MEDDT2105

MADDT1205XXX PANASONICBATTERY | Alldatasheet

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AC Servo Motor & Driver MINAS A4-series If you are the first user of this product, please be sure to purchase and read the optional Engineering Material (DV0P4210), or downloaded Instruction Manual from our Web Site. [Web address of Motor Company, Matsushita Electric Industrial Co., Ltd.] http://industrial.panasonic.com/ww/i_e/25000/motor_fa_e/motor_fa_e.html Thank you very much for your purchase of Panasonic AC Servo Motor & Driver, MINAS A4-series. Before use, refer this technical reference and safety instructions to ensure proper use. Keep this technical reference and read when necessary. Make sure to forward this technical reference for safety to the final user. IMC54D Z0404-6066 3. System Configuration and Overall Wiring (Connecting Example of C-frame, 3- Overall Wiring (Connecting Example of E-frame) ....B12 Driver and List of Applicable Peripheral Wiring of the Main Circuit (E and F-frame) ... B17 Wiring method to connector (A to D-frame) .. B18 Wiring to the Connector, CN X6 Wiring for Typical Control Modes Outline of PANATERM 6. Maintenance and Inspections . B38 7. Conformity to EC Directives 10. Check of the Combination of page page <Contents>

– B3 – – B2 – AC SERVO MOTORRATING S1 MODEL No.MSMD5AZS1SINS. CLASS B (TÜV) A (UL) CONT. TORQUE0.64Nm A 1.6CONNECTION RATED OUTPUT RATED FREQ. kW 0.2SER No.04110001 Hz 200 RATED REV.r/min 3000 INPUT 3ØAC 92IP65 V Model Rated output Rated input voltage/current Rated rotational speed Serial Number e.g.) : 0411 0001 Lot number Month of production Year of production (Lower 2 digits of AD year) Check of the Motor Model Contents of Name Plate Model Designation MSMD5AZS1S 1 to 45 to 611 to 12 78910Special specifications (letters and numbers) Motor structure Design order 1: Standard Rotary encoder specifications Voltage specifications MAMA MQMA MSMD MSMA MDMA MHMA MFMA MGMA Type Symbol Ultra low inertia (100W to 750W) Low inertia (100W to 400W) Low inertia (50W to 750W) Low inertia (1.0kW to 5.0kW) Middle inertia (1.0kW to 5.0kW) High inertia (500W to 5.0kW) Middle inertia (400W to 4.5kW) Middle inertia (900W to 4.5kW) P S Incremental Absolute/Incremental common Specifications SymbolFormat 2500P/r 17bit Pulse count Output Motor rated output Symbol 50W 100W 200W 400W 500W 750W 900W 1.0kW Output Symbol 1.5kW 2.0kW 2.5kW 3.0kW 4.0kW 4.5kW 5.0kW Z SpecificationsSymbol 100 V 200 V 100/200 common (50W only) 10,000 131,072 Resolution 5-wire 7-wire Wire count Motor structure MSMD, MQMA MAMA *1 The product with oil seal is a special order product. *2 Key way with center tap A B E F Shaft Holding brakeOil seal WithoutWith RoundKey wayWithoutWith Symbol A B S T Shaft Holding brakeOil seal WithoutWith RoundKey wayWithoutWith Symbol MSMA, MDMA, MFMA, MGMA, MHMA C D G H Shaft Holding brakeOil seal WithoutWith RoundKey wayWithoutWith Symbol Products are standard stock items or build to order items. For details, inquire of the dealer. 1. Introduction On Opening the Product Package

• Make sure that the model is what you have ordered.
• Check if the product is damaged or not during transportation.
• Check if the instruction manual is attached or not.
• Check if the power connector and motor connecters (CN X1 and CN X2 connectors) are attached or not (A to D-frame). Contact to a dealer if you find any failures. Check of the Driver Model Contents of Name Plate Model Designation MADDT1205 Special specifications (letters and numbers) Current detector rating Power supply Max. current rating of power device Frame-size symbol MADD MBDD MCDD MDDD MEDD MFDD Frame Symbol A4-series, A-frame A4-series, B-frame A4-series, C-frame A4-series, D-frame A4-series, E-frame A4-series, F-frame TA TB Current rating SymbolSpecifications 10A 15A 30A 50A 70A 100A 150A Symbol Single phase, 100V Single phase, 200V 3-phase, 200V Single/3-phase, 200V Current rating Symbol 7.5A 10A 15A 20A 30A 40A 64A 90A 120A 1 to 4 75 to 6 10 to 128 to 9 Model number Rated input/output voltage Rated output of applicable motor Rated input/output current Serial Number MADDT1205 e.g.) : P04110001Z Lot number Month of production Year of production (Lower 2 digits of AD yea 50/60Hz 100W 1.3A 200-240V Freq. Model No. AC SERVO Serial No.P04110001Z INPUT Voltage Phase F.L.C Power OUTPUT 69V 1.2A 0~333.3Hz

– B5 – – B4 – Install the driver and the motor properly to avoid a breakdown or an accident. Driver Installation Place 1) Indoors, where the products are not subjected to rain or direct sun beams. The prod- ucts are not waterproof. 2) Where the products are not subjected to corrosive atmospheres such as hydrogen sulfide, sulfurous acid, chlorine, ammonia, chloric gas, sulfuric gas, acid, alkaline and salt and so on, and are free from splash of inflammable gas, grinding oil, oil mist, iron powder or chips and etc. 3) Well-ventilated and low humidity and dust-free place. 4) Vibration-free place. Environmental Conditions Ambient temperature Ambient humidity Storage temperature Storage humidity Vibration Altitude Conditions Item 0˚C to 55˚C (free from freezing) Less than 90% RH (free from condensation) –20˚C to 80˚C (free from freezing) Less than 90% RH (free from condensation) Lower than 5.9m/s 2 (0.6G), 10 to 60Hz Lower than 1000m Fan Fan100mm or more 100mm or more 40mm or more 40mm or more 10mm or more 10mm or more 10mm or more 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 2. Installation How to Install 1) Rack-mount type. Install in vertical position, and reserve enough space around the servo driver for ventilation. Base mount type (rear mount) is standard (A to D-frame) 2) Use the optional mounting bracket when you want to change the mounting face. Mounting Direction and Spacing

• R e serve enough surround- ing space for effective cool- ing.
• I n s t a l l fans to provide uni- form distribution of tem- perature in the control panel.
• O b s e r v e the environmental conditions of the control panel described in the next page. <Note> It is recommended to use the conductive paint when you make your own mounting bracket, or repaint after peeling off the paint on the machine for installing the products, in order to make noise countermeasure. Caution on Installation We have been making the best effort to ensure the highest quality, however, application of exceptionally large external noise disturbance and static electricity, or failure in input power, wiring and components may result in unexpected action. It is highly recommended that you make a fail-safe design and secure the safety in the operative range. There might be a chance of smoke generation due to the failure of these products. Pay an extra attention when you apply these products in a clean room environment.

– B7 – – B6 – Motor Oil / Water CableMotor Ambient temperature Ambient humidity Storage temperature Storage humidity Vibration Impact Enclosure rating Condition Item 0˚C to 40˚C (free from freezing) *1 Less than 85% RH (free from condensation) –20˚C to 80˚C (free from freezing) *2 Less than 85% RH (free from condensation) Lower than 49m/s 2 (5G) at running, 24.5m/s2 (2.5G) at stall Lower than 98m/s2 (10G) IP65 (except rotating portion of output shaft and lead wire end) These motors conform to the test conditions specified in EN standards (EN60529, EN60034-5). Do not use these motors in application where water proof performance is required such as continuous wash-down operation. Motor only Motor only Motor only 2. Installation Motor Installation Place Since the conditions of location affect a lot to the motor life, select a place which meets the conditions below. 1) Indoors, where the products are not subjected to rain or direct sun beam. The prod- ucts are not waterproof. 2) Where the products are not subjected to corrosive atmospheres such as hydrogen sulfide, sulfurous acid, chlorine, ammonia, chloric gas, sulfuric gas, acid, alkaline and salt and so on, and are free from splash of inflammable gas, grinding oil, oil mist, iron powder or chips and etc. 3) Where the motor is free from grinding oil, oil mist, iron powder or chips. 4) Well-ventilated and humid and dust-free place, far apart from the heat source such as a furnace. 5) Easy-to-access place for inspection and cleaning 6) Vibration-free place. 7) Avoid enclosed place. Motor may gets hot in those enclosure and shorten the motor life. Environmental Conditions *1 Ambient temperature to be measured at 5cm away from the motor. *2 Permissible temperature for short duration such as transportation. How to Install You can mount the motor either horizontally or vertically as long as you observe the followings. 1) Horizontal mounting

• Mount the motor with cable outlet facing downward for water/oil countermeasure. 2) Vertical mounting
• Use the motor with oil seal (non-standard) when mounting the motor with gear reducer to prevent the reducer oil/grease from entering to the motor. 3) For mounting dimensions, refer to the technical reference. (DV0P4210) Oil/Water Protection 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 subjected to oil or water. 4) Use the motor with an oil seal when used with the gear re- ducer, so that the oil may not enter to the motor through shaft. Stress to Cables 1)Avoid a stress application to the cable outlet and connecting portion by bending or self-weight. 2) Especially in an application where the motor itself travels, fix the attached cable and contain the extension junction cable into the bearer so that the stress by bending can be minimized. 3) Take the cable bending radius as large as possible. (Minimum R20mm) Permissible Load to Output Shaft 1) Design the mechanical system so that the applied radial load and/or thrust load to the motor shaft at installation and at normal operation can meet the permissible value specified to each model. 2)Pay an extra attention when you use a rigid coupling. (Excess bending load may damage the shaft or deteriorate the bearing life. 3) Use a flexible coupling with high stiffness designed exclusively for servo application in order to make a radial thrust caused by micro misalignment smaller than the permis- sible value. 4) For permissible load of each model, refer to the technical reference. (DV0P4210) Notes on Installation 1) Do not apply direct impact to the shaft by hammer while attaching/detaching a cou- pling to and from the motor shaft. (Or it may damage the encoder mounted on the other side of the shaft.) 2) Make a full alignment. (incomplete alignment may cause vibration and damage the bearing.) 3)If the motor shaft is not electrically grounded, it may cause electrolytic corrosion to the bearing depending on the condi- tion of the machine and its mounting environment, and may result in the bearing noise. Check and verification by customer is required.

– B9 – – B8 – How to Connect <Remarks>

• Connect the console connector securely to CN X4 connector of the driver.
• Never pull the cable to plug in or plug out. Ambient temperature Ambient humidity Storage temperature Storage humidity Vibration Impact Altitude Condition Item 0˚C to 55˚C (free from freezing) Less than 90% RH (free from condensation) –20˚C to 80˚C (free from freezing) Less than 90% RH (free from condensation) Lower than 5.9m/s 2 (0.6G), 10 to 60Hz Conform to JISC0044 (Free fall test, 1m for 2 directions, 2 cycles) Lower than 1000m MODE SHIFT SET S M Connect to CN X4. 2. Installation Console Installation Place 1) Indoors, where the products are not subjected to rain or direct sun beam. The prod- ucts are not waterproof. 2) Where the products are not subjected to corrosive atmospheres such as hydrogen sulfide, sulfurous acid, chlorine, ammonia, chloric gas, sulfuric gas, acid, alkaline and salt and so on, and are free from splash of inflammable gas, grinding oil, oil mist, iron powder or chips and etc. 3) Well-ventilated and low humidity and dust-free place. 4) Easy-to-access place for inspection and cleaning Environmental Conditions <Cautions>
• Do not give strong impact to the products.
• Do not drop the products.
• Do not pull the cables with excess force.
• Avoid the place near to the heat source such as a heater or a large winding resistor.

– B11 – – B10 – 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 pow- er lines. And reduces an effect of the noise generated by the servo driver. Magnetic Contactor (MC) Turns on/off the main power of the servo driver. Use a surge absorber together with this.

• Never start nor stop the servo mo- tor with this Magnetic Contactor. Reactor (L) Reduces harmonic current of the main power. For specifications, refer to the downloaded Instruction Manual from our Web Site.
• Wiring of the Main Circuit Ground (earth)
• Wiring to Connector, CN X3/X4 (option) (Connection to PC or host controller)
• Wiring to Connector, CN X5 (Connection to host controller)
• Wiring to Connector, CN X6 (Connection to encoder)
• Wiring to Connector, CN X7 (Connection to external scale)
• Connection to the Connector, CN X1 (connection to input power)
• Connection to the Connector, CN X2 (connection to external components) Junction cable for encoder Short bar Junction cable for motor Junction cable for brake DC Power supply for brake DC24V (to be supplied by customer) RB1 (Pin-6) RB2 (Pin-4)
• Wiring to Connector, CN X2 (Connection to motor driving phase and ground) : High voltage L1 (Pin-5) L2 (Pin-4) L3 (Pin-3) L1C (Pin-2) L2C (Pin-1) Pin RB1 (6-pin), RB2 (4-pin), and RB3 (5-pin) RB2 and RB3 to be kept shorted for normal operation. When the capacity shortage of the regenerative resister is found, disconnect a shorting bar be- tween RB2 and RB3, then connect the external regenerative resister between RB1 and RB2. (Note that no regenerative resister is equipped in Frame A and B type. Install an external regenerative resister on incombustible materi- al, such as metal. Follow the same wiring connection as the above.) When you connect an external re- generative resister, set up Parame- ter No. 6C to 1 or 2. Handle lever Use this for connector connection. Store this after connection for other occasions. (see page for connection.) Regenerative resistor (optional) <Remarks> When you use an external regenerative resister, install an external protective apparatus, such as thermal fuse without fail. For resistor value and capacity, refer to the downloaded Instruction Manual from our Web Site. Thermal fuse and thermostat are built in to the regenerative resistor (Option). If the thermal fuse is activated, it will not resume. U-phase (red) V-phase (white) W-phase (black) PC (to be supplied by customer) Setup support software "PANATERM® " DV0P4460 Console (option) DV0P4420 3. System Configuration and Wiring Overall Wiring (Connecting Example of C-frame, 3-phase)

– B13 – – B12 – 3. System Configuration and Wiring Overall Wiring (Connecting Example of E-frame) : High voltage Ground (earth)

• Wiring to Connector, CN X3/X4 (option) (Connection to PC or host controller)
• Wiring to Connector, CN X5 (Connection to host controller)
• Connection with input power supply
• Connection to external components Junction cable for motor Junction cable for brake Short bar DC Power supply for brake DC24V (to be supplied by customer) P U-phase V-phase W-phase r t Pin P, B1 and B2... B1 and B2 to be kept shorted for normal operation. When the capacity shortage of the regenerative resister is found, disconnect a short bar between B1 and B2, then con- nect the external regenerative resister between P and B2. Install an external regenera- tive resister on incombustible material, such as metal. Follow the same wiring connection as the above. When you connect an external regenerative resister, set up Parameter No. 6C to 1 or 2.
• Wiring to Connector, CN X6 (Connection to encoder) Junction cable for encoder From a top
• Wiring to Connector, CN X7 (Connection to external scale)
• Connection to motor driving phase and ground Regenerative resistor (optional) <Remarks> When you use an external regenerative resister, install an external protective apparatus, such as thermal fuse without fail. For resistor value and capacity, refer to the downloaded Instruction Manual from our Web Site. Thermal fuse and thermostat are built in to the regenerative resistor (Option). If the thermal fuse is activated, it will not resume. 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 pow- er lines. And reduces an effect of the noise generated by the servo driver. Magnetic Contactor (MC) Turns on/off the main power of the servo driver. Use a surge absorber together with this.
• Never start nor stop the servo mo- tor with this Magnetic Contactor. Reactor (L) Reduces harmonic current of the main power. For specifications, refer to the downloaded Instruction Manual from our Web Site.
• Wiring of the Main CircuitPC (to be supplied by customer) Setup support software "PANATERM® " DV0P4460 Console (option) DV0P4420

– B15 – – B14 – 3. System Configuration and Wiring Connection DriverApplicable motorVoltageRated output Required Power (at the rated load) Noise filter for signal Noise filter Surge absorber Magnetic contactor Cable diameter (main circuit) Cable diameter (control circuit) MADD MBDD MCDD MDDD MEDD MSMD MQMA MSMD MQMA MAMA MSMD MQMA MSMD MQMA MAMA MQMA MSMD MAMA MFMA MHMA MAMA MDMA MHMA MGMA MSMA MHMA MDMA MSMA MFMA MDMA MSMA MHMA MFMA Single phase, 100V Single phase, 200V Single phase, 100V Single phase, 200V Single phase, 100V Single/ 3- phase, 200V Single/ 3- phase, 200V 3- phase, 200V 50W to 100W 100W 50W to 200W 100W 200W 100W 200W 400W 200W 400W 750W 400W 500W 750W 1.0kW 900W 1.0kW 1.5kW 2.0kW 2.5kW approx. 0.4kVA approx. 0.4kVA approx. 0.5kVA approx. 0.3kVA approx. 0.5kVA approx. 0.3kVA approx. 0.5kVA approx. 0.9kVA approx. 0.5kVA approx. 0.9kVA approx. 1.3kVA approx. 0.9kVA approx. 1.1kVA approx. 1.6kVA approx. 1.8kVA approx. 1.8kVA approx. 1.8kVA approx. 2.3kVA approx. 3.3kVA approx. 3.8kVA Circuit breaker (rated current) 10A 15A 20A 30A DV0P4170 DV0P4180 DV0P4220 Connection to exclusive connector DV0P4190 DV0P1450 DV0P1460 BMFT61041N (3P+1a) BMFT61542N (3P+1a) BMFT61041N (3P+1a) BMFT61542N (3P+1a) BMFT61541N (3P+1a) BMFT61542N (3P+1a) BMFT61842N (3P+1a) BMF6352N (3P+2a2b) 0.75 to 2.0mm2 AWG 14 to 18 2.0mm2 AWG14 2.0mm2 AWG14 3.5mm2 AWG12 0.75mm2 AWG18 Terminal block 11.0 orsmaller ø5.3 Connection DriverApplicable motorVoltageRated output Required Power (at the rated load) Noise filter for signal Noise filter Surge absorber Magnetic contactor Cable diameter (main circuit) Cable diameter (control circuit) Circuit breaker (rated current) MFDD MGMA MDMA MHMA MSMA MGMA MDMA MHMA MSMA MFMA MGMA MDMA MHMA MSMA 3- phase, 200V 2.0kW 3.0kW 4.0kW 4.5kW 5.0kW approx. 3.8kVA approx. 4.5kVA approx. 6kVA approx. 6.8kVA approx. 7.5kVA approx. 7.5kVA 50ADV0P3410 DV0P1450 DV0P1460 BMF6352N (3P+2a2b) BMF6652N (3P+2a2b) 3.5mm2 AWG12 5.3mm2 AWG10 0.75mm2 AWG18 Terminal block 11.0 or smaller ø5.3 Driver and List of Applicable Peripheral Equipments

• Select a single and 3-phase common specifications according to the power source.
• Manufacturer of circuit breaker and magnetic contactor : Matsushita Electric Works. To comply to EC Directives, install a circuit breaker between the power and the noise filter without fail, and the circuit breaker should conform to IEC Standards and UL recognized (Listed and marked). 5000Arms, 240V is the maximum capacity to be delivered to the circuit of 750W or larger model when the maximum current value of the circuit breaker is limited to 20A.
• For details of noise filters, refer to P .B42, "Noise Filter". <Remarks>
• Select and use the circuit breaker and noise filter with matching capacity to those of the power source, considering the load conditions as well.
• Terminal block and protective earth terminal Use a copper conductor cable with temperature rating of 60˚C or higher. Protective earth terminal is M4 for A to D-frame, and M5 for E and F-frame. Larger tightening torque of the screw than the max. value (M4 : 1.2 N
• m, M5 : 2.0 N•m) may damage the terminal block.
• Earth cable diameter should be 2.0mm2 (AWG14) or larger for 50W to 2.0kW model, and 3.5mm2 (AWG12) or larger for 2.5kW to 4.0kW, and 5.3mm2 (AWG10) or larger for 4.5kW to 5kW model.
• Use the attached exclusive connectors for A to D-frame, and maintain the peeled off length of 8 to 9mm.
• Tightening torque of the screws for connector (CN X5) for the connection to the host to be 0.3 to 0.35 N•m. Larger tightening torque than these may damage the connector at the driver side.

– B17 – – B16 – Red Black Green yellow Motor Surge absorber DC 24V White NFB Power supply DC power supply for brake NF MC U V W E L1C L2C RB1 RB3 RB2 U V W CN X1 CN X2 L Yellow (X2) Fuse (5A) Ground resistance : 100Ω max. For applicable wire, refer to P.B14 and B15.

• Check the name plate of the driver for power specifications.
• Provide a circuit breaker, or a leakage breaker. The leakage breaker to be the one designed for "Inverter" and is equipped with countermeasures for harmonics.
• Provide a noise filter without fail.
• Provide a surge absorber to a coil of the Magnetic Contactor. Never start/stop the motor with this Magnetic Contactor. Connect a fuse in series with the surge absorber. Ask the manufacturer of the Magnetic Contactor for the fuse rating.
• Provide an AC Reactor.
• Connect L1 and L1C, and L3 and L2C at singl e phase use (100V and 200V), and don't use L2.
• Match the colors of the motor lead wires to those of the corresponding motor output terminals (U,V,W).
• Don't disconnect the shorting cable between RB2 and RB3 (C and D frame type). Disconnect this only when the external regenerative register is used.
• Avoid shorting and ground fault. Don't connect the main power. *Connect pin 3 of the connector on the amplifier side with pin 1 of the connector on the motor side.
• Earth-ground this.
• Connect the protective earth terminal ( ) of the driver and the protective earth (earth plate) of the control panel without fail to prevent electrical shock.
• Don't co-clamp the earth wires to the protective earth terminal ( ) . Two terminals are provided.
• Don't connect the earth cable to other inserting slot, nor make them touch.
• Compose a duplex Brake Control Circuit so that the brake can also be activated by an external emergency stop signal.
• The Electromagnetic Brake has no polarity.
• For the capacity of the electromagnetic brake and how to use it, refer to P.B45, "Specifications of Built-in Holding Brake".
• Provide a surge absorber.
• Connect a 5A fuse in series with the surge absorber. 3. System Configuration and Wiring Wiring of the Main Circuit (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) Peel off the insulation cover of the cable. (Observe the dimension as the right fig. shows.) 2) Insert the cable to the connector detached from the driver.(See P .B18 for details.) 3) Connect the wired connector to the driver. 8~9mm Surge absorber Motor DC 24V Power supply DC power supply for brake NFBNF MC U V W E r t P U V W L Ground resistance : 100Ω max. For applicable wire, refer to P.B14 and B15. Red Black Green yellow Yellow (X2)
• Check the name plate of the driver for power specifications.
• Provide a circuit breaker, or a leakage breaker. The leakage breaker to be the one designed for "Inverter" and is equipped with countermeasures for harmonics.
• Provide a noise filter without fail.
• Provide a surge absorber to a coil of the Magnetic Contactor. Never start/stop the motor with this Magnetic Contactor. Connect a fuse in series with the surge absorber. Ask the manufacturer of the Magnetic Contactor for the fuse rating.
• Provide an AC Reactor.
• Don't disconnect the short bar between B1 and B2. Disconnect this only when an external regenerative register is used.
• Match the colors of the motor lead wires to those of the corresponding motor output terminals (U,V,W).
• Avoid shorting and ground fault. Don't connect the main power.
• Earth-ground this.
• Connect the protective earth terminal ( ) of the driver and the protective earth (earth plate) of the control panel without fail to prevent electrical shock.
• Don't co-clamp the earth wires to the protective earth terminal ( ) . Two terminals are provided.
• Don't connect the earth cable to other inserting slot, nor make them touch.
• Compose a duplex Brake Control Circuit so that the brake can also be activated by an external emergency stop signal.
• The Electromagnetic Brake has no polarity.
• For the capacity of the electromagnetic brake an d how to use it, refer to P.B47, "Specifications of Built-in Holding Brake".
• Provide a surge absorber.
• Connect a 5A fuse in series with the surge absorber. White Fuse (5A) Wiring of the Main Circuit (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) Take off the cover fixing screws, and detach the terminal cover. 2) Make wiring Use clamp type terminals of round shape with insulation cover for wiring to the termi- nal block. For cable diameter and size, rater to "Driver and List of Applicable Periph- eral Equipments" (P .B14 and B15). 3) Attach the terminal cover, and fix with screws. Fastening torque of cover fixed screw in less than 0.2 N•m.

– B19 – – B18 – 3. System Configuration and Wiring

• Follow the procedures below for the wiring connection to the Connector CN X1 and X2 . How to connect 1. Peel off the insulation cover of the cable. (see the right fig for exact length for peeling.) 2. Insert the cable to the connecter in the following 2 methods. (a) Using the attached Handle Lever (b) Using a screw driver (blade width of 3.0 to 3.5 mm) (a) Using handle lever * You can pull out the cable by pushing down the spring as the above. * You can pull out the cable by pushing down the spring as the above. 8 to 9mm Attach the handle lever to the handling slot on the upper portion. Press down the lever to push down the spring. Insert the peeled cable while pressing down the lever, until it hits the insertion slot (round hole). Release the lever. (b) Using screw driver <CAUTION>
• Peel off the cable with exact length (8 to 9 mm).
• Take off the connector from the Servo Driver before making connection.
• Insert one cable into each one of cable insertion slot.
• Pay attention to injury by screw driver. Press the screw driver to the handling slot on the upper portion to push down the spring. Insert the peeled cable while pressing down the screw driver, until it hits the insertion slot (round hole). Release the screw driver. Wiring method to connector (A to D-frame)Wiring Diagram Compose the circuit so that the main circuit power will be shut off when an error occurs. Noise filter Main power supply Control power supply Motor ALM37ALM+ L1C L2C RB1 MC NFB RB3 RB2 U V W CN X2 Surge absorber External regenerative resistor ALM–36 DC12 to 24V (±5%) Red White Black Green Motor connection CN X5 CN X1 172167-1 Tyco Electronics AMP 172159-1 Tyco Electronics AMP L MC ALM ON OFF Noise filter Main power supply Control power supply Motor ALM37ALM+ L1C L2C RB1 MC NFB RB3 RB2 U V W CN X2 External regenerative resistor ALM–36 DC12 to 24V (±5%) Red White Black Green Motor connection CN X5 CN X1 172167-1 Tyco Electronics AMP 172159-1 Tyco Electronics AMP L MC ALM ON OFF In Case of Single Phase, 100V (A and B-frame) In Case of Single Phase, 200V (A and B-frame) Power supply Single phase, 100V to 115V+10% –15% +10% –15% Power supply Single phase, 200V to 240V+10% –15% +10% –15% Use a reactor for 3-phase Built-in thermostat of an external regenerative resistor (light yellow) MC Surge absorber Built-in thermostat of an external regenerative resistor (light yellow) MC 12 3

– B21 – – B20 – 3. System Configuration and Wiring PIN No. Application PIN No. Application External regenerative resistor <Remarks> When you use single phase, connect the main power between L1 and L3 terminals. Motor L1C L2C RB1 MC NFB RB3 RB2 U V W (Remove the short wire when you connect the external regenerative resistor.) 172167-1 Tyco Electronics AMP 172159-1 Tyco Electronics AMP L <Remarks> When you use single phase, connect the main power between L1 and L3 terminals. Motor L1C L2C RB1 MC NFB RB3 RB2 U V W (Remove the short wire when you connect the external regenerative resistor.) 172167-1 Tyco Electronics AMP 172159-1 Tyco Electronics AMP L A B D C A H G C D E B I F C B A I H G F E D A JL04V-2E20-4PE-B-R JL04HV-2E22-22PE-B-R JL04V-2E20-18PE-B-R JL04V-2E24-11PE-B-R U-phase V-phase W-phase Ground PIN No. B C D Application G H A F I B E D C Brake Brake NC U-phase V-phase W-phase Ground Ground NC ABrake Brake NC U-phase V-phase W-phase Ground Ground NC B C D E F G H I <Remark> Do not connect anything to NC. * When you use motor model of MSMA, MDMA, MFMA, MHMA and MGMA, use the connections as the below table shows. [Motor portion] Connector : by Japan Aviation Electronics Ind. In Case of Single Phase, 200V (C and D-frame) In Case of 3-Phase, 200V (C and D-frame) CN X2 CN X1 ALM37ALM+ ALM–36 DC12 to 24V (±5%) CN X5 CN X2 CN X1 CN X5 ALM37ALM+ ALM–36 DC12 to 24V (±5%) MC ALM ON OFF MC ALM ON OFF Use a reactor for 3-phase Noise filter Noise filter Main power supply Control power supply Motor connection Main power supply Control power supply Motor connection Power supply Single phase, 200V to 240V+10% –15% +10% –15% Power supply 3-phase, 200V to 240V+10% –15% +10% –15% Red White Black Green External regenerative resistor Red White Black Green Surge absorber Built-in thermostat of an external regenerative resistor (light yellow) MC Surge absorber Built-in thermostat of an external regenerative resistor (light yellow) MC Red White Black Green PIN No. Application PIN No. Application [Motor portion] Connector : by Japan Aviation Electronics Ind. In Case of 3-Phase, 200V (E and F-frame) A B D C A H G C D E B I F C B A I H G F E D A JL04V-2E20-4PE-B-R JL04HV-2E22-22PE-B-R JL04V-2E20-18PE-B-R JL04V-2E24-11PE-B-R U-phase V-phase W-phase Ground PIN No. B C D Application G H A F I B E D C Brake Brake NC U-phase V-phase W-phase Ground Ground NC ABrake Brake NC U-phase V-phase W-phase Ground Ground NC B C D E F G H I Motor ALM 37ALM+ r t P MC MC NFB ALM ONOFF U V W ALM– DC12 to 24V (±5%) (Remove the short bar when you connect the external regenerative resistor.) L <Remark> Do not connect anything to NC. Power supply 3-phase, 200V to 230V+10% –15% +10% –15% Noise filter Main power supply Control power supply Motor connection External regenerative resistor Surge absorber Built-in thermostat of an external regenerative resistor (light yellow) MC

– B23 – – B22 – Wiring Diagram In case of 17-bit absolute/incremental encoder Regulator MSMD 50W to 750W MAMA 100W to 750W MQMA 100W to 400Wmotor 1+5V 0V 2 Twisted pair Junction cable (by Tyco Electronics, AMP) 172160-1 172168-1 (by Tyco Electronics, AMP) Motor side Driver side Case Case CN X6 CN X6 Black Purple White Light Blue Regulator E5V E0V E5V E0V PS PS PS FG PS +5V motor (by Japan Aviation Electronics Ind.) H G K L Twisted pair Pin No. of connector Junction cable Straight plug Cable clamp N/MS3106B20-29S N/MS3057-12A Motor side Driver side E5V E0V PS PS J PS PS FG E5V E0V MSMA 1kW to 5kW MDMA 1kW to 5kW MHMA 500W to 5kW MFMA 400W to 4.5kW MGMA 900W to 4.5kW 3. System Configuration and Wiring MSMD 50W to 750W MAMA 100W to 750W MQMA 100W to 400W motor 1+5V +5V battery battery Twisted pair Junction cable (by Tyco Electronics, AMP) 172161-1 172169-1 (by Tyco Electronics, AMP) Motor side Driver side Black Purple Yellow/Green White Light Blue Pink Red E5V E0V E5V E0V BAT+ BAT– PS PS motor (Japan Aviation Electronics Industry, Ltd.) H G K L J T S Twisted pair Pin No. of connector Junction cable Straight plug Cable clamp N/MS3106B20-29S N/MS3057-12A Motor side Driver side E5V E0V PS PS PS PS FG E5V E0V PS PS Case Case BAT+ BAT– FG Regulator Regulator CN X6 CN X6 MSMA 1kW to 5kW MDMA 1kW to 5kW MHMA 500W to 5kW MFMA 400W to 4.5kW MGMA 900W to 4.5kW Wiring to the Connector, CN X6 (Connection to Encoder) Wiring Diagram In case of 2500P/r incremental encoder

– B25 – – B24 – Wiring Example of Velocity Control Mode7 4.7kΩ COM+ OA+ OA - OB+ OB - OZ+ OZ - GND CZ SPR/TRQR GND CCWTL/TRQR GND CWTL SP IM 3.83kΩ 3.83kΩ 20kΩ 10kΩ 10kΩ 1kΩ 1kΩ INTSPD1 INTSPD2 SRV-ON GAIN INTSPD3 ZEROSPD C-MODE A-CLR CCWL CWL S-RDY+ S-RDY - ALM+ AT-SPEED + BRKOFF + BRKOFF - TLC VDC 12 to 24V ZSP COM - FG AT-SPEED - ALM - Servo-ON input Gain switching input DividerAlarm clear input A-phase output B-phase output Z-phase output Z-phase output (open collector) Servo-Ready output Servo alarm output Positioning complete output Brake release output Torque in-limit output (Select with Pr09) (Select with Pr0A) 26Speed zero clamp input Velocity command input (0 to ± 10V) CCW torque limit input(0 to ± 10V) CW torque limit input(-10 to 0V) Velocity monitor output Torque monitor output 330Ω 330Ω 330Ω CN X5 Selection 1 input of internal command speed Selection 2 input of internal command speed Slection 3 input of internal command speed Control mode switching input CCW over-travel inhibition input CW over-travel inhibition input Zero speed detection output ( represents twisted pair.) Wiring for Typical Control Modes to the Connector CN X5 Wiring Example of Position Control Mode 3. System Configuration and Wiring In case of open collector I/F(1) When you use the external resistor with 12V and 24V power supply (2) When you do not use the external resistor with 24V power supply CCW torque limit input (0 to +10V) CW torque limit input (-10 to +10V) Velocity monitor output Torque monitor output ( represents twisted pair.) Command pulse input A (Use with 500kpps or less.) 4.7kΩ COM+ PULS2 SIGN1 SIGN2 GND OA+ OA OB+ OB - OZ+ OZ - GND CZ SPR/TRQR GND CCWTL/TRQR GND CWTL SP IM 3.83kΩ 3.83kΩ 43kΩ2kΩ 2kΩ 43kΩ 220Ω 20kΩ 220Ω 330Ω 330Ω 330Ω 220Ω 2.2kΩ 2.2kΩ 10kΩ 10kΩ 1kΩ 1kΩ PULS1 OPC2 OPC1 INH CL SRV-ON GAIN DIV VS-SEL C-MODE A-CLR CCWL CWL S-RD Y+ S-RDY - ALM+ COIN+ BRKOFF + BRKOFF - TLC VDC 12 to 24V ZSP COM - SIGNH1 SIGNH2 GND PULSH1 PULS PULSH2 FG COIN - ALM - Servo-ON input Gain switching input Electronic gear switching input Control mode switching input Damping control switching input Divider Alarm clear input CCW over-travel inhibition input A-phase output B-phase output Z-phase output Z-phase output (open collector) CW over-travel inhibition input Servo-Ready output Servo-Alarm output Positioning complete output Brake release output Torque in-limit output (Select with Pr09) Zero speed detection output (Select with Pr0A) Deviation counter clear input Command pulse inhibition input Command pulse input B (Use with 2Mpps or less.) PULS1 PULS2 SIGN1 GND VDC 12V 24V pecifications of R 1kΩ1/2W 2kΩ1/2W SIGN2 220Ω 220Ω VDC R R PULS2 GND SIGN2 OPC1 OPC2 220Ω 220Ω 24VDC 2.2kΩ 2.2kΩ VDC -1.5 R +220 =10mA.. CN X5 SIGN 43kΩ2kΩ 2kΩ 43kΩ 220Ω

– B27 – – B26 – 3. System Configuration and Wiring 4.7kΩ COM+ OA+ OA - OB+ OB - OZ+ OZ - GND CZ SPR/TRQR GND CCWTL/TRQR GND CWTL SP IM 3.83kΩ 3.83kΩ 20kΩ 10kΩ 10kΩ 1kΩ 1kΩ INH CL SRV-ON GAIN DIV ZEROSPD C-MODE A-CLR CCWL CWL S-RDY+ S-RDY - ALM+ AT-SPEED + BRKOFF + BRKOFF - TLC ZSP COM - FG AT-SPEED - ALM - Servo-ON input Gain switching input DividerAlarm clear input Torque command input or velocity limit input (0 to ±10V) Velocity monitor output Torque monitor output Z-phase output (open collector) Servo-Ready output Servo-Alarm output At-speed signal output Brake release output Torque in-limit output (Select with Pr09) Zero speed detection output (Select with Pr0A) Wiring example when control mode Pr02=0 or Pr5B=1, CCWTL/TRQR GND CW torque limit input (0 to ±10V) 330Ω 330Ω 330Ω Speed zero clamp input CN X5 <Remarks> In case Pr5B=0, enter a speed limit value to 4th speed of speed setup (Pr56). Control mode switching input CCW over-travel inhibition input CW over-travel inhibition input VDC 12 to 24V A-phase output B-phase output Z-phase output ( represents twisted pair.) Select with Pr5B. Wiring Example of Torque Control Mode 4. Parameter Outline of Parameter This driver is equipped with various parameters to set up its characteristics and func- tions. This section describes the function and purpose of each parameter. Read and comprehend very well so that you can adjust this diver in optimum condition for your running requirements. How to Set

• Y ou can refer and set up the parameter with either one of the following. 1) front panel of the driver 2) combination of the setup support software, "PANATERM®" (Option, DV0P4460: En- glish/Japanese version) and PC. 3) console (DV0P4420, option) <Note> For setup of the parameters on PC screen, refer to the instruction manual of the "PANATERM®". Setup with the Front Panel Mode switching button (valid at SELECTION display) Press this to switch 5 kinds of mode. 1) Monitor Mode 2) Parameter Set up Mode 3) EEPROM Write Mode 4) Auto-Gain Tuning Mode 5) Auxiliary Function Mode Display LED (6-digit) All of LED will flash when error occurs, and switch to error display screen. All of LED will flash slowly when warning occurs. Shifting of the digit for data changing to higher digit (Valid to the digit whose decimal point flashes.) Press these to change display and data, selec t parameters and execute actions. (Change/Selection/Execution is valid to the digit which decimal point flashes.) Numerical value increases by pressing , , decreases by pressing . SET Button (valid at any time) Press this to switch SELECTION and EXECUTTION display.

– B29 – – B28 – 4. Parameter Display LED (6-digit) All of LED will flash when error occurs, and switch to error display screen. Displays ID No. (address) of selected driver (in 2 digits). The value set in Pr00(address) is ID No. Parameter No. is displayed (2 digits) at parameter setup mode. Press this to shift the digit for data change. Press these to change data or execute selected actio n of parameter. Numerical value increases by pressing , , decreases by pressing . SET Button Press this to shift each mode which is selected b y mode switching button to EXECUTION display. Mode Switching Button Press this to switch 6 kinds of mode. 1) Monitor mode 4) Normal auto-gain tuning mode 2) Parameter setup mode 5) Auxiliary function mode 3) EEPROM write mode 6) Copy mode Outline of PANATERM® With the PANATERM®, you can execute the followings. 1) Setup and storage of parameters, and writing to the memory (EEPROM). 2) Monitoring of I/O and pulse input and load factor. 3) Display of the present alarm and reference of the error history. 4) Data measurement of the wave-form graphic and bringing of the stored data. 5) Normal auto-gain tuning 6) Frequency characteristic measurement of the machine system. Setup with the Console How to Connect Connect to CN X4 Connect to CN X4 RS232 connection cable (option) DV0P1960 (for DOS/V machines) Console DV0P4420 (option) Setup disc of setup support software, PANATERM®

• DV0P4460 : English/Japanese version (option) <Remarks>
• Connect the console connector to the connector, CN X4 of the driver securely.
• Do not pull the cable to insert/unplug.

– B31 – – B30 – 4. Parameter Parameters for Functional Selection <Notes>

• For parameters with suffix of "*1", change will be validated after the reset of the control power.
• For parameters which default values are parenthesized by "< >", default value varies automatically by the real-time auto-gain tuning function. Set up Pr21 (Setup of Real- time auto-gain tuning mode) to 0 (invalid) when you want to adjust manually. * In this documentation, each mode is represented by the following symbols P : Position control, S : Velocity control, T : Torque control, F : Full-closed control, P/S : Position (1st),/Velocity (2nd) control, P/T : Position (1st)/Torque (2nd) control, S/T : Velocity (1st)/Torque (2nd) control. Set up of parameter Range UnitRelated control mode Parameter No. (Pr )Default 00*1 01*1 02*1 0C*1 0D*1 0E*1 0 to 15 0 to 17 0 to 6 0 to 3 0 to 2 0 to 3 0 to 2 0 to 9 0 to 12 0 to 8 0 to 8 0 to 2 0 to 5 0 to 5 0 to 1 all all all P, S, F all S S, T all all all all all all all all Address of axis Initial display of LED Setup of control mode Selection of torque limit Setup of over-travel inhibit input Switching of Internal/External speed setup Selection of ZEROSPD input Selection of speed monitor (SP) Selection of torque monitor (IM) Selection of TLO output Selection of ZSP output Setup of absolute encoder Baud rate setup of RS232 Baud rate setup of RS485 Setup of front panel lock (For manufacturer's use) Parameters for Adjustment of Time Constant for Gains and Filters Set up of parameter Range UnitRelated control mode Parameter No. (Pr ) Default 0 to 3000 1 to 3500 1 to 1000 0 to 5 0 to 2500 –2000 to 2000 0 to 6400 <63> <32> <35> <18> <16> <31> <0> <65> <126> <300> <50> 1/s Hz ms 0.01ms 0.1% 0.01ms P, F all all all all P, F P, F 1st gain of position loop 1st gain of velocity loop 1st time constant of velocity loop integration 1st filter of velocity detection 1st time constant of torque filter Velocity feed forward Time constant of feed forward filter (For manufacturer's use) A to C-frame D to F-frame Composition and List of Parameters Group OutlineParameter No. (Pr ) Functional selection Adjustment Position (Step) Control Velocity Control, Torque Control Sequence Full-Closed Control 00 to 0F 10 to 1F, 27 to 2E 20 to 26, 2F 30 to 3F 40 to 4F 50 to 5A, 74 to 77 5B to 5F 60 to 6F 70 to 73 78 to 7F You can select a control mode, designate I/O signals and set up a baud rate. You can set up servo gains (1st and 2nd) of position, velocity, integration, etc, and time constants of various filters. Parameters related to Real Time Auto-Gain Tuning. You can set up a mode and select a mechanical stiffness. You can set up parameters related to gain switching(1st 2nd) You can set up an input form, directional selection of command pulses, dividing of encoder output pulse and set up a division multiplier ratio of command pulse. You can set up an input gain of command pulse reverse polarity and adjust offset. You can also set up internal speeds (1 to 8th speed), acceleration/ deceleration time. You can set an input gain, reverse polarity and se t up a torque limit of torque command. You can set up detecting conditions of output signals, such as positioning-complete and zero-speed. You can also set up a deceleration/stop action at main power-off, at alarm output and at servo-off, and clear condition of the deviation counter. You can set up actions of protective functions. You can set up dividing of external scale.
• In this document, following symbols represent each mode. * When you select the combination mode of 3, 4 or 5, you can select either 1st or 2nd with control mode switching input (C-MODE). when C-MODE is open : 1st mode selection when C-Mode is closed: 2nd mode selection Do not enter the command 10ms before/after the switching. P S T F Symbol Position control Velocity control Torque control Full-Closed control Control mode P/S P/T S/T Symbol Setup value of Pr02 Position (1st)/Velocity (2nd) control Position (1st)/Torque (2nd) control Velocity (1st)/Torque (2nd) control Control mode Setup value of Pr02

– B33 – – B32 – Parameters for Adjustment (2nd Gain Switching Function) <Notes>

• For parameters with suffix of "*1", change will be validated after the reset of the con- trol power.
• For parameters which default values are parenthesized by "< >", default value varies automatically by the real-time auto-gain tuning function. Set up Pr21 (Setup of Real- time auto-gain tuning mode) to 0 (invalid) when you want to adjust manually. 4. Parameter Parameters for Adjustment of Time Constant for Gains and Filters Parameters for Auto-Gain Tuning Set up of parameter Range UnitRelated control mode Parameter No. (Pr ) Default 0 to 3000 1 to 3500 1 to 1000 0 to 5 0 to 2500 100 to 1500 0 to 4 0 to 1 100 to 1500 0 to 4 0 to 99 0 to 2000 –200 to 2000 0 to 2000 –200 to 2000 <73> <38> <35> <18> <1000> <0> <65> <126> 1500 <0> 1500 1/s Hz ms 0.01ms Hz Hz 0.1Hz 0.1Hz P, F all all all all all all P, S all all all P, F P, F P, F P, F 2nd gain of position loop 2nd gain of velocity loop 2nd Time constant of velocity loop integration 2nd filter of velocity detection 2nd torque filter time constant 1st notch frequency Selection of 1st notch width (For manufacturer's use) Setup of instantaneous velocity observer 2nd notch frequency Selection of 2nd notch width Selection of 2nd notch depth 1st damping frequency Setup of 1st damping filter 2nd damping frequency Setup of 2nd damping filter A to C-frame D to F-frame Set up of parameter Range UnitRelated control mode Parameter No. (Pr ) 2F*2 0 to 10000 0 to 7 0 to 15 0 to 2 0 to 2 0 to 7 0 to 1000 0 to 64 <250> 4 1 0.1rev all all all P, S, F P, F all P, F P, S, F Inertia ratio Setup of real-time auto-gain tuning mode Mechanical stiffness at real-time auto-gain tuning Setup of adaptive filter mode Selection of damping filter switching Setup of action at normal mode auto-gain tuning Setup of software limit Adaptive filter frequency Default A to C-frame D to F-frame Set up of parameter Range UnitRelated control mode Parameter No. (Pr )Default 0 to 1 0 to 10 0 to 10000 0 to 20000 0 to 20000 0 to 10000 0 to 5 0 to 10000 0 to 20000 0 to 20000 0 to 500 <1> <0> <30> <50> <33> <20> <0> 300 166µs 166µs r/min all all all all all P, F S, T S, T S, T S, T all Setup of 2nd gain 1st mode of control switching 1st delay time of control switching 1st level of control switching 1st hysteresis of control switching Time for position gain switching 2nd mode of control switching 2nd delay time of control switching 2nd level of control switching 2nd hysteresis 0f control switching (For manufacturer's use) (For manufacturer's use) (For manufacturer's use) Setup of JOG speed (For manufacturer's use) (For manufacturer's use) (1+Setup value) x 166µs Parameters for Position Control Set up of parameter Range UnitRelated control mode Parameter No. (Pr )Default 40*1 41*1 42*1 45*1 46*1 47*1 0 to 1 0 to 1 0 to 3 0 to 1 1 to 32767 0 to 32767 0 to 3 0 to 32767 2500 P, F P, F P, F P, F all all all F Selection of command pulse input setup of rotational direction of command pulse setup of command pulse input mode Canceling of command pulse prohibition input Numerator of pulse output division Denominator of pulse output division Logic reversal of pulse output Setup of Z-phase of external scale *2 this parameter will be automatically set up when the adaptive filter is validated (Pr23, “Setup of adaptive filter mode” is “1”, and you cannot set this up at your discretion. Set up Pr23, “Setup of adaptive filter mode” to “0” (invalid) to clear this parameter. * In this documentation, each mode is represented by the following symbols P : Position control, S : Velocity control, T : Torque control, F : Full-closed control, P/S : Position (1st),/Velocity (2nd) control, P/T : Position (1st)/Torque (2nd) control, S/T : Velocity (1st)/Torque (2nd) control.

– B35 – – B34 – Parameters for Sequence 4. Parameter Parameters for Velocity/Torque control Set up of parameter Range UnitRelated control mode Parameter No. (Pr )Default 10 to 2000 0 to 1 –2047 to 2047 –20000 to 20000 –20000 to 20000 –20000 to 20000 –20000 to 20000 –20000 to 20000 –20000 to 20000 –20000 to 20000 –20000 to 20000 0 to 6400 0 to 5000 0 to 5000 0 to 500 0 to 1 10 to 100 0 to 1 0 to 500 0 to 500 500 <500> <500>*3 (r/min)/V 0.3mV r/min r/min r/min r/min r/min r/min r/min r/min 0.01ms 2ms S, T S S, T S S S S, T S S S S S, T S S S T T T all P, S, F Input gain of speed command Input reversal of speed command Offset of speed command 1st speed of speed setup 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 8th speed of speed setup Setup of speed command filter Setup of acceleration time Setup of deceleration time Setup of sigmoid acceleration/deceleration time Selection of torque command Input gain of torque command Input reversal of torque command Setup of 1st torque limit Setup of 2nd torque limit 2ms/ (1000r/min) 2ms/ (1000r/min) 0.1V / rated torque Set up of parameter Range UnitRelated control mode Parameter No. (Pr )Default 6D*1 0 to 32767 10 to 20000 10 to 20000 0 to 3 0 to 1 0 to 2 0 to 9 0 to 3 0 to 9 0 to 100 0 to 100 0 to 3 35 to 1000 0 to 500 0 to 32767 0 to 100 0 to 500 0 to 20000 131 1000 25000 Pulse r/min r/min 2ms 2ms 2ms 256Pulse 0.1V r/min P, F all S, T P, F all all all all all all all all all all P, F S, T all all In-position (positioning complete) range Zero speed At-speed (arrived speed) Setup of in-position output (For manufacturer's use) Selection of LV-trip at main power off Sequence at run-prohibition Sequence at main power off Sequence at alarm Sequence at servo-off Setup of mechanical brake action at stall Setup of mechanical brake action in motion Selection of external regenerative resister Detection time of main power shut-off Setup to torque at emergency stop (For manufacturer's use) Excess setup of positional deviation Excess setup of analog input Setup of over-load level Setup of over-speed level A, B-frame : 3, C,D,E-frame : 0 <Notes>

• For parameters with suffix of "*1", change will be validated after the reset of the con- trol power. *3Defaults of Pr5E and Pr5F vary depending on the combination of the driver and the motor. Set up of parameter Range UnitRelated control mode Parameter No. (Pr )Default 0 to 10000 0 to 10000 0 to 17 1 to 10000 0 to 7 0 to 31 0 to 2 10000 P, F P, F P, F P, F P, F P, F P, F 1st numerator of electronic gear 2nd numerator of electronic gear Multiplier for numerator of electronic gear Denominator of electronic gear Setup of smoothing filter for primary delay Setup of FIR smoothing Counter clear input mode (For manufacturer's use) * In this documentation, each mode is represented by the following symbols P : Position control, S : Velocity control, T : Torque control, F : Full-closed control, P/S : Position (1st),/Velocity (2nd) control, P/T : Position (1st)/Torque (2nd) control, S/T : Velocity (1st)/Torque (2nd) control. Parameters for Full-Closed Control Set up of parameter Range UnitRelated control mode Parameter No. (Pr )Default 78*1 79*1 7A*1 7B*1 7C*1 0 to 32767 0 to 17 1 to 32767 1 to 10000 0 to 1 10000 100 F F F F F Numerator of external scale division Numerator multiplier of external scale division Denominator of external scale division Excess setup of hybrid deviation Reversal of direction of external scale (For manufacturer's use) (For manufacturer's use) (For manufacturer's use)

16 X external

– B37 – – B36 – 5. Protective Functions Protective Function (What Is Error Code ?)

• Various protective functions are equipped in the driver. When these are triggered, the motor will stall due to error, the driver will turn the Servo-Alarm output (ALM) to off (open).
• Error status ands their measures
• During the error status, the error code No. will be displayed on the front panel LED, and you cannot turn Servo-ON.
• Y ou can clear the error status by turning on the alarm clear input (A-CLR) for 120ms or longer.
• When overload protection is triggered, you can clear it by turning on the alarm clear signal (A-CLR) 10 sec or longer after the error occurs. Y ou can clear the time charac- teristics by turning off the connection between L1C and L2C or r and t of the control power supply of the driver.
• Y ou can clear the above error by operating the front panel keys.
• Y ou can also clear the above error by operating the "PANATERM®". <Remarks>
• When the protective function with a prefix of "*" in the protective function table is triggered, you cannot clear with alarm clear input (A-CLR). For resumption, shut off the power to remove the cause of the error and re-enter the power.
• Following errors will not be stored in the error history. Control power supply under-voltage protection (Error code No. 11) Main power supply under-voltage protection (Error code No. 13) EEPROM parameter error protection (Error code No. 36) EEPROM check code error protection (Error code No. 37) Over-travel prohibition input protection (Error code No. 38) Motor self-recognition error protection (Error code No. 95) Protective function Error code No. Other No. Protective function Error code No. Control power supply under- voltage protectionAnalog input excess protection Absolute system down error protection * Absolute counter over error protection Absolute over-speed error protection * Absolute single turn counter error protection * Absolute multi-turn counter error protection Absolute status error protection * Encoder Z-phase error protection * Encoder CS signal error protection * External scale status 0 error protection * External scale status 1 error protection * External scale status 2 error protection * External scale status 3 error protection * External scale status 4 error protection * External scale status 5 error protection CCWTL input excess protection CWTL input excess protection * Motor automatic recognition error protection * Other error Over-voltage protection Main power supply under-voltage protection * Over-current protection * Over-heat protection Over-load protection * Over-regeneration load protection * Encoder communication error protection * Encoder communication data error protection Position deviation excess protection * Hybrid deviation excess error protection Over-speed protection Electronic gear error protection * External scale communication data error protection Deviation counter overflow protection Software limit protection * External scale communication error protection * EEPROM parameter error protection * EEPROM check code error protection Over-travel inhibit input protection

– B39 – – B38 – Prohibited Disassembling for inspection and repair should be carried out only by authorized dealers or ser- vice company. 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
• Damage of the cables
• Loose connection or misalignment between the motor and machine or equipment
• Pinching of foreign object at the load
• Loose tightening
• Trace of overheat
• Damage of the terminals Type Cycles Items to be inspected Daily inspection Periodical inspection Driver Motor Motor with gear reducer Smoothing condenser Cooling fan Aluminum electrolytic capacitor (on PCB) Rush current preventive relay Rush current preventive resistor Bearing Oil seal Encoder Battery for absolute encoder Gear reducer Approx. 5 years 2 to 3 years (10,000 to 30,000 hours) Approx. 5 years Approx. 100,000 times (depending on working condition) Approx. 20,000 times (depending on working condition) 3 to 5 years (20,000 to 30,000 hours) 5000 hours 3 to 5 years (20,000 to 30,000 hours) Life time varies depending on working conditions. Refer to the instruction manual attached to the battery for absolute encoder. 10,000 hours Product ComponentStandard replacement cycles (hour)Note These hours or cycles are reference. When you experience any error, replacement is re- quired even before this standard replacement cy- cle. 6. Maintenance and Inspections
• Routine maintenance and inspection of the driver and motor are essential for the proper and safe operation. Notes on Maintenance and Inspection 1) Turn on and turn off should be done by operators or inspectors themselves. 2) Internal circuit of the driver is kept charged with high voltage for a while even after power-off. Turn off the power and allow 15 minutes or longer after LED display of the front panel has gone off, before performing maintenance and inspection. 3) Disconnect all of the connection to the driver when performing megger test (Insulation resistance measurement) to the driver, otherwise it could result in breakdown of the driver. Inspection Items and Cycles General and normal running condition Ambient conditions : 30˚C (annual average), load factor of 80% or lower, operating hours of 20 hours or less per day. Perform the daily and periodical inspection as per the items below. <Notes> Inspection cycle may change when the running conditions of the above change. 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.

– B41 – – B40 – Composition of Peripheral Equipments Installation Environment Use the servo driver in the environment of Pollution Degree 1 or 2 prescribed in IEC- 60664-1 (e.g. Install the driver in control panel with IP54 protection structure.) Control box Controller Insulated power supply for interface Power supply Circuit breaker Ground-fault breaker (RCD) Surge absorber Noise filter Noise filter for signal lines Protective earth (PE) U CN X5 CN X1 CN X2 CN X6 M RE V W L1C L2C Noise filter for signal lines Driver Motor Power Supply 100V type : Single phase, 100V+10% to 115V+10% 50/60Hz (A, B and C-frame)–15% –15% 200V type : Single phase, 200V+10% to 240V+10% 50/60Hz (B, C-frame)–15% –15% 200V type : Single/3-phase, 200V+10% to 240V+10% 50/60Hz (C, D-frame)–15% –15% 200V type : 3-phase, 200V+10% to 230V+10% 50/60Hz (E, F-frame)–15% –15% (1) This product is designed to be used at over-voltage category (Installation category) II of EN 50178:1997. If you want to use this product un over-voltage category (Installa- tion category) III, install a surge absorber which complies with EN61634-11:2002 or other relevant standards at the power input portion. (2) Use an insulated power supply of DC12 to 24V which has CE marking or complies with EN60950 Circuit Breaker Install a circuit breaker which complies with IEC Standards and UL recognizes (Listed and marked) between power supply and noise filter. 7. Conformity to EC Directives and UL Standards EC Directives The EC Directives apply to all such electronic products as those having specific func- tions and have been exported to EU and directly sold to general consumers. Those products are required to conform to the EU unified standards and to furnish the CE marking on the products. However, our AC servos meet the relevant EC Directives for Low Voltage Equipment so that the machine or equipment comprising our AC servos can meet EC Directives. EMC Directives MINAS Servo System conforms to relevant standard under EMC Directives setting up certain model (condition) with certain locating distance and wiring of the servo motor and the driver. And actual working condition often differs from this model condition espe- cially in wiring and grounding. Therefore, in order for the machine to conform to the EMC Directives, especially for noise emission and noise terminal voltage, it is necessary to examine the machine incorporating our servos. Conformed Standards IEC : International Electrotechnical commission E N : Europaischen Normen EMC : Electromagnetic Compatibility UL : Underwriters Laboratories CSA : Canadian Standards Association <Precautions in using options> Use options correctly after reading operation manuals of the options to better under- stand the precautions. Take care not to apply excessive stress to each optional part. Conforms to Low-Voltage Directives Standards referenced by EMC Directive s Subject Motor Motor/ Motor and driver Conformed Standard IEC60034-1 IEC60034-5 UL1004 CSA22.2 No.100 EN50178 UL508C EN55011 EN61000-6-2 IEC61000-4-2 IEC61000-4-3 IEC61000-4-4 IEC61000-4-5 IEC61000-4-6 IEC61000-4-11 Radio Disturbance Characteristics of Industrial, Scien- tific and Medical (ISM) Radio-Frequency Equipment Immunity for Industrial Environments Electrostatic Discharge Immunity Test Radio Frequency Electromagnetic Field Immunity Test Electric High-Speed Transition Phenomenon/Burst Immunity Test Lightening Surge Immunity Test High Frequency Conduction Immunity Test Instantaneous Outage Immunity Test

– B43 – – B42 – Surge Absorber Provide a surge absorber for the primary side of noise filter. <Remarks> Take off the surge absorber when you execute a dielectric test to the machine or equip- ment, or it may damage the surge absorber. Circuit diagram Circuit diagram ø4.2±0.2 41±1 UL-1015 AWG16 281 5.5±1 11±128.5±1 4.5±0.5 200 +30 ø4.2±0.2 41±1 UL-1015 AWG16 281 5.5±1 11±128.5±1 4.5±0.5 200 +30 2 1 2 1 Option part No. DV0P14503-phase 200V Manufacturer's part No. R . A .V-781BXZ-4 Manufacturer Okaya Electric Ind. Option part No. DV0P4190Single phase 100/200V Manufacturer's part No. R . A .V-781BWZ-4 Manufacturer Okaya Electric Ind. Voltage specifications for driver Voltage specifications for driver 7. Conformity to EC Directives and UL Standards Noise Filter When you install one noise filter at the power supply for multi-axes application, contact to a manufacture of the noise filter. Option part No. DV0P4170Single phase 100V/200V Applicable driver (frame) A and B-frame Manufacturer’s part No. SUP-EK5-ER-6 Manufacturer Okaya Electric Ind. Option part No. DV0P3410Three-phase 200V Applicable driver (frame) F-frame Manufacturer’s part No. 3SUP-HL50-ER-6B Manufacturer Okaya Electric Ind. LABEL LABEL A B C H F E DG Earth terminal Screw for cover Cover Body Terminal cover (transparent) 2–ø4.5 RCx Cx Cy LL Cy 2–ø4.5 x 6.75 53.1±1.0 100.0±2.0 88.0 75.05.0 12.010.0 50.0 60.0 7.0 2.0 (11.6) (13.0) 6-M4 Circuit diagram 6 3 Circuit diagram Circuit diagram Cx1 IN IN OUT OUT IN OUT RCx1 Cy1 Option part No. DV0P4180 DV0P42203-phase 200V Applicable driver (frame) C-frame D and E-frame Manufacturer’s part No. 3SUP-HQ10-ER-6 3SUP-HU30-ER-6 Manufacturer Okaya Electric Ind. ABCDEFGH 115 DV0P4180105 95 70 43 10 52 5.5 145 DV0P4220135 125 70 50 10 52 5.5 K L 286±3.0 150 2-ø5.5 x 72-ø5.5 6-6M 270 255±1.0 240 120 90±1.0 (18)(13) L A B E L Voltage specifications for driver Voltage specifications for driver Voltage specifications for driver

– B45 – – B44 – <Caution> Fix the signal line noise filter in place to eliminate excessive stress to the cables. Ground-Fault Breaker Install a type B ground fault breaker (RCD) at primary side of the power supply. Grounding (1)Connect the protective earth terminal ( ) of the driver and the protective earth terminal (PE) of the control box without fail to prevent electrical shocks. (2) Do not make a joint connection to the protective earth terminals ( ). 2 terminals are provided for protective earth. <Note> For driver and applicable peripheral equipments, refer to P .B14 "Driver and List of Ap- plicable Peripheral Equipments" . Conformity to UL Standards Observe the following conditions of (1) and (2) to make the system conform to UL508C (File No. E164620). (1) Use the driver in an environment of Pollution Degree 2 or 1 prescribed in IEC60664- 1. (e.g. Install in the control box with IP54 enclosure.) (2) Install a circuit breaker or fuse which are UL recognized (Listed marked) between the power supply and the noise filter without fail. For the rated current of the circuit breaker or fuse, refer to P .32, "Driver and List of Applicable Peripheral Equipments" of Preparation. Use a copper cable with temperature rating of 60˚C or higher. Tightening torque of more than the max. values (M4:1.2N

• m, M5: 2.0N•m) may break the terminal block. (3) Over-load protection level Over-load protective function will be activated when the effective current exceeds 115% or more than the rated current based on the time characteristics. Confirm that the effec- tive current of the driver does not exceed the rated current. Set up the peak permissible current with Pr5E (Setup of 1st torque limit) and Pr5F (Setup 2nd torque limit). 7. Conformity to EC Directives and UL Standards 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. 39±1 34±1 30±1 13±1 Mass: 62.8g Option part No. Manufacturer's part No. Manufacturer DV0P1460 ZCAT3035-1330 TDK Corp. 8. Built-in Holding Brake In the applications where the motor drives the vertical axis, this brake would be used to hold and prevent the work (moving load) from falling by gravity while the power to the servo is shut off. Use this built-in brake for "Holding" purpose only, that is to hold the stalling status. Never use this for "Brake" purpose to stop the load in motion. Output Timing of BRK-OFF Signal
• For the brake release timing at power-on, or braking timing at Servo-OFF/Servo-Alarm while the motor is in motion, refer to the technical reference. (DV0P4210)
• With the parameter, Pr6B (Setup of mechanical brake action while the motor is in motion), you can set up a time between when the motor enters to a free-run from energized status and when BRK-OFF signal turns off (brake will be engaged), when the Servo-OFF or alarm occurs while the motor is in motion. <Notes> 1. The lining sound of the brake (chattering and etc.) might be generated while running the motor with built-in brake, however this does not affect any functionality. 2. Magnetic flux might be generated through the motor shaft while the brake coil is ener- gized (brake is open). Pay an extra attention when magnetic sensors are used nearby the motor. Specifications of Built-in Holding Brake 4.9 44.1 147 44.1 147 196 490 2156 39.2 137 196 137 196 392 1470 DC2V or more DC1V or more DC2V or more 0.25 0.30 0.35 0.29 0.41 0.74 0.81 0.90 10 or less 20 or less 15 or less 15 (100) or less 50 (130) or less MSMD MAMA MQMA MSMA 50W, 100W 200W, 400W 750W 100W 200W, 400W 1.0kW 1.5kW, 2.0kW 3.0kW 4.0kW, 5.0kW 0.29 or more 1.27 or more 2.45 or more 0.29 or more 1.27 or more 4.9 or more 7.8 or more 11.8 or more 16.1 or more 0.002 0.018 0.075 0.03 0.09 0.25 0.33 1.35 35 or less 50 or less 70 or less 50 or less 60 or less 50 or less 80 or less 110 or less Permissible total work x 103J Permissible work (J) per one braking Releasing voltage Exciting current DC A (at cool-off) Releasing time ms* Engaging time ms Rotor inertia x 10–4 kg•m2 Static friction torque N•m Motor output Motor series (Continues to next page)

– B47 – – B46 – 8. Built-in Holding Brake 9. Dynamic Brake Permissible total work x 103J Permissible work (J) per one braking Releasing voltage Exciting current DC A (at cool-off) Releasing time ms* Engaging time ms Rotor inertia x 10–4 kg•m2 Static friction torque N•m Motor output Motor series 780 1470 2156 2450 2940 784 1470 2940 784 2940 1470 2156 1470 2940 588 1176 1470 1078 1372 588 1176 1372 588 1372 1470 1176 1372 DC2V or more 0.59 0.79 0.90 1.10 1.30 0.59 0.79 1.30 0.59 0.83 0.75 0.79 1.3 1.4 70 (200) or less 50 (130) or less 35 (150) or less 25 (200) or less 70 (200) or less 50 (130) or less 25 (200) or less 70 (200) or less 35 (150) or less 100 (450) or less 50 (130) or less 25 (200) or less 50 (130) or less MDMA MHMA MFMA MGMA 1.0kW 1.5kW, 2.0kW 3.0kW 4.0kW 5.0kW 500W, 1.0kW 1.5kW 2.0kW to 5.0kW 400W 1.5kW 2.5kW 4.5kW 900W 2.0kW 3.0kW, 4.5kW 4.9 or more 13.7 or more 16.1 or more 21.5 or more 24.5 or more 4.9 or more 13.7 or more 24.5 or more 4.9 or more 7.8 or more 21.6 or more 31.4 or more 13.7 or more 24.5 or more 58.8 or more 1.35 4.25 4.7 1.35 4.7 1.35 4.7 8.75 1.35 4.7 80 or less 100 or less 110 or less 90 or less 80 or less 100 or less 80 or less 150 or less 100 or less 80 or less 150 or less

• Excitation voltage is DC24V±10%.
• Values represent the ones with DC-cutoff using a surge absorber for holding brake. Values in ( ) represent those measured by using a diode (V03C by Renesas Technol- ogy Corp.).
• Above values (except static friction torque, releasing voltage and excitation current) represent typical values.
• Backlash of the built-in holding brake is kept ±1˚or smaller at ex-factory point.
• Permissible angular acceleration : 30000rad/s2 for MAMA series 10000rad/s2 for MSMD, MQMA, MSMA MDMA,MHMA MFMA and MGMA series
• Service life of the number of acceleration/deceleration with the above permissible angular acceleration is more than 10 million times. (Life end is defined as when the brake backlash drastically changes.) This driver is equipped with a dynamic brake for emergency stop. Pay a special attention to the followings. <Caution> 1.Dynamic brake is only for emergency stop. Do not start/stop the motor by turning on/off the Servo-ON signal (SRV-ON). Or it may damage the dynamic brake circuit of the driver. The motor becomes a dynamo when driven externally, and shorting current runs while this dynamic brake is activated and might cause smoking or fire. 2. Dynamic brake is a short-duration rating, and designed for only emergency stop. Al- low approx. 3 minutes pause when the dynamic brake is activated during high-speed running.
• Y ou can activate the dynamic brake in the following cases. 1) when the main power is turned off 2) at Servo-OFF 3) when one of the protective function is activated. 4) when over-travel inhibit input (CWL, CCWL) of CN X5 is activated In the above cases from 1) to 4), you can select either activation of the dynamic brake or making the motor free-run during deceleration or after the stop, with pa- rameter. Note that when the control power is off, the dynamic brake will be kept activated.

– B49 – – B48 – 10. Check of the Combination of the Driver and the Motor 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 MAMA Ultra low inertia MQMA Low inertia MSMD Low inertia MSMA Low inertia MDMA Middle inertia MHMA High inertia Power supplyMotor series Applicable motor Applicable driver 5000r/min 3000r/min 3000r/min 3000r/min 2000r/min 2000r/min Rated rotational speed 100W 200W 400W 750W 100W 200W 400W 100W 200W 400W 50W 100W 200W 400W 50W 100W 200W 400W 750W 1.0kW 1.5kW 2.0kW 3.0kW 4.0kW 5.0kW 1.0kW 1.5kW 2.0kW 3.0kW 4.0kW 5.0kW 500W 1.0kW 1.5kW 2.0kW 3.0kW 4.0kW 5.0kW Rated output MAMA012P1* MAMA022P1* MAMA042P1* MAMA082P1* MQMA011P1* MQMA021P1* MQMA041P1* MQMA012P1* MQMA022P1* MQMA042P1* MSMD5AZP1* MSMD011P1* MSMD021P1* MSMD041P1* MSMD5AZP1* MSMD012P1* MSMD022P1* MSMD042P1* MSMD082P1* MSMA102P1* MSMA152P1* MSMA202P1* MSMA302P1* MSMA402P1* MSMA502P1* MDMA102P1* MDMA152P1* MDMA202P1* MDMA302P1* MDMA402P1* MDMA502P1* MHMA052P1* MHMA102P1* MHMA152P1* MHMA202P1* MHMA302P1* MHMA402P1* MHMA502P1* Model A-frame B-frame C-frame D-frame A-frame B-frame C-frame A-frame A-frame B-frame A-frame B-frame C-frame A-frame B-frame C-frame D-frame E-frame F-frame D-frame E-frame F-frame C-frame D-frame E-frame F-frame Frame MADDT1207 MBDDT2210 MCDDT3520 MDDDT5540 MADDT1107 MBDDT2110 MCDDT3120 MADDT1205 MADDT1207 MBDDT2210 MADDT1105 MADDT1107 MBDDT2110 MCDDT3120 MADDT1205 MADDT1207 MBDDT2210 MCDDT3520 MDDDT5540 MEDDT7364 MFDDTA390 MFDDTB3A2 MDDDT3530 MDDDT5540 MEDDT7364 MFDDTA390 MFDDTB3A2 MCDDT3520 MDDDT3530 MDDDT5540 MEDDT7364 MFDDTA390 MFDDTB3A2 Model Single/3-phase, 200V 3-phase, 200V Single/3-phase, 200V 3-phase, 200V MFMA Middle inertia MGMA Middle inertia Power supplyMotor series Applicable motor Applicable driver 2000r/min 1000r/min Rated rotational speed 400W 1.5kW 2.5kW 4.5kW 900W 2.0kW 3.0kW 4.5kW Rated output MFMA042P1* MFMA152P1* MFMA252P1* MFMA452P1* MGMA092P1* MGMA202P1* MGMA302P1* MGMA452P1* Model C-frame D-frame E-frame F-frame D-frame F-frame Frame MCDDT3520 MDDDT5540 MEDDT7364 MFDDTB3A2 MDDDT5540 MFDDTA390 MFDDTB3A2 Model 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 MAMA Ultra low inertia MQMA Low inertia MSMD Low inertia MSMA Low inertia Power supplyMotor series Applicable motor Applicable driver 5000r/min 3000r/min 3000r/min 3000r/min Rated rotational speed 100W 200W 400W 750W 100W 200W 400W 100W 200W 400W 50W 100W 200W 400W 50W 100W 200W 400W 750W 1.0kW 1.5kW 2.0kW 3.0kW 4.0kW 5.0kW Rated output MAMA012S1* MAMA022S1* MAMA042S1* MAMA082S1* MQMA011S1* MQMA021S1* MQMA041S1* MQMA012S1* MQMA022S1* MQMA042S1* MSMD5AZS1* MSMD011S1* MSMD021S1* MSMD041S1* MSMD5AZS1* MSMD012S1* MSMD022S1* MSMD042S1* MSMD082S1* MSMA102S1* MSMA152S1* MSMA202S1* MSMA302S1* MSMA402S1* MSMA502S1* Model A-frame B-frame C-frame D-frame A-frame B-frame C-frame A-frame A-frame B-frame A-frame B-frame C-frame A-frame B-frame C-frame D-frame E-frame F-frame Frame MADDT1207 MBDDT2210 MCDDT3520 MDDDT5540 MADDT1107 MBDDT2110 MCDDT3120 MADDT1205 MADDT1207 MBDDT2210 MADDT1105 MADDT1107 MBDDT2110 MCDDT3120 MADDT1205 MADDT1207 MBDDT2210 MCDDT3520 MDDDT5540 MEDDT7364 MFDDTA390 MFDDTB3A2 Model This drive is designed to be used in a combination with the motor which are specified by us. Check the series name of the motor, rated output torque, voltage specifications and encoder specifications. Incremental Specifications, 2500P/r <Remarks> Do not use in other combinations than those listed below. <Note> Suffix of " * " in the applicable motor model represents the motor structure. Absolute/Incremental Specifications, 17-bit <Remarks> Do not use in other combinations than those listed below. (continues to next page)

– B50 – 10. Check of the Combination of the Driver and the Motor Single/3-phase, 200V 3-phase, 200V Single/3-phase, 200V 3-phase, 200V Single/3-phase, 200V 3-phase, 200V Single/3-phase, 200V 3-phase, 200V MDMA Middle inertia MHMA High inertia MFMA Middle inertia MGMA Middle inertia Power supplyMotor series Applicable motor Applicable driver 2000r/min 2000r/min 2000r/min 1000r/min Rated rotational speed 1.0kW 1.5kW 2.0kW 3.0kW 4.0kW 5.0kW 500W 1.0kW 1.5kW 2.0kW 3.0kW 4.0kW 5.0kW 400W 1.5kW 2.5kW 4.5kW 900W 2.0kW 3.0kW 4.5kW Rated output MDMA102S1* MDMA152S1* MDMA202S1* MDMA302S1* MDMA402S1* MDMA502S1* MHMA052S1* MHMA102S1* MHMA152S1* MHMA202S1* MHMA302S1* MHMA402S1* MHMA502S1* MFMA042S1* MFMA152S1* MFMA252S1* MFMA452S1* MGMA092S1* MGMA202S1* MGMA302S1* MGMA452S1* Model D-frame E-frame F-frame C-frame D-frame E-frame F-frame C-frame D-frame E-frame F-frame D-frame F-frame Frame MDDDT3530 MDDDT5540 MEDDT7364 MFDDTA390 MFDDTB3A2 MCDDT3520 MDDDT3530 MDDDT5540 MEDDT7364 MFDDTA390 MFDDTB3A2 MCDDT3520 MDDDT5540 MEDDT7364 MFDDTB3A2 MDDDT5540 MFDDTA390 MFDDTB3A2 Model <Notes> 1) Suffix of " * " in the applicable motor model represents the motor structure. 2) Default of the driver is set for the incremental encoder specifications. When you use in absolute, make the following operations. a) Install a battery for absolute encoder. b) Switch the parameter Pr0B (Absolute encoder setup) from "1 (default)" to "0". 3) No wiring for back up battery is required when you use the absolute 17-bit encoder in incremental. After-Sale Service (Repair) Repair Consult to a dealer from whom you have purchased the product for details of repair. When the product is incorporated to the machine or equipment you have purchased, consult to the manufacture or the dealer of the machine or equipment. Cautions for Proper Use

• This product is intended to be used with a general industrial product, but not designed or manufactured to be used in a machine or system that may cause personal death when it is failed.
• Install a safety equipments or apparatus in your application, when a serious accident or loss of property is expected due to the failure of this product.
• Consult us if the application of this product is under such special conditions and envi- ronments as nuclear energy control, aerospace, transportation, medical equipment, various safety equipments or equipments which require a lesser air contamination.
• We have been making the best effort to ensure the highest quality of the products, however, application of exceptionally larger external noise disturbance and static elec- tricity, or failure in input power, wiring and components may result in unexpected ac- tion. It is highly recommended that you make a fail-safe design and secure the safety in the operative range.
• If the motor shaft is not electrically grounded, it may cause an electrolytic corrosion to the bearing, depending on the condition of the machine and its mounting environ- ment, and may result in the bearing noise. Checking and verification by customer is required.
• Failure of this product depending on its content, may generate smoke of about one cigarette. Take this into consideration when the application of the machine is clean room related.
• Please be careful when using in an environment with high concentrations of sulphur or sulphuric gases, as sulphuration can lead to disconnection from the chip resistor or a poor contact connection.
• Take care to avoid inputting a supply voltage which significantly exceeds the rated range to the power supply of this product. Failure to heed this caution may result in damage to the internal parts, causing smoking and/or a fire and other trouble.

Technical information of this product (Instruction Manual, CAD data) can be downloaded from the following web site. http://industrial.panasonic.com/ww/i_e/25000/motor_fa_e/motor_fa_e.html Model No. M DD M MD Date of purchase Dealer Tel : ( ) - M MA MEMO (Fill in the blanks for reference in case of inquiry or repair.) Motor Company Matsushita Electric Industrial Co., Ltd. 7-1-1 Morofuku, Daito, Osaka, 574-0044, Japan Tel : (81)-72-871-1212