Panasonic A4P Series manuale d’uso

Instruction Manual AC Servo Motor and Driver   MINAS A4P Series DV0P4490 • Thank y ou f or buying and using P anasonic A C Ser v o Motor and Driver , MINAS A4P Series. • Read through this Instruction Manual f or proper use , especially read "Precautions f or Safety" ( P .8 to 11) without f ail f or saf ety purpose. • K eep thi[...]

2 [Before Using the Products] page Safety Precautions .................................................................... 8 Maintenance and Inspection ................................................... 12 Introduction .............................................................................. 14 Outline ........................................[...]

3 List of Ser vo Pa r ameter ........................................................................................................ ........................ 58 List of 16-bit Positioning Parameters .......................................................................................... ................. 73 List of 32-bit Positioning Parameters [...]

4 Timing Char t .......................................................................... 132 Operation Timing after Po w er-ON .............................................................................................................. 132 When an Error (Alarm) Has Occurred (at Servo-ON Command) .................................................[...]

[Supplement] page Conformity to EC Directives and UL Standards .................. 176 Options ................................................................................... 180 Recommended components ................................................. 191 Dimensions (Driver) ............................................................... 192 Dim[...]

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7 [Before Using the Products] page Safety Precautions .................................................... 8 Maintenance and Inspection .................................. 12 Introduction ............................................................. 14 Outline ......................................................................................... [...]

8 Safety Precautions Observe the Following Instructions Without Fail Observe the following precautions in order to avoid damages on the machinery and injuries to the operators and other personnel during the operation. • In this document, the following symbols are used to indicate the level of damages or injuries which might be incurred by the mis[...]

9 [Before Using the Products] Before Using the Products Failure to observe this in- struction could result in fire. Do not place the console close to a heating unit such as a heater or a large wire wound resistor. Do not place combustibles near by the motor, driver and regenera- tive resistor. Failure to observe this in- struction could result i[...]

10 Safety Precautions Observe the Following Instructions Without Fail Do not hold the motor cable or motor shaft during the transporta- tion. Failure to observe this instruction could result in injuries. Do not block the heat dissipating holes or put the foreign particles into them. Failure to observe this in- struction could result in electrical s[...]

11 [Before Using the Products] Before Using the Products Use the motor and the driver in the specified combination. Failure to observe this instruction could result in fire. Make a wiring correctly and securely. Failure to observe this instruction could result in fire and electrical shocks. Use the eye bolt of the motor for transportation of the mo[...]

12 Maintenance and Inspection     Daily         Annual • Ambient temperature, humidity, speck, dust or foreign object • Abnormal vibration and noise • Main circuit voltage • Odor • Lint or other particles at air holes • Cleanness at front portion of the driver and connecter • Damag[...]

13 [Before Using the Products] Before Using the Products       Driver           Motor      Motor with gear reducer Smoothing capacitor  Cooling fan   Aluminum electrolytic  capacitor (on PCB)   Rush current  preventive relay    Rush current prevent[...]

14 Model number Rated input/output voltage Rated output of applicable motor Rated input/output current Serial Number MADDT1205P e.g.) : P0 511 0001Z Lot number Month of production Year of production (Lower 2 digits of AD year) 50/60Hz 100W 1.3A 1 ø 200-240V Freq. Model No. AC SERVO Serial No.P05110001Z INPUT Voltage Phase F.L.C Power OUTPUT [...]

15 [Before Using the Products] Before Using the Products AC SERVO MOTOR RA TING S1 MODEL No. MSMD5AZS1S INS. CLASS B (TÜV) A (UL) CONT . TORQUE 0.64 Nm A 1.6 CONNECTION RA TED OUTPUT RA TED FREQ. kW 0.2 SER No. 051 10001 Hz 200 RA TED REV . r/min 3000 INPUT 3ØAC 92 IP65 V Model Rated output Rated input voltage/current Rated rotational speed Seria[...]

16 Introduction Single phase, 200V 3-phase, 200V Single phase, 100V  Single phase, 200V   Single phase, 100V   Single phase, 200V  Single/3-phase, 200V   3-phase, 200V  Single/3-phase, 200V  3-phase, 200V  Single/3-phase, 200V   3-phase, 200V[...]

17 [Before Using the Products] Before Using the Products Single phase, 200V 3-phase, 200V Single phase, 100V  Single phase, 200V   Single phase, 100V   Single phase, 200V  Single/3-phase, 200V   3-phase, 200V  Single/3-phase, 200V  3-phase, 200V  Single/3-p[...]

18 Driver <Note> X1 and X2 are attached in A to D-fr ame dr iv er . e .g.) : MADDT1207P (Single phase, 200V , 200W : A-fr ame) Parts Description e .g.) : MCDDT3520P (Single/3-phase, 200V , 750W : C-frame) • A and B-frame • C and D-frame X5 X3 B X3A X4 X6 X7 SP IM G Connector Display LED (2-digit) ID address setup rotary switch (MSD, LS[...]

19 [Before Using the Products] Before Using the Products X7 X5 X3B X3 A X4 SP IM G X6 T erminal cover Screw for cover M3 Screw for cover M3 Display LED (2-digit) ID address setup rotary switch (MSD, LSD) Connector , CN X5 for host connection Connector , CN X6 for encoder connection Connector , CN X7 for external scale connection Connect[...]

20 <Note> F or details of each model, ref er to "Dimensions " (P .195 to P .209) of Supplement. Motor e.g.) : Low inertia type (MSMD series, 50W) Flange Oil seal Mounting holes (X4) Flange Connector for motor and brake Connector for encoder e.g.) : Middle inertia type (MDMA series, 1.0kW) • MSMD 50W to 750W • MAMA 100W to 750W ?[...]

21 [Before Using the Products] Before Using the Products Connector Console body Cable Display  (7-segment LED) T ouch panel Display LED (6-digit) All of LED will flash when error occurs, and switch to error display screen.   Display LED (in 2 digits)  Parameter No. is displayed at parameter setup mode. Point No. is displayed at teach[...]

22 How to Install A to D-frame e.g.) In case of C-frame Fastening torque of earth screws (M4) to be 0.39 to 0.59N • m. Mounting bracket (optional parts) MADD MBDD MCDD MDDD E and F-frame Mounting bracket Item Ambient temperature Ambient humidity Storage temperature Storage humidity Vibration Altitude Condition 0 ˚ C[...]

23 [Before Using the Products] Before Using the Products Fan Fan 100mm  or more 100mm  or more 40mm  or more 40mm  or more 10mm or more 10mm or more 10mm or more Mounting Direction and Spacing • Reser v e enough surrounding space f or eff ectiv e cooling. • Install fans to provide uniform distribution of temperatur[...]

24 How to Install Oil, water Cable Motor Item Ambient temperature Ambient humidity Storage temperature Storage humidity V ibration Motor only  Impact Motor only    Enclosure rating Motor only Condition 0 ˚ C to 40 ˚ C (free from freezing) *1 Less than 85% RH (free from condensation) –20 ?[...]

25 [Before Using the Products] Before Using the Products Motor Stress to Cables 1) A v oid a stress application to the cab le outlet and connecting por tion by bending or self-w eight. 2) Especially in an application where the motor itself travels, fix the attached cable and contain the extension junction cable into the bearer so that the stress by[...]

26 <Cautions> • Do not give strong impact to the products. • Do not drop the products. • Do not pull the cables with excess force. • A v oid the place near to the heat source such as a heater or a large winding resistor . How to Connect <Remarks> • Connect the console connector securely to CN X4 connector of the driver • Nev[...]

[Preparation] page System Configuration and Wiring ......................... 28 Overall Wiring (Connecting Example of C-frame, 3-phase) ........ 28 Overall Wiring (Connecting Example of E-frame) ....................... 30 Driver and List of Applicab le Pe r ipheral Equipments .................. 32 Wiring of the Main Circuit (A to D-frame) .........[...]

28 System Configuration and Wiring Circuit Breaker (NFB) Use the circuit breaker matching capacity of the power source to protect the power lines.  Noise Filter (NF) Prevents external noise from the power lines. And reduces an effect of the noise generated by the servo driver.   Magnetic Contactor (MC) Turns on/off the main pow[...]

29 [Preparation] Preparation X5 X3 B X3 A X4 X6 X7 SP IM G PC (to be supplied by customer) Setup support software "PANATERM ® " DV0P4460 Console (option) DV0P4420 • Wiring to Connector, CN X4 (option) (Connection to PC or host controller) • For manufacturers' use only, CN X3A and X3B (Not for individual use) • W[...]

30 System Configuration and Wiring Overall Wiring (Connecting Example of E-frame) Ground (earth) • Connection with input  power supply <Remarks> Before turning the power  supply on, check whether  the input voltage is correct. • Connection to external components P B2 L1 L2 L3 r t Pin P, B1 and B2... B1 and B2 to be kept [...]

31 [Preparation] Preparation X7 X5 X3 B X3A X4 SP IM G X6 Setup support software "PANATERM ® " DV0P4460 Console (option) DV0P4420 • Wiring to Connector, CN X4 (option) (Connection to PC or host controller) • Wiring to Connector, CN X5  (Connection to host controller) • Wiring to Connector, CN X6  (Connection to en[...]

32 System Configuration and Wiring Driver and List of Applicab le P eripheral Equipments Connection Driver Applicable motor Voltage Rated output Required Power (at the rated load) Noise filter for signal Noise filter Surge absorber Magnetic contactor Cable diameter (main circuit) Cable diameter (control circui[...]

33 [Preparation] Preparation • Select a single and 3-phase common specifications according to the power source. • Manuf acturer of circuit break er and magnetic contactor : Matsushita Electr ic W orks. To comply to EC Directiv es, install a circuit break er betw een the po wer and the noise filter without f ail, and the circuit breaker should c[...]

34 System Configuration and Wiring Wiring of the Main Cir cuit (A to D-frame) • Wiring should be performed by a specialist or an authorized personnel. • Do not turn on the power until the wiring is completed. Tips on Wiring 1) P eel off the insulation cov er of the cable . (Observe the dimension as the right fig. shows.) 2) Insert the cable to [...]

35 [Preparation] Preparation In Case of Single Phase, 100V (A and B-frame) In Case of Single Phase, 200V (A and B-frame) In Case of Single Phase, 200V (C and D-frame) In Case of 3-Phase, 200V (C and D-frame) A B D C A H G C D E B I F C B A I H G F E D JL04V-2E20-4PE-B-R JL04HV-2E22-22PE-B-R JL04V-2E20-18PE-B-R JL04V-2E24-11PE-B-R Power supply Si[...]

36 System Configuration and Wiring Wiring of the Main Cir cuit (E and F-frame) • Wiring should be performed by a specialist or an authorized personnel. • Do not turn on the power until the wiring is completed. Tips on Wiring 1) T ake off the co v er fixing screws , and detach the terminal cover . 2) Make wiring Use clamp type terminals of round[...]

37 [Preparation] Preparation A B D C A H G C D E B I F C B A I H G F E D JL04V-2E20-4PE-B-R JL04HV-2E22-22PE-B-R JL04V-2E20-18PE-B-R JL04V-2E24-11PE-B-R In Case of 3-Phase, 200V (E and F-frame) PIN No. Application PIN No. Application [Motor portion]  Connector : by Japan Aviation Electronics Ind. A U-phase V-phase W-phase Ground PIN [...]

38 System Configuration and Wiring Wiring Diagram In case of 2500P/r incremental encoder Wiring to the Connector , CN X6 (Connection to Encoder) Tips on Wiring Motor Encoder 30cm or more 20m max. 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[...]

39 [Preparation] Preparation • MSMA 1kW to 5kW  • MDMA 1kW to 5kW  • MHMA 500W to 5kW  • MFMA 400W to 4.5kW • MGMA 900W to 4.5kW • MSMD 50W to 750W • MAMA 100W to 750W • MQMA 100W to 400W • MSMA 1kW to 5kW • MDMA 1kW to 5kW • MHMA 500W to 5kW • MFMA 400W to 4.5kW[...]

40 System Configuration and Wiring Cautions (1) Following external scale can be used for full-closed control. • A T500 ser ies by Mituto y o (Resolution 0.05[ µ m], max. speed 2[m/s]) • ST771 by Mitutoyo (Resolution 0.5[ µ m], max. speed 2[m/s]) (2) Recommended external scale ratio is 1/20<External scale ratio<20 If you set up the e xte[...]

41 [Preparation] Preparation Wiring to the Connector , CN X5 (Connection to Host Contr oller) • Tips on wiring Controller 3m or shorter 30cm or longer COM+ GND 1 CN X5 COM– FG V DC Power supply Motor 2 Peripheral apparatus such as host controller should be located within3m .  Separate the main circuit at least 30cm away. Do[...]

42 System Configuration and Wiring Divider 4.7k Ω  Driver side 4.7k Ω  ( represents twisted pair .) OA+ OA - OB+ OB - OZ+ OZ - GND CZ 11 12 13 10 26 16 14 9 330 Ω  330 Ω  330 Ω  COM+ EMG-STP CCWL CWL Z-LS SRV -ON P32IN EX-IN1 EX-IN2 BUSY P32OUT P16OUT P8OUT P4OUT P2OUT P1OUT COIN/ DCLON ALM BRK-OFF COM– FG 1 2 20 19[...]

43 [Preparation] Preparation Interface Circuit Input Circuit Output Circuit • Connect to contacts of switches and relays, or open collec- tor output transistors. • When you use contact inputs, use the switches and relays for micro current to avoid contact failure. • Make the lower limit voltage of the power supply (12 to 24V) as 11.4V o[...]

44 System Configuration and Wiring List of Signal for Connector CN X5 Common input signals Application Code Function Connector pin No.  Control signal power supply   COM+  COM–  1  17 • Connected to the + terminal of an external DC power supply (12 to 24 V) • Use a 12 V ( ± 5%) to 24 V ( ± 5%) power suppl[...]

45 [Preparation] Preparation Operation instruction is specified by use of signal for point specifying input (P1IN to P32IN). See the table below for the relation between point specifying input and operation instruction. In order to execute an instruction, determine the kind of instruction by P1IN to P32IN, and then input a strobe signal. ?[...]

46 System Configuration and Wiring Common output signals and their functions Application Code Function Connector pin No. Application Code Function Connector pin No. Servo alarm  output  ALM  15 Output signal indicating that the alarm is on. Output transistor turns on in normal condition, and output transistor turns off when alarm [...]

47 [Preparation] Preparation <Note> • When the output source is the encoder • If the encoder resolution X is multiple of 4, Z-phase will be fed out synchronizing with A-phase. In other case, the Z-phase width will be equal to the encoder resolution, and will not synchronize with A-phase because of narrower width than that of A-phase[...]

48 Setup with the Front Panel Composition of T ouch P anel and Displa y Display LED (2 digits) In the case of an error , the alarm code will flash. In the case of a warning, the warning code (about 2 seconds) will alternate at about 4 seconds intervals with .  ID address setup rotary switch LSD : Lower-shifting (Default : 0) MSD :[...]

49 [Preparation] Preparation Output Signals (Analog) and Their Functions      Speed monitor signal output      SP • The content of the output signal varies depending on SV .Pr07 (Speed monitor (IM) selection). • Y ou can set up the scaling with SV .Pr07 value.  0 to 4    5 to 9   Motor ?[...]

50 Driver Surge absorber Relays to be shut off at emergency stop Motor Brake coil BRK-OFF+ 36 17 RY COM– V DC RY 12 to 24V Power supply  for brake DC24V CN X5 Fuse (5A) Built-in Holding Brake In the applications where the motor drives the vertical axis, this brake would be used to hold and prevent the wo rk (moving load) from f alling[...]

51 [Preparation] Preparation 4.9 44.1 147 44.1 147 196 490  2156  780   1470 2156 2450  2940  784  1470  2940  784  2940  1470 2156  1470   2940 39.2  137 196 137 196  392  1470  588  1176 1470 1078  [...]

52 D B D B Free-run Free-run D B D B Free-run Free-run D B Free-run Free-run D B D B Clear Clear Clear Clear Hold Hold Hold Hold Free-run Free-run Emergency stop Clear D B Emergency stop Clear Free-run D B 0 Setup value of SV .Pr67 1 2 3 4 5 6 7 8 9 Sequence at main  power-off (SV .Pr67) Driving condition during deceleration after stalling Conte[...]

53 [Preparation] Preparation D B D B Free-run Free-run D B Free-run Free-run D B Hold Hold Hold Hold 0 1 2 3 Setup value of SV .Pr68 Sequence at main  Servo-OFF (SV .Pr68) Contents of  deviation  counter Driving condition During deceleration after stalling D B D B Free-run Free-run D B D B Free-run Free-run D B Free-run Free-run D B D B Cl[...]

54 MEMO[...]

55 [Setting] page Parameter Setup ...................................................... 56 Outline of Parameter ................................................................... 56 How to Set ................................................................................... 56 Outline of P ANA TERM® ............................................[...]

56 Parameter Setup Outline of Parameter This driver is equipped with v arious parameters to set up its characteristics and functions . This section describes the outline of each parameter . Read and comprehend v ery well so that you can adjust this driver in optimum condition for your running requirements. <Remarks> The parameter numbers not [...]

57 [Setting] Setting • Servo parameter Group Outline Servo parameter No. Function selection   Adjustment      Position Control  Input signals  Sequence      Full-Closed Control Servo parameter 01 to 03, 07,08,0B, 0C,0F 10 to 1E,  27 to 2E 20 to 26, 2F  30 to 35 ?[...]

58 Parameter Setup 01 * 0 to 15 <1> 7-segment LED status for console, initial condition display You can select the type of data to be displayed on the console LED (7 segment) at the initial status after power-on. Power -ON Setup value of Pr01 Flashes  (for approx. 2 sec)  during initialization Setup value Content 0 <1&[...]

59 [Setting] Setting Servo PrNo. Setup range Title Function/Content Standard default : < > 08 0 to 12 <0> Torque monitor (IM) selection You can set up the content of the analog torque monitor of the signal output (IM : CN X5, Pin- 42), and the relation between the output voltage level and torque or deviation pulse counts. Setup[...]

60 Parameter Setup Standard default : < > Servo PrNo. Setup range Unit Title Function/Content 13 0 to 5 <0>* – 1st speed detection filter You can set up the time constant of the low pass filter (LPF) after the speed detection, in 6 steps. Higher the setup, larger the time constant you can obtain so that you can decrease th[...]

61 [Setting] Setting P arameters f or A uto-Gain T uning Standard default : < > Servo PrNo. Setup range Unit Title Function/Content 2E –200 to 2000 <0> 0.1Hz 2nd vibration suppression filter While you set up SV.Pr2D (2nd vibration suppression frequency), set this up to smaller value when torque saturation occurs, and to large[...]

62 Parameter Setup Standard default : < > Servo PrNo. Setup range Unit Title Function/Content 21 0 to 7 <1> – Real time auto tuning set up You can set up the action mode of the real-time auto-gain tuning. With higher setup such as 3 or 6, the driver respond quickly to the change of the inertia during operation, however [...]

63 [Setting] Setting 26 0 to 1000 <10> 0.1 revolution Software limit set up You can set up the movable range of the motor against the position command input range. When the motor movement exceeds the setup value, software limit protection of Err.34 will be triggered. This parameter is invalid with setup value of 0. Standard default : &l[...]

64 Parameter Setup Standard default : < > Servo PrNo. Setup range Unit Title Function/Content 34 0 to 20000 <33>* – 1st control switching hysteresis You can set up hysteresis width to be implemented above/below the judging level which is set up with SV.Pr33. Unit varies depending on the setup of SV.Pr31 (1st control switch[...]

65 [Setting] Setting Servo PrNo. Setup range Title Function/Content Standard default : < > 44 *  45 * 1 to 32767 <10000>  0 to 32767 <10000> Numerator of output pulse ratio  Denominator of output pulse ratio • In the case the external scale pulse is output (When the control mode is the full-cl[...]

66 Parameter Setup 4D * 0 to 31 <0> FIR filter set up You can set up the moving average times of the FIR filter covering the internal command pulse. (Setup value + 1) become average travel times. 4C 0 to 7 <1>  Smoothing filter You can set the time constant of the primary delay firter covering the internal command pulse i[...]

67 [Setting] Setting 58 0 to 1 <1> Point specifying  input logic setting Set the logic of the point specifying inputs (P1IN to P32IN: CN X5 Pin 3, 4, 5, 6, 7 and 8). Setup value 0 <1> Description Point specifying inputs are enabled by opening the connection to COM – . Point specifying inputs are enabled by closing th[...]

68 Parameter Setup Standard default : < > Servo PrNo. Setup range Unit Title Function/Content 60 0 to  32767 <131> Pulse In-position range You can set up the timing to feed out the positioning complete signal (COIN : CN X5, Pin-27).  The positioning complete signal (COIN) will be fed out when the deviation counter pulse c[...]

69 [Setting] Setting Standard default : < > Servo PrNo. Setup range Unit Title Function/Content 65 0 to 1 <1> – Undervoltage error response at main power-off You can select whether or not to activate Err13 (Main power supply under-voltage protection) function while the main power shutoff continues for the setup of Pr6D (Ma[...]

70 Parameter Setup Standard default : < > Servo PrNo. Setup range Unit Title Function/Content 69 0 to 9 <0> – Sequence at  Servo-OFF You can set up, 1) the running condition during deceleration and after stalling 2) the clear treatment of deviation counter is set up.  After the servo-ON signal input is turned o[...]

71 [Setting] Setting Standard default : < > Servo PrNo. Setup range Unit Title Function/Content 6C * 0 to 3 for A, B-frame  <3> for C to F-frame <0> – External regenerative resistor set up With this parameter, you can select either to use the built-in regenerative resistor of the driver, or to separ[...]

72 Parameter Setup Parameters for Full-Closed Control 7B * (F) 1 to 10000 <100> 16 x external scale pulse Hybrid deviation error level • You can setup the permissible gap (hybrid deviation) between the present motor position and the present external scale position. 7C * (F) 0 to 1 <0> – External scale  direct[...]

73 [Setting] Setting List of 16-bit Positioning Parameters Parameters for Motor speed P arameters f or Acceleration and Deceleration 00 0 to 6000 <0> r/min 1st speed Specify a speed when Speed Selection 1 has been selected. 01 0 to 6000 <0> r/min 2nd speed Specify a speed when Speed Selection 2 has been selected. 02 0 to 6000 &[...]

74 Parameter Setup 16 0 to 10000 <0> ms 2nd deceleration Specify deceleration when Deceleration Selection 2 has been selected. Specify a deceleration time in a range between 3000 to 0 [r/min]. * There is a maximum of 10% difference between a calculation value in the setup and the actual deceleration time. 17 0 to 1000 <0> ms[...]

75 [Setting] Setting 39 0 to 10000  <0> ms Bumping detection time Specify home position recognition time for bumping homing. 3A 0 to 100 <0> % Torque limit for bumping homing Specify a homing torque limit for bumping homing. 3B 0 to 100 <0> – Homing Z-phase count setting Specify a Z phase at which the machine stops i[...]

76 Parameter Setup 45 0 to 1000 <0> ms Setting of S-shaped deceleration in jog operation Specify S-shaped deceleration for a jog operation. Specify the S-shaped control time during deceleration time. For details, refer to page 131. If “0” is specified, the linear deceleration control is enabled. 44 0 to 10000 <0> ms Sett[...]

77 [Setting] Setting List of 32-bit Positioning Parameters List of Step Parameters Step PrNo. Standard default : < > Setup range PANATERM display Console display Unit Title Function/Content 01H to  3CH ABS/INC/Rotary/ Dwelltime <INC>   –2147483648 to  2147483647 <0> V1 to V16 <V1> A1 to [...]

78 Parameter Setup Model No. Frame Applicable motor Max. value of SV.Pr5E,5F Model No. Frame Applicable motor 300 300 300 300 300 300 300 300 300 300 300 300 300 300 500 500 300 300 300 300 300 300 300 300 500 500 300 300 300 300 300 300 300 300[...]

79 [Setting] Setting Cautions on Replacing the Motor As stated above, torque limit setup range might change when you replace the combination of the motor and the driver . P ay attention to the f ollo wings. 1. When the motor torque is limited, When you replace the motor series or to the diff erent wattage motor , you need to reset the torque limit [...]

80 How to Use the Console Setup with the Console Composition of Displa y/T ouch panel Display LED (6-digit) All of LED will flash when error occurs, and switch to error display screen.   Display LED (in 2 digits)  Parameter No. is displayed at parameter setup mode. Point No. is displayed at teaching mode.  SHIFT Button  Press t[...]

81 [Setting] Setting Mode Change The modes below are available in this console. To switch a mode, press once in the initial state to enter  the screen and press . Show a target mode to be executed, select it by the button and press to enter  the screen. Initial state *1 Monitor mode (refer to page82) .....T eaching mode (refer to page87) .[...]

82 How to Use the Console (Mode switch button) SET ( button ) Positional deviation   Motor rotational speed   T orque output   Control mode   I/O signal status   Error factor , history   For manufacturer's use   Alarm   Regenerative  load factor  Overload facto[...]

83 [Setting] Setting Display of P osition Deviation, Motor Rotational Speed and T or que Output Display of Control Mode .......... Positional deviation (cumulative pulse counts of deviation counter) • – display : generates rotational torque of CW direction (viewed from shaft end) no display : generates rotational torque of CCW direction (viewed[...]

84 How to Use the Console • Signal No. and its title 00 01 02 03 04 05 06 07 08 09 0A 0B 0C 0D 0E 0F 10 11 12 13 14 15 16 17 18 19 1A 1B 1C 1D 1E 1F Signal No. SRV-ON CWL CCWL EX-IN1 EX-IN2 Z-LS EMG-STP P1IN P2IN P4IN P8IN P16IN P32IN STB-IN Servo-ON (For manufacturer's use) CW over-travel inhibit input CCW over-travel inhibit input (For man[...]

85 [Setting] Setting Alarm Display ....... no alarm ....... Alarm occurrence • Over-load alarm :  T urns on when the load reaches 85% or more of alarm trigger level of over-load protection.  • Over-regeneration alarm :  T urns on when regenerative load reaches more than 85% of alarm trigger level of regenerative load protection. Ala[...]

86 How to Use the Console Press . T otal sum of pulses after control power-ON.  The display range is from –2147483647 to 2147483647. An overflow occurs if the result is outside the display range. Sum of pulses shown can be reset to “0” by pressing  for approximately 5 seconds or more. Press . Press . lowest ( order ) highest[...]

87 [Setting] Setting T eac hing Mode Overview of T eaching Mode In the teaching mode, you can operate the motor actually using this console, set a target position and execute a test operation, e.g., step operation, jog operation, etc. to show for the teaching mode. Test mode To change the mode,  press or . Press . Press once and once in the init[...]

88 How to Use the Console When you keep on pressing + , the motor rotates continuously in a positive direction while pressing it. When you keep on pressing + , the motor rotates continuously in a negative direction while pressing it. The rotation speed can be set by16.Pr41 (jog speed [high]). When you press during rotation, the rotation speed ch[...]

89 [Setting] Setting T est Mode • Step operation An operation is perf ormed at a position of a selected point number . * Execute homing completely before performing a step operation. An e xample of an operation to mo ve to the point No . 2 is shown below . An error has occurred. Select a point number using and/or . Keep on pressing at a desire[...]

90 How to Use the Console • Jog operation The motor can be operated by the jog operation. • Homing Homing is performed as follows. ...A current position is shown during an operation. Press . When you keep on pressing , the motor rotates continuously in a positive direction while pressing it. When you keep on pressing , the motor rotates continu[...]

91 [Setting] Setting Press . Press . When you press once and twice in the initial LED state,  the step parameter display shows . Select a target parameter using and/or . Press . Press . Press . Press . Press . Press . Step parameter (refer to page92) 16-bit positioning parameter (refer to page93) 32-bit positioning parameter (r[...]

92 How to Use the Console Step Parameter Step parameter can be set. * An e xample to set in ST .Pr1 is shown belo w . Press . Press . Press . Press . Press . Press . Press . Press . Step data (low order) Step data (high order) .....ST.Pr02 .....ST.Pr01 .....Speed number selection A selected parameter  is shown. * The data is shown on the ?[...]

93 [Setting] Setting 16-Bit Positioning Parameter 16-bit positioning parameter can be set. .....16.Pr01 .....16.Pr00 Selected 16.PrNo. .....16.Pr63 <Notice>  Select an input digit (a dot blinks) by the [SHIFT] key and a parameter by the [UP]/[DOWN] key. When you press the [SET] key, the parameter is modified.  * When you press dur[...]

94 How to Use the Console 32-Bit Positioning Parameter 32-bit positioning parameter can be set. .....32.Pr01 .....32.Pr00 Selected 32.PrNo. * The data is shown on the  two screens because of  a large number of displayed  digits. .....32.Pr05 <Notice> Select an input digit (a dot blinks) by the [SHIFT] key and a parameter by the [U[...]

95 [Setting] Setting Servo Parameter Ser v o parameter can be set. F or the details of parameter , refer to “Parameter Setup” on page 56. <Remarks> When you change a parameter value and press , the change is reflected in the control. Modify gradually a value of parameter (especially, velocity loop gain, position loop gain, etc.) which [...]

96 How to Use the Console • When you change the parameters which contents become valid after resetting, will be  displayed after finishing wiring. Turn off the control power once to reset.  Note 1)  When writing error occurs, make writing again. If the writing error repeats many times,   this might be a failure. Note 2)  D[...]

97 [Setting] Setting Starting from the initial LED status, press four time after pressing , then brings the display of normal auto-gain tuning, then press to select the machine  stiffness No. When you have finished the tuning, press to return to . <Remarks> Don't disconnect the console from the driver between and . Shou[...]

98 How to Use the Console Auxiliary Function Mode The console has two auxiliary functions. (1) Alarm Clear A protection function works and a motor stop (motor trip) can be canceled. (2) Absolute encoder clear A value of absolute encoder is cleared. Structure of A uxiliary Function Mode Starting from the initial LED status, Press five time after pre[...]

99 [Setting] Setting Alarm Clear Screen Protective function will be activated and release the motor stall status (error status). Alarm clear starts. Clearing finishes. Clear is not finished. Release the error by resetting  the power. Alarm clear completes <Remarks>  Don't disconnect the console from the driver between and . S[...]

100 How to Use the Console Clearing of Absolute Encoder Only applicable to the system which uses absolute encoder . Y ou can clear the alarm and multi-tur n data of the absolute encoder . Clearing of absolute encoder starts Clearing finishes Error occurs ( When non-applicable encoder is ) connected Clearing of absolute encoder  completes &[...]

101 [Setting] Setting <Remarks> Don't disconnect the console from the driver between to . Should the connector is pulled out, insert it again and repeat the procedures from the beginning.  <Note> If the error display repeats frequently , check the broken cable, disconnection of the connector , misoperation due to noi[...]

102 How to Use the Console Copying of Parameters from the Console to the Driver Starting from initial LED status,Press six time after pressing , then press to make a display to Copying completes normally. Error display <Remarks> If error is displayed,  repeat the procedures  from the beginning.  Press . When you keep on pres[...]

103 [Setting] Setting Outline of Setup Suppor t Software, "P ANA TERM ® " Outline of P ANA TERM ® With the P ANA TERM ® , you can e x ecute the f ollo wings. (1) Setup and storage of parameters, and writing to the memory (EEPROM). (2) Monitor ing of I/O and pulse input and load f actor . (3) Display of the present alarm and reference o[...]

104 Outline of Setup Suppor t Software, "P ANA TERM ® " Log on of the "P ANA TERM ® " . <Cautions/Notes> 1. Once the "P ANA TERM ® " is installed in the hard disc, y ou do not need to install e v er y time you log on. 2. Connect the dr iv er to a pow er supply , the motor and encoder before y ou log on. Refer [...]

105 [Operation Setting] page Overview of Operation Setting ............................. 106 Step Operation ...................................................... 107 Example of Incremental Operation Setting ............................... 108 Example of Absolute Operation Setting .................................... 109 Example of Rotar y Axis Ope[...]

106 In MINAS A4P , the f ollowing oper ations can be perf ormed. The most basic operation. Specify a point number set in advance when performing the operation. The four types of modes are available, i.e., an incremental operation, absolute operation, rotary axis operation and dwell timer (waiting time).  The motor can be moved in a posi[...]

107 [Operation Setting] Operation Setting Step Operation Positioning can be performed to a specified point by the step operation. The four types of modes are available, i.e., an incremental operation, absolute operation, rotary axis opera- tion and dwell timer (waiting time). Step Operation P oint specifying input (P1IN to P32IN) Speed Strobe si[...]

108 Caution 1) If a set v alue of speed, acceler ation or deceler ation at a specified point is “0”, an oper ation trips due to unde- fined data error protection (error code No. 69) and stops according to an operation at alarm occurrence. 2) If the current position (–2147483647 to 2147483647) overflows when absolute movement is performed cont[...]

109 [Operation Setting] Operation Setting  VEL1 ACC1 DEC1 16.Pr** 00 10 12 Parameter name Positioning setting first speed Positioning acceleration setting 1st Positioning deceleration setting 1st • Setting of 16-bit positioning parameter Incremental operation (Incremental) 1000000 VEL1 ACC1 DEC1 Single 01 Operation mode[...]

110 Step Operation Example of Rotary Axis Operation Setting If the rotary axis operation is specified, the shaft moves in a direction nearest from the current position to a target position of a step parameter that the rotary axis operation (rotary) has been specified regarding 32.Pr03 (Movement per rotation in rotation coordinates) as 360 degrees. [...]

111 [Operation Setting] Operation Setting 3) Setting of step data • Do not use the rotary axis operation (Rotary) mode together with the incremental operation (Incremen- tal) or absolute operation (Absolute). • If a step data set value specified for the rotary axis operation is out of a range between 0 and [movement pe r rotation at a rotary co[...]

112 Jog Operation Jog Operation The motor can be mo ved in a positiv e direction or negativ e direction independently . P oint specifying input (P1IN to P32IN) or multifunction 1, 2 (EX-IN1, EX-IN2) Strobe signal input (STB) In-operation signal output (BUSY) In-deceleration output (DCLON) P ositioning completion output (COIN[...]

113 [Operation Setting] Operation Setting • Parameters related to jog operation Set the parameters below when performing the jog operation. Caution 1) If any of the set v alues of the parameters belo w is “0”, an oper ation tr ips due to undefined data error protection (error code No. 69) and stops according to an operation at alarm occurrenc[...]

114 Homing Operation Homing Operation To star t a step operation after tur ning the po wer supply on, y ou need to e x ecute the homing to detect a home position as the base. Homing must be completed in adv ance. According to your intended pur pose, select one mode in the “Homing Mode List” belo w and e x ecute it. F or A) below , homing is not[...]

115 [Operation Setting] Operation Setting A chart of I/O signal timing during homing and an operating procedure are shown as an example of the case that 16.Pr36 (Homing type) is “0” (Home sensor + Z phase (based on the front end)). The same procedure is performed also in any other homing mode. ALL OFF (Homing is not completed) ALL ON (Homing is[...]

116 Homing Operation Detect the home sensor (at the front end) in a direction of homing b y 16.Pr30 (Homing speed (high)), get out of the home sensor area once and detect the home sensor (at the front end) by 16.Pr31 (Homing speed (lo w)) again. After that, count the Z phase specified times b y 16.Pr3B (Homing Z-phase count setting) and define that[...]

117 [Operation Setting] Operation Setting 2) Also , if the o ver-tra v el inhibit input is enab led in an operating direction under an y of the conditions below during homing, an operation trips due to homing error protection (error code No. 68) and stops according to an operation at alarm occurrence. • After the reversal due to detection of a li[...]

118 Homing Operation Caution 1) If an y of the set values of the par ameters below is “0”, an operation trips due to homing error protection (error code No. 68) and stops according to an operation at alarm occurrence. • 16.Pr30 (Homing speed (high)) • 16.Pr31 (Homing speed (low)) • 16.Pr33 (Homing acceleration setting) • 16.Pr34 (Homing[...]

119 [Operation Setting] Operation Setting Caution 1) If any of the set v alues of the parameters belo w is “0”, an operation trips due to homing error protection (error code No. 68) and stops according to an operation at alarm occurrence. • 16.Pr30 (Homing speed (high)) • 16.Pr31 (Homing speed (low)) • 16.Pr33 (Homing acceleration setting[...]

120 Homing Operation Detect the home sensor and the limit sensor in a re v erse direction, not in a direction of homing, b y 16.Pr30 (Homing speed (high)), decelerate , and stop . After that, detect the limit sensor tur ning off in a direction of homing by 16.Pr31 (Homing speed (low)), count the Z phase specified times by 16.Pr3B (homing Z phase co[...]

121 [Operation Setting] Operation Setting Detect the limit sensor in a direction of homing b y 16.Pr30 (Homing speed (high)), deceler ate and stop . After that, get out of the limit sensor area once, detect the limit sensor turning off b y 16.Pr31 (Homing speed (low)) and define that point as a home position. (1) A starting point is at any place ?[...]

122 Homing Operation Z Phase Homing Example: Z phase count = 3 at an operation in a positive direction Count the Z phase specified times b y 16.Pr3B (homing Z phase count setting) while moving in a direction of homing according to 16.Pr31 (Homing speed (low)) and define that point as a home position. Direction of homing L-SPD Direction of homing H-[...]

123 [Operation Setting] Operation Setting Caution 1) If any of the set values of the parameters below is “0”, an operation trips due to homing error protection (error code No. 68) and stops according to an operation at alarm occurrence. • 16.Pr30 (Homing speed (high)) • 16.Pr33 (Homing acceleration setting) • 16.Pr34 (Homing deceleration [...]

124 Homing Operation Homing Offset Operation The home offset at the completion of homing can be specified b y 32.Pr00 (Home offset). Specify the tra vel from a machine home position (homing completion position) to the “0” position as the home offset. • 16.Pr37 (Home complete type) is set to “0” The motor stops at the machine home position[...]

125 [Operation Setting] Operation Setting Emergency Stop Operation/Deceleration-and-Stop Operation An active operation can be interrupted and canceled. Emergency stop : An operation stops in a deceleration time specified b y a special parameter . Deceleration-and-stop : An operation stops in a deceler ation time specified in an operation mode bef o[...]

126 T emporar y Stop Operation An active operation can be stopped temporarily and restarted. Multifunction input 1, 2 (EX-IN1, EX-IN2) Speed In-operation signal output (BUSY) In-deceleration output (DCLON) P ositioning completion output (COIN) Current position output (P1OUT to P32OUT) Tr ansistor ON Tr ansistor ON Tr ansistor OFF Tr [...]

127 [Operation Setting] Operation Setting Overview of Bloc k Operation This servo driver can perform the two types of block operations, i.e., continuous block operation and com- bined bloc k operation. These operations can be s witched b y 16.Pr54 (bloc k operation type setting). Continuous block operation : Sev eral step oper ations can be perform[...]

128 Caution 1) A maximum point number (specified b y the settings of SV .Pr57 (selection of n umber of input points)) is treated as the “Single” operation, regardless of the block setting. 2) The change into the last point number (point “10” in this e xample) of the in-oper ation signal output (B USY : CN X5 Pin 28) and the current position[...]

129 [Operation Setting] Operation Setting Combined block operation procedure (example) 1. Set a 16-bit positioning parameter and step par ameter . (Ref er to “P arameters Used in this Oper ation Example” below .) 2. Execute the homing. (Refer to “Homing Operation” on page 114.) 3. Specify the point 1 when the ser vo turns on and input the s[...]

130 Sequential Operation Sequential Operation The sequential operation can be performed by setting 16.Pr52 (sequential operation setting) to “1”. When the sequential operation is set, execute a step operation by incrementing a point number by 1 at every inputting the strobe signal input (STB: CN X5 Pin 24) when the ser vo turns on, not using th[...]

131 [Operation Setting] Operation Setting S-shaped Acceleration/Deceleration Function S-shaped Acceleration/Deceleration Function This servo driver can perform the S-shaped acceleration/deceleration at the acceleration/deceleration. Set the S-shaped acceleration/deceleration in the time to reach the acceleration at the linear acceleration/ decelera[...]

132 Timing Char t Operation Timing after P ower -ON <Notes> • The abov e char t shows the timing from A C power-ON to command input. • Activate the external command input according to the above timing chart. Caution *1. In this ter m Ser vo-ON input (CN X5 SR V -ON:pin23) tur ns ON as a hard ware, b ut operation command can not be receive[...]

133 [Operation Setting] Operation Setting When an Error (Alarm) Has Occurred (at Servo-ON Command) Caution *1. t1 will be a shor ter time of either the setup value of SV .Pr6B or elapsing time f or the motor speed to f all below 30r/min. t1 will be 0 when the motor is in stall regardless of the setup pf SV .Pr6A. *2. For the action of dynamic brak [...]

134 Timing Char t When an Alarm Has Been Cleared (at Serv o-ON Command) Dynamic brake Motor energization Brake release output (BRK-OFF) Servo-Alarm output (ALM) Alarm-clear input (Refer to the following  for the input method.) approx.40ms approx.2ms 120ms or longer clear engaged released energized released (ON) ready not-energized engag[...]

135 [Operation Setting] Operation Setting Serv o-ON/OFF Action While the Motor Is at Stall (Serv o-Lock) Caution *1. t1 will be deter mined by SV .Pr6A setup v alue . *2. F or the dynamic brake action at Servo-OFF , ref er to an e xplanation of SV .Pr69, "Sequence at Ser vo- OFF ("Parameter setup" at each control mode) as well. *3. S[...]

136 Absolute System Overview of Absolute System In a motor of the absolute encoder specifications or absolute/incremental specifications, an absolute system can be constructed by connecting a battery for an absolute encoder and changing the setting of SV .Pr0B (absolute encoder setting) from “1” (default setting) into “0” or “2”. In the[...]

137 [Operation Setting] Operation Setting <Caution> Use the f ollowing battery for absolute encoder . Pa rt No . : D V0P2990 (Lithium batter y by T oshiba Batter y Co ., Ltd. ER6V , 3.6V 2000mAh) <Cautions> • Be absolutely sure to follow the precautions below since improper use of the battery can cause electrolyte to leak from the bat[...]

138 Absolute System When you make your own cable for 17-bit absolute encoder When you mak e y our own cab le f or 17-bit absolute encoder , connect the optional batter y f or absolute encoder , D V0P2060 or D V0P2990 as per the wiring diag ram below . Connector of the battery for absolute encoder shall be provided by customer as well. <Cautions&[...]

139 [Operation Setting] Operation Setting • Using the setup suppor t software “P ANA TERM ® ” Basically , the step (3) and (4) only are diff erent from the procedure b y the console. The absolute encoder is cleared when y ou open the monitor window , select the [Absolute encoder] tab and press the [Clear] b utton f or the m ulti-tur n data a[...]

140 Outline of Full-Closed Control What Is Full-Closed Control ? In this full-closed control, you can make a position control by using a external scale mounted externally which detects the machine position directly and feeds it back.. With this control, you can control without being aff ected b y the positional variation due to the ball scre w erro[...]

[Adjustment] page Gain Adjustment .................................................... 142 Real-Time A uto-Gain T uning Mode ...................... 144 Adaptive Filter ........................................................................... 147 Normal Mode A uto-Gain T uning .......................... 148 Release of A utomatic Gain Adjusting Fun[...]

142 Position loop gain : 20 V elocity loop gain : 100 T ime constant of V -loop integration  : 50 V elocity loop feed forward : 0 Inertia ratio : 100 Position loop gain : 100 V elocity loop gain : 50 T ime constant of V -loop integration  : 50 V elocity loop feed forward : 0 Inertia ratio [...]

143 [Adjustment] Adjustment <Remarks> • P a y e xtra attention to saf ety , when oscillation (abnor mal noise and vibration) occurs , shut off the main power , or tur n to Ser v o-OFF . Real-time auto-gain tuning    Adaptive filter    Normal mode auto-gain tuning  Release of automatic gain  adjusting functio[...]

144 Outline Estimates the load inertia of the machine in real time and sets up the optimum gain automati- cally responding to the result. Also, an adaptive filter can cope with any load caused by the resonance. Applicable Range Caution Real-time auto-gain tuning ma y not be e x ecuted properly under the conditions described in the table below . In [...]

145 [Adjustment] Adjustment Setup of parameter , Pr21 Press . Press . Match to the parameter No.  to be set up with . (Here match to Pr21.) Press . Change the setup with . Press . Setup of parameter , Pr22 Match to Pr22 with . Press . Numeral increases with ,  and decreases with .  Press . (default values) Wri[...]

146 SV.PrNo. 10 11 12 13 14 18 19 1A 1B 1C 20 Title 1st position loop gain 1st velocity loop gain 1st velocity loop integration time constant 1st speed detection filter 1st torque filter time constant 2nd position loop gain 2nd velocity loop gain 2nd velocity loop integration time constant 2nd s[...]

147 [Adjustment] Adjustment <Notes> The adaptive filter ma y be disabled also if SV .Pr23 is set to an y v alue other than “0”. Ref er to “In v alidation of Adaptive Filter” on page 151. How to Operate 1) V alidate the adaptiv e filter by setting up SV .Pr23 (Adaptiv e filter mode) to 1. Adaptive filter automatically estimates the res[...]

148 <Remarks> Set up the torque limit selection (SV .Pr03) to 1. When y ou set up other than 1, driver ma y not act correctly . Caution Normal mode auto-gain tuning may not be work properly under the following conditions. In these cases, set up in manual gain tuning •T uning error will be triggered when an error , Ser vo-OFF , the main powe[...]

149 [Adjustment] Adjustment   101st position loop gain  11  1st velocity loop gain  12 1st velocity loop integration time constant  131st speed detection filter  141st torque filter time constant *2  15V elocity feed forward  16Feed forward filter time constant  182nd position [...]

150 Normal Mode A uto-Gain T uning (1) Turn to the normal auto-gain tuning  mode from the monitor mode, by  pressing the SET button, then press the mode switching button three times .  For details, refer to P.81, "Structure  of Each Mode" of Preparation.   (2) Enter the machine stiffness No. by pressing . Display of r[...]

151 [Adjustment] Adjustment Release of A utomatic Gain Adjusting Function SV .Pr2F 0 1 2 3 4 5 6 7 8 9 10 11  12 13 14 15 16 17 18 19 20 21 1st notch frequency [Hz] (invalid) (invalid) (invalid) (invalid) (invalid) 1482 1426 1372 1319 1269 1221 1 1[...]

152 1k Ω  1k Ω  IM SP RS232  connection cable Connect to CN X4   Man ual Gain T uning (Basic) As e xplained pre viously , MINAS-A4P series f eatures the automatic gain tuning function, how ev er , there might be some cases where this automatic gain tuning cannot be adjusted properly depending on the limita- tion on load conditions. O[...]

153 [Adjustment] Adjustment 10 11 12 13 14 15 16 18 19 1A 1B 1C 1D 1E Standard  value 27 15 37 0 152 0 0 27 15 37 0 152 1500 2 Title of parameter 1st position loop gain 1st velocity loop gain 1st velocity loop integration time constant 1st speed detection filt[...]

154 Man ual Gain T uning (Basic) Adjustment in Full-Closed Control Mode Full-closed control of MINAS-A4P series is described in Block diagram of P .225 of Full-Closed Control. Adjustment in full-closed control is almost same as that in position control described in P .153 “Adjustment in P osition Control Mode”, and make adjustments of parameter[...]

155 [Adjustment] Adjustment Suppress the vibration by lowering the gain. Stop (Servo-Lock) Low gain (1st gain) Low gain (1st gain) High gain (2nd gain) 1ms 2ms Stop (Servo-Lock) Run T ime Command speed Action Status Gain Title of parameter 10 11  12 13 14 15 16 18 19 1A 1B 1C 30 31 32 33?[...]

156 Hysteresis (SV .Pr34) Level (SV .Pr33) 0 H L Man ual Gain T uning (Basic) • Positing control mode, Full-closed control mode ( : Corresponding parameter is valid, – : invalid) 0 1 2 3  4 5 6   7 8  9 10 Fixed to 1st gain Fixed to 2nd gain Gain switching input, GAIN ON V ariation of torque comma[...]

157 [Adjustment] Adjustment speed N Fig.A torque T level delay ∆ T ∆ S 1st gain 22 1 2 2 1  1   1  command  speed S Fig. B level delay 1st gain 2nd 1st 2nd 1st motor speed or  commanded  speed Fig. C level delay 2nd gain 1st 1st speed N deviation pulse Fig. D level delay 2nd gain 1st 1st Fig. E delay 2nd gain 1st 1st [...]

158 Man ual Gain T uning (Basic) torque command Adaptive filter frequency automatic following frequency frequency Depth   width 1st notch filter 2nd notch filter width Suppress resonance point  instantaneously. Adjustment of frequency ,  width and depth is enabled. Gain frequency velocity response Example of application machine Ma[...]

159 [Adjustment] Adjustment How to Check the Resonance Frequency of the Machine (1) Star t up the Setup Suppor t Software , "P ANA TERM ® " and br ing the frequency character istics measure- ment screen. (2) Set up the parameters and measurement conditions. (Following values are standard.) • Set up SV .Pr11 (1st v elocity loop gain) to[...]

160 Instantaneous Speed Observer Outline This function enables both realization of high response and reduction of vibration at stopping, by estimating the motor speed using a load model, hence improv- ing the accuracy of the speed detection. Applicable Range This function can be applicable only when the following conditions are satisfied. Caution T[...]

161 [Adjustment] Adjustment Damping Control Outline This function reduces the vibration by removing the vibration frequency component from the com- mand when the load end of the machine vibrates. Applicable Range This function can only be applicable when the following conditions are satisfied. Caution When you change the parameter setup or switch w[...]

162 MEMO[...]

[When in T r ouble] page When in T r oub le .................................................... 164 What to Check ? ........................................................................ 164 Protective Function (What is Error Code ?) .............................. 164 Protective Function (Detail of Error Code) ................................ 16[...]

164 When in T r oub le What to Check ? Protective Function (What is Error Code ?) • V arious protective functions are equipped in the driv er . When these are triggered, the motor will stall due to error , according to P .133, "Timing Char t (When error occurs)"of Operation Setting, and the driv er will turn the Ser vo-Alarm output (ALM[...]

165 [When in T r ouble] When in T roub le W arning Function • In MINAS-A4P Series, a warning is given before a protection function works and you can check the ma- chine status such as overload in advance. When a warning has been given, a warning code below blinks slowly on the 7-segment LED at the front panel. • When an overload warning or over[...]

166 When in T r oub le Protective function Causes Measures Error code No. *Over- current protection 14 Current through the converter portion has exceeded the specified value. 1)Failure of servo driver (failure of the circuit, IGBT or other components) 2)Short of the motor wire (U, V and W)   3)Earth fault of the motor wire ?[...]

167 [When in T r ouble] When in T roub le Protective function Causes Measures Error code No. Position deviation excess protection 24 Deviation pulses have exceeded the setup of SV.Pr70 (Position deviation error level).  1)The motor movement has not followed the command.        2)Setup value of SV.Pr70 (Position devi[...]

168 When in T r oub le Protective function Causes Measures Error code No. 36 *EEPROM parameter error  protection Data in parameter storage area has been damaged when reading the data from EEPROM at power-on. • Set up all parameters again. • If the error persists, replace the driver (it may be a failure.) Return the product to the de[...]

169 [When in T r ouble] When in T roub le Protective function Causes Measures Error code No. * External scale status 0 error protection 50 Bit 0 of the external scale error code (ALMC) has been turned to 1. Check the specifications of the external scale. * External scale status 1 error protection 51 Bit 1 of the external scale error code ([...]

170 When in T r oub le 100 11 5 0.1 1 10 100 150 200 250 300 350 400 450 500 torque [100%] time [sec] Overload protection time characteristics (Motor type M*MA) MAMA 100W MQMA 100W to 400W MAMA 200W to 750W MSMA 1kW to 5kW MDMA 1kW to 5kW MHMA 1kW to 5kW MFMA 400W to 4.5kW MGMA 900W to 4.5kW  100 0[...]

171 [When in T r ouble] When in T roub le Motor Load Motor movable range Err34 occurrence range Err34 occurrence range SV. Pr26 SV. Pr26 Motor Load  Motor movable range Position command input range SV. Pr26 SV. Pr26 Err34 occurrence range Err34 occurrence range Motor Load  Motor movable range Position command input ran[...]

172 Tr oubleshooting Motor Does Not Run Motor Stops During an Operation Classification Causes Countermeasures Error in control mode setting Error in torque limit setting Error in operation parameter setting   Setting out of a maximum travel range of target position Error in a parameter used by a manufacturer. Main power supply [...]

173 [When in T r ouble] When in T roub le P oint De viates P ositioning Accurac y is P oor Home Position Slips The setting of the parameter for positioning operation is wrong. The setting of positioning completion range is large. Position loop gain is small.    Each input signal of CN X5 is chattering. 1)Servo-ON signal 2)CW[...]

174 Tr oubleshooting Gain adjustment is not proper.   Load inertia is large.   Looseness or slip of the machine  Ambient temperature, environment   Stall of cooling fan, dirt of fan ventilation duct  Mismatching of the driver and the motor   Failure of motor bearing   Electromagnetic brake is kept [...]

175 [Supplement] page Conformity to EC Directives and UL Standards ..... 176 Options ................................................................... 180 Recommended components ................................ 191 Dimensions (Driver) .............................................. 192 Dimensions (Motor) ...........................................[...]

176 Conformity to EC Directives and UL Standards Control box Controller Insulated power supply  for interface Power  supply Circuit  breaker Protective earth (PE) L1 U CN X5 CN X1 CN X2 CN X6 M RE V W L2 L3 L1C L2C Driver Ground-fault  breaker (RCD) Surge  absorber Noise filter Noise filters for  signal lines Noise filters  for[...]

177 [Supplement] 資     料 Supplement Option part No.  DV0P4170  Single phase 100V/200V Applicable driver (frame) A and B-frame Manufacturer's part No.  SUP-EK5-ER-6 Manufacturer Okaya Electric Ind. ABC DEFG H 11 5 DV0P4180 105 95 70 43 10 52 5.5 145 DV0P4220 135 125 70 50 10 52 5.5 K M4 M4 L M4 M4 Label Label A B C H 10 F[...]

178 Sur ge Absorber Provide a surge absorber f or the primary side of noise filter . <Remarks> Ta ke off the surge absorber when you e x ecute a dielectric test to the machine or equipment, or it ma y damage the surge absorber . Conformity to EC Directives and UL Standards Circuit diagram Circuit diagram 1 ø 4.2 ± 0.2 41 ± 1 UL-1015 A WG16[...]

179 [Supplement] 資     料 Supplement Noise Filter for Signal Lines * Install noise filters for signal lines to all cables (power cable, motor cable, encoder cable and interface cable) * In case of D-frame, install 3 noise filters at power line. Grounding (1) Connect the protective earth terminal ( ) of the driver and the protective earth ter[...]

180 Options • Specifications of 2500P/r  incremental encoder • Specifications of 17bit absolute/incremental  encoder * Connection to Pin-S and T are not  required when used in incremental. A Pin No. B C D E F G H J Content NC NC NC NC NC NC EOV E5V Frame  GND Pin No. K L M N P R S T Content NC NC NC NC NC NC PS PS A Pin No. B C D[...]

181 [Supplement] Supplement Motor type MAMA 100W to 750W MSMD 50W to 750W MQMA 100W to 400W   MSMA 1.0kW, 1.5kW MDMA 1.0kW, 1.5kW MHMA 0.5kW to 1.5kW MGMA 900W  MSMA 2.0kW MDMA 2.0kW    MSMA 3.0kW to 5.0kW MDMA 3.0kW to 5.0kW MHMA 2.0kW to 5.0kW MGMA 2.0[...]

182 Options 110 300 L 300 110 L MFECA0**0EAE Fig. 2-1 Fig. 2-4 Fig. 2-2 Fig. 2-5 Fig. 2-3 MFECA0**0ESE MSMD 50W to 750W, MQMA 100W to 400W, MAMA 100W to 750W 17-bit absolute encoder with battery holder Note) Battery for absolute encoder is an option. Note) Battery for absolute encoder is an option. MSMA, MDMA, MHMA, MGMA, MFMA 17-bit absolute encod[...]

183 [Supplement] Supplement MFECA0**3ECT MFMCD0**3ECT (ø14) (50) L ø43.7 ø37.3 ø37.3 (ø14) (50) L ø40.5 MFMCA0**2ECD MFMCA0**0EED MSMD 50W to 750W, MQMA 100W to 400W, MAMA 100W to 750W MSMA 1.0kW to 1.5kW, MDMA 1.0kW to 1.5kW MHMA 500W to 1.5kW, MGMA 900W MSMA 3.0kW to 5.0kW, MDMA 3.0kW to 5.0kW MHMA 2.0kW to 5.0kW, MGMA 2.0kW to 4.5kW MFMA 4[...]

184 Options MFMCA0**2FCD L (50) L (50) (ø12.5) MFMCA0**2FCT L (50) L (50) ø37.3 (ø12.5) ( ø 9 .8 ) ( ø 9 .8 ) MFMCB0**0GET (ø9.8) (40) (50) L (5.6) (12.0) (10.0) MSMD 50W to 750W MQMA 100W to 400W MAMA 100W to 750W MSMA 1.0kW to 1.5kW, MDMA 1.0kW to 1.5kW MHMA 500W to 1.5kW, MFMA 400W to 1.5kW MGMA 900W MSMA 2.0kW, MDMA 2.0kW MSMA 3.0kW to 5.[...]

185 [Supplement] Supplement 3) Pin disposition (36 pins) (viewed from the soldering side) <Cautions> 1) Check the stamped pin-No. on the connector body while making a wiring. 2) For the function of each signal title or its symbol, refer to the wiring example of the connector CN I/F. 3) Check the stamped pin-No. on the connector body while mak[...]

186 Options 1) Part No. DV0P4290 2) Components ( ) 2500P/r incremental encoder Title 1 Number Part No. Manufacturer For CN X6 (6-pins) 172160-1 170365-1 1 6 For junction cable to encoder (6-pins) 172159-1 1 Note 170366-1 4 For junction cable to encoder (4-pins) Title Part No. Manufacturer For brake, purchase our optional brake cable. 3) Pin disposi[...]

187 [Supplement] Supplement Note For CN X6 (6-pins) For junction cable to encoder For junction cable to motor power Number 1 1 1 1 1 Title Connector Straight plug Cable clamp Straight plug Cable clamp Part No. 55100-0600 or 55100-0670 (lead-free) N/MS3106B20-29S N/MS3057-12A N/MS3106B24-11S N/MS3057-16A Without brake Note For CN X6 (6-pins) For jun[...]

188 Options <Caution> For E and F-frame, you con make a front end and back end mounting by changing the mounting direction of L-shape bracket (attachment). Frame symbol of applicable driver part No. Mounting screw Dimensions Upper side Bottom side A-frame M4 x L6 Pan head 4pcs M4 x L6 Pan head 4pcs M4 x L6 Pan head 4pcs M4 x L6 Pan head 4pcs [...]

189 [Supplement] Supplement C B A (Mounting pitch) D 6-1 RST NP XYZ B C D 2-1 G 4-H E G 4-H E Fig.1 Fig.2 DV0P220 DV0P221 DV0P222 DV0P223 DV0P224 DV0P225 DV0P226 DV0P227 DV0P228 DV0P229 65 60 60 60 60 60 55 55 55 55 125 150 150 150 150 150 80 80 80 80 83 113 113 113 113 113 68 68 68 68 118 137 137 137 137 137 90 90 90 90 145 120 130 140 145 160 90 [...]

190 O p ti o n s DV0P4282 DV0P4283 DV0P4284 Part No. RF18B RF18B RF240 RH450F 25 50 30 Specifications Activation temperature of built-in thermostat DV0P4280 DV0P4281 RF70M RF70M 50 10 10 17 17 40 52 25 25 50 50 100 130 100 DV0P4285 20 Manufacturer : Iwaki Musen Kenkyusho DV0P4280, DV0P4281 DV0P4282,DV0P4283 DV0P4284 DV0P4285 Battery (1) Part No. DV[...]

191 [Supplement] Supplement Surge absorber for motor brake Motor Manufacturer Okaya Electric Industries Co. Ltd. Nippon Chemi_Con Corp. Ishizuka Electronics Corp. Japan Aviation Electronics Industry, Ltd. Sumitomo 3M Tyco Electronics AMP k.k, TDK Corp. • C-5A2 or Z15D151 Ishizuka Electronics Co. • C-5A3 or Z15D151 Ishizuka Electronics Co. • T[...]

192 Dimensions (Driver) A-frame Mass 0.8kg Connector at driver side * Refer to P.188, "Mounting bracket for driver"of Options,  when you use the optional mounting bracket. Connector sign CNX7 CNX6 CNX5 CNX4 CNX3B CNX3A CNX2 CNX1 Manufacturer Molex Inc. Molex Inc. Molex Inc. J.S.T . Mfg.Co., Ltd. M[...]

193 [Supplement] Supplement C-frame Mass 1.5kg Connector at driver side * Refer to P.188, "Mounting bracket for driver"of Options,  when you use the optional mounting bracket. Connector sign CNX7 CNX6 CNX5 CNX4 CNX3B CNX3A CNX2 CNX1 Manufacturer Molex Inc. Molex Inc. Molex Inc. J.S.T . Mfg.Co., Ltd.?[...]

194 Dimensions (Driver) E-frame Mass 3.2kg Connector at driver side Connector sign CNX7 CNX6 CNX5 CNX4 CNX3B CNX3A Manufacturer Molex Inc. Molex Inc. Molex Inc. J.S.T . Mfg.Co., Ltd. Molex Inc. Molex Inc. Connector type  53460-0629 (or equivalent) 53460-0629 (or equivalent) 529863679 (or equivalent) M[...]

195 [Supplement] Supplement Dimensions (Motor) • MAMA 100W to 750W MAMA series (Ultra low inertia) 012P1 * 012S1 * 022P1 * 022S1 * 042P1 * 042S1 * 082P1 * 082S1 * 2500P/r Incremental 17-bit Absolute/ Incremental 2500P/r Incremental 17-bit Absolute/ Incremental 2500P/r Incremental 17-bit Absolute/ Incremental 2500P/r Incremental 17-bit Absolute/ I[...]

196 Dimensions (Motor) • MSMD 50W to 100W MSMD series (low inertia) 5A * P1 * 5A * S1 * 01 * P1 * 01 * S1 * MSMD 50W 100W 25 8 45 30 38 3 6 32 26.5 3.4 14 12.5 3h9 3 6.2 M3 x 6 (depth) 25 8 45 30 38 3 6 32 46.5 3.4 14 12.5 3h9 3 6.2 M3 x 6 (depth) 0.32 0.53 0.47 0.68 72 102 92 122 * Dimensions are subject to change without notice. Contact us or a[...]

197 [Supplement] Supplement • MSMD 200W to 750W 02 * P1 * 02 * S1 * 04 * P1 * 04 * S1 * 08 * P1 * 08 * S1 * 200W 400W 750W 79 115.5 30 11 70 50 60 3 6.5 43 4.5 20 18 4h9 4 8.5 M4 x8 (depth) 30 14 70 50 60 3 6.5 43 4.5 25 22.5 5h9 5 11 M5 x 10 (depth) 35 19 90 70 80 3 8 53 6 25 22 6h9 6 15.5 M5 x 10 (depth) 0.82 1.3 1.2 1.7 2.3 3.1 98.5 135 112 14[...]

198 Dimensions (Motor) • MQMA 100W to 400W 01 * P1 * 01 * S1 * 02 * P1 * 02 * S1 * 04 * P1 * 04 * S1 * 100W 200W 400W 60 84 25 8 70 50 60 3 7 43 4.5 14 12.5 3h9 3 6.2 M3 x 6(depth) 30 11 90 70 80 5 8 53 5.5 20 18 4h9 4 8.5 M4 x 8(depth) 30 14 90 70 80 5 8 53 5.5 25 22.5 5h9 5 11 M5 x 10(depth) 87 111 0.65 0.90 0.75 1.00 1.3 2.0 1.4 2.1 1.8 2.5 1.[...]

199 [Supplement] Supplement • MSMA 1.0kW to 2.0kW MSMA series (low inertia) 10 * P1 * 10 * S1 * 15 * P1 * 15 * S1 * 20 * P1 * 20 * S1 * MSMA 1.0kW 1.5kW 2.0kW 175 200 55 19 100 80 90 120 3 7 84 98 6.6 45 42 6h9 6 15.5 55 19 115 95 100 135 3 10 84 103 9 45 42 6h9 6 15.5 55 19 115 95 100 135 3 10 84 103 9 45 42 6h9 6 15.5 175 200 4.5 5.1 4.5 5.1 5.[...]

200 Dimensions (Motor) • MSMA 3.0kW to 5.0kW 30 * P1 * 30 * S1 * 40 * P1 * 40 * S1 * 50 * P1 * 50 * S1 * 3.0kW 4.0kW 5.0kW 217 242 55 22 130/145 (slot) 110 120 162 3 12 84 111 9 45 41 8h9 7 18 65 24 145 110 130 165 6 12 84 118 9 55 51 8h9 7 20 65 24 145 110 130 165 6 12 84 118 9 55 51 8h9 7 20 217 242 09.3 11.0 9.3 11.0 12.9 14.8 12.9 14.8 17.3 1[...]

201 [Supplement] Supplement • MDMA 1.0kW to 1.5kW MDMA series (Middle inertia) 10 * P1 * 10 * S1 * 15 * P1 * 15 * S1 * MDMA 1.0kW 1.5kW 55 22 145 110 130 165 6 12 84 118 9 45 41 8h9 7 18 55 22 145 110 130 165 6 12 84 118 9 45 41 8h9 7 18 6.8 8.7 6.8 8.7 8.5 10.1 8.5 10.1 150 175 150 175 175 200 175 200 LR S LA LB LC LD LE LF LG LH LZ LW LK KW KH [...]

202 Dimensions (Motor) • MDMA 2.0kW to 3.0kW 20 * P1 * 20 * S1 * 30 * P1 * 30 * S1 * 2.0kW 3.0kW 200 225 55 22 145 110 130 165 6 12 84 118 9 45 41 8h9 7 18 65 24 145 110 130 165 6 12 84 118 9 55 51 8h9 7 20 200 225 10.6 12.5 10.6 12.5 14.6 16.5 14.6 16.5 250 275 250 275 MDMA series (Middle inertia) MDMA LR S LA LB LC LD LE LF LG LH LZ LW LK KW KH[...]

203 [Supplement] Supplement * Dimensions are subject to change without notice. Contact us or a dealer for the latest information. • MDMA 4.0kW to 5.0kW MDMA series (Middle inertia) 40 * P1 * 40 * S1 * 50 * P1 * 50 * S1 * MDMA 4.0kW 5.0kW 242 267 242 267 225 250 225 250 65 28 165 130 150 190 3.2 18 84 128 11 55 51 8h9 7 24 70 35 200 114.3 176 233 [...]

204 Dimensions (Motor) • MGMA 900W to 2.0kW * Dimensions are subject to change without notice. Contact us or a dealer for the latest information. MGMA series (Middle inertia) 09 * P1 * 09 * S1 * 20 * P1 * 20 * S1 * MGMA 900W 2.0kW 70 22 145 110 130 165 6 12 84 118 9 45 41 8h9 7 18 80 35 200 114.3 176 233 3.2 18 84 143 13.5 55 50 10h9 8 30 8.5 10.[...]

205 [Supplement] Supplement • MGMA 3.0kW to 4.5kW MGMA series (Middle inertia) 30 * P1 * 30 * S1 * 45 * P1 * 45 * S1 * MGMA 3.0kW 4.5kW 222 271 222 271 300.5 337.5 300.5 337.5 80 35 200 114.3 176 233 3.2 18 84 143 13.5 55 50 10h9 8 30 113 42 200 114.3 176 233 3.2 24 84 143 13.5 96 90 12h9 8 37 25.0 28.5 25.0 28.5 34.0 39.5 34.0 39.5 LR S LA LB LC[...]

206 Dimensions (Motor) • MFMA 400W to 1.5kW MFMA series (Middle inertia) 04 * P1 * 04 * S1 * 15 * P1 * 15 * S1 * MFMA 400W 1.5kW 120 145 55 19 145 110 130 165 6 12 84 118 9 45 42 6h9 6 15.5 65 35 200 114.3 176 233 3.2 18 84 143 13.5 55 50 10h9 8 30 120 145 4.7 6.7 4.7 6.7 11.0 14.0 11.0 14.0 145 170 145 170 LR S LA LB LC LD LE LF LG LH LZ LW LK K[...]

207 [Supplement] Supplement • MFMA 2.5kW to 4.5kW 25 * P1 * 25 * S1 * 45 * P1 * 45 * S1 * 2.5kW 4.5kW 139 166 65 35 235 200 220 268 4 16 84 164 13.5 55 50 10h9 8 30 70 35 235 200 220 268 4 16 84 164 13.5 55 50 10h9 8 30 139 166 14.8 17.5 14.8 17.5 19.9 24.3 19.9 24.3 163 194 163 194 MFMA series (Middle inertia) MFMA LR S LA LB LC LD LE LF LG LH L[...]

208 Dimensions (Motor) * Dimensions are subject to change without notice. Contact us or a dealer for the latest information. • MHMA 500W to 1.5kW MHMA series (High inertia) 05 * P1 * 05 * S1 * 10 * P1 * 10 * S1 * 15 * P1 * 15 * S1 * MHMA 500W 1.0kW 1.5kW 150 175 70 22 145 110 130 165 6 12 84 118 9 45 41 8h9 7 18 70 22 145 110 130 165 6 12 84 118 [...]

209 [Supplement] Supplement • MHMA 2.0kW to 5.0kW MHMA series (High inertia) 20 * P1 * 20 * S1 * 30 * P1 * 30 * S1 * 40 * P1 * 40 * S1 * 50 * P1 * 50 * S1 * MHMA 2.0kW 3.0kW 4.0kW 5.0kW 190 215 190 215 205 230 205 230 230 255 230 255 255 280 255 280 80 35 200 114.3 176 233 3.2 18 84 143 13.5 55 50 10h9 8 30 80 35 200 114.3 176 233 3.2 18 84 143 1[...]

210 Permissible Load at Output Shaft 50W , 100W 200W , 400W 750W 1kW 1.5kW to 3.0kW 4.0kW to 5.0kW 100W 200W , 400W 1.0kW to 2.0kW 3.0kW 4.0kW 5.0kW 500W to 1.5kW 2.0kW to 5.0kW 400W 1.5kW 2.5kW , 4.5kW 900W 2.0kW 3.0kW , 4.5kW  MSMD   MSMA  MQMA     MDMA  [...]

211 [Supplement] 資     料 Supplement Motor Characteristics (S-T Characteristics) • Note that the motor characteristics may vary due to the existence of oil seal or brake.  • Continuous torque vs. ambient temperature characteristics have been measured with an aluminum flange attached to the motor (approx. twice as large as the motor fl[...]

212 Motor Characteristics (S-T Characteristics) MSMD series (50W to 100W)   * These are subject to change. Contact us when you use these values for your machine design. * Ratio to the rated torque at ambient temperature of 40 ˚ C is 100% in case of without oil seal, without brake. without oil seal with oil seal • MSMD5AZ * 1 * Input [...]

213 [Supplement] 資     料 Supplement MSMD series (200W to 750W) * These are subject to change. Contact us when you use these values for your machine design. • MSMD021 * 1 * Input voltage to driver: AC100V (Dotted line represents torque at 10% less voltage.) • MSMD022 * 1 * Input voltage to driver: AC200V (Dotted line represen[...]

214 Motor Characteristics (S-T Characteristics) • MSMA202 * 1 * Input voltage to driver: AC200V (Dotted line represents torque at 10% less voltage.) • MSMA402 * 1 * Input voltage to driver: AC200V (Dotted line represents torque at 10% less voltage.) • MSMA502 * 1 * Input voltage to driver: AC200V (Dotted line represents torq[...]

215 [Supplement] 資     料 Supplement * These are subject to change. Contact us when you use these values for your machine design. • MDMA302 * 1 * Input voltage to driver: AC200V (Dotted line represents torque at 10% less voltage.) • MDMA402 * 1 * Input voltage to driver: AC200V (Dotted line represents torque at 10% less volta[...]

216 Motor Characteristics (S-T Characteristics) * These are subject to change. Contact us when you use these values for your machine design. • MGMA202 * 1 * Input voltage to driver: AC200V (Dotted line represents torque at 10% less voltage.) • MGMA092 * 1 * Input voltage to driver: AC200V (Dotted line represents torque at 10% less v[...]

217 [Supplement] 資     料 Supplement Motor with Gear Reducer Model No. of Motor with Gear Reduce Model Designation Combination of Driver and Motor with Gear Reducer This driver is designed to be used in the combination with the specified motor model. Check the series name, r ated output and v oltage specifications and the encoder specificati[...]

218 MSMD01 * P31N MSMD01 * P32N MSMD01 * P33N MSMD01 * P34N MSMD02 * P31N MSMD02 * P32N MSMD02 * P33N MSMD02 * P34N MSMD04 * P31N MSMD04 * P32N MSMD04 * P33N MSMD04 * P34N MSMD082P31N MSMD082P32N MSMD082P33N MSMD082P34N MSMD01 * P41N MSMD01 * P42N MSMD01 * P43N MSMD01 * P44N MSMD02 * P41N MSMD02 * P42N MSMD02 * P43N MSMD02 * P44N MSMD04 * P41N MSMD[...]

219 [Supplement] 資     料 Supplement T H B ø LA 4-LZ Depth L LC Moment of inertia is combined value of the motor and the gear reducer, and converted to that of the motor shaft . MSMD Without brake With brake LC LA LZ LD Kew way dimensions (B x H x LK) TL N Mass (kg) Moment of inertia (x 10 –4 kg • m 2 ) 52 78 52 78 98 78 98 52 78 52 78 [...]

220 Permissible Load at Output Shaft Remarks on installation (1) Do not hit the output shaft of the gear reducer when attaching a pulley or sprocket to it. Or it may cause an abnormal noise. (2) Apply the load of the pulley or the sprocket to as close to the base of the output shaft as possible. (3) Check the mounting accuracy and strenght of the s[...]

221 [Supplement] 資     料 Supplement Characteristics of Motor with Gear Reducer Supply voltage to driver Reduction ratio 1/5 MSMD01 1 * * 1N MSMD01 1 * * 2N MSMD01 1 * * 3N MSMD01 1 * * 4N MSMD021 * * 1N MSMD021 * * 2N MSMD021 * * 3N MSMD021 * * 4N MSMD041 * * 1N MSMD041 * * 2N MSMD041 * * 3N MSMD041 * * 4N MSMD012 * * 1N MSMD012 * * 2N MSMD[...]

222 L 1 L 2 L 3 DC/DC L1C L2C RB1 RB3 X4 X6 U V W M RE N P + Gate drive RS232 + - + + - A/D Position Speed detection V oltage detection Speed deviation amp. PWM circuit RB2 DL1 DL2 Fuse X5 Alarm signal Point input Pusle output Control input Control output Division/ mulitiplication Deviation counter Position de[...]

223 [Supplement] 資     料 Supplement L 1 L 2 L 3 DC/DC r t P B1 X4 X6 U V W M RE X5 N P + Gate drive Alarm signal Point intput Pusle output Control input + + - + - A/D Position Fuse (F-frame only) Fuse (F-frame only) Fuse V oltage detection EEPROM Control output B2 Fan Front panel RS232 Display operation control[...]

224 Block Diagram by Control Mode Position Control Mode • when Pr02 (Setup of control mode) is 0 Point command Position  command Positional deviation  monitor Actual speed monitor Command speed  monitor Feedback pulses Serial communication  data OA/OB/OZ Damping control Pr2B 1st  frequency Pr2C 1st filter Pr2D 2nd  frequency [...]

225 [Supplement] 資     料 Supplement Full closed  position deviation monitor Actual speed monitor Command speed monitor Position deviation monitor Feedback pulses OA/OB/OZ Damping control Pr2B 1st frequency Pr2C 1st filter Pr2D 2nd frequency Pr2E 2nd filter Motor T orque command monitor FIR smoothing Pr4D Average travel times 1st[...]

226 Specifications (Driver) Input power supply Operation conditions Control method Control mode Encoder feedback  External scale feedback  Control  signal  Pulse signal Setup   Front panel  Regeneration Dynamic brake 100V- line 200V- line Main circuit power Control circuit power Main[...]

227 [Supplement] 資     料 Supplement Function Real time  Normal mode Hardware error Software error Protection function  External scale division  gradual increase  setting range Instantaneous speed observer Division function of  encoder feedback pulse Unnecessary wiring  mask function Alarm data trace back fun[...]

228 Default P arameter s (for all the models of A4P Series) SV.Pr** 00 01 02 03 04 05 06 07 08 09 0A 0B 0C 0D 0E 0F 10 11 12 13 14 15 16 17 18 19 1A 1B 1C 1D 1E 1F 20 21 22 23 24 25 26 27 28 29 2A 2B 2C 2D 2E?[...]

229 [Supplement] 資     料 Supplement 16.Pr** 00 01 02 03 04 05 06 07 08 09 0A 0B 0C 0D 0E 0F 10 11 12 13 14 15 16 17 18 19 1A 1B 1C 1D 1E 1F 20 21 22 23 24 25 26 27 28 29 2A 2B 2C 2D 2E 2F 30 3[...]

230 MEMO[...]

231 Motor Compan y , Matsushita Electric Industrial Co.,Ltd.Marketeing Gr oup T okyo: K yobashi MID Bldg, 2-13-10 K y obashi, Chuo-ku, T oky o 104-0031 TEL (03)3538-2961 FA X (03)3538-2964 Osaka: 1-1, Morofuku 7-chome, Daito, Osaka 574-0044 TEL (072)870-3065 FA X (072)870-3151[...]

After-Sale Service (Repair) Repair Consult to a dealer from whom you ha v e purchased the product f or details of repair . When the product is incorporated to the machine or equipment you have purchased, consult to the manufacture or the dealer of the machine or equipment. Cautions for Proper Use • This product is intended to be used with a gener[...]