LV DQG WKH YDOXH LV DV shown in the table below.
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5 5. Manual Gain Tuning (Application) Adjustment Damping Control Outline 7KLV IXQFWLRQ UHGXFHV WKH YLEUDWLRQ DW WKH WRS RU RQ ZKROH RI WKH HTXLSPHQW E\ UHPRYLQJ WKH YLEUDWLRQ IUHTXHQF\ FRPSRQHQWV VSHFLÀHG E\ WKH SRVLWLRQDO FRPPDQG 8S WR DPRQJ IUHTXHQF\ VHWWLQJV FDQ EH XVHG DW WKH VDPH WLPH Front edge vibrates.
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5. Manual Gain Tuning (Application) 1 How to Use 4 Setup Caution 3 Connection (2) Setup of damping filter (1st: Pr2.15, 2nd: Pr2.17, 3rd: Pr2.19, 4th: Pr2.21)) )LUVW VHW XS
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5. Manual Gain Tuning (Application) 1 Before Using the Products Instantaneous Speed Observer Related Parameter Class No. 6 10 Title )XQFWLRQ H[SDQVLRQ setup Function 2 Preparation 6SHHG REVHUYHU HQDEOH ELW ELW YDOLG LQYDOLG WKH IXQFWLRQ ELW ,QYDOLG 9DOLG * ELW /6% How to Use (1) Setup of inertia ratio (Pr0.
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5 5. Manual Gain Tuning (Application) Adjustment Disturbance observer Outline 7KLV IXQFWLRQ XVHV WKH GLVWXUEDQFH WRUTXH GHWHUPLQHG E\ WKH GLVWXUEDQFH REVHUYHU WR UHGXFH HIIHFW RI GLVWXUEDQFH WRUTXH DQG YLEUDWLRQ Disturbance torque – Torque command + Added in the direction to cancel the disturbance + Motor + load + Torque command – + Motor speed Load model Gain Set in Pr6.23 Filter Set in Pr6.
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5. Manual Gain Tuning (Application) 1 Before Using the Products Disturbance observer Related Parameter Class No. 10 Function Function H[SDQVLRQ VHWXS 6HWV ELWV UHODWHG WR GLVWXUEDQFH REVHUYHU ELW ,QYDOLG 9DOLG ELW $OZD\V YDOLG alid only when 1st gain is selected.
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5 5. Manual Gain Tuning (Application) Adjustment 3rd gain switching function Outline ,Q DGGLWLRQ WR WKH QRUPDO JDLQ VZLWFKLQJ IXQFWLRQ GHVFULEHG RQ 3 UG JDLQ VZLWFKLQJ IXQFWLRQ FDQ EH VHW WR LQFUHDVH WKH JDLQ MXVW EHIRUH VWRSSLQJ 7KH KLJKHU JDLQ VKRUWHQV positioning adjusting time.
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5. Manual Gain Tuning (Application) 1 How to Use 7KH IULFWLRQ WRUTXH FRPSHQVDWLRQ ZLOO EH DGGHG LQ UHVSRQVH WR WKH HQWHUHG SRVLWLRQDO FRPPDQG GLUHFWLRQ DV VKRZQ EHORZ Before Using the Products Friction torque compensation 2 [Positive direction] [ Pr6.07 Torque command additional value ] Pr6.08 Positive direction torque compensation value Pr6.
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5. Manual Gain Tuning (Application) 1 Related Parameter &RPELQH WKH IROORZLQJ SDUDPHWHUV WR VHWXS DSSURSULDWH LQHUWLD UDWLR VZLWFKLQJ IXQFWLRQ Class No.
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5 5.
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5 6. About Homing Operation Adjustment Homing with Hit & Stop
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6. About Homing Operation Adjustment Press & Hold Control 1 Before Using the Products 5 Application example Setup example 3 Selection of torque limit 200 Setup of 1st torque limit 50 Setup of 2nd torque limit Excess setup of position deviation 25000 Setup of over-speed level 0 Title 2 Preparation Parameter No. 5.21 0.13 5.22 0.14 5.
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MEMO 5-42
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6. When in Trouble 1 Before Using the Products 1. When in Trouble 2 What to Check ? .........................................................................................6-2 Protective Function (What is Error Code ?) ................................................6-2 Preparation Protective function (Detail of error code) ....................................................6-4 2. Setup of gain pre-adjustment protection ................................6-18 3. Troubleshooting Motor Does Not Run ....
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6 1. When in Trouble When in Trouble What to Check ? Isn't error code No. is displayed ? Aren't the parameter setups wrong ? Doesn't the power voltage vary ? Is the power turned on ? Any loose connection ? Motor does not run. Check the cause by referring to P.2-98, “Display of Factor of No Motor Running” of Preparation, and then take necessary measure.
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1. When in Trouble 1
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6 1. When in Trouble When in Trouble Protective function (Detail of error code) Protective function Control power supply undervoltage protection Over-voltage protection Error code No. Main Sub 11 12 0 0 Causes Voltage between P and N of the converter portion of the control power supply has IDOOHQ EHORZ WKH VSHFLÀHG YDOXH 9 YHUVLRQ approx. 9'& approx. 9$& 9 YHUVLRQ approx. 145 VDC (approx. 9$& 9 YHUVLRQ approx. 15 VDC 1) Power supply voltage is low.
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1. When in Trouble 1 Protective function * Over-current protection Error code No. Main Sub 14 Current through the converter portion has H[FHHGHG WKH VSHFLÀHG YDOXH 1) Failure of servo driver (failure of the circuit, IGBT or other components) 1 2) Short of the motor wire (U, V and W) ,30 Intelligent Power Module 3) Earth fault of the motor wire 4) Burnout of the motor 6) Welding of contact of dynamic braking relay due to frequent servo ON/OFF operations.
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1. When in Trouble Protective function (Detail of error code) Protective function Over-load protection Error code No. Main Sub 16 0 Causes Torque command value has exceeded the over-load level set with Pr5.12 (Setup of over-load level) and resulted in overload protection according to the time characteristics (described later) 1) Load was heavy and actual torque has exceeded the rated torque and kept running for a long time. 2) Oscillation and hunching action due to poor adjustment.
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1. When in Trouble 1 Protective function Error code No. Main Sub 18 * Encoder communication disconnection error protection 21 1 0 Regenerative driver transistor on the servo driver is defective. Replace the driver. Communication between the encoder and the driver has been interrupted in certain times, and disconnection detecting function has been triggered. Make a wiring connection of the encoder as per the wiring diagram. Correct the miswiring of the connector pins.
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1. When in Trouble Protective function (Detail of error code) Protective function * Hybrid deviation excess error protection Error code No. Main Sub 25 0 Causes Measures 3RVLWLRQ RI ORDG E\ WKH H[WHUQDO VFDOH and position of the motor by the encoder slips larger than the setup pulses with Pr3.28 (Setup of hybrid deviation excess) at full-closed control. &KHFN WKH FRQQHFWLRQ EHWZHHQ WKH PRWRU and the load. &KHFN WKH FRQQHFWLRQ EHWZHHQ WKH H[WHUQDO scale and the driver.
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1. When in Trouble 1 Protective function Error code No. Main Sub 0 Measures Positional deviation of encoder pulse reference has exceeded 2 &KHFN WKDW WKH PRWRU UXQV DV SHU WKH position command pulses. &KHFN WKDW WKH RXWSXW WRTXH KDV QRW saturated in torque monitor. 0DNH D JDLQ DGMXVWPHQW 6HW XS PD[LPXP YDOXH WR 3U DQG Pr5.22. 0DNH D ZLULQJ FRQQHFWLRQ RI WKH HQFRGHU DV per the wiring diagram.
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1. When in Trouble Protective function (Detail of error code) Protective function * CL assignment error Error code No. Main Sub 33 * INH assignment error Software limit protection 34 Causes 6 Counter clear function is assigned to a signal number other than SI7.
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1. When in Trouble 1 Protective function Absolute system down error protection Error code No. Main Sub 40 0 Causes Voltage of the built-in capacitor has fallen EHORZ WKH VSHFLÀHG YDOXH EHFDXVH WKH power supply or battery for the absolute encoder has been down. 41 * 0 Absolute counter over error protection 42 0 After connecting the power supply for the battery, clear the absolute encoder. Once this error occurs, the alarm cannot be cleared until the absolute encoder is reset.
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1. When in Trouble Protective function (Detail of error code) Protective function Error code No. Main Sub Measures * Encoder CS signal error protection*1 49 0 CS signal logic error of serial incremental encoder has been detected. The encoder might be a failure. Replace the motor. * Feedback scale wiring error protection 50 0 Communication between the external scale and the driver has been interrupted in certain times, and disconnection detecting function has been triggered.
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1. When in Trouble 1 Protective function * A-phase wiring error protection Error code No. Main Sub 55 0 Causes Before Using the Products Protective function (Detail of error code) Measures A-phase wiring in the external scale is defective, e.g. discontinued. Check the A-phase wiring connection. 2 1 B-phase wiring in the external scale is defective, e.g. discontinued. Check the B-phase wiring connection.
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1. When in Trouble Protective function (Detail of error code) Time characteristics of Err16.0 (Overload protection) Overload protection time characteristics Motor Type: M * MD MSMD 50W MSMD 100W（100V） Time [s] 100 MSMD 100W（200V） MSMD MHMD MSMD MHMD 200W 200W 400W 400W MSMD 750W MHMD 750W * Only for position control type. 10 1 0.
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1. When in Trouble 1 Software Limit Function (Err34.0) Conditions under which the software limit works Control mode 3 3RVLWLRQ FRQWURO )XOO FORVHG FRQWURO 6KRXOG EH LQ VHUYR RQ FRQGLWLRQ ,QSXW VLJQDOV VXFK DV WKH GHYLDWLRQ FRXQWHU FOHDU DQG FRPPDQG LQSXW inhibit, and parameters except for controls such as torque limit setup, are correctly set, assuring that the motor can run smoothly.
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1. When in Trouble Protective function (Detail of error code) 4) Example of movement (1) When no position command is entered (Servo-ON status), The motor movable range will be the travel range which is set at both sides of the motor with Pr5.14 since no position command is entered. When the load enters to WKH (UU RFFXUUHQFH UDQJH REOLTXH OLQH UDQJH VRIWZDUH OLPLW SURWHFWLRQ ZLOO EH activated. Motor Load Pr5.14 Pr5.
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1. When in Trouble 1 Warning Function Alarm Overload protection Alarm No. $ A1 Battery alarm A2 Fan alarm Encoder communication alarm Encoder overheat alarm Oscillation detection alarm A3 Content /RDG IDFWRU LV RU PRUH WKH SURWHFWLRQ OHYHO 5HJHQHUDWLYH ORDG IDFWRU LV RU PRUH WKH protection level. Fixed at no time limit. 3 Battery voltage is 3.2 V or lower. A5 Fan has stopped for 1 sec.
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6 2. Setup of gain pre-adjustment protection When in Trouble Before starting gain adjustment, set the following parameters based on the conditions of use, to assure safe operation. 1) Setup of over-travel inhibit input By inputting the limit sensor signal to the driver, the bumping against mechanical end can be prevented. Refer to interface specification, positive/negative direction overtravel inhibit input (POT/NOT). Set the following parameters which are related to overtravel inhibit input.
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2. Setup of gain pre-adjustment protection 1 2 Preparation During the position control or full-closed control, this function detects potential excesVLYH GLIIHUHQFH EHWZHHQ WKH SRVLWLRQDO FRPPDQG DQG PRWRU SRVLWLRQ DQG LVVXHV (UU Excess positional deviation protection. ([FHVV SRVLWLRQDO GHYLDWLRQ OHYHO FDQ EH VHW WR 3U 6HWXS RI SRVLWLRQDO GHYLDWLRQ excess.
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2. Setup of gain pre-adjustment protection 6) Setup of hybrid deviation excess error protection At the initial operation with full-closed control, operation failure may occur due to reverse connection of external scale or wrong external scale division ratio. 7R LQGLFDWH WKLV W\SH RI GHIHFW (UU +\EULG GHYLDWLRQ H[FHVV HUURU SURWHFWLRQ LV LVsued when the deviation of motor position (encoder unit) and load position (external scale unit) exceed Pr3.28 Setup of hybrid deviation excess.
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3. Troubleshooting When in Trouble Motor Does Not Run 1 :KHQ WKH PRWRU GRHV QRW UXQ UHIHU WR 3 'LVSOD\ RI )DFWRU RI 1R 0RWRU 5XQQLQJ RI 3UHSDUDWLRQ as well. &ODVVLÀFDWLRQ Parameter 2 Check that the present control mode is correct with monitor mode of the front panel.
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3. Troubleshooting Motor Does Not Run :KHQ WKH PRWRU GRHV QRW UXQ UHIHU WR 3 'LVSOD\ RI )DFWRU RI 1R 0RWRU 5XQQLQJ RI 3UHSDUDWLRQ as well. &ODVVLÀFDWLRQ Wiring Installation Related page 6-22 Causes Measures Speed command is invalid (Velocity) Check that the velocity command input method (external analog command/internal velocity command) is correct. &KHFN WKH VHWXSV RI 3U WR 3U DJDLQ E\ VHWWLQJ XS 3U WR ZKHQ \RX XVH WKH H[WHUQDO analog command.
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6 &ODVVLÀFDWLRQ Adjustment Unstable Rotation (Not Smooth), Motor Runs Slowly Even with Speed Zero at Velocity Control Mode Causes Setup of the control mode is not correct. Measures ,I \RX VHW XS 3U WR 9HORFLW\ FRQWURO PRGH E\ PLVWDNH DW position control mode, the motor runs slowly at servo-ON due to VSHHG FRPPDQG RIIVHW &KDQJH WKH VHWXS RI 3U WR 2 Velocity and position command are not stable.
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6 3. Troubleshooting When in Trouble Positioning Accuracy Is Poor &ODVVLÀFDWLRQ Causes Position command is not correct. (Amount of command pulse) Count the feedback pulses with a monitor function of the PANATERM or feedback pulse monitor mode of the console while repeating the movement of the same distance. If the value does not return to the same value, review the controller. Make a noise measure to command pulse. Captures the positioning complete signal at the edge.
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3. Troubleshooting When in Trouble Origin Point Slips &ODVVLÀFDWLRQ System Measures Z-phase is not detected. Check that the Z-phase matches to the center of proximity dog. Execute the homing matching to the controller correctly. +RPLQJ FUHHS VSHHG LV IDVW Lower the homing speed at origin proximity. Or widen the origin sensor. Chattering of proximity sensor (proximity dog sensor) output . Check the dog sensor input signal of the controller with oscilloscope.
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6 3. Troubleshooting When in Trouble &ODVVLÀFDWLRQ Causes Measures Adjustment Gain adjustment is not proper. Check with graphic function of PANATERM or monitor (connector ; 0DNH D FRUUHFW JDLQ DGMXVWPHQW 5HIHU WR ´$GMXVWPHQWµ Installation Load inertia is large. Check with graphic function of PANATERM or monitor (Connector ; 0DNH DQ DSSURSULDWH DGMXVWPHQW ,QFUHDVH WKH PRWRU DQG driver capacity and lower the inertia ratio. Use a gear reducer. Looseness or slip of the machine.
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3. Troubleshooting When in Trouble Parameter Returns to Previous Setup &ODVVLÀFDWLRQ Causes Parameter No writing to EEPROM has been carried out before turning off the power.
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MEMO 6-28
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7. Supplement 1 Before Using the Products 1. Safety function Outline ........................................................................................................7-2 Input & output signals .................................................................................7-3 2 Preparation Safety Circuit Block Diagram ......................................................................7-5 Timing Chart .............................................................................................
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7 1. Safety function Supplement Outline Outline description of safe torque off (STO) The safe torque off (STO) function is a safety function that shuts the motor current and turns off motor output torque by forcibly turning off the driving signal of the servo driver internal power transistor. For this purpose, the STO uses safety input signal and hardware (circuit). When STO function operates, the servo driver turns off the servo ready output signal (S-RDY) and enters safety state.
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1. Safety function Supplement Input & output signals 1 Before Using the Products 7 Safety input signal For list of connector pin numbers, refer to P.2-53, Signal SF1+ 4 6) ï 3 SF2+ 6 6) ï 5 Safety input 1 Safety input 2 Control mode Contents Input 1 that triggers STO function. This input turns off the upper arm drive signal of power transistor. When using the function, connect this pin in a way so that the photocoupler of this input circuit turns off to activate STO function.
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1. Safety function Input & output signals External device monitor (EDM) output signal The monitor output signal is used by the external device to monitor the state of the safety input signal. Connect the monitor output to the external device monitor terminal of the safety devices such as safety controller and safety sensor. Signal Control mode Symbol Pin No. Contents EDM+ 8 Outputs monitor signal that is used to check the EDM output safety function.
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7 1. Safety function Supplement Safety Circuit Block Diagram μC analog input SF2+ 6 LPF（3ms） μC analog input 5 EDM+ 8 +5V +5V I_SF2 +5V +5V in N O_EDM 7 PC 5V μC port 3.
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7 1. Safety function Supplement Timing Chart Operating timing for safety status Servo-ON input (SRV-ON) input coupler OFF (Servo-OFF command) input coupler ON (Servo-ON command) Safety input 1 Safety input 2 *3 input coupler OFF (STO) input coupler ON max 5ms Motor energization energized not-energized max 6ms EDM output output coupler ON output coupler OFF 0.
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7 2. Absolute system Supplement Outline Outline of Absolute System When you compose an absolute system using an absolute encoder, you are not required to carry out homing operation at the power-on, and this function suits very well to such an application as a robot. &RQQHFW WKH KRVW FRQWUROOHU ZLWK WKH 0,1$6 $ ZLWK DEVROXWH VSHFLÀFDWLRQV PRWRU ZLWK absolute encoder and driver with absolute spec) and set up the parameter, Pr0.
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2. Absolute system Supplement Configuration 1 Before Using the Products 7 &RQÀJXUDWLRQ RI DEVROXWH V\VWHP RI VFDOH XVLQJ 56 LQWHUIDFH Host controller RS232 interface Servo driver X2 2 SN751701 or equivalent 4 RXD 3 TXD 1 GND 8 RS485+ 7 RS485ï 6 RS485+ 5 RS485ï RS485 can be connecter to either terminal pair.
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7 2. Absolute system Supplement Battery (for Backup) Installation First Installation of the Battery After installing and connecting the back-up battery to the motor, execute an absolute encoder setup. Refer to P.7-16, "Setup (initialization) of Absolute Encoder ". It is recommended to perform ON/OFF action once a day after installing the battery for refreshing the battery. A battery error might occur due to voltage delay of the battery if you fail to carry out the battery refreshment.
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2. Absolute system 1 Before Using the Products Battery (for Backup) Installation 3) Install the battery to the battery box. 2 Preparation Place the battery with + facing downward. Connect the connector. 4) Close the cover of the battery box. 3 Connection Close the cover not to pinch the connector cable. 4 7 Supplement 7-13 6 When in Trouble The disposal of used batteries after they have been replaced may be subject to restrictions imposed by local governing authorities.
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2. Absolute system Battery (for Backup) Installation /LIH RI WKH EDWWHU\ Following example shows the life calculation of the back-up battery used in assumed robot operation. 2000[mAh] of battery capacity is used for calculation. Note that the following value is not a guaranteed value, but only represents a calculated value. Caution The values below were calculated with only the current consumption factored in. The calculations do not factor in electrolyte leakage and other forms of battery deterioration.
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2. Absolute system 1 When you make your own cable for 17-bit absolute encoder When you make your own cable for 17-bit absolute encoder, connect the optional battery for absolute encoder, DV0P2990 as per the wiring diagram below. Connector of the battery for absolute encoder shall be provided by customer as well.
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7 2. Absolute system Supplement Setup (Initialization) of Absolute Encoder Absolute multi-turn data will be maintained by the absolute encoder battery. :KHQ RSHUDWLQJ WKH PDFKLQH IRU WKH ÀUVW WLPH DIWHU LQVWDOOLQJ WKH EDWWHU\ WR WKH DEVROXWH HQcoder, clear the encoder data (multi-turn data) to 0 at the origin by following the procedure described below. Clear the absolute encoder from the front panel (see P.2-113) or PANATERM. Turn off power and then on again. 7 2.
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2. Absolute system 1 RS232 Communication Protocol Refer to the instruction manual of the host for the transmission/reception method of command.
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2. Absolute system 1 Composition of Absolute Data Absolute data consists of singe-turn data which shows the absolute position per one revolution and multi-turn data which counts the number of revolution of the motor after clearing the encoder.
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2. Absolute system Transferring absolute data (QFRGHU VWDWXV / UHSUHVHQWV HUURU RFFXUUHQFH Encoder status (L) bit7 bit6 bit5 bit4 bit3 bit2 bit1 bit0 (4) (5) (6) (7) 0 (1) (2) (3) (1) Over-speed Err42.0 (Absolute over-speed error protection) (2) Full absolute status Err47.0 (Absolute status error protection) (3) Counter error Err44.0 (Absolute single-turn counter error protection) (4) Counter overflow Err41.
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2. Absolute system 1 Composition of external scale absolute data 8VLQJ FKDUDFWHU GDWD UHFHLYHG WKURXJK 56 56 RUJDQL]H WXUQ GDWD DQG PXOWL turn data. Before Using the Products Transferring external scale absolute data 2 0Bh C2h FFh *1 31h *2 External scale status (L) External scale status (H) Setup value of Pr5.31 “Axis address”. *1 Undefined *2 Depends on external scale.
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2. Absolute system Transferring external scale absolute data ([WHUQDO VFDOH VWDWXV / UHSUHVHQWV HUURU RFFXUUHQFH External scale status (L) bit7 bit6 bit5 bit4 bit3 bit2 bit1 bit0 (5) (6) (7) (8) 0 (1) (2) (3) (4) (1) Alarm No. A8 “External scale error alarm” (2) Alarm No. A8 “External scale error alarm” (3) Err51.5 “External scale status 5 error protection” (4) Err51.4 “External scale status 4 error protection” (5) Err51.3 “External scale status 3 error protection” (6) Err51.
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2. Absolute system Supplement Display of Battery Alarm 1 Following alarm will be displayed when making the front panel to alarm execution mode of monitor mode. ....... No alarm condition Before Using the Products 7 2 ...... Highest priority alarm Preparation Alarm number 3UHVV WR VFUROO DODUP FRQGLWLRQV 3 alarm No.
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7 3.Outline of Setup Support Software, “PANATERM” Supplement Setup on the PC &RQQHFWRU ; RI 0,1$6 $ FDQ EH FRQQHFWHG WR \RXU 3& WKURXJK 86% FDEOH IRU FRPSXWHU Once you download the setup support software PANATERM from our web site and install it to your PC, the following tasks can be easily performed. 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.
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4. Communication Supplement Outline 1 You can connect up to 32 MINAS-A5 series with your computer or NC via serial communication based on RS232 and RS484, and can execute the following functions. (1) Change over of the parameters (2) Referring and clearing of alarm data status and history (3) Monitoring of control conditions such as status and I/O.
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7 4. Communication Supplement Specifications &RQQHFWLRQ RI &RPPXQLFDWLRQ /LQH MINAS-A5 series provide 2 types of communications ports of RS232 and RS485, and support the following 3 types of connection with the host. 56 FRPPXQLFDWLRQ Connect the host and the driver in one to one with RS232, and communicate according to RS232 transmission protocol. Selector etc. RS232 Host X2 Pr5.31=1 X2 Pr5.31=1 X2 Pr5.31=1 X2 Pr5.
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4. Communication 1 Before Using the Products Specifications 2 56 FRPPXQLFDWLRQ RS485 RS485 RS485 X2 3 RS485 X2 X2 X2 ... Max. 31 axis Pr5.31=1 Pr5.31=2 Pr5.31=3 Connection Module ID=0 Host Preparation Connect the host to multiple MINAS-A5s with RS485 communication, set up the Pr5.31 of each front panel of MINAS-A5 to 1 to 31. Pr5.31=4 4 Setup $OORZ PV RU ORQJHU LQWHUYDO IRU VZLWFKLQJ WKH D[HV ZKLOH FDSWXULQJ GDWD RI PXOtiple axes.
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4. Communication Specifications Interface of Communication Connector &RQQHFWLRQ WR WKH KRVW ZLWK 56 Host controller RS232 interface Servo driver X2 TXD RXD GND 4 RXD 3 TXD 1 GND 8 RS485+ 7 RS485ï 6 RS485+ 5 RS485ï X4 SN751701 or equivalent RS485 can be connecter to either terminal pair.
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4. Communication 1 Before Using the Products Specifications /LVW RI 8VHU 3DUDPHWHUV IRU &RPPXQLFDWLRQ Class No. 5 5 Setup value Function 0 to 127 Set the axis number for serial communication to 0 to 31. This parameter setup value has no effect on servo operation. 31 Axis address 29 Baud rate setup of RS232 communication 0 to 6 Set up the communication speed of RS232 communication.
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4. Communication 1 Before Using the Products Specifications 'DWD %ORFN &RPSRVLWLRQ Below shows the composition of data block which is transmitted in physical phase. (1 byte) 2 N axis Preparation mode command Parameter (N byte) check sum N 3 Connection : Command byte counts (0 to 240) Shows the number of parameters which are required by command. axis : Sets up the value of Pr5.31.
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4. Communication Specifications Example of Data Communication H J 5HIHUHQFH RI $EVROXWH 'DWD When you connect the host to one driver with RS232 communication, and connect PXOWLSOH 0,1$6 $ V ZLWK 56 FRPPXQLFDWLRQ )ROORZLQJ ÁRZ FKDUW GHVFULEHV WKH DFWXDO ÁRZ RI WKH FRPPXQLFDWLRQ GDWD ZKHQ \RX ZDQW WR FDSWXUH WKH DEVROXWH GDWD RI the module ID=1. e.g. of system composition Pr5.31=0 Pr5.31=1 RS485 RS485 X2 RS232 Pr5.31=2 Pr5.31=3 RS485 X2 X2 X2 Host e.g.
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4. Communication 1 ([DPSOH RI 3DUDPHWHU &KDQJH 1) Capture of execution right Host 05 01 01 71 01 8C 04 (ENQ) MINAS-A5(1) 3 (EOT) 04 06 05 01 01 71 00 00 00 (ACK) (ENQ) 2) Writing of individual parameter Host 06 05 06 01 17 00 02 00 E0 Connection (EOT) 2 Preparation Following shows the communication data in time series when you change parameters.
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4. Communication 1 Before Using the Products Specifications 56 &RPPXQLFDWLRQ Transmitter Module identification byte of transmitter is the module ID | 80h of the counterpart. Ready for ID ID reception of other than opponent and at slave Return ENQ to reception buffer (→receipt processing) Clear of transmission enquiry Enquiry for transmission, butretry times are over.
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4. Communication Supplement /LVW RI &RPPXQLFDWLRQ &RPPDQG command 0 0 1 2 6 7 8 4 5 6 8VH WKH DERYH FRPPDQGV RQO\ ,I \RX XVH RWKHU FRPPDQGV DFWLRQ RI WKH GULYHU FDQQRW be guaranteed. :KHQ WKH UHFHSWLRQ GDWD FRXQWV DUH QRW FRUUHFW LQ WKH DERYH FRPPDQG WUDQVPLVVLRQ byte1 (Error code only) will be returned regardless of communication command.
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4. Communication Details of Communication Command command 7 mode 6 ,QGLYLGXDO UHDG RXW RI XVHU SDUDPHWHU 5HFHSWLRQ GDWD 2 D[LV 6 7UDQVPLVVLRQ GDWD 17 (11h) D[LV 6 7 parameter type parameter No. checksum 7 parameter type parameter No.
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4. Communication Details of Communication Command command 7 mode 8 :ULWLQJ RI WZR RU PRUH XVHU SDUDPHWHU 5HFHSWLRQ GDWD 30h(48) axis 8 7UDQVPLVVLRQ GDWD 17(11h) axis 8 7 (1) parameter type (1) parameter No. (L) (1) parameter value 7 (1) parameter type (1) parameter No. (2) parameter type (2) parameter No. (H) (8) parameter type (8) parameter No. Error code checksum (8) parameter type (8) parameter No.
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5. Motor Characteristics (S-T Characteristics ) Supplement MSMD series : WR : 1RWH WKDW WKH PRWRU FKDUDFWHULVWLFV PD\ YDU\ GXH WR WKH H[LVWHQFH RI RLO VHDO RU EUDNH &RQWLQXRXV WRUTXH YV DPELHQW WHPSHUDWXUH FKDUDFWHULVWLFV KDYH EHHQ PHDVXUHG ZLWK DQ aluminum flange attached to the motor (approx. twice as large as the motor flange).
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7 5. Motor Characteristics (S-T Characteristics ) Supplement MSMD series : MSMD series (200W) Without oil seal With oil seal MSMD021 * 1 * MSMD021 * 1 * Input voltage to driver: AC100V (Dotted line represents torque at 10% less voltage.) Input voltage to driver: AC100V (Dotted line represents torque at 10% less voltage.) * Continuous torque vs. ambient temp. torque [N·m] ratio vs. rated torque [%] 100 2.0 Peak running range 1.
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5. Motor Characteristics (S-T Characteristics ) Supplement MSMD series : WR : MSMD series (400W to 750W) Without oil seal With oil seal MSMD041 * 1 * MSMD041 * 1 * Input voltage to driver: AC100V (Dotted line represents torque at 10% less voltage.) 2 Input voltage to driver: AC100V (Dotted line represents torque at 10% less voltage.) * Continuous torque vs. ambient temp. * Continuous torque vs. ambient temp. ratio vs. rated torque [%] torque [N·m] ratio vs. rated torque [%] 4.
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7 5. Motor Characteristics (S-T Characteristics ) Supplement MSME series : WR : MSME series (50W to 100W) Without oil seal With oil seal MSME5AZ * 1 * MSME5AZ * 1 * ,QSXW YROWDJH WR GULYHU $& 9 'RWWHG OLQH UHSUHVHQWV WRUTXH DW OHVV YROWDJH ,QSXW YROWDJH WR GULYHU $& 9 'RWWHG OLQH UHSUHVHQWV WRUTXH DW OHVV YROWDJH * Continuous torque vs. ambient temp. ratio vs. rated torque > @ torque >1ÃP@ 0.5 0 0.5 50 0.25 3HDN UXQQLQJ UDQJH 0.
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5. Motor Characteristics (S-T Characteristics ) Supplement MSME series : MSME series (200W) Without oil seal With oil seal MSME021 * 1 * MSME021 * 1 * Input voltage to driver: AC100V (Dotted line represents torque at 10% less voltage.) * Continuous torque vs. ambient temp. torque [N·m] 100 Peak running range 1.0 50 0 (0.32) (2600) (3100) 1000 2000 3000 4000 5000 6000 speed [r/min] 0 50 (0.8) Continuous running range 10 20 30 40 Continuous running range 0 ambient temp.
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7 5. Motor Characteristics (S-T Characteristics ) Supplement MSME series : WR : MSME series (400W to 750W) Without oil seal With oil seal MSME041 * 1 * MSME041 * 1 * Input voltage to driver: AC100V (Dotted line represents torque at 10% less voltage.) Input voltage to driver: AC100V (Dotted line represents torque at 10% less voltage.) * Continuous torque vs. ambient temp. torque [N·m] ratio vs. rated torque [%] 4.0 * Continuous torque vs. ambient temp. torque [N·m] 100 90 4.
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5. Motor Characteristics (S-T Characteristics ) Supplement MSME series N: WR N: MSME series (1.0kW to 2.0kW) With oil seal 060( * 1 * 060( * 1 * Input voltage to driver: AC200V (Dotted line represents torque at 10% less voltage.) 100 100 Peak running range (6.0) 50 5 ratio vs. rated torque [%] 10 Peak running range (6.0) * Continuous torque vs. ambient temp. torque [N·m] 50 5 (4.0) (4.0) Continuous running range Continuous running range (1.9) 0 (1.
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7 5. Motor Characteristics (S-T Characteristics ) Supplement MSME series N: WR N: MSME series (3.0kW to 5.0kW) With oil seal 060( * 1 * 060( * 1 * Input voltage to driver: AC200V (Dotted line represents torque at 10% less voltage.) Input voltage to driver: AC400V (Dotted line represents torque at 10% less voltage.) * Continuous torque vs. ambient temp. ratio vs. rated torque [%] torque [N·m] 100 90 85 30 1000 (3100) (3400) 2000 3000 4000 5000 speed [r/min] 50 (12) (8.
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5. Motor Characteristics (S-T Characteristics ) Supplement MDME series : WR N: MDME series (400W to 2.0kW) With oil seal 0'0( * * 0'0( * * Input voltage to driver: AC400V (Dotted line represents torque at 10% less voltage.) 4 (3.5) 0 Peak running range 50 5 Continuous running range 1000 2000 3000 speed [r/min] 0 100 Peak running range 50 (4.5) (1.9) (2400) (2700) ratio vs. rated torque [%] 10 100 2 (1.3) * Continuous torque vs. ambient temp.
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7 5. Motor Characteristics (S-T Characteristics ) Supplement MDME series N: WR N: MDME series (3.0kW to 5.0kW) With oil seal 0'0( * 1 * 0'0( * 1 * Input voltage to driver: AC200V (Dotted line represents torque at 10% less voltage.) Input voltage to driver: AC400V (Dotted line represents torque at 10% less voltage.) * Continuous torque vs. ambient temp. torque [N·m] 50 (28) 25 Peak running range (9.5) 0 (28) 50 25 1000 (9.
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5. Motor Characteristics (S-T Characteristics ) Supplement MDME series N: WR N: 0'0( series ( N: WR N:) :LWK RLO VHDO 0'0( * * 0'0( * * Input voltage to driver: AC200V (Dotted line represents torque at 10% less voltage.) (60) 50 50 100 90 100 Peak running range Peak running range 50 50 (47.8) (47.8) Continuous running range 0 1000 (1500) (12) (2200) (2500) 2000 3000 speed [r/min] 0 10 20 30 40 Continuous running range 0 150 20 30 40 ambient temp.
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7 5. Motor Characteristics (S-T Characteristics ) Supplement MFME series (1.5kW to 4.5kW) MFME series (1.5kW to 4.5kW) With oil seal 0)0( * 1 * 0)0( * 1 * Input voltage to driver: AC200V (Dotted line represents torque at 10% less voltage.) Input voltage to driver: AC400V (Dotted line represents torque at 10% less voltage.) * Continuous torque vs. ambient temp. torque [N·m] ratio vs. rated torque [%] （21.5）（14） Peak running range 0 100 20 （14） 10 ratio vs. rated torque [%] （21.
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5. Motor Characteristics (S-T Characteristics ) Supplement MGME series N: WR N: 0*0( VHULHV ( N: WR N:) :LWK RLO VHDO 0*0$ * * 0*0$ * * Input voltage to driver: AC200V (Dotted line represents torque at 10% less voltage.) ratio vs. rated torque [%] 20 torque [N·m] 50 (8) (4.3) 1000 Peak running range 10 50 (8) (4.3) Continuous running range 0 100 (14) Peak running range 10 ratio vs. rated torque [%] 20 100 (14) * Continuous torque vs. ambient temp.
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7 5. Motor Characteristics (S-T Characteristics ) Supplement MGME series N: WR N: 0'0( series ( N: WR N:) With oil seal 0*0( * 1 * 0*0( * 1 * Input voltage to driver: AC400V (Dotted line represents torque at 10% less voltage.) Input voltage to driver: AC200V (Dotted line represents torque at 10% less voltage.) * Continuous torque vs. ambient temp. torque [N·m] ratio vs. rated torque [%] * Continuous torque vs. ambient temp.
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5. Motor Characteristics (S-T Characteristics ) Supplement MHMD series : MHMD series (200W) Without oil seal With oil seal 0+0' * * 0+0' * * Input voltage to driver: AC100V (Dotted line represents torque at 10% less voltage.) ratio vs. rated torque [%] 2.0 100 Peak running range 1.0 (0.5) torque [N·m] 0 (0.5) 1000 2000 3000 4000 5000 speed [r/min] 0 Peak running range 1.0 10 20 30 40 Continuous running range 0 1000 2000 (3600) 3000 4000 2.
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7 5. Motor Characteristics (S-T Characteristics ) Supplement MHMD series : WR : MHME series (400W to 750W) Without oil seal With oil seal 0+0' * * 0+0' * * Input voltage to driver: AC100V (Dotted line represents torque at 10% less voltage.) Input voltage to driver: AC100V (Dotted line represents torque at 10% less voltage.) * Continuous torque vs. ambient temp. * Continuous torque vs. ambient temp. torque [N·m] ratio vs. rated torque [%] torque [N·m] 4.0 100 90 4.
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5. Motor Characteristics (S-T Characteristics ) Supplement MHME series N: WR N: 0+0( series ( N: WR N:) With oil seal 0+0( * * 0+0( * * Input voltage to driver: AC200V (Dotted line represents torque at 10% less voltage.) ratio vs. rated torque [%] 15 10 torque [N·m] 10 Peak running range 50 100 Peak running range 50 (6.0) 5 0 ratio vs. rated torque [%] 15 100 (6.0) (4.0) (3.2) * Continuous torque vs. ambient temp. 5 (4.0) (3.
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7 5. Motor Characteristics (S-T Characteristics ) Supplement MHME series N: WR N: 0+0( series ( N: WR N:) With oil seal 0+0( * 1 * 0+0( * 1 * Input voltage to driver: AC400V (Dotted line represents torque at 10% less voltage.) Input voltage to driver: AC200V (Dotted line represents torque at 10% less voltage.) * Continuous torque vs. ambient temp. * Continuous torque vs. ambient temp. torque [N·m] torque [N·m] ratio vs.
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6. Dimensions Supplement Driver 1 Before Using the Products 7 A-frame 2 (22.4) 40 7 2.5 20.4 Mounting bracket (Option) .2 (18) ø5 (20) Preparation 40 3.5 ø5 .2 125 140 5.2 2.5 7 4.5 Rack mount type Option : Front-end mounting ( 3 Mounting bracket (Option) 5 180 5 24 Connection Name plate 170 150 150 (27) 5.2 28 130 (70) 6 Base mount type Standard: Back-end mounting ) ( ) 4 Mass: 0.8kg Setup B-frame 5 55 55 7 2.5 20.4 Mounting bracket (Option) .
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6. Dimensions Driver C-frame 65 65 40 (22.4) 20.4 (22) 20 2.5 Mounting bracket (Option) 2 (15) ø5. 4 ø5 .2 120 140 180 170 150 150 (27) Name plate 24 5 5.2 2.5 4.5 20 Mounting bracket (Option) 5.2 50 170 Rack mount type Option : Front-end mounting ( 7.5 Base mount type Standard: Back-end mounting (70) 40 5 (18) ( ) ) Mass: 1.6kg ' IUDPH 9 (86) (86) 85 (22.4) 60 10 (22) 40 2.5 20.4 Mounting bracket (Option) (15) 2-ø5.2 4 ø5 .
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6. Dimensions 1 Before Using the Products Driver ' IUDPH 9 2 (92) 85 60 (22) 40 2-ø5.2 (15) 10 (22.4) 20.4 Preparation (92) 2.5 Mounting bracket (Option) 4 4 ø5 .2 120 3 140 24 180 170 150 150 (27) Name plate Connection Direction of air flowing from the internal cooling fan 10 5.2 40 4.5 5.2 Mounting bracket(Option) 5.2 170 7.5 (70) Rack mount type Option : Front-end mounting ( 2.5 5 (18) 70 Base mount type Standard: Back-end mounting ( ) ) Setup Mass: 1.
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6. Dimensions Driver ( IUDPH 9 94 85 94 17.5 50 42.5 .2 5.2 2.5 Mounting bracket (deviation from shipping specification) Mounting bracket (29) ø5 5.2 (33.1) 31.7 (22) (to shipping specification) 130 198 188 168 168 (32) Name plate 24 (18) ø5.2 5.2 42.5 Direction of air flowing from the internal cooling fan 17.5 Mounting bracket (to shipping specification) Mounting bracket 5.2 2.5 50 (deviation from shipping specification) 193 Mass: 2.
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6. Dimensions 1 Before Using the Products Driver * IUDPH 9 2 ワヤ L1 ヹヒロヒヤ Preparation ヹビ L2 ロビヤヹピ L3 ワヤワヤ B1 ヹフュャヒ B2 ュャビ NC ワヤヹブ U ワヤヹプュャピ V ュャフ W 3 ワヤヤラモンヨユ Connection Direction of air flowing from the internal cooling fan 233 210 12 90 27 90 (22) 5.2 ø5 5.2 ø5 Mounting bracket 52 2.5 (deviation from shipping specification) .2 .2 Mounting bracket (23) 5.2 334 90 72 (to shipping specification) 3.
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6. Dimensions Driver + IUDPH 9 261 21 270 30.5 200 4 ø7 ø7 125 (32) 435 450 Name plate 7 7 30.5 200 Direction of air flowing from the internal cooling fan 7.5 Name plate Base mount type (Back-end mounting) 266 4 Mount Mount Related page 7-78 3 ´'ULYHUµ 3 ´&KHFN RI WKH &RPELQDWLRQ RI WKH 'ULYHU DQG WKH 0RWRUµ 3 ´'ULYHU DQG /LVW RI $SSOLFDEOH 3HULSKHUDO (TXLSPHQWVµ Mass: 21.
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6. Dimensions Supplement Motor 1 Before Using the Products 7 060' : WR : 2 Brake connector RH RH 90 °± 1° LW LK 3 ѮLBh7 Connection 4-ѮLZ ѮLA (Key way with center tap shaft) LW KW LK KH □LC LH (7) (D-cut shaft) Motor connector ѮSh6 (7) Shaft end spec. 200 230 LF LR LE TP RH LL Preparation Encoder connector LN 4 Setup * Dimensions are subject to change without notice. Contact us or a dealer for the latest information.
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6. Dimensions Motor 060' : WR : Encoder connector Shaft end spec. Brake connector (D-cut shaft) LW 1° LK RH °± Motor connector 4-ѮLZ □LC ѮLBh7 LH ѮLA (Key way with center tap shaft) LW KW LK KH (7) ѮSh6 (7) 200 220 90 LF LR LE RH LL RH TP * Dimensions are subject to change without notice. Contact us or a dealer for the latest information. 060' VHULHV /RZ LQHUWLD 200W 02 * * 1□ * 79.5 116 400W 04 * * 1□ * 99 135.5 30 11 14 70 50 60 750W 08 * * 1□ * 112.2 149.
PAGE 431
6. Dimensions 1 Before Using the Products Motor 060( : WR : Encoder connector Motor connector LL LM LT 2 LR LC Shaft end spec. (Key way with center tap shaft) LH KW KH ѮLA ѮLBh7 LN LW LK 4-ѮLZ ѮSh6 LE Preparation LF RH TP 3 [With brake] LL LM LT LR LC Shaft end spec. (Key way with center tap shaft) LH ѮLA ѮLBh7 LN LW LK 4-ѮLZ KW KH LE ѮSh6 LF 4 RH TP Setup * Dimensions are subject to change without notice. Contact us or a dealer for the latest information.
PAGE 432
6. Dimensions Motor 060( : 9 N: WR N: 'HVLJQ2UGHU LL Motor/Brake connector 44 LC LR LM Shaft end spec. (Key way shaft) LF LE LH KW KH ѮSh6 D ѮL ѮLBh7 LG M3 through LW LK 4-ѮLZ ѮL A RH Encoder connector * All sizes are identical to those of MSME 1.0 to 2.0 kW versions except for LF. LF * Dimensions are subject to change without notice. Contact us or a dealer for the latest information.
PAGE 433
6. Dimensions 1 Before Using the Products Motor 060( N: WR N: 'HVLJQ2UGHU & LL Motor/Brake connector 46 □LC LR 2 LM Shaft end spec. (Key way shaft) LF LE LH KH ѮL A KW RH ѮSh6 D ѮL ѮLBh7 LG M3 through LW LK 4-ѮLZ Preparation Encoder connector 3 Connection * All sizes are identical to those of MSME 1.0 to 2.0 kW versions except for LF. LF 4 * Dimensions are subject to change without notice.
PAGE 434
6. Dimensions Motor 0'0( : WR N: 'HVLJQ2UGHU Encoder connector Motor/Brake connector LL 44 LR LC LM Shaft end spec. (Key way shaft) LE 4-ѮLZ KW KH ѮLBh7 ѮSh6 ѮLD ѮLA RH LG M3 through LW LK LH LF * Dimensions are subject to change without notice. Contact us or a dealer for the latest information. MDME series (Middle inertia) Motor output 600W 1.0kW 1.5kW 2.0kW 3.0kW 4.0kW 5.
PAGE 435
6. Dimensions 1 Before Using the Products Motor 0'0( : WR N: 'HVLJQ2UGHU & 2 Encoder connector Motor/Brake connector LR □LC Preparation LL 46 LM Shaft end spec. (Key way shaft) LE 4-ѮLZ KH KW ѮLA 3 ѮLD RH ѮSh6 M3 through LW LK Connection ѮLBh7 LG LH LF * Dimensions are subject to change without notice. Contact us or a dealer for the latest information. 4 MDME series (Middle inertia) Motor output 1.5kW 2.0kW 3.0kW 4.0kW 5.
PAGE 436
6. Dimensions Motor 0'0( N: WR N: LL LM 44 □LC 43.5 43.5 LR Eye bolt (Thread 10) 48 Shaft end spec. (Key way shaft) LW LK 4-ѮLZ M4 through KW KH LH ѮLBh7 LG ѮSh6 LF LE D ѮL ѮL A RH Encoder connector Motor connector Brake connector LL LM 44 □LC 57 57 LR Shaft end spec. Eye bolt (Thread 10) (Key way shaft) LE KH M5 through D ѮL ѮL A RH LG LW LK 4-ѮLZ LH LF ѮSm6 ѮLBh7 48 * Dimensions are subject to change without notice.
PAGE 437
6. Dimensions 1 Before Using the Products Motor MFME 1.5kW to 4.5kW 2 Encoder connector Motor/Brake connector LL LM □LC LR Preparation 44 Shaft end spec. (Key way shaft) LE 4-ѮLZ LW LK M3 through KH LH D ѮL ѮL A KW 3 Connection RH ѮLBh7 LG ѮSh6 LF * Dimensions are subject to change without notice. Contact us or a dealer for the latest information. 4 MFME series (Middle inertia) Motor output 2.5kW 4.
PAGE 438
6. Dimensions Motor 0*0( : WR N: 'HVLJQ2UGHU Encoder connector Motor/Brake connector LL 44 LR LC LM Shaft end spec. (Key way shaft) LE 4-ѮLZ LW LK KH M3 through ѮLD ѮLA RH ѮLBh7 LG ѮSh6 LH LF * Dimensions are subject to change without notice. Contact us or a dealer for the latest information. MGME series (Middle inertia) Motor output 2.0kW 3.0kW 09 * * 1 * 20 * * 1 * 30 * * 1 * Without brake 155.5 163.5 209.5 With brake 180.5 188.
PAGE 439
6. Dimensions 1 Before Using the Products Motor 0*0( : WR N: 'HVLJQ2UGHU & 2 Encoder connector Motor/Brake connector LR □LC Preparation LL LM 46 Shaft end spec. (Key way shaft) LE 4-ѮLZ M3 throug LH LW LK KH 3 ѮLD RH ѮLA Connection ѮLBh7 LG ѮSh6 LF * Dimensions are subject to change without notice. Contact us or a dealer for the latest information. 4 MGME series (Middle inertia) Motor output 2.0kW 3.0kW 20 * * C * 30 * * C * 157.5 165.5 211.5 With brake 182.
PAGE 440
6. Dimensions Motor 0*0( N: N: Motor/Brake connector LR □LC 43.5 43.5 Eye bolt (Thread 10) Shaft end spec. (Key way shaft) LF LE KH D ѮL Motor connector Brake connector LL LM 44 ѮL A Shaft end spec. (Key way shaft) LW LK 4-ѮLZ LH ѮLBh7 LG ѮSh6 LF LE D ѮL ѮL A * Dimensions are subject to change without notice. Contact us or a dealer for the latest information.
PAGE 441
6. Dimensions 1 Before Using the Products Motor 0+0' : WR : 2 ±1 ° RH 3 LH 4-ѮLZ (Key way with center tap shaft) LW KW LK Connection ѮSh6 □LC KH 200 (7) 220 (7) LK RH LF (D-cut shaft) LW LR LE 90 ° LL Shaft end spec. Motor connector Preparation Encoder connector Brake connector ѮLBh7 ѮLA RH TP 4 Setup * Dimensions are subject to change without notice. Contact us or a dealer for the latest information. MHMD series (High inertia) 200W 02 * * 1 * 99 135.
PAGE 442
6. Dimensions Motor 0+0( N: WR N: 'HVLJQ2UGHU Motor/Brake connector LL 44 Encoder connector LR □LC LM Shaft end spec. (Key way shaft) LE 4-ѮLZ LW LK KH KW ѮLD ѮLA Motor connector LL LM 44 LR □LC 43.5 43.5 Brake connector Shaft end spec.
PAGE 443
6. Dimensions 1 Before Using the Products Motor 0+0( N: WR N: 'HVLJQ2UGHU & 2 Encoder connector Motor/Brake connector Preparation LL 46 □LC LR LM Shaft end spec. (Key way shaft) LE 4-ѮLZ LW LK KW KH ѮLA M3 through RH ѮLD 3 Connection ѮLBh7 ѮSh6 LG LH LF * Dimensions are subject to change without notice. Contact us or a dealer for the latest information. 4 MHME series (High inertia) Motor output 1.5kW 2.0kW 3.0kW 4.0kW 5.
PAGE 444
7 7. Options Supplement Noise Filter :KHQ \RX LQVWDOO RQH QRLVH ÀOWHU DW WKH SRZHU VXSSO\ IRU PXOWL D[HV DSSOLFDWLRQ FRQWDFW WR D PDQXIDFWXUH RI WKH QRLVH ÀOWHU ,I QRLVH PDUJLQ LV UHTXLUHG FRQQHFW ÀOWHUV LQ VHULHV WR emphasize effectiveness. 2SWLRQV 9ROWDJH specifications for driver Single phase 100V, 200V Option part No. DV0P4170 100.0 ± 2.0 88.0 75.0 7.0 5.0 Manufacturer's part No. Applicable driver (frame) Manufacturer 683 (. (5 A and B-frame Okaya Electric Ind.
PAGE 445
7. Options 1 Before Using the Products Noise Filter Option part No. 9ROWDJH specifications for driver Manufacturer's part No. Applicable driver (frame) Manufacturer DV0P3410 3-phase 200V 683 +/ (5 % F-frame Okaya Electric Ind. Circuit diagram 2-ø5.5 x 7 150 2-ø5.5 (13) (18) 90±1.
PAGE 446
7. Options Noise Filter 9ROWDJH specifications for driver part No. FS5559-60-34 Current rating Applicable driver (A) (frame) 60 G-frame 80 H-frame FN258L-16-07 16 D, E-frame FN258L-30-07 30 F-frame FS5559-80-34 FN258-42-07 3-phase 200V 3-phase 400V 42 FN258-42-33 Manufacturer Schaffner G, H-frame 42 [FS5559-60-34, FS5559-80-34] C 1.5 25 95 [Unit: mm] A [Size] 25 M8 50 B 140 50 6.
PAGE 447
7. Options 1 [FN258-42-07] [FN258-42-33] 300 1.5 1.5 45 6.5 45 6.5 70 314 70 Preparation 314 329 2 185 500±10 12 185 300 Before Using the Products Noise Filter 329 [Unit: mm] 350 [Unit: mm] Circuit diagram 3 L1' L2 L2' L3 L3' E Connection L1 E LINE LOAD 4 Setup 5 Adjustment 6 When in Trouble Remarks Use options correctly after reading operation manuals of the options to better understand the precautions. Take care not to apply excessive stress to each optional part.
PAGE 448
7 7. Options Supplement Surge Absorber 3URYLGH D VXUJH DEVRUEHU IRU WKH SULPDU\ VLGH RI QRLVH ÀOWHU Option part No. 9ROWDJH specifications for driver Manufacturer's part No. DV0P1450 3-phase 200V R･A･9 %;= DV0PM20050 3-phase 400V R･A･9 %;= Manufacturer 5.5±1 11±1 Okaya Electric Ind. [Unit: mm] Circuit diagram (1) 28±1 1 2 3 (1) (3) UL-1015 AWG16 4.5±0.5 +30 200 -0 28.5±1 Ѯ4.2±0.2 41±1 9ROWDJH specifications for driver Single phase 100V, 200V Option part No. 5.
PAGE 449
7 7. Options Supplement 1RLVH )LOWHU IRU 6LJQDO /LQHV 1 2SWLRQV <24 V 3RZHU FDEOH 0RWRU FDEOH (QFRGHU FDEOH ,QWHUIDFH FDEOH 86% FDEOH> Manufacturer's part No. Manufacturer DV0P1460 ZCAT3035-1330 TDK Corp. 39±1 Remarks 34±1 To connect the noise filter to the connector XB connection cable, adjust the sheath length at the tip of the cable, as required. Mass: 62.8g 30±1 13±1 2 Preparation Option part No. 3 Connection [Unit: mm] 5HFRPPHQGHG FRPSRQHQWV Part No.
PAGE 450
7 7. Options Supplement Junction Cable for Encoder Compatible motor output 0)(&$ * * ($0 Part No. MSMD 50W to 750W, MHMD 200W to 750W Specifications For 20-bit incremental encoder (Without battery box) (11.8) (ø6.5) L (4) (14) (4) Title Part No. Connector (Driver side) 3E206-0100 KV Shell kit 3E306-3200-008 Connector (Motor side) 172160-1 Connector pin 170365-1 Cable 0.20mm2×3P (6-wire type) Manufacturer Sumitomo 3M *1 Tyco Electronics / P Part No.
PAGE 451
7. Options 1 Before Using the Products Junction Cable for Encoder 0)(&$ * * 0-( (Highly bendable type, Direction of motor shaft) 0)(&$ * * 0.( (Highly bendable type, Opposite direction of motor shaft) Part No. 0)(&$ * * 7-( Compatible motor output 50W to 750W (200V) 2 (Standard bendable type, Direction of motor shaft) Preparation 0)(&$ * * 7.
PAGE 452
7. Options Junction Cable for Encoder Part No. 0)(&$ * * (6' Compatible motor output 0.9kW to 5.0kW (IP65 Motor) Specifications For 20-bit incremental encoder (Without battery box), Design order: C ø37.3 (ø6.5) L Title Connector (Driver side) Shell kit Connector (Motor side) Cable clamp Cable Part No. 3E206-0100 KV 3E306-3200-008 N/MS3106B20-29S N/MS3057-12A 0.2mm2 ×3P (6-wire type) Manufacturer / P 3 5 10 20 Sumitomo 3M *1 Japan Aviation Electronics Ind. Oki Electric Cable Co., Ltd.
PAGE 453
7 7. Options Supplement Junction Cable for Motor (Without brake) Before Using the Products Applicable MSMD 50W to 750W, MHMD 200W to 750W model 0)0&$ * * ((' Part No. 1 (50) (50) 2 (4) Preparation Ѯ L (4) Title Part No. Connector 172159-1 Manufacturer Tyco Electronics 170366-1 Rod terminal AI0.75-8GY Phoenix Contact Nylon insulated round terminal N1.25-M4 J.S.T Mfg. Co., Ltd. Cable ROBO-TOP 600V 0.75mm2 4-wire type Daiden Co.,Ltd. Part No.
PAGE 454
7. Options Junction Cable for Motor (Without brake) MSME 750W (400V), 1.0kW to 2.0kW, 0)0&' * * 2ECD Part No. Applicable MDME 1.0kW to 2.0kW, MHME 1.0kW to 1.5kW, model MGME 0.9kW (50) ø37.3 (Ѯ12.5) L Title Part No. Manufacturer / P Part No. Connector JL04V-6A20-4SE-EB-R 3 MFMCD0032ECD 5 MFMCD0052ECD 10 MFMCD0102ECD 20 MFMCD0202ECD Cable clamp JL04-2022CK(14)-R Japan Aviation Electronics Ind. Rod terminal 178% J.S.T Mfg. Co., Ltd. Nylon insulated round terminal N2-M4 J.S.
PAGE 455
7. Options 1 0)0&$ * * 2ECD Part No. Before Using the Products Junction Cable for Motor (Without brake) Applicable MFME 1.5kW (200V) model (50) 2 Preparation ø37.3 (Ѯ12.5) L Title Part No. Manufacturer / P Part No. Connector JL04V-6A20-18SE-EB-R 3 MFMCA0032ECD Cable clamp JL04-2022CK(14)-R Japan Aviation Electronics Ind. 5 MFMCA0052ECD Rod terminal $, %8 Phoenix Contact 10 MFMCA0102ECD 20 MFMCA0202ECD N2-M4 J.S.T Mfg. Co., Ltd. Cable ROBO-TOP 600V 2.0mm2 Daiden Co.
PAGE 456
7 7. Options Supplement Junction Cable for Motor (With brake) MSME MDME Applicable MFME model MHME MGME 0)0&$ * * 2FCD Part No. 1.0kW to 2.0kW (200V) 1.0kW to 2.0kW (200V) 1.5kW (200V) 1.0kW to 1.5kW (200V) 0.9kW (200V) (50) (ø 9 .8) ø37.3 (ø12.5) L L (50 ) Title Part No. Manufacturer / P Part No. Connector JL04V-6A20-18SE-EB-R MFMCA0032FCD JL04-2022CK(14)-R Japan Aviation Electronics Ind. 3 Cable clamp 5 MFMCA0052FCD Rod terminal 178% J.S.T Mfg. Co., Ltd.
PAGE 457
7. Options 1 0)0&$ * * 3FCT Part No. Before Using the Products Junction Cable for Motor (With brake) MSME 3.0kW to 5.0kW, MDME 3.0kW to 5.0kW MHME 3.0kW to 5.0kW MGME 2.0kW to 4.5kW Applicable MFME 4.5kW, model L 2 (ø9 .8) Preparation ø43.7 (ø14) (50) L (50 ) Part No. JL04V-6A24-11SE-EB-R Cable clamp JL04-2428CK(17)-R Nylon insulated round terminal Cable Earth N5.5-5 Brake N1.25-M4 ROBO-TOP 600V 0.75mm2 and ROBO-TOP 600V 3.5mm2 Manufacturer / P Part No.
PAGE 458
7 7. Options Supplement Junction Cable for Brake 0)0&% * * *(7 Part No. Applicable MSMD 50W to 750W, MHMD 200W to 750W model Ѯ L Title Part No. Connector 172157-1 Connector pin 170366-1, 170362-1 Manufacturer Tyco Electronics Nylon insulated round terminal N1.25-M4 J.S.T Mfg. Co., Ltd. Cable ROBO-TOP 600V 0.75mm2 ×2-wire type Daiden Co.,Ltd. / P Part No.
PAGE 459
7. Options Supplement &RQQHFWRU .LW 1 Before Using the Products 7 &RQQHFWRU .LW IRU ,QWHUIDFH '9 3 Part No. 2 &RPSRQHQWV Title Number Connector 10150-3000PE equivalent 1 Connector cover 10350-52A0-008 equivalent 1 Manufacturer Note Sumitomo 3M *1 )RU &RQQHFWRU ; (50-pins) *1 Old model number: Connector 54306-5019, Connector cover 54331-0501 (Japan Molex Inc.) Preparation Part No.
PAGE 460
7. Options &RQQHFWRU .LW &RQQHFWRU .LW IRU &RPPXQLFDWLRQ &DEOH IRU 56 56 Part No. '9 30 &RPSRQHQWV Title Part No. Manufacturer Note Connector 2040008-1 Tyco Electronics )RU &RQQHFWRU ; SLQV 5.2 GND TXD (Viewed from cable) ï ï 8 (1.5) Shell: FG 8 6 4 2 7 5 3 1 7.3 10.7 RXD NC (ø6.7) 485+ 485+ 11 3LQ GLVSRVLWLRQ RI FRQQHFWRU FRQQHFWRU ; 'LPHQVLRQV (33) (11) &RQQHFWRU .LW IRU 6DIHW\ Part No. '9 30 &RPSRQHQWV Title Part No.
PAGE 461
7. Options 1 Before Using the Products &RQQHFWRU .LW &RQQHFWRU .LW IRU (QFRGHU '9 30 Part No. 2 &RPSRQHQWV Title Part No. 3E206-0100 KV Shell kit 3E306-3200-008 Note Sumitomo 3M *1 )RU &RQQHFWRU ; Preparation Connector (Driver side) Manufacturer *1 Old model number: 55100-0670 (Japan Molex Inc.) 3LQ GLVSRVLWLRQ RI FRQQHFWRU FRQQHFWRU ; 'LPHQVLRQV 6 PS 0.8 2.4 13.7 18.2 37.4 7.1 PS 1.7 5.4 5.8 4.5 12.0 Shell: FG (Viewed from cable) 3 2.0 2.0 5 11.0 NC 10.
PAGE 462
7. Options &RQQHFWRU .LW Part No. '9 30 (For A to D-frame: double row type) &RPSRQHQWV Title Part No. Number Connector -)$7 6$;*6$ & 1 Handle lever J-FAT-OT 2 Manufacturer Note J.S.T Mfg. Co., Ltd. )RU &RQQHFWRU ;$ Manufacturer Note J.S.T Mfg. Co., Ltd. )RU &RQQHFWRU ;$ 'LPHQVLRQV B 2 3 5 4 5 4 26 1 2 1 2 1 3 A 5 Part No. 4 3 27.6 39.3 '9 30 (For E-frame 200 V) &RPSRQHQWV Part No. Title Part No.
PAGE 463
7. Options 1 Before Using the Products &RQQHFWRU .LW &RQQHFWRU .LW IRU 5HJHQHUDWLYH 5HVLVWRU &RQQHFWLRQ (E-frame) Part No. '9 30 (For E-frame) 2 &RPSRQHQWV Part No. Number Connector -)$7 6$;*6$ / 1 Handle lever J-FAT-OT-L 2 Manufacturer Note J.S.T Mfg. Co., Ltd. )RU &RQQHFWRU ;& Manufacturer Note J.S.T Mfg. Co., Ltd. )RU &RQQHFWRU ;& Preparation Part No. Title '9 30 (For D-frame 400 V) &RPSRQHQWV Part No.
PAGE 464
7. Options &RQQHFWRU .LW &RQQHFWRU .LW IRU 0RWRU (QFRGHU &RQQHFWLRQ Applicable MSMD 50W to 750W, MHMD 200W to 750W model (incremental encoder type) '9 3 Part No. &RPSRQHQWV Title Connector (Driver side) Shell kit Connector Connector pin Connector Connector pin Part No.
PAGE 465
7. Options 1 Part No. '9 30 Specifications Design order: 1 MSME 750W (400V), 1.0kW to 2.0kW, Applicable MDME 400W (400V), 600W (400V), 1.0kW to 2.0kW model MHME 1.0kW to 1.5kW, MGME 0.9kW Without brake 2 &RPSRQHQWV Part No. 3E206-0100 KV 3E306-3200-008 JN2DS10SL1-R JN1-22-22S-PKG100 JL04V-6A-20-4SE-EB-R JL04-2022CK(14)-R Number 1 1 1 5 1 1 Manufacturer Sumitomo 3M *1 Japan Aviation Electronics Ind. Japan Aviation Electronics Ind.
PAGE 466
7. Options &RQQHFWRU .LW Part No. '9 30 Specifications Design order: 1 MSME 1.0kW to 2.0kW (200V), Applicable MDME 1.0kW to 2.0kW (200V), model MFME 1.5kW (Common to with/without brake) (200V), With brake MHME 1.0kW to 1.5kW (200V), MGME 0.9kW (200V) &RPSRQHQWV Title Connector (Driver side) Shell kit Encoder connector Connector pin Motor connector Cable clamp Part No.
PAGE 467
7. Options 1 Part No. '9 30 Specifications Design order: 1 Applicable MDME 7.5kW to 15.0kW model MGME 6.0kW, MHME 7.5kW Without brake 2 &RPSRQHQWV Part No. 3E206-0100 KV 3E306-3200-008 JN2DS10SL1-R JN1-22-22S-PKG100 JL04V-6A32-17SE-EB-R JL04-32CK(24)-R *2 Number 1 1 1 5 1 1 Manufacturer Note Sumitomo 3M *1 )RU &RQQHFWRU ; SLQV Japan Aviation Electronics Ind. Japan Aviation Electronics Ind.
PAGE 468
7 7. Options Supplement Battery For Absolute Encoder Battery For Absolute Encoder Part No. '9 3 /LWKLXP EDWWHU\ 9 P$K 84 Lead wire length 50mm DV0P2990 00090001 ZHR-2 (J.S.T Mfg. Co., Ltd.) 14.5 1 2 BAT+ BAT– 18 Paper insulator Caution This battery is categorized as hazardous substance, and you may be required to present an application of hazardous substance when you transport by air (both passenger and cargo airlines). Battery Box For Absolute Encoder Part No.
PAGE 469
7 7. Options Supplement Mounting Bracket 15 40 3 B-frame 17 9.5 2-R 1 15 10 R1 ss le or 2.5 R2 5.2 2.5 R2 2 R 2 R .2 5 18 ± 0.2 R1 ss le or 10 9.5 2.5 Connection 18 ± 0.2 Bottom side Upper side Dimensions ø5 2-M4, Pan head 5 C 2- 5 C 2- 2-M4, Pan head 24 M4 × L6 Pan head 4pcs Mounting screw 2.5 Frame symbol of applicable driver '9 30 17 ss le or 33 40 15 2.5 R2 R1 7 Part No. 5.2 2-R 1 2.5 17 9.5 11 ± 0.2 10 10 R1 ss le or 2.5 17 9.
PAGE 470
7 7. Options Supplement Reactor Fig.1 X Y Z NP R S T 6-I E A A 4-H (Mounting pitch) F F: Center-to-center distance on outer circular arc (Mounting pitch) B Fig.2 G 2-I E A A 4-H (Mounting pitch) F F: Center-to-center distance on slotted hole (Mounting pitch) G B Fig.2 Part No. A B C D E (Max) F G H I '9 3 '9 3 '9 3 '9 3 '9 3 '9 3 '9 3 '9 3 '9 30 65±1 60±1 60±1 60±1 60±1 60±1 55±0.7 55±0.7 55±0.
PAGE 471
7.
PAGE 472
7 7. Options Supplement External Regenerative Resistor Specifications Manufacturer's Resistance part No. Part No. Mass Free air with fan mm kg W W 0.1 10 25 ї DV0P4280 Rated power (reference) *1 cable core outside diameter RF70M 50 DV0P4281 RF70M 100 0.1 10 25 DV0P4282 RF180B 25 0.4 17 50 DV0P4283 RF180B 50 0.2 17 50 DV0P4284 RF240 30 DV0P4285 RH450F 20 DV0PM20048 RF240 120 DV0PM20049 RH450F 80 DV0PM20058 RH450F × 6 3.3 DV0PM20059 RH450F × 6 13.
PAGE 473
7. Options 1 DV0P4284, DV0PM20048 DV0P4285, DV0PM20049 300 290 280 300 278 （5） Ѯ thermostat (light yellow ×2) 300 450 100 50 15 20 10 288 18 11 9MAX 10MAX Preparation 300 71 140 130 70 14 15 100 25 4.5 450 10 2 450 Ѯ 53 thermostat (light yellow ×2) Before Using the Products External Regenerative Resistor DV0PM20058, DV0PM20059 R1 R2 3 T1 T2 24V 0V E T.F R T.F R T.F R T.F R T.F R ѡ FAN Connection T.
PAGE 474
7 7. Options Supplement Recommended components Surge absorber for motor brake Motor Part No. 50W to 750W (200V) MSME Manufacturer Z15D271 750W (400V) 1.0kW to 5.0kW Ishizuka Electronics Co. Z15D151 400W (400V) 600W (400V) MDME 1.0kW to 3.0kW NVD07SCD082 KOA CORPORATION 4.0kW to 7.5kW Z15D151 Ishizuka Electronics Co. NVD07SCD082 KOA CORPORATION 0.9kW to 6.0kW Z15D151 Ishizuka Electronics Co. 1.0kW, 1.5kW NVD07SCD082 KOA CORPORATION 2.0kW to 7.5kW Z15D151 Ishizuka Electronics Co.
PAGE 475
7. Options Supplement /LVW RI 3HULSKHUDO (TXLSPHQWV Manufacturer Tel No. / Home Page 1 Peripheral components 81-6-6908-1131 http://panasonic-denko.co.jp/ac Circuit breaker Surge absorber Iwaki Musen Kenkyusho Co., Ltd. 81-44-833-4311 http://www.iwakimusen.co.jp/ Regenerative resistor Ishizuka Electronics Corp. 81-3-3621-2703 http://www.semitec.co.jp/ KOA CORPORATION 81-42-336-5300 http://www.koanet.co.jp/ TDK Corp. 81-3-5201-7229 http://www.tdk.co.jp/ (Nisshin Electric Co., Ltd.
PAGE 476
Warranty Warranty period 7KH ZDUUDQW\ SHULRG LV RQH \HDU IURP WKH GDWH RI SXUFKDVH RU PRQWKV IURP WKH month of manufacture in our plant. For a motor with brake, the axis accelerated and decelerated more times than the VSHFLÀHG OLPLW LV QRW FRYHUHG E\ ZDUUDQW\ Warranty information 6KRXOG DQ\ GHIHFW GHYHORS GXULQJ ZDUUDQW\ SHULRG XQGHU VWDQGDUG VHUYLFH FRQGLWLRQV as described in the manual, the company agrees to make repairs free of charge.
PAGE 477
Cautions for Proper Use 3UDFWLFDO FRQVLGHUDWLRQV IRU H[SRUWLQJ WKH SURGXFW RU DVVHPEO\ FRQWDLQLQJ WKH SURGXFW When the end user of the product or end use of the product is associated with military affair or weapon, its export may be controlled by the Foreign Exchange and Foreign Trade Control Law. Complete review of the product to be exported and export formalities should be practiced.
PAGE 478
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 manufacturer or the dealer of the machine or equipment. Technical information Technical information of this product (Operating Instructions, CAD data) can be downloaded from the following web site. http://industrial.panasonic.com/ww/i_e/25000/motor_fa_e/motor_fa_e.