Panasonic MINAS A4P Series Manual de usuario

Instruction ManualAC Servo Motor and DriverMINAS A4P SeriesDV0P4490 •Thank you for buying and using Panasonic AC Servo Motor and Driver, MINAS A4P S

10Safety PrecautionsObserve the Following Instructions Without FailDo not hold the motor cable or motor shaft during the transporta-tion.Failure to ob

100How to Use the ConsoleClearing of Absolute EncoderOnly applicable to the system which uses absolute encoder. You can clear the alarm and multi-turn

101[Setting]Setting<Remarks>Don't disconnect the console from the driver between to .Should the

102How to Use the ConsoleCopying of Parameters from the Console to the DriverStarting from initial LED status,Press six time after pressing

103[Setting]SettingOutline of Setup Support Software, "PANATERM®"Outline of PANATERM®With the PANATERM®, you can execute the followings.(1)

104Outline of Setup Support Software, "PANATERM®"Log on of the "PANATERM®" .<Cautions/Notes>1. Once the "PANATERM®"

105[Operation Setting]pageOverview of Operation Setting...106Step Operation ...

106In MINAS A4P, the following operations can be performed.The most basic operation.Specify a point number set in advance when performing the operati

107[Operation Setting]OperationSettingStep OperationPositioning can be performed to a specified point by the step operation.The four types of modes ar

108Caution1) If a set value of speed, acceleration or deceleration at a specified point is “0”, an operation trips due to unde-fined data error protec

109[Operation Setting]OperationSettingVEL1ACC1DEC116.Pr**001012Parameter namePositioning setting first speedPositioning acceleration setting 1

11[Before Using the Products]Before Usingthe ProductsUse the motor and the driver in the specified combination.Failure to observe this instruction cou

110Step OperationExample of Rotary Axis Operation SettingIf the rotary axis operation is specified, the shaft moves in a direction nearest from the cu

111[Operation Setting]OperationSetting3) Setting of step data • Do not use the rotary axis operation (Rotary) mode together with the incremental opera

112Jog OperationJog OperationThe motor can be moved in a positive direction or negative direction independently.Point specifying input(P1IN to P32IN)

113[Operation Setting]OperationSetting• Parameters related to jog operation Set the parameters below when performing the jog operation.Caution1) If a

114Homing OperationHoming OperationTo start a step operation after turning the power supply on, you need to execute the homing to detect a homepositi

115[Operation Setting]OperationSettingA chart of I/O signal timing during homing and an operating procedure are shown as an example of the casethat 16

116Homing OperationDetect the home sensor (at the front end) in a direction of homing by 16.Pr30 (Homing speed (high)), get outof the home sensor area

117[Operation Setting]OperationSetting2) Also, if the over-travel inhibit input is enabled in an operating direction under any of the conditions below

118Homing OperationCaution1) If any of the set values of the parameters below is “0”, an operation trips due to homing error protection(error code No.

119[Operation Setting]OperationSettingCaution1) If any of the set values of the parameters below is “0”, an operation trips due to homing error protec

12Maintenance and InspectionDailyAnnual• Ambient temperature, humidity, speck, dust or foreign object• Abnormal vibration and noise• Mai

120Homing OperationDetect the home sensor and the limit sensor in a reverse direction, not in a direction of homing, by 16.Pr30(Homing speed (high)),

121[Operation Setting]OperationSettingDetect the limit sensor in a direction of homing by 16.Pr30 (Homing speed (high)), decelerate and stop. Aftertha

122Homing OperationZ Phase HomingExample: Z phase count = 3 at an operation in a positive directionCount the Z phase specified times by 16.Pr3B (homin

123[Operation Setting]OperationSettingCaution1) If any of the set values of the parameters below is “0”, an operation trips due to homing error protec

124Homing OperationHoming Offset OperationThe home offset at the completion of homing can be specified by 32.Pr00 (Home offset). Specify the travelfro

125[Operation Setting]OperationSettingEmergency Stop Operation/Deceleration-and-Stop OperationAn active operation can be interrupted and canceled.Emer

126Temporary Stop OperationAn active operation can be stopped temporarily and restarted.Multifunction input 1, 2(EX-IN1, EX-IN2)SpeedIn-operation sig

127[Operation Setting]OperationSettingOverview of Block OperationThis servo driver can perform the two types of block operations, i.e., continuous blo

128Caution1) A maximum point number (specified by the settings of SV.Pr57 (selection of number of input points)) istreated as the “Single” operation,

129[Operation Setting]OperationSettingCombined block operation procedure (example)1. Set a 16-bit positioning parameter and step parameter. (Refer to

13[Before Using the Products]Before Usingthe ProductsDriverMotorMotor withgear reducerSmoothing capacitor Cooling fa

130Sequential OperationSequential OperationThe sequential operation can be performed by setting 16.Pr52 (sequential operation setting) to “1”. Whenthe

131[Operation Setting]OperationSettingS-shaped Acceleration/Deceleration FunctionS-shaped Acceleration/Deceleration FunctionThis servo driver can perf

132Timing ChartOperation Timing after Power-ON<Notes> • The above chart shows the timing from AC power-ON to command input. • Activate the exter

133[Operation Setting]OperationSettingWhen an Error (Alarm) Has Occurred (at Servo-ON Command)Caution*1. t1 will be a shorter time of either the setup

134Timing ChartWhen an Alarm Has Been Cleared (at Servo-ON Command)Dynamic brakeMotor energizationBrake release output(BRK-OFF)Servo-Alarm output(AL

135[Operation Setting]OperationSettingServo-ON/OFF Action While the Motor Is at Stall (Servo-Lock)Caution*1. t1 will be determined by SV.Pr6A setup va

136Absolute SystemOverview of Absolute SystemIn a motor of the absolute encoder specifications or absolute/incremental specifications, an absolute sys

137[Operation Setting]OperationSetting<Caution>Use the following battery for absolute encoder.Part No. : DV0P2990 (Lithium battery by Toshiba Ba

138Absolute SystemWhen you make your own cable for 17-bit absolute encoder When you make your own cable for 17-bit absolute encoder, connect the optio

139[Operation Setting]OperationSetting• Using the setup support software “PANATERM®”Basically, the step (3) and (4) only are different from the proced

14Model numberRated input/output voltageRated output of applicable motorRated input/output currentSerial NumberMADDT1205Pe.g.) : P05110001ZLot number

140Outline of Full-Closed ControlWhat Is Full-Closed Control ?In this full-closed control, you can make a position control by using a external scale m

[Adjustment]pageGain Adjustment...142Real-Time Auto-Gain Tuning Mode...144Adaptive

142Position loop gain : 20Velocity loop gain : 100Time constant ofV-loop integration : 50Velocity loop feed forward : 0Inertia rati

143[Adjustment]Adjustment<Remarks> • Pay extra attention to safety, when oscillation (abnormal noise and vibration) occurs, shut off the mainpow

144OutlineEstimates the load inertia of themachine in real time and setsup the optimum gain automati-cally responding to the result.Also, an adaptive

145[Adjustment]AdjustmentSetup of parameter, Pr21Press .Press .Match to the parameter No. to be set up with . (Here match

146SV.PrNo.101112131418191A1B1C20Title1st position loop gain1st velocity loop gain1st velocity loop integration time constant1st speed de

147[Adjustment]Adjustment<Notes>The adaptive filter may be disabled also if SV.Pr23 is set to any value other than “0”. Refer to “Invalidation o

148<Remarks>Set up the torque limit selection (SV.Pr03) to 1.When you set up other than 1, driver may not act correctly.CautionNormal mode auto-

149[Adjustment]Adjustment101st position loop gain111st velocity loop gain121st velocity loop integration time constant131st speed detectio

15[Before Using the Products]Before Usingthe ProductsAC SERVO MOTORRATING S1MODEL No.MSMD5AZS1SINS. CLASS B (TÜV) A (UL)CONT. TORQUE0.64NmA1.6CO

150Normal Mode Auto-Gain Tuning(1) Turn to the normal auto-gain tuning  mode from the monitor mode, by  pressing the SET button, then press

151[Adjustment]AdjustmentRelease of Automatic Gain Adjusting FunctionSV.Pr2F01234567891011121314151617181920211st notch frequenc

1521kΩ1kΩIMSPRS232connection cableConnect to CN X4 Manual Gain Tuning (Basic)As explained previously, MINAS-A4P series features the automatic gain

153[Adjustment]Adjustment1011121314151618191A1B1C1D1EStandard value271537015200271537015215002Title of parameter1st positio

154Manual Gain Tuning (Basic)Adjustment in Full-Closed Control ModeFull-closed control of MINAS-A4P series is described in Block diagram of P.225 of F

155[Adjustment]AdjustmentSuppress the vibration by lowering the gain.Stop(Servo-Lock)Low gain(1st gain)Low gain(1st gain)High gain(2nd gain)1ms 2m

156Hysteresis(SV.Pr34)Level(SV.Pr33)0HLManual Gain Tuning (Basic)• Positing control mode, Full-closed control mode ( : Corresponding parameter is

157[Adjustment]Adjustmentspeed NFig.Atorque Tleveldelay∆T∆S1st gain22 122111command speed SFig. Bleveldelay1st gain2nd1st 2nd 1stmotor speed or

158Manual Gain Tuning (Basic)torquecommandAdaptive filterfrequency automatic followingfrequency frequencyDepthwidth1st notch filter 2nd notch filt

159[Adjustment]AdjustmentHow to Check the Resonance Frequency of the Machine(1) Start up the Setup Support Software, "PANATERM® " and bring

16IntroductionSingle phase,200V3-phase,200VSingle phase,100VSingle phase,200VSingle phase,100VSingle phase,200VSingle/3-phase,200V

160Instantaneous Speed ObserverOutlineThis function enables both realization of high responseand reduction of vibration at stopping, by estimatingthe

161[Adjustment]AdjustmentDamping ControlOutlineThis function reduces the vibration by removingthe vibration frequency component from the com-mand when

162MEMO

[When in Trouble]pageWhen in Trouble ...164What to Check ? ...

164When in TroubleWhat to Check ?Protective Function (What is Error Code ?) • Various protective functions are equipped in the driver. When these are

165[When in Trouble]When in TroubleWarning Function • In MINAS-A4P Series, a warning is given before a protection function works and you can check the

166When in TroubleProtectivefunctionCauses MeasuresErrorcode No.*Over-current protection14Current through the converter portion has exceeded the spe

167[When in Trouble]When in TroubleProtectivefunctionCauses MeasuresErrorcode No.Position deviation excess protection24Deviation pulses have exceede

168When in TroubleProtectivefunctionCauses MeasuresErrorcode No.36*EEPROM parameter error protectionData in parameter storage area has been damaged

169[When in Trouble]When in TroubleProtectivefunctionCauses MeasuresErrorcode No.*External scale status 0 error protection50Bit 0 of the external sc

17[Before Using the Products]Before Usingthe ProductsSingle phase,200V3-phase,200VSingle phase,100VSingle phase,200VSingle phase,100VSi

170When in Trouble1001150.1110100150 200 250 300 350 400 450 500 torque [100%]time [sec]Overload protection time characteristics (Motor type M*MA)MAMA

171[When in Trouble]When in TroubleMotor LoadMotormovablerangeErr34 occurrence range Err34 occurrence rangeSV.Pr26SV.Pr26Motor LoadMotor movable

172TroubleshootingMotor Does Not Run Motor Stops During an OperationClassificationCauses CountermeasuresError in control mode settingError in to

173[When in Trouble]When in TroublePoint Deviates Positioning Accuracy is PoorHome Position SlipsThe setting of the parameter for positioning ope

174TroubleshootingGain adjustment is not proper.Load inertia is large.Looseness or slip of the machineAmbient temperature, environment Stall

175[Supplement]pageConformity to EC Directives and UL Standards...176Options...180Re

176Conformity to EC Directives and UL StandardsControl boxControllerInsulated power supply for interfacePower supplyCircuit breakerProtective earth

177[Supplement]資  料SupplementOption part No. DV0P4170Single phase 100V/200V Applicable driver (frame)A and B-frameManufacturer's part No.SUP-

178Surge AbsorberProvide a surge absorber for the primary side of noise filter.<Remarks>Take off the surge absorber when you execute a dielectr

179[Supplement]資  料SupplementNoise Filter for Signal Lines *Install noise filters for signal lines to all cables (power cable, motor cable, encoder ca

18Driver<Note>X1 and X2 are attached in A to D-frame driver.e.g.) : MADDT1207P (Single phase, 200V, 200W : A-frame)Parts Descriptione.g.) : MCDD

180Options• Specifications of 2500P/r  incremental encoder• Specifications of 17bit absolute/incremental  encoder*Connection to Pin-S and T ar

181[Supplement]SupplementMotor 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M

182Options110 300L300110LMFECA0**0EAEFig. 2-1Fig. 2-4Fig. 2-2Fig. 2-5Fig. 2-3MFECA0**0ESEMSMD 50W to 750W, MQMA 100W to 400W, MAMA 100W to 750W17-bit

183[Supplement]SupplementMFECA0**3ECTMFMCD0**3ECT(ø14)(50)Lø43.7ø37.3 ø37.3(ø14)(50)Lø40.5MFMCA0**2ECDMFMCA0**0EEDMSMD 50W to 750W, MQMA 100W to 400W,

184OptionsMFMCA0**2FCDL(50)L(50)(ø12.5)MFMCA0**2FCTL(50)L(50)ø37.3(ø12.5)(ø9.8)(ø9.8)MFMCB0**0GET(ø9.8)(40) (50)L(5.6)(12.0)(10.0)MSMD 50W to 750WMQ

185[Supplement]Supplement3) Pin disposition (36 pins) (viewed from the soldering side)<Cautions>1) Check the stamped pin-No. on the connector bo

186Options1) Part No. DV0P42902) Components ( )2500P/r incremental encoderTitle1NumberPart No. ManufacturerFor CN X6 (6-pins)172160-1170365-11

187[Supplement]SupplementNoteFor CN X6 (6-pins)For junction cable to encoderFor junction cable to motor powerNumber11111TitleConnector Straight plugCa

188Options<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 (atta

189[Supplement]SupplementCBA(Mounting pitch)D6-1RSTNPXYZBCD2-1G4-HEG4-HEFig.1Fig.2DV0P220DV0P221DV0P222DV0P223DV0P224DV0P225DV0P226DV0P227DV0P228DV0P2

19[Before Using the Products]Before Usingthe ProductsX7X5X3BX3AX4SPIMGX6Terminal coverScrew for cover M3Screw for cover M3Display LED (2-digit)ID ad

190OptionsDV0P4282DV0P4283DV0P4284Part No.RF18BRF18BRF240RH450F255030SpecificationsActivationtemperature ofbuilt-in thermostatDV0P4280DV0P4281RF70MRF7

191[Supplement]SupplementSurge absorber for motor brakeMotorManufacturerOkaya Electric Industries Co. Ltd.Nippon Chemi_Con Corp.Ishizuka Electronics C

192Dimensions (Driver)A-frameMass 0.8kgConnector at driver side* Refer to P.188, "Mounting bracket for driver"of Options,  when you use th

193[Supplement]SupplementC-frameMass 1.5kgConnector at driver side* Refer to P.188, "Mounting bracket for driver"of Options,  when you use

194Dimensions (Driver)E-frameMass 3.2kgConnector at driver sideConnector signCNX7CNX6CNX5CNX4CNX3BCNX3AManufacturerMolex Inc.Molex Inc.Molex

195[Supplement]SupplementDimensions (Motor)• MAMA 100W to 750WMAMA series (Ultra low inertia)012P1 * 012S1 * 022P1 * 022S1 * 042P1 * 042S1 * 082P1 * 0

196Dimensions (Motor)• MSMD 50W to 100WMSMD series (low inertia)5A * P1 * 5A * S1 * 01 * P1 * 01 * S1 *MSMD50W 100W258453038363226.53.41412.53h936.2M3

197[Supplement]Supplement• MSMD 200W to 750W02 * P1 * 02 * S1 * 04 * P1 * 04 * S1 * 08 * P1 * 08 * S1 *200W 400W 750W79115.5301170506036.5434.520184h9

198Dimensions (Motor)• MQMA 100W to 400W01 * P1 * 01 * S1 * 02 * P1 * 02 * S1 * 04 * P1 * 04 * S1 *100W 200W 400W608425870506037434.51412.53h936.2M3 x

199[Supplement]Supplement• MSMA 1.0kW to 2.0kWMSMA series (low inertia)10 * P1 * 10 * S1 * 15 * P1 * 15 * S1 * 20 * P1 * 20 * S1 *MSMA1.0kW 1.5kW 2.0k

2[Before Using the Products] pageSafety Precautions ... 8Maintenance and Inspection..

20<Note>For details of each model, refer to "Dimensions " (P.195 to P.209) of Supplement.Motore.g.) : Low inertia type (MSMD series, 5

200Dimensions (Motor)• MSMA 3.0kW to 5.0kW30 * P1 * 30 * S1 * 40 * P1 * 40 * S1 * 50 * P1 * 50 * S1 *3.0kW 4.0kW 5.0kW2172425522130/145 (slot)11012016

201[Supplement]Supplement• MDMA 1.0kW to 1.5kWMDMA series (Middle inertia)10 * P1 * 10 * S1 * 15 * P1 * 15 * S1 *MDMA1.0kW 1.5kW5522145110130165612841

202Dimensions (Motor)• MDMA 2.0kW to 3.0kW20 * P1 * 20 * S1 * 30 * P1 * 30 * S1 *2.0kW 3.0kW200225552214511013016561284118945418h971865241451101301656

203[Supplement]Supplement* Dimensions are subject to change without notice. Contact us or a dealer for the latest information. • MDMA 4.0kW to 5.0kWMD

204Dimensions (Motor)• MGMA 900W to 2.0kW* Dimensions are subject to change without notice. Contact us or a dealer for the latest information. MGMA se

205[Supplement]Supplement• MGMA 3.0kW to 4.5kWMGMA series (Middle inertia)30 * P1 * 30 * S1 * 45 * P1 * 45 * S1 *MGMA3.0kW 4.5kW222271222271300.5337.5

206Dimensions (Motor)• MFMA 400W to 1.5kWMFMA series (Middle inertia)04 * P1 * 04 * S1 * 15 * P1 * 15 * S1 *MFMA400W 1.5kW1201455519145110130165612841

207[Supplement]Supplement• MFMA 2.5kW to 4.5kW25 * P1 * 25 * S1 * 45 * P1 * 45 * S1 *2.5kW 4.5kW13916665352352002202684168416413.5555010h9830703523520

208Dimensions (Motor)* Dimensions are subject to change without notice. Contact us or a dealer for the latest information. • MHMA 500W to 1.5kWMHMA se

209[Supplement]Supplement• MHMA 2.0kW to 5.0kWMHMA series (High inertia)20 * P1 * 20 * S1 * 30 * P1 * 30 * S1 * 40 * P1 * 40 * S1 * 50 * P1 * 50 * S1

21[Before Using the Products]Before Usingthe ProductsConnectorConsole bodyCableDisplay (7-segment LED)Touch panelDisplay LED (6-digit)All of LED wil

210Permissible Load at Output Shaft50W, 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 t

211[Supplement]資  料SupplementMotor Characteristics (S-T Characteristics)• Note that the motor characteristics may vary due to the existence of oil sea

212Motor Characteristics (S-T Characteristics)MSMD series (50W to 100W)* These are subject to change. Contact us when you use these values for your

213[Supplement]資  料SupplementMSMD series (200W to 750W)* These are subject to change. Contact us when you use these values for your machine design.• M

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

215[Supplement]資  料Supplement* These are subject to change. Contact us when you use these values for your machine design.• MDMA302 * 1 * Input volt

216Motor Characteristics (S-T Characteristics)* These are subject to change. Contact us when you use these values for your machine design.• MGMA202 *

217[Supplement]資  料SupplementMotor with Gear ReducerModel No. of Motor with Gear ReduceModel DesignationCombination of Driver and Motor with Gear Redu

218MSMD01 * P31NMSMD01 * P32NMSMD01 * P33NMSMD01 * P34NMSMD02 * P31NMSMD02 * P32NMSMD02 * P33NMSMD02 * P34NMSMD04 * P31NMSMD04 * P32NMSMD04 * P33NMSMD

219[Supplement]資  料SupplementTHBøLA4-LZ Depth LLCMoment of inertia is combined value of the motor and the gear reducer, and converted to that of the

22How to InstallA to D-frame e.g.) In case of C-frameFastening torque of earth screws (M4) to be 0.39 to 0.59N•m.Mounting bracket(optional parts)MADD

220Permissible Load at Output ShaftRemarks on installation(1) Do not hit the output shaft of the gear reducer when attaching a pulley or sprocket to i

221[Supplement]資  料SupplementCharacteristics of Motor with Gear ReducerSupplyvoltageto driverReductionratio1/5MSMD011 * * 1N MSMD011 * * 2N MSMD011 *

222L 1L 2L 3DC/DCL1CL2CRB1RB3X4X6UVWMRENP+Gate driveRS232+-++-A/DPositionSpeeddetectionVoltagedetectionSpeeddeviation amp.PWMcircuitRB2DL1DL2Fuse

223[Supplement]資  料SupplementL 1L 2L 3DC/DCrtPB1X4X6UVWMREX5NP+Gate driveAlarmsignalPointintputPusleoutputControlinput++-+-A/DPositionFuse(F-fram

224Block Diagram by Control ModePosition Control Mode • when Pr02 (Setup of control mode) is 0PointcommandPositioncommandPositional deviation moni

225[Supplement]資  料SupplementFull closed position deviation monitorActual speed monitorCommand speedmonitorPosition deviationmonitorFeedback pulses

226Specifications (Driver)Input power supplyOperationconditionsControl methodControl modeEncoder feedbackExternal scale feedbackControl signal

227[Supplement]資  料SupplementFunctionReal timeNormal modeHardware errorSoftware errorProtectionfunctionExternal scale division gradual increase

228Default Parameters (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

229[Supplement]資  料Supplement16.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

23[Before Using the Products]Before Usingthe ProductsFan Fan100mm or more100mm or more40mm or more40mm or more10mmormore10mmormore10mmormore

230MEMO

231Motor Company, Matsushita Electric Industrial Co.,Ltd.Marketeing GroupTokyo: Kyobashi MID Bldg, 2-13-10 Kyobashi, Chuo-ku, Tokyo 104-0031 TEL (03)3

After-Sale Service (Repair)RepairConsult to a dealer from whom you have purchased the product for details of repair.When the product is incorporated t

24How to InstallOil, waterCableMotorItemAmbient temperatureAmbient humidityStorage temperatureStorage humidityVibration Motor only Impact Mo

25[Before Using the Products]Before Usingthe ProductsMotorStress to Cables1) Avoid a stress application to the cable outlet and connecting portion by

26<Cautions> • Do not give strong impact to the products. • Do not drop the products. • Do not pull the cables with excess force. • Avoid the pl

[Preparation]pageSystem Configuration and Wiring ...28Overall Wiring (Connecting Example of C-frame, 3-phase)... 28Overall

28System Configuration and WiringCircuit Breaker (NFB)Use the circuit breaker matching capacity of the power source to protect the power lines.Nois

29[Preparation]PreparationX5X3BX3AX4X6X7SPIMGPC (to be supplied by customer)Setup support software"PANATERM®"DV0P4460 Console (option)DV0

3List of Servo Parameter ...

30System Configuration and WiringOverall Wiring (Connecting Example of E-frame)Ground (earth)• Connection with input  power supply <Remarks>

31[Preparation]PreparationX7X5X3BX3AX4SPIMGX6Setup support software"PANATERM®"DV0P4460 Console (option)DV0P4420• Wiring to Connector, CN

32System Configuration and WiringDriver and List of Applicable Peripheral EquipmentsConnectionDriverApplicablemotorVoltageRatedoutputRequiredPower

33[Preparation]Preparation • Select a single and 3-phase common specifications according to the power source. • Manufacturer of circuit breaker and ma

34System Configuration and WiringWiring of the Main Circuit (A to D-frame) • Wiring should be performed by a specialist or an authorized personnel. •

35[Preparation]PreparationIn 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

36System Configuration and WiringWiring of the Main Circuit (E and F-frame) • Wiring should be performed by a specialist or an authorized personnel. •

37[Preparation]PreparationABDCAHGCDEBIFCBAIHGFEDJL04V-2E20-4PE-B-RJL04HV-2E22-22PE-B-RJL04V-2E20-18PE-B-R JL04V-2E24-11PE-B-RIn Case of 3-Phase, 200V

38System Configuration and WiringWiring Diagram In case of 2500P/r incremental encoderWiring to the Connector, CN X6 (Connection to Encoder)Tips on Wi

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 t

4Timing Chart ... 132Operation Timing after Power-ON ...

40System Configuration and WiringCautions(1) Following external scale can be used for full-closed control.• AT500 series by Mitutoyo (Resolution 0.05[

41[Preparation]PreparationWiring to the Connector, CN X5 (Connection to Host Controller)• Tips on wiringController 3mor shorter30cm or longerCOM+GND1

42System Configuration and WiringDivider4.7kΩDriver side4.7kΩ( represents twisted pair.)OA+OA-OB+OB-OZ+OZ-GNDCZ111213102616149330Ω330Ω330Ω

43[Preparation]PreparationInterface CircuitInput CircuitOutput Circuit • Connect to contacts of switches and relays, or open collec-tor output transis

44System Configuration and WiringList of Signal for Connector CN X5Common input signalsApplication Code FunctionConnectorpin No.Control signal power

45[Preparation]PreparationOperation instruction is specified by use of signal for point specifying input (P1IN to P32IN).See the table below for the

46System Configuration and WiringCommon output signals and their functionsApplication Code FunctionConnectorpin No.Application Code FunctionConnector

47[Preparation]Preparation<Note>• When the output source is the encoder• If the encoder resolution X is multiple of 4, Z-phas

48Setup with the Front PanelComposition of Touch Panel and DisplayDisplay LED (2 digits)In the case of an error, the alarm code will flash.In the ca

49[Preparation]PreparationOutput Signals (Analog) and Their FunctionsSpeed monitor signal outputSP• The content of the output signal varies

[Supplement] pageConformity to EC Directives and UL Standards ... 176Options ...

50DriverSurge absorberRelays to be shut offat emergency stopMotorBrake coilBRK-OFF+3617RYCOM–VDCRY12 to 24VPower supply for brakeDC24VCN X5Fuse(5A

51[Preparation]Preparation4.944.114744.114719649021567801470215624502940784147029407842940147021561470294039.21371

52D BD BFree-runFree-runD BD BFree-runFree-runD BFree-runFree-runD BD BClearClearClearClearHoldHoldHoldHoldFree-runFree-runEmergency stopClearD

53[Preparation]PreparationD BD BFree-runFree-runD BFree-runFree-runD BHoldHoldHoldHold0123Setup value of SV.Pr68Sequence at main Servo-OFF (SV.Pr

54MEMO

55[Setting]pageParameter Setup...56Outline of Parameter ...

56Parameter SetupOutline of ParameterThis driver is equipped with various parameters to set up its characteristics and functions. This sectiondescribe

57[Setting]Setting• Servo parameterGroup OutlineServoparameter No.Function selectionAdjustmentPosition ControlInput signalsSequence

58Parameter Setup01*0 to 15<1>7-segment LED status for console, initial condition displayYou can select the type of data to be displayed on th

59[Setting]SettingServoPrNo.SetuprangeTitle Function/ContentStandard default : < >08 0 to 12<0>Torque monitor (IM) selectionYou can set

6

60Parameter SetupStandard default : < >ServoPrNo.SetuprangeUnitTitle Function/Content13 0 to 5<0>*–1st speed detection filterYou can s

61[Setting]SettingParameters for Auto-Gain TuningStandard default : < >ServoPrNo.SetuprangeUnitTitle Function/Content2E–200 to 2000<0>0

62Parameter SetupStandard default : < >ServoPrNo.SetuprangeUnitTitle Function/Content21 0 to 7<1>–Real time auto tuning set upYou can

63[Setting]Setting26 0 to 1000<10>0.1revolutionSoftware limit set upYou can set up the movable range of the motor against the position command

64Parameter SetupStandard default : < >ServoPrNo.SetuprangeUnitTitle Function/Content340 to 20000<33>*–1st control switching hysteresi

65[Setting]SettingServoPrNo.SetuprangeTitle Function/ContentStandard default : < >44*45*1 to 32767<10000>0 to 32767<10000>

66Parameter Setup4D*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.

67[Setting]Setting58 0 to 1<1>Point specifying input logic settingSet the logic of the point specifying inputs (P1IN to P32IN: CN X5 Pin 3, 4,

68Parameter SetupStandard default : < >ServoPrNo.SetuprangeUnitTitle Function/Content60 0 to 32767<131>PulseIn-position rangeYou can s

69[Setting]SettingStandard default : < >ServoPrNo.SetuprangeUnitTitle Function/Content65 0 to 1<1>–Undervoltage error response at main

7[Before Using the Products]pageSafety Precautions ...8Maintenance and Inspection ...

70Parameter SetupStandard default : < >ServoPrNo.SetuprangeUnitTitle Function/Content69 0 to 9<0>–Sequence at Servo-OFFYou can set up

71[Setting]SettingStandard default : < >ServoPrNo.SetuprangeUnitTitle Function/Content6C*0 to 3forA, B-frame<3>forC to F-frame<

72Parameter SetupParameters for Full-Closed Control7B*(F)1 to 10000<100>16 x external scale pulseHybrid deviation error level• You can setup

73[Setting]SettingList of 16-bit Positioning ParametersParameters for Motor speedParameters for Acceleration and Deceleration00 0 to 6000<0>r/m

74Parameter Setup160 to 10000<0>ms2nd decelerationSpecify deceleration when Deceleration Selection 2 has been selected.Specify a deceleration

75[Setting]Setting390 to 10000<0>msBumping detection timeSpecify home position recognition time for bumping homing.3A 0 to 100<0>%Torque

76Parameter Setup45 0 to 1000<0>msSetting of S-shaped deceleration in jog operationSpecify S-shaped deceleration for a jog operation.Specify t

77[Setting]SettingList of 32-bit Positioning ParametersList of Step ParametersStepPrNo.Standard default : < >Setup rangePANATERM displayConsole

78Parameter SetupModel No.FrameApplicable motorMax. value ofSV.Pr5E,5FModel No.FrameApplicable motor3003003003003003003003003003003003003

79[Setting]SettingCautions on Replacing the MotorAs stated above, torque limit setup range might change when you replace the combination of the motor

8Safety PrecautionsObserve the Following Instructions Without FailObserve the following precautions in order to avoid damages on the machinery and inj

80How to Use the ConsoleSetup with the ConsoleComposition of Display/Touch panelDisplay LED (6-digit)All of LED will flash when error occurs, and swi

81[Setting]SettingMode ChangeThe modes below are available in this console. To switch a mode, press once in the initial state to enter the

82How to Use the Console(Mode switch button)SET(button)Positional deviationMotor rotational speedTorque outputControl modeI/O signal stat

83[Setting]SettingDisplay of Position Deviation, Motor Rotational Speed and Torque OutputDisplay of Control Mode...Positional deviation (cumula

84How to Use the Console• Signal No. and its title000102030405060708090A0B0C0D0E0F101112131415161718191A1B1C1D1E1FSignal No.SRV-ONCWLCCWLEX-IN1EX-IN2Z

85[Setting]SettingAlarm Display ...no alarm ...Alarm occurrence• Over-load alarm :  Turns on when the load reaches 85% or more of

86How to Use the ConsolePress .Total sum of pulses after control power-ON. The display range is from –2147483647 to 2147483647.An overflow occu

87[Setting]SettingTeaching ModeOverview of Teaching ModeIn the teaching mode, you can operate the motor actually using this console, set a target posi

88How to Use the ConsoleWhen you keep on pressing + , the motor rotates continuously in a positive direction while pressing it.When you k

89[Setting]SettingTest Mode• Step operationAn operation is performed at a position of a selected point number.* Execute homing completely before perfo

9[Before Using the Products]Before Usingthe ProductsFailure to observe this in-struction could result in fire.Do not place the console close to a heat

90How to Use the Console• Jog operationThe motor can be operated by the jog operation.• HomingHoming is performed as follows...A current position is

91[Setting]SettingPress .Press .When you press once and twice in the initial LED state, the step parameter display shows

92How to Use the ConsoleStep ParameterStep parameter can be set.* An example to set in ST.Pr1 is shown below.Press .Press .Press .Pr

93[Setting]Setting16-Bit Positioning Parameter16-bit positioning parameter can be set...16.Pr01...16.Pr00Selected 16.PrNo...16.Pr63<Notice&

94How to Use the Console32-Bit Positioning Parameter32-bit positioning parameter can be set...32.Pr01...32.Pr00Selected 32.PrNo.* The data is sho

95[Setting]SettingServo ParameterServo parameter can be set. For the details of parameter, refer to “Parameter Setup” on page 56.<Remarks>When

96How to Use the Console• When you change the parameters which contents become valid after resetting, will be  displayed after fin

97[Setting]SettingStarting from the initial LED status, press four time after pressing ,then brings the display of normal auto-gain tuni

98How to Use the ConsoleAuxiliary Function ModeThe console has two auxiliary functions.(1) Alarm ClearA protection function works and a motor stop (mo

99[Setting]SettingAlarm Clear ScreenProtective function will be activated and release the motor stall status (error status).Alarm clear starts.Clearin