IMD89 A5-400V e Basic

Operating Instructions (Basic)
AC Servo Motor & Driver

MINAS A5-series (D to F-frame 400 V)
• Thank you for purchasing this
Panasonic product.
• Before operating this product,
please read the instructions
carefully, and save this manual for
future use.
・This product is for industrial 　
　equipment. Don't use this 　　
　product at general household.
* This product image is 1.5 kW type of A5-series.
English
If you are the first user of this product, please be sure to read the downloaded
Operating Instructions (Overall) from our Web Site.
[Web address of Motor Business Division, Panasonic Corporation]
http://industrial.panasonic.com/ww/i_e/25000/motor_fa_e/motor_fa_e.html
Make sure to forward these Operating Instructions for safety to the final user.
<Contents> page page

1. Introduction.................................. B2 Wiring to the Connector, X5 . ........................ B25
On Opening the Product Package................... B2 Wiring to the Connector, X6 . ........................ B26
Check of the Driver Model............................... B2 Wiring to the Connector, X7 . ........................ B28
Check of the Motor Model............................... B3 4. Parameter................................... B29
2. Installation................................... B4 Outline / Setup / Connection.......................... B29
Driver............................................................... B4 Composition of Parameters........................... B31
Motor................................................................ B6 5. Protective Functions................. B32
3. System Configuration and Protective Function (What Is Error Code ?)....... B32
Wiring............................................ B8 6. Maintenance and Inspections..... B34
Overall Wiring (Connector type)...................... B8 7. Conformity to EC Directives
Overall Wiring (Terminal block type)..................B10 and UL Standards...................... B36
Driver and List of Applicable Peripheral Equipments..... B12 Composition of Peripheral Equipments......... B38
Wiring of the Main Circuit (Connector type)......... B14 8. Built-in Holding Brake............... B42
Wiring of the Main Circuit (Terminal block type).... B15
Wiring method to connector.............................. B16
9. Dynamic Brake.......................... B44
Wiring Diagram.............................................. B18 10. Check of the Combination of
Wiring of connector for motor and brake....... B19 the Driver and the Motor............. B45
Wiring to the Connector, X1 . ........................ B20 Incremental Specifications, 20-bit................ B45
Wiring to the Connector, X2 . ........................ B20 Absolute Specifications, 17-bit.................... B46
Wiring to the Connector, X3 . ........................ B21 11. Specifications.......................... B47
Wiring to the Connector, X4 . ........................ B22 After-Sale Service (Repair)........... B50
IMD89+B
1. Introduction
Check of the Motor Model
1. Introduction Contents of Name Plate

On Opening the Product Package Model AC SERVO MOTOR
Rated input Model No. MSME104G1C
voltage/current INPUT 3φAC 194 V 3.3 A Rated rotational speed
• Make sure that the model is what you have ordered. RATED OUTPUT 1.0 kW CONT. TORQUE 3.18 N . m
RATED FREQ. 250 Hz RATED REV. 3000 r/min
• Check if the product is damaged or not during transportation. Rated output RATING S1
THERMAL CLASS F
CONNECTION IP67 Serial Number
Rated frequency
SER. No. 10040001N e.g.) : 100 4 0001N
• Check if the Operating Instructions (safety) are included or not. 20100401
Manufacture date Lot number

• Check if the power connector, motor connectors, connector for external regenerative
Made in China
e.g.) : 20100401 Month of production

resistor connection (only D and E-frame) and safety by-pass plug are included or not. Year of production
Manufacture year Manufacture date
(Neither the power connector nor motor connector are included to F-frame.) Manufacture month (Lower 2 digits of AD year)
Model Designation
1. Introduction
Check of the Driver Model M S M E 1 0 4 G 1 C
1 to 4 5 to 6 7 8 9 10 11 to 12
English
Special specifications
Contents of Name Plate Motor rated output Motor structure
Model number Serial Number Symbol Output Symbol Output Design order
Input/output voltage e.g.) : P10040001N 04 400 W 20 2.0 kW Symbol Specifications
P10040001N
Lot number 06 600 W 25 2.5 kW 1 Standard

Number of phase
Month of production 08 750 W 30 3.0 kW Connector for encoder
Rated input/output 09 0.9 kW 40 4.0 kW Voltage specifications : N/MS3102A20-29P
current Year of production C IP65 motor
( )
20100401
(Lower 2 digits of AD year) 10 1.0 kW 45 4.5 kW Symbol Specifications 0.9 kW to 5.0 kW

Input/output frequency 15 1.5 kW 50 5.0 kW 4 400 V only selectable
Manufacture date
Rated output of e.g.) : 20100 4 0 1 Type
applicable motor Rotary encoder specifications
Manufacture year Manufacture date Symbol Specifications Specifications
Manufacture month Symbol
MSME Low inertia Format Pulse count Resolution Wire count
(750 W to 5.0 kW) G Incremental 20bit 1,048,576 5-wire
Model Designation MDME Middle inertia S Absolute 17bit 131,072 7-wire
(400 W to 5.0 kW)
M D D H T 2 4 0 7 MFME Middle inertia

(1.5 kW to 4.5 kW)
Motor structure
MSME, MDME, MFME, MGME, MHME
1 to 3 4 5 to 6 7 8 to 9 10 to 12 Special specifications Middle inertia Shaft Holding brake Oil seal
Frame-size symbol MGME (0.9 kW to 4.5 kW) Symbol
Max. current rating (letters and numbers) Round Key way Without With Without With
Symbol Frame High inertia C
of power device Current detector rating MHME
MDD D-frame (1.0 kW to 5.0 kW) D
MED E-frame Symbol Current Symbol Current rating
G
rating Power supply 07 7.5 A
MFD F-frame H
T2 15 A 12 12 A
Symbol Specifications
Series T3 30 A 20 20 A Products are standard stock items or manufactured by order.
T4 35 A 4 3-phase, 400 V For details, inquire the dealer.
Symbol Series 30 30 A
T5 50 A 40 40 A
H A5-series TA 100 A 64 64 A
K A5Ⅱ-series
− B2 − − B3 −
2. Installation 2. Installation
Driver
Driver
Install the driver properly to avoid a breakdown or an accident. Mounting Direction and Spacing
Installation Place • Reserve enough sur-
1) Install the driver in a control panel enclosed in noncombustible material and placed indoor rounding space for Fan Fan 100 mm
Control panel
where the product is not subjected to rain or direct sunlight. The products are not waterproof. effective cooling. or more
2) Where the products are not subjected to corrosive atmospheres such as hydrogen • Install fans to provide
sulfide, sulfurous acid, chlorine, ammonia, sulfur, chloric gas, sulfuric gas, acid, al-
kaline and salt and so on, and are free from splash of inflammable gas. uniform distribution
3) Where the motor is free from grinding oil, oil mist, iron powder or chips. of temperature in the
4) Well-ventilated and low humidity and dust-free place. control panel. 40 mm 10 mm 10 mm 10 mm 40 mm
5) Vibration-free place. • D/E/F frame is pro- or or or or or
6) Do not use benzine, thinner, alcohol, acidic cleaner and alkaline cleaner because more more more more more
they can discolor or damage the exterior case. vided with a cooling
fan at the bottom.
Environmental Conditions • Observe the environ-
Direction of air flowing
from the internal
100 mm
or more
*1 Extreme tempera- cooling fan (D/E/F frame)
Item Conditions mental conditions of
tures are permissible
Ambient temperature 0 ˚C to 55 ˚C (free from freezing) only for short period the control panel described in the previous page.
Ambient humidity 20 % to 85 % RH (free from condensation) such as during trans-
Note It is recommended to use the conductive paint when you make your own
English
portation.
–20 ˚C to 65 ˚C (Max.temperature guarantee: *2 Air containing water mounting fixture, or repaint after peeling off the paint on the machine for
Storage temperature*1
80 ˚C for 72 hours free from condensation*2) vapor will become
Storage humidity 20 % to 85 % RH (free from condensation*2) saturated with water installing the products, in order to make noise countermeasure.
vapor as the temper-
Vibration Lower than 5.88 m/s2 (0.6 G), 10 to 60 Hz ature falls, causing Caution on Installation
Altitude Lower than 1000 m dew.
• We have been making the best effort to ensure the highest quality, however, applica-
How to Install tion of exceptionally large external noise disturbance and static electricity, or failure
1) Rack-mount type. Install in vertical position, and reserve enough space around the in input power, wiring and components may result in unexpected action. It is highly
servo driver for ventilation. recommended that you make a fail-safe design and secure the safety in the opera-
2) Base mount (rear mount) is standard for D-frame driver. tive range.
3) To change the mounting surface of D-frame driver, use the optional mounting fix-
ture. For choosing the correct optional mounting fixture, refer to the Operating In- • If stranded wires are used as the cable, bunch the conductors of the cable using a
structions (Overall). rod terminals or a round terminals.
4) For the dimensions and mass of the product, which are necessary design data of If stranded wires are used as they are, unexpected accidents such as an electric
the mounting section, refer to the dimensional outline drawing on the Operating In- shock and short circuit or injury may result. (Refer to P.B16. “Wiring method to con-
structions (Overall) or the Delivery Specification.
5) In consideration of strength of the screws and the material of the mounting base, nector”.)
select appropriate fastening torque for the product mounting screws, so that the • There might be a chance of smoke generation due to the failure of these products.
screws will not be loosened or damaged. Pay an extra attention when you apply these products in a clean room environment.
Example) To tighten a steel screw into a steel base, D to F-frame: M5 2.7 to 3.3 N·m • Be sure to install a no-fuse breaker in the power supply. In addition, be sure to
D-frame E, F-frame
Basemount (Standard) Frontmount Front or Basemount
ground the grounding terminal or ground wire provided.
[Rear mount] [Use mounting fixture] [Use mounting fixture] If the product is grounded insufficiently, not only the driver may not deliver its perfor-
<E-frame>
Fastening torque of mance sufficiently, but also safety hazards such as a malfunction due to a electrifi-
earth screws (M4) to be cation or a disturbance may be caused.
0.7 to 0.8 N • m.
<F-frame> • If electric wires are bound and run through metal duct, they cannot carry the rated
Fastening torque of
earth screws (M5) to be current due to temperature rise. If they are forced to carry the rated current, they
1.4 to 1.6 N • m.
may burn. When determining size of the wire, check the current decreasing coeffi-
Mounting fixture Mounting
(optional parts) fixture cient by referring to the Operating Instructions (Overall).
Fastening torque of earth screws (M4) to be 0.7 to 0.8 N • m. (Attachment)
− B4 − − B5 −
2. Installation 2. Installation
Motor
Motor
Install the motor properly to avoid a breakdown or an accident. 3) For the dimensions and mass of the product, which are necessary design data of
the mounting section, refer to the dimensional outline drawing on the Operating In-
Installation Place
structions (Overall) or the Delivery Specification.
Since the conditions of location affect a lot to the motor life, select a place
which meets the conditions below. Oil/Water Protection
1) Indoors, where the products are not subjected to rain or direct sun beam. The prod- 1) Don't submerge the motor cable to water or oil.
ucts are not waterproof. 2) Install the motor with the cable outlet facing Cable Motor
2) Where the products are not subjected to corrosive atmospheres such as hydrogen downward.
sulfide, sulfurous acid, chlorine, ammonia, sulfur, chloric gas, sulfuric gas, acid, al-
3) Avoid a place where the motor is always sub-
kaline and salt and so on, and are free from splash of inflammable gas.
jected to oil or water. Oil / Water
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 4) Use the motor with an oil seal when used with
as a furnace. the gear reducer, so that the oil may not enter to the motor through shaft.
5) Easy-to-access place for inspection and cleaning Stress to Cables
6) Vibration-free place.
7) Avoid enclosed place. Motor may gets hot in those enclosure and shorten the motor life. 1) Avoid a stress application to the cable outlet and connecting portion by bending or
self-weight.
English
Environmental Conditions 2) Especially in an application where the motor itself travels, fix the attached cable and
Item Conditions contain the extension junction cable into the bearer so that the stress by bending
Ambient temperature*1 0 ˚C to 40 ˚C (free from freezing) can be minimized.
Ambient humidity 20 % to 85 % RH (free from condensation) 3) Take the cable bending radius as large as possible. (When you use our optional
–20 ˚C to 65 ˚C (Max.temperature guarantee: 80 ˚C for 72 hours cable, Minimum R20 mm)
Storage temperature*2
free from condensation*4)
Storage humidity 20 % to 85 % RH (free from condensation*4) Permissible Load to Output Shaft
Vibration Motor only Lower than 49 m/s2 (5 G) at running, 24.5 m/s2 (2.5 G) at stall 1) Design the mechanical system so that the applied radial load and/or thrust load to
Impact Motor only Lower than 98 m/s2 (10 G) the motor shaft at installation and at normal operation can meet the permissible
Enclosure Motor only IP67 (except rotating portion of output shaft and connecting pin value specified to each model.
rating (Connector type) part of the motor connector and the encoder connector)*3 2) Pay an extra attention when you use a rigid coupling. (Excess bending load may
Altitude Lower than 1000 m damage the shaft or deteriorate the bearing life.)
*1 Ambient temperature to be measured at 5 cm away from the motor. 3) Use a flexible coupling with high stiffness designed exclusively for servo application in order
*2 Permissible temperature for short duration such as transportation. to make a radial thrust caused by micro misalignment smaller than the permissible value.
*3 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 Notes on Installation
required such as continuous wash-down operation.
*4 Air containing water vapor will become saturated with water vapor as the temperature 1) Do not apply direct impact to the shaft by hammer
falls, causing dew. while attaching/detaching a coupling to and from Motor
the motor shaft.
How to Install (Or it may damage the encoder mounted on the
You can mount the motor either horizontally or vertically as long as you observe the followings. other side of the shaft.)
1) Horizontal mounting 2) Make a full alignment. (incomplete alignment may cause vibration and damage the bearing.)
• Mount the motor with cable outlet facing downward for water/oil countermeasure. 3) If the motor shaft is not electrically grounded, it may cause electrolytic corrosion to
2) Vertical mounting the bearing depending on the condition of the machine and its mounting environment,
• Use the motor with oil seal when mounting the motor with gear reducer to prevent and may result in the bearing noise. Check and verification by customer is required.
the reducer oil/grease from entering to the motor.
− B6 − − B7 −
3. System Configuration and Wiring 3. System Configuration and Wiring
Overall Wiring (Connector type)
Overall Wiring (Connector type)
Connecting Example of D, E-frame, 400 V type : High voltage PC (to be supplied

Wiring to Connector, X7 by customer)
• Apply the voltage designated on the Mains * Use a power 24 VDC power supply
nameplate from the power source. Residual
supply with
2 A or larger for control • Monitor output
Symmetric current should be 5000 Arms or below. current device capacity. (to be supplied by customer) Handle lever
If the short-circuit current on the power source Use this for connector
exceeds this value, use a current-limiting device
(e.g. current-limiting fuse, current-limiting circuit connection. Store this after Setup support software “PANATERM”
breaker or transformer). connection for other Please download from our web site.
occasions. (Refer to P.B17
• Wiring of Main Connector (XA) for connection.)
Wiring to Connector, XD Wiring to Connector, X1
Circuit Breaker (MCCB)
• Connection to Control power • Connection to PC or
To protect power supply line from host controller
24V
overloading, install a wiring circuit
0V Wiring to Connector, X2
breaker rated to the capacity of the
power supply. • Connection to RS232, RS485
Wiring to Connector, XA or host controller
Noise Filter (NF) • Connection to input power
Removes external noise from the Wiring to Connector, X3
L1 (Pin-3)
• Connection to Safety by-pass
English
power lines. And reduces an effect L2 (Pin-2)
of the noise generated by the servo plug (Refer to P.B21)
L3 (Pin-1)
driver.
Magnetic Contactor (MC) Short circuit wire (B2-B3) Wiring to Connector, X4
Turns on/off the main power of the
Wiring to Connector, XB • Connection to host controller
servo driver.
Use coil surge suppression units • Connection to motor Wiring to Connector, X5
together with this. U-phase(red) • Connection to external scale
• Never start nor stop the servo V-phase(white)
Wiring to Connector, XC Wiring to Connector, X6
motor with this Magnetic W-phase(black)
Contactor. • Connection to external components * These colors are used • Connection to encoder
for optional cable.
Junction cable
Reactor (L) B1 (Pin-4) Ground for encoder
Reduces harmonic current of the B2 (Pin-2) terminal Ground Charg lamp
main power. (earth) (Red LED)*1 Remarks
• X1 to X7 are used for the
• Wiring of Motor Connector (XC) Regenerative resistor (optional) Junction cable for motor
secondary circuit. To
connect these terminals to
Pin B1 (4-pin), B2 (2-pin), and Remarks Connection to motor driving the primary power supply
B3 (3-pin) • When you use an external regenerative phase and ground (particularly, the 24 VDC
• B2 and B3 to be kept shorted resistor, install an external protective power supply for control
Junction cable for motor
for normal operation. apparatus, such as thermal fuse and the 24 VDC power
• When you connect an external without fail. supply for brake),
• Thermal fuse and thermostat are built in insulation is required.
regenerative resistor, disconnect Do not connect these
to the regenerative resistor (Option). If
a short circuit wire between B2 the thermal fuse is activated, it will DC Power supply for brake terminals to the same
and B3, then connect the external DC24 V power supply.
not resume.
regenerative resistor between B1 (to be supplied by customer)
• Mount the regenerative resistor on
and B2, set up Pr0.16 to 1 or 2. incombustible material such as metal. *1 Do not make displacement, wiring or inspection while the LED is lit - cause of electric shock.
− B8 − − B9 −
Overall Wiring (Terminal block type)
Overall Wiring (Terminal block type)
Connecting Example of F-frame, 400 V type : High voltage

PC (to be supplied by customer)
• Apply the voltage designated on the Mains * Use a power 24 VDC power supply
supply with
nameplate from the power source. Residual 2 A or larger for control
Symmetric current should be 5000 Arms or below. current device capacity. (to be supplied by customer)
If the short-circuit current on the power source
exceeds this value, use a current-limiting device
Wiring to Connector, X7
(e.g. current-limiting fuse, current-limiting circuit Setup support software “PANATERM”
breaker or transformer). • Monitor output Please download from our web site.
• Wiring of the Main Circuit Connection with
control power supply Wiring to Connector, X1
Circuit Breaker (MCCB) • Connection to PC or host controller
24V
To protect power supply line from 0V
overloading, install a wiring circuit Wiring to Connector, X2
breaker rated to the capacity of the Connection with input • Connection to RS232, RS485
power supply. power supply or host controller
L1 Wiring to Connector, X3
Noise Filter (NF)
L2
Removes external noise from the • Connection to Safety by-pass plug
L3
English
power lines. And reduces an effect (Refer to P.B21)
of the noise generated by the servo Wiring to Connector, X4
driver. Short bar
(B2-B3) • Connection to host controller
Magnetic Contactor (MC) U-phase Wiring to Connector, X5
Turns on/off the main power of the (red)
servo driver. V-phase • Connection to external scale
Use coil surge suppression units (white)
together with this. W-phase Wiring to Connector, X6
• Never start nor stop the servo (black)
Connection to external * These colors • Connection to encoder
motor with this Magnetic components are used for
Contactor. optional cable. Junction cable
for encoder
Reactor (L) B1
Reduces harmonic current of the Ground Ground Charg lamp Remarks
B2
terminal (earth) (Red LED)*1 • X1 to X7 are used for
main power.
the secondary circuit.
Pin B1, B2 and B3 Regenerative resistor (optional) Junction cable for motor To connect these
• B1 and B2 to be kept shorted Remarks terminals to the
Connection to motor driving primary power supply
for normal operation. • When you use an external regenerative phase and ground (particularly, the 24 VDC
• When you connect an external resistor, install an external protective power supply for
Junction cable for brake
regenerative resistor, disconnect a apparatus, such as thermal fuse control and the 24 VDC
short bar between B2 and B3, without fail. power supply for
then connect the external regen- • Thermal fuse and thermostat are built in brake), insulation is
erative resistor between B1 and to the regenerative resistor (Option). If required.
DC Power supply for brake Do not connect these
the thermal fuse is activated, it will
B2, set up Pr0.16 to 1 or 2. DC24 V terminals to the same
not resume. (to be supplied by customer)
Pin NC • Mount the regenerative resistor on power supply.
• Do not connect anything. incombustible material such as metal. *1 Do not make displacement, wiring or inspection while the LED is lit - cause of electric shock.
− B10 − − B11 −
Driver and List of Applicable Peripheral Equipments
Driver and List of Applicable Peripheral Equipments
Rated Diameter Crimp

Diameter
and
Crimp Diameter
Diameter
Reference page Noise filter........................P.B39 “Composition of Peripheral Equipments”
Required Circuit Noise Surge terminal and
Noise operating and terminal withstand and
Driver
Applicable
Voltage
Rated Power breaker filter absorber
filter for current of withstand for main voltage
for control withstand
power voltage
withstand Surge absorber................P.B39 “Composition of Peripheral Equipments”
motor output
(rated load) (current)
at the rated
( Single phase
／
3-phase )( Single phase
／
3-phase ) signal
(
magnetic
contactor Contact
configuration )
voltage of
main circuit
cable
circuit
terminal
block
of control
power
supply
supply
terminal
of motor
cable
voltage
of brake
cable Noise filter for signal........P.B40 “Composition of Peripheral Equipments”
block *1
cable
MDME 400 W
approx. Motor/brake connector.....P.B19 “Wiring of connector for motor and brake”
0.9 kVA
approx. • About circuit breaker and magnetic contactor

MDME 600 W
1.2 kVA To comply to EC Directives, install a circuit breaker between the power and
MSME 750 W
approx.
1.6 kVA
the noise filter without fail, and the circuit breaker should conform to IEC
Standards and UL recognized (Listed and marked).
Connection to exclusive connector
Connection to exclusive connector

MSME
MDDH MDME 3-phase, 1.0 kW
FN258L-
16-07 DV0PM 20 A Suitable for use on a circuit capable of delivering not more than 5,000 Arms sym-
approx. 10 A DV0P1460
MDDK 400 V
MHME 1.8 kVA ( component
Recommended
) 20050 (3P+1a)
metrical amperes, below the maximum input voltage of the product.
2.0 mm2/ 0.52 mm2/ 2.0 mm2/
MGME 0.9 kW AWG14 AWG20 AWG14 Remarks Select a circuit breaker and noise filter which match to the capacity of pow-
MSME
600 VAC
or more
100 VAC
or more
600 VAC
or more
er supply (including a load condition).
MDME
1.5 kW
approx. • Terminal block and ground terminals
MFME 2.3 kVA
• Use a copper conductor cables with temperature rating of 75 ˚C or higher.
MHME
• Fastening torque list (Terminal block screw/Terminal cover fastening screw)
MSME
Terminal block Terminal cover
English
MDME 2.0 kW
approx.
FN258L- Driver
MEDH 3-phase, 3.3 kVA
16-07 DV0PM 30 A 0.75 mm2/ screw fastening screw
15 A DV0P1460
MEDK MHME 400 V Fastening Fastening
( component
Recommended
) 20050 (3P+1a) AWG18
100 VAC Nominal Nominal
approx. Frame Terminal name torque torque
MFME 2.5 kW
3.8 kVA or more size size
(N•m) (*1)
(N•m) (*1)
approx.
MGME 2.0 kW
3.8 kVA 24V、0V M3 0.4 to 0.6
F400 V M3 0.19 to 0.21
MSME L1, L2, Ｌ３, B1, B2, B3, NC, U, V, W M4 0.7 to 1.0
MDME
3.0 kW
approx. • Fastening torque list (Ground terminal screw/Connector to host controller (X4))
MGME 4.5 kVA
Terminal block Connector to host
MHME 10 mm or
smaller
7 mm or
smaller screw controller (X4)
MSME FN258L- 3.5 mm2/ 0.75 mm2/ 3.5 mm2/ Driver frame Fastening Fastening
MFDH 3-phase, approx. DV0PM 60 A AWG12 AWG18 AWG12 Nominal Nominal
MDME 4.0 kW 30 A 30-07 DV0P1460 torque torque
size size
ø4.3 ø3.2
MFDK 400 V
MHME
6.0 kVA
( component
Recommended
) 20050 (3P+1a) 600 VAC
or more
Terminal
100 VAC
or more
Terminal
600 VAC
or more (N•m) (*1) (N•m) (*1)
block block
MFME
approx. M4 M3 D, F M4 0.7 to 0.8
4.5 kＷ 6.8 kVA M2.6 0.3 to 0.35
MGME
F M5 1.4 to 1.6
MSME approx. (*1)
MDME 5.0 kW 7.5 kVA • Applying fastening torque larger than the maximum value may result in damage to the
MHME product.
*1 The diameter of the ground cable must be equal to, or larger than that of the motor cable. • Do not turn on power without tightening all terminal block screws properly.
• Do not turn on power without tightening all terminal block screws properly, otherwise,
loose contacts may generate heat (smoking, firing).
• To check for looseness, conduct periodic inspection of fastening torque once a year.
Caution
Be sure to conduct wiring properly and securely. Insecure or improper wiring may cause
the motor running out of control or being damaged from overheating. In addition, pay
attention not to allow conductive materials, such as wire chips, entering the driver during
the installation and wiring.
− B12 − − B13 −
Wiring of the Main Circuit (Connector type)
Wiring of the Main Circuit (Connector type)
D, E-frame F-frame
• Wiring should be performed by a specialist or an authorized personnel. • Wiring should be performed by a specialist or an authorized personnel.
• Do not turn on the power until the wiring is completed. • Do not turn on the power until the wiring is completed.
• Never touch the power connector (XA, XB, XC and XD) to which high voltage is ap- • Never touch the terminal to which high voltage is applied. There is a risk of electric
plied. There is a risk of electric shock. shock.
• Tips on Wiring • Tips on Wiring
1) Wire connector (XA, XB, XC and XD). 1) Take off the cover fixing screws, and detach the terminal cover.
2) Connect the wired connector to the driver. 2) Make wiring
Fully insert the connector to the bottom until it clicks. Use clamp type terminals of round shape with insulation cover for wiring to the ter-
• Direct power supply for control circuit. minal block. For cable diameter and size, refer to “Driver and List of Applicable Pe-
DC 1 24V
• Check the name plate of the driver for power ripheral Equipments” (P.B12).
24 V
2 0V specifications. Tighten the terminal block screw with a torque written on P.B13.
XD • Provide a residual current device. The residual 3) Attach the terminal cover, and fix with screws.
current device to be the one designed for Tighten the screw securing the cover with a torque written on P.B13.
"Inverter" and is equipped with
countermeasures for harmonics. • Direct power supply for control circuit.
DC 24V
• Provide a circuit breaker. • Check the name plate of the driver for power specifications.
24 V
English
• Make sure to provide a noise filter. 0V • Provide a residual current device. The residual current
Power RCD MCCB
3 L1
• Provide coil surge suppression units to the coil device to be the one designed for "Inverter" and is
NF MC L
supply 2 L2 of the Magnetic Contactor recommended by equipped with countermeasures for harmonics.
manufacturer. • Provide a circuit breaker.
1 L3
Never start/stop the motor with this • Make sure to provide a noise filter.
XA • Provide coil surge suppression units to the coil of the
Magnetic Contactor. L1
Magnetic Contactor recommended by manufacturer. Never
4 B1 • Provide an AC Reactor. Power RCD MCCB NF MC L
supply L2 start/stop the motor with this Magnetic Contactor.
• AC 3-phase power supply 400 V for main circuit.
3 B3
L3 • Provide an AC Reactor.
• Don't disconnect the shorting cable between B2
2 B2
and B3. Disconnect this only when the external B1
• AC 3-phase power supply 400 V for main circuit.
• Don't disconnect the short bar between B2 and B3.
1 N regenerative register is used. B3 Disconnect this only when an external regenerative
XC • Do not connect anything to N. register is used.
• Match the colors of the motor lead wires to those of B2 • Do not connect anything to NC.
Red
U
3 U the corresponding motor output terminals (U,V,W). NC
• Match the colors of the motor lead wires to those of the
corresponding motor output terminals (U,V,W).
V 2 V • Avoid shorting and grounding. Don't connect U
U • Avoid shorting and grounding.
White the main power. Red
W
1 W • Earth-ground this. White
V
V
Don't connect the main power.
Black XB • Earth-ground this.
• To prevent electric shock, be sure to connect the W
Black W • To prevent electric shock, be sure to connect the ground
Green or E ground terminal ( ) of the driver, and the ground terminal ( ) of the driver, and the ground terminal (ground
Green/yellow terminal (ground plate) of the control panel. Green or E plate) of the control panel.
* These colors • The ground terminal ( ) must not be shared with Green/yellow
• The ground terminal ( ) must not be shared with other
are used for other equipment. * These colors
are used for equipment.
Motor optional cable. Two ground terminals are provided.
Motor optional cable. Two ground terminals are provided.
Ground resistance: 100 Ω max. • Don't connect the earth cable to other inserting • Don't connect the earth cable to other inserting slot,
For applicable wire, refer to P.B12. slot, nor make them touch. nor make them touch.
• Compose a duplex Brake Control Circuit so that the Ground resistance: 100 Ω max.
For applicable wire, refer to P.B12. • Compose a duplex Brake Control Circuit so that the brake
brake can also be activated by an external can also be activated by an external immediate stop signal.
DC DC power supply immediate stop signal. DC power • The holding brake has no polarities.
• The holding brake has no polarities. DC
24 V for brake supply • For the holding brake power supply capacity and how to
• For the holding brake power supply capacity and 24 V
for brake use the brake, refer to “Specifications of Built-in Holding
how to use the brake, refer to “Specifications of Brake” on P.B43.
Varistor Built-in Holding Brake” on P.B43. Varistor • Provide a varistor.
Fuse (125 V 10 A) • Provide a varistor. Fuse (125 V 10 A) Connect a 10 A fuse in series with the varistor.
Connect a 10 A fuse in series with the varistor.
− B14 − − B15 −
Wiring method to connector
Wiring method to connector
• Follow the procedures below for the wiring connection to the Connector XA , XB , XD
XC and XD . • Cables Compatible with Connector
Conductor Size AWG24 to 20
How to connect
Sheath Outline φ1.2 to φ2.6 mm
1. Peel off the insulation cover of the cable. 8 to 9 mm • Recommended Connector Bar Terminal
• For single wire (Please obey the length in figure.) Conductor Size AWG24 to 22
Terminal Model Number VTUB-0.5 (J.S.T. Mfg. Co., Ltd)
XA, XB, XC
• For stranded wires (ferrules must be used as illustrated below). • Cables Compatible with Connector
Example: Ferrules with plastic insulating sleeve (AI series, Phoenix Contact, Ltd.) Conductor Size AWG18 to 12
1) Peel off the sheath so that the conductor ① Sheath Outline φ2.1 to φ4.2 mm
A＞B A B
portion of the cable will protrude from the • Recommended Connector Bar Terminal
tip of the ferrule. (It should protrude 1 mm Conductor Size AWG16 to 14
or more from the ferrule.) Terminal Model Number VTUB-2 or NTUB-2 (J.S.T. Mfg. Co., Ltd)
1 mm or more
②
2) Insert the cable into the ferrule and crimp Caution • When peeling off the sheath of the cable, take care not to damage
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it with an appropriate crimping tool. other portions.
3) After crimping, cut off the cable conductor ③ • When crimping the ferrule, sufficiently check the status of the ferrule
portion protruding from the ferrule. (The and cable. If the conductors of the cable stick out from the insulation
allowable protruding length after cutting cover or protrude excessively from the tip of the ferrule, accidents such
should be 0 to 0.5 mm.) as an electric shock and fire from a short circuit may result.
• Part No. of the crimping tool: 2. Insert the cable (the ferrule) to the connector in the following 2 methods.
CRIMPFOX U-D66 (1204436) Available from Phoenix Contact, Ltd. (a) Insert the cable using the supplied handle lever.
(b) Insert the cable using a flat-blade screwdriver (Edge width: 3.0 to 3.5 mm).
Examples: Nylon-insulated ferrule (NTUB series, J.S.T. Mfg. Co., Ltd.)
Vinyl-insulated ferrule (VTUB series, J.S.T. Mfg. Co., Ltd.)
1) Peel off the sheath of the cable conduc- ① A≧B A≦B＋C
tor portion to the length equal to that of A B C
sheath on the ferrule.
2) Insert the cable into the ferrule and crimp
it with an appropriate crimping tool. ②
• Part No. of the crimping tool:
YNT-1614 (for VTUB-2, NTUB-2) Attach the handle lever Insert the peeled cable Release the lever.
YNT-2622 (for VTUB-0.5) to the handling slot on (the ferrule) while
Available from J.S.T. Mfg. Co., Ltd the upper portion. Press pressing down the lever,
down the lever to push until it hits the insertion
down the spring. slot (round hole).
* You can pull out the cable by pushing down the spring as the above.
Caution • Take off the connector from the Servo Driver before making connection.
• Insert only one cable into each one of cable insertion slot.
• Pay attention to injury by screw driver.
− B16 − − B17 −
Wiring Diagram Wiring of connector for motor and brake
Compose the circuit so that the main circuit power will be shut off when an error occurs. • When the motors of <MSME, MDME, MFME, MGME, MHME> are used, they are
connected as shown below.
In Case of 3-Phase, D, E-frame, 400 V type
Connector: Made by Japan Aviation Electronics Industry, Ltd.
Power supply 3-phase, 380 V –15 % to 480 V +10 %
Built-in thermostat of an external (The figures below show connectors for the motor.)
regenerative resistor (light yellow)
MC
ON OFF ALM
Coil surge suppression units <without Brake> <with Brake>
XD
Insulated +
(Note 1)
24V A B C A B C
Control power D A
DC24 V − 0V supply
MCCB L XA
D E F D E F
Noise filter
L1
L2
Main power C B
supply G H I G H I
L3
MC
B1 XC JL04V-2E20-4PE-B-R JL04V-2E24-11PE-B-R JL04V-2E24-11PE-B-R
B3
External regenerative resistor
B2
JL04HV-2E22-22PE-B-R
(Note 2) Remove the short wire when you connect
the external regenerative resistor.
N PIN No. Application PIN No. Application PIN No. Application
XB
U
Motor A U-phase A NC A Brake
V connection
W B V-phase B NC B Brake
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(Note 1) C W-phase C NC C NC
Shielding the circuit is recommended
for the purpose of noise reduction.
D Ground D U-phase D U-phase
Motor ALM
E V-phase E V-phase
37 X4 (Note 2)
Insulated + ALM+
For the details on the connection of F W-phase F W-phase
DC12 to 24 V
(±5 %) − 36
ALM− the regenerative resistor, refer to the G Ground G Ground
Operating Instructions (Overall).
H Ground H Ground
I NC I NC
In Case of 3-Phase, F-frame, 400 V type
Remarks Do not connect anything to NC.
Power supply 3-phase, 380 V –15 % to 480 V +10 %
Built-in thermostat of an external
regenerative resistor (light yellow)
MC
ON OFF ALM
Coil surge suppression units
(Note 1)
Insulated + 24V Control power
DC24 V − 0V supply
MCCB L
Noise filter
L1
Main power
L2 supply
L3
MC B1
B3
External regenerative resistor B2
(Note 2) Remove the short wire when you connect NC
the external regenerative resistor. U
Motor
V connection
W
(Note 1)
Shielding the circuit is recommended
Motor ALM for the purpose of noise reduction.
X4
37
Insulated + ALM+ (Note 2)
DC12 to 24 V For the details on the connection of
− 36
(±5 %) ALM− the regenerative resistor, refer to the
Operating Instructions (Overall).
Note For wiring the motor connector, refer to next page.
− B18 − − B19 −
Wiring to the connector, X1 Wiring to the connector, X3
This is used for USB connection to a personal computer. It is possible to change the A safety by-pass plug is supplied as standard equipment. Do not disconnect it in nor-
parameter setting and perform monitoring. mal times.
When controlling the safety function from the connected host controller, accessory
Application Symbol Connector Contents
Pin No. connector cannot be used. Prepare and wire the connector (option) as specified be-
VBUS 1 low. Since the standard connector cannot be used when controlling the safety function
Use for communication with personal from the host controller, purchase the optional connector and make connection as
D− 2
computer. shown below.
USB signal terminal D＋ 3
— 4 Do not connect. Pin No.
GND 5 Connected to ground of control circuit. – 1
NC Do not connect.
Caution Use commercially available USB mini-B connector for the driver. – 2
SF1− 3
3. System Configuration and Wiring

Safety input 1
SF1+ 4 These are two independent circuits that
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turn off the operation signal to the power
Wiring to the connector, X2 SF2− 5 module to shut off the motor current.
Safety input 2
This is used for connection to the host controller when two or more units are used. SF2+ 6
RS232 and RS485 interfaces are supplied.
EDM− 7 This is an output for monitoring the failure
Application Symbol Connector Contents EDM output
of the safety function.
Pin No. EDM+ 8
Signal ground GND 1 Connected to ground of control circuit.
Connected with protective earth terminal in
Frame ground FG Shell
NC – 2 Do not connect. the servo driver.
TXD 3 RS232 Connector (plug): 2013595-1 (optional, available from Tyco Electronics AMP)
RS232 signal
RXD 4 The transmission / reception method. [Connector pin assignment]
8 6 4 2
485− 5 7 5 3 1 (Viewed from cable)
485+ 6 RS485
RS485 signal
485− 7 The transmission / reception method.
485+ 8
Connected with protective earth terminal in
the servo driver.
Remarks X1 to X7 are used for the secondary circuit. To connect these terminals to the primary
Connector (plug): 2040008-1 (optional, available from Tyco Electronics AMP) power supply (particularly, the 24 VDC power supply for control, and the 24 VDC
[Connector pin assignment] power supply for brake), insulation is required.
Do not connect these terminals to the same power supply.
8 6 4 2
7 5 3 1 (Viewed from cable) Caution Disconnecting this connector during operation results in immediate stop.
− B20 − − B21 −
In case of open collector I/F (1) When you use the external
7 COM+ 2.2 kΩ 1
Command pulse OPC1 resistor with 12 V and 24 V
Remarks
inhibition input 33 4.7 kΩ 2.2 kΩ 3
Deviation counter
INH PULS1 power supply
clear input 30 220 Ω 4
CL PULS2 2.2 kΩ PULS1 3
Servo-ON input 2.2 kΩ 2 Command
29 SRV-ON OPC2
pulse PULS2 4 R
Gain switching input 27 2.2 kΩ 5
GAIN SIGN1 input A 220 Ω
Electronic gear 220 Ω 2.2 kΩ SIGN1 5
switching input 1 6 (Use with
28 DIV1 SIGN2 VDC
Damping control 500 kpps or less.)
13 SIGN2 6 R
switching input 1 GND 220 Ω
26 VS-SEL1
Control mode
switching input 32 C-MODE 21
OA+ A-phase
Alarm clear input 31 A-CLR 22 output Specifications VDC -1.5
Positive direction OA- VDC
over-travel inhibition input 9 of R R+220 ≒10 mA
POT 48
Negative direction OB+ B-phase 12 V 1 kΩ1/2 W
over-travel inhibition input 8 49 output
NOT 24 V 2 kΩ1/2 W
OB-
Divider
Servo-Ready output 23
35 S-RDY+ OZ+ Z-phase (2) When you do not use the
24 output external resistor with 24 V
Wiring to the connector, X4
34 S-RDY- OZ-
Servo-Alarm output power supply
37 ALM+
36 2.2 kΩ OPC1 1
ALM- 2.2 kΩ
Positioning complete output 39 25 PULS2 4
VDC INP+ GND
Z-phase output 220 Ω
12 to 24 V 38 INP- 2.2 kΩ OPC1 2
19 (open collector)
− B22 −
External brake release output 11 CZ 2.2 kΩ 24 VDC
BRKOFF+ SIGN2 6
10 BRKOFF- 220 Ω
power supply for brake), insulation is required.

Torque in-limit output 40 TLC 20 kΩ
47 kΩ 47 kΩ
Wiring Example of Position Control Mode
–
+
Zero speed detection output ( : Twisted pair)
12 ZSP 47 kΩ 47 kΩ 14
SPR/TRQR/SPL
20 kΩ
41 COM- 15
GND

– 20 kΩ 20 kΩ 14 kΩ 16
44 2 kΩ 20 kΩ + Positive direction torque limit input
PULSH1 P-ATL/TRQR
120 Ω 10 kΩ 17
45 GND
(0 to +10 V)
PULSH2 2 kΩ 20 kΩ
– 20 kΩ 20 kΩ 14 kΩ
46 2 kΩ 18
SIGNH1 20 kΩ N-ATL Negative direction torque limit input
10 kΩ
47 SIGNH2 120 Ω (-10 to +10 V)
2k Ω 20 kΩ 1 kΩ 43
13 GND SP Velocity monitor output
1 kΩ 42
Command pulse input B 50 FG IM Torque monitor output
(Use with 4 Mpps or less.)
X4 The functions of the following pin can be changed using parameters.
Be sure to connect. Input: 8, 9, 26, 27, 28, 29, 30, 31, 32, 33
Output: 10-11, 12, 34-35, 36-37, 38-39, 40
power supply (particularly, the 24 VDC power supply for control, and the 24 VDC
X1 to X7 are used for the secondary circuit. To connect these terminals to the primary
7 COM+
Remarks
Selection 1 input of
internal command speed 33 INTSPD1 4.7 kΩ
internal command speed 30 INTSPD2
Servo-ON input 29 SRV-ON
Gain switching input 27 GAIN
internal command speed 28 INTSPD3 21
Speed zero clamp input 26 OA+
ZEROSPD 22 A-phase output
Control mode switching OA-
input 32 C-MODE 48
Alarm clear input OB+
31 A-CLR
49 B-phase output
Positive direction OB-

Divider
over-travel inhibition input 9 POT 23

Negative direction OZ+
over-travel inhibition input 8 Z-phase output
NOT 24
OZ-
Servo-Ready output 35 S-RDY+
34 S-RDY-
Servo alarm output 37 25
ALM+ GND
36 ALM- 19 Z-phase output (open collector)
At-speed output CZ
VDC 39 AT-SPEED+
12 to 24 V
− B23 −
38 AT-SPEED-
External brake release output 11 20 kΩ

BRKOFF+ 47 kΩ 47 kΩ
–
10 BRKOFF- +
Torque in-limit output 47 kΩ 47 kΩ 14

40 TLC SPR/TRQR/SPL Velocity command
Wiring Example of Velocity Control Mode
20 kΩ input (0 to ± 10 V)
GND 15
– 20 kΩ 20 kΩ 14 kΩ
+
Zero speed detection output 12 16
ZSP P-ATL/TRQR Positive direction torque
10 kΩ 17
41 COM- GND limit input (0 to ± 10 V)
–
20 kΩ 20 kΩ 14 kΩ
+
N-ATL 18 Negative direction torque
10 kΩ
limit input (-10 to 0 V)
1 kΩ 43
SP Velocity monitor output
1 kΩ 42
50 FG IM Torque monitor output
X4 ( : Twisted pair)
The functions of the following pin can be changed using parameters.

Input: 8, 9, 26, 27, 28, 29, 30, 31, 32, 33
Output: 10-11, 12, 34-35, 36-37, 38-39, 40
X1 to X7 are used for the secondary circuit. To connect these terminals to the primary
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Wiring to the connector, X4 3. System Configuration and Wiring
Wiring Example of Torque Control Mode Connect on to External Scale

Provide a power supply for the external scale on your part or use the following power
velocity limit input (0 to ±10 V)

Wiring example when control mode Pr0.01=5 or Pr3.17=1
Negative direction torque
limit input (0 to ±10 V)
output (250 mA or less).
Torque command input or
Select with Pr3.17.
: Twisted pair)
Pin No.
Supply the power of external
A-phase
B-phase
Z-phase EX5V 1
output
output
output scale or A, B, Z phase encoder.

Power supply output
Connected to ground of control
(
EX0V 2
Velocity monitor output

Torque monitor output
19 Z-phase output (open collector)
circuit.
16
17
EXPS 3 Serial signal
CCWTL/TRQR
GND
I/F of external scale signals The transmission / reception
/EXPS 4
method.
EXA 5
/EXA 6
21
22
48
49
23
24
25
14
15
P-ATL/TRQR 16
17
N-ATL 18
43
42
Parallel signal
English
SPR/TRQR/SPL
A, B, Z phase Endoder EXB 7 reception

GND
GND
GND
OB+
OZ+
OA+
OA-
OZ-
OB-
SP
CZ
IM
signal input /EXB 8 Correspondence speed :
1 kΩ
1 kΩ
10 kΩ
10 kΩ
20 kΩ 20 kΩ 14 kΩ
20 kΩ 20 kΩ 14 kΩ
47 kΩ
47 kΩ 47 kΩ
EXZ 9 4 Mpps (after quadruple)

47 kΩ
20 kΩ
Divider /EXZ 10
20 kΩ
+
–
+
–
Connected with ground terminal

X4
in the servo driver.
The functions of the following pin can be changed using parameters.
4.7 kΩ
Connector (plug): MUF-PK10K-X (by J.S.T. Mfg. Co., Ltd.)

• Caution
11 BRKOFF+
39 AT-SPEED+
10 BRKOFF-
35 S-RDY+
38 AT-SPEED-
32 C-MODE
29 SRV-ON
34 S-RDY-
26 ZEROSPD
31 A-CLR
7 COM+
41 COM-
ALM+
ALM-
27 GAIN
28 DIV1
NOT
9 POT
ZSP
40 TLC
INH
FG
CL
1) The manufacturers applicable external scales for this product are as follows.
• Mitutoyo Corp.
33
30
37
36
Zero speed detection output 12
50
Output: 10-11, 12, 34-35, 36-37, 38-39, 40

Input: 8, 9, 26, 27, 28, 29, 30, 31, 32, 33
• Magnescale Co., Ltd.

over-travel inhibition input
over-travel inhibition input
External brake release output

Speed zero clamp
Gain switching input
Alarm clear input

Servo-ON input
For the details of the external scale product, contact each company.
Negative direction
Servo-Ready output
Torque in-limit output

Positive direction
Servo-Alarm output
switching input
At-speed output
Control mode
2) Recommended external scale ratio is 1/40 ≤ External scale ratio ≤ 160

input
If you set up the external scale ratio to smaller value than 50/position loop gain
(Pr1.00 and Pr.1.05), you may not be able to control per 1 pulse unit. Setup of larg-
er scale ratio may result in larger noise.
12 to 24 V
VDC
Remarks X1 to X7 are used for the secondary circuit. To connect these terminals to the primary Remarks X1 to X7 are used for the secondary circuit. To connect these terminals to the primary
power supply (particularly, the 24 VDC power supply for control, and the 24 VDC power supply (particularly, the 24 VDC power supply for control, and the 24 VDC
power supply for brake), insulation is required. power supply for brake), insulation is required.
Do not connect these terminals to the same power supply. Do not connect these terminals to the same power supply.
− B24 − − B25 −
Connection to Encoder
• In case of 20-bit incremental encoder • In case of 17-bit absolute encoder
MSME 750 W to 5.0 kW MSME 750 W to 5.0 kW

MDME 400 W to 5.0 kW MDME 400 W to 5.0 kW
MFME 1.5 kW to 4.5 kW MFME 1.5 kW to 4.5 kW
MGME 0.9 kW to 4.5 kW MGME 0.9 kW to 4.5 kW
MHME 1.0 kW to 5.0 kW MHME 1.0 kW to 5.0 kW
X6 X6
+5 V +5 V
E5V 4 1 E5V 4 1
Regulator
Regulator
E5V E5V
E0V 1 2
E0V
0V E0V 1 2
E0V
0V
3 6 battery 3
BAT+
4 5 4
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BAT−
3 5 3 5
PS PS PS PS
7 6 7 6
PS PS PS PS
9 9
FG Shell (FG) FG Shell (FG)
Twisted pair Twisted pair
Connector: JN2DS10SL1-R Connector: JN2DS10SL1-R
(by Japan Aviation Electronics Ind.) (by Japan Aviation Electronics Ind.)
Motor Encoder cable Driver Motor Encoder cable Driver
* For connection of IP65 motor, refer to the Operating Instructions (Overall). * For connection of IP65 motor, refer to the Operating Instructions (Overall).
Remarks X1 to X7 are used for the secondary circuit. To connect these terminals to the primary Remarks X1 to X7 are used for the secondary circuit. To connect these terminals to the primary
power supply (particularly, the 24 VDC power supply for control, and the 24 VDC power supply (particularly, the 24 VDC power supply for control, and the 24 VDC
power supply for brake), insulation is required. power supply for brake), insulation is required.
Do not connect these terminals to the same power supply. Do not connect these terminals to the same power supply.
− B26 − − B27 −
3. System Configuration and Wiring 4. Parameter
Wiring to the connector, X7 Outline / Setup / Connection
The connector X7 of the front panel is for monitor output. Outline of Parameter
　Analogue output : 2 systems
This driver is equipped with various parameters to set up its characteristics and func-
　Digital output : 1 systems
tions. This section describes the function and purpose of each parameter. Read and
In both cases, it is possible to switch the output signal by setting parameters.
comprehend very well so that you can adjust this driver in optimum condition for your
Output circuit running requirements.
Connector X7 1 kΩ AM1 1
• You can refer and set up the parameter with either one of the following.
1 kΩ AM2 2
Manufacturer’s part No.: Measuring
1) front panel of the driver
2.2 kΩ instrument
6 1
530140610 DM 4
2) combination of the setup support software, "PANATERM" and PC.
GND 3
Manufacturer:
X7
Japan Molex Inc. Setup with the Front Panel
Pin No. Display LED (6-digit)
Analogue monitor • Output the analogue signal for Switch to error display screen when error
AM1 1 monitor.
output 1 occurs, and LED will flash (about 2 Hz).
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• The amplitude of the output signal is LED will flash slowly (about 1 Hz) when
±10 V.
warning occurs.
Analogue monitor • Output impedance is 1 kΩ. When
AM2 2 connecting a measuring instrument, Mode switching button
output 2 6 1
check its input circuit for impedance (valid at SELECTION display)
matching. Press this to switch 4 kinds of mode.
X7 1) Monitor Mode
Signal ground GND 3 Connected to ground of control circuit.
2) Parameter Set up Mode
• Output the digital signal for monitor. 3) EEPROM Write Mode
• Output voltage is CMOS level
4) Auxiliary Function Mode
compatible.
Digital monitor output DM 4 • Output impedance is 2.2 kΩ. When SET Button (valid at any time)
connecting a measuring instrument, Press this to switch SELECTION and
check its input circuit for impedance EXECUTION display.
matching.
Press these to change display and data,
NC – 5 Do not connect. Shifting of the digit for data select parameters and execute actions.
changing to higher digit. (Change/Selection/Execution is valid to the
NC – 6 Do not connect.
digit which decimal point flashes.)
X7 Numerical value increases by pressing, ,
Output connector for monitor
decreases by pressing .
Remarks X1 to X7 are used for the secondary circuit. To connect these terminals to the primary
− B28 − − B29 −
4. Parameter
Outline / Setup / Connection 4. Parameter
Composition of Parameters
Setup with the PC • The parameter No. is displayed in the form of PrX.YY (X: Classification, YY: No.).
• For the details on the parameters, refer to the Operating Instructions (Overall).
It is possible to connect your personal computer to connector X1 of MINAS A5 using a
USB cable for personal computer connection. Downloading the setup support software Parametr No.
Class name Group
“PANATERM” from our web site and installing it on your personal computer will allow Class No.*
you to perform the following easily.
0 00 to Basic setting Parameter for Basic setting
• With the PANATERM, you can execute the followings.
1 00 to Gain adjustment Parameter for Gain adjustment
1) Setup and storage of parameters, and writing to the memory (EEPROM).
2) Monitoring of I/O, pulse input and load factor. 2 00 to Damping control Parameter for Damping control
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. Verocity/ Torque/
3 00 to Parameter for Verocity/ Torque/ Full-closed control
Full-closed control
5) Normal auto-gain tuning
6) Frequency characteristic measurement of the machine system. 4 00 to I/F monitor setting Parameter for I/F monitor setting
Note Because no production software such as CD-ROM is available, down- 5 00 to Enhancing setting Parameter for Enhancing setting
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load the setup support software from our web site and install it on your
personal computer. 6 00 to Special setting Parameter for Special setting
* The Parameter No. consists of 2 digits.

• How to Connect
Connect to X1
(USB mini-B)
Setup support software “PANATERM”

Please download from our web site and
use after install to the PC.
• USB cable
On the driver, use commercially available USB mini-B connector.
The connector on the personal computer side should be in accordance with the
specifications of the PC.
When the cable does not have noise filter, attach a signal line noise filter (DV0P1460)
to both ends of the cable.
− B30 − − B31 −
5. Protective Functions 5. Protective Functions
Protective Function (What Is Error Code ?)
Protective Function (What Is Error Code ?)
• Various protective functions are equipped in the driver. When these are triggered, the Error code Attribute
Protective function
motor will stall due to error, the driver will turn the Servo-Alarm output (ALM) to off (open). Main Sub History Can be cleared Immediate stop
• Error status and their measures 3 IF input function number error 2 protection ○
4 IF output function number error 1 protection ○
• During the error status, the error code No. will be displayed on the front panel
33 5 IF output function number error 2 protection ○
LED, and you cannot turn Servo-ON.
6 CL fitting error protection ○
• You can clear the error status by Alarm clear input(A-CLR) in 120 ms or longer.
7 INH fitting error protection ○
• When overload protection is triggered, you can clear it by Alarm clear input(A-
34 0 Software limit protection ○ ○
CLR) in 10 sec or longer after the error occurs. You can clear the Overload protec- 36 0 to 2 EEPROM parameter error protection
tion time characteristics (refer to P.B36, 37) by turning off the control power supply 37 0 to 2 EEPROM check code error protection
between 24 V and 0 V (400 V) of the driver.*1 38 0 Over-travel inhibit input protection ○
• You can clear the above error by operating the front panel keys and setup support 0 Analog input1 excess protection ○ ○ ○
softwear “PANATERM”. 39 1 Analog input2 excess protection ○ ○ ○
• Be sure to clear the alarm during stop after removing the cause of the error and 2 Analog input3 excess protection ○ ○ ○
securing safety. 40 0 Absolute system down error protection ○ ○
• The error code No. is displayed in the form of ErrXX.Y (X: main, YY: sub). 41 0 Absolute counter over error protection ○
English
<List of error code No.> 42 0 Absolute over-speed error protection ○ ○
Error code Attribute
43 0 Initialization failure ○
Protective function 44 0 Absolute single turn counter error protection ○
Main Sub History Can be cleared Immediate stop
11 0 Control power supply under- voltage protection ○ 45 0 Absolute multi-turn counter error protection ○
12 0 Over-voltage protection ○ ○ 47 0 Absolute status error protection ○
0 Main power supply under-voltage protection (between P to N) ○ 48 0 Encoder Z-phase error protection ○
13
1 Main power supply under-voltage protection (AC interception detection) ○ 49 0 Encoder CS signal error protection ○
0 Over-current protection ○ 0 Feedback scale connection error protection ○
14 50
1 IPM error protection ○ 1 Feedback scale communication error protection ○
15 0 Over-heat protection ○ ○ 0 Feedback scale status 0 error protection ○
16 0 Over-load protection ○ ○*1
1 Feedback scale status 1 error protection ○
0 Over-regeneration load protection ○ ○
18 2 Feedback scale status 2 error protection ○
1 Over-regeneration Tr error protection ○ 51
0 Encoder communication disconnect error protection ○
3 Feedback scale status 3 error protection ○
21 4 Feedback scale status 4 error protection ○
1 Encoder communication error protection ○
23 0 Encoder communication data error protection ○ 5 Feedback scale status 5 error protection ○
24 0 Position deviation excess protection ○ ○ ○ 0 A-phase connection error protection ○
25 0 Hybrid deviation excess error protection ○ ○ 55 1 B-phase connection error protection ○
0 Over-speed protection ○ ○ ○ 2 Z-phase connection error protection ○
26
1 2nd over-speed protection ○ ○ 87 0 Compulsory alarm input protection ○
0 Command pulse input frequency error protection ○ ○ ○ 95 0 Motor automatic recognition error protection
27
2 Command pulse multiplier error protection ○ ○ ○ Other number Other error ○
28 0 Limit of pulse replay error protection ○ ○ ○
29 0 Deviation counter overflow protection ○ ○ Note History...The error will be stored in the error history.
30 0 Safety detection ○ Can be cleared...To cancel the error, use the alarm clear input (A-CLR).
If the alarm clear input is not effective, turn off power, remove the cause of the
0 IF overlaps allocation error 1 protection ○
error and then turn on power again.
33 1 IF overlaps allocation error 2 protection ○
Immediate stop...Instantaneous controlled stop upon occurrence of an error.
2 IF input function number error 1 protection ○ (Setting of “Pr.5.10 Sequence at alarm” is also required.)
− B32 − − B33 −
6. Maintenance and Inspections 6. Maintenance and Inspections
Maintenance and Inspections
Maintenance and Inspections
• Routine maintenance and inspection of the driver and motor are essential for Guideline for Parts Replacement
the proper and safe operation.
Use the table below for a reference. Parts replacement cycle varies depending on the
Notes on Maintenance and Inspection actual operating conditions. Defective parts should be replaced or repaired when any
error have occurred.
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 Disassembling for inspection and repair should be
power-off. Turn off the power and allow 15 minutes or longer after LED display of carried out only by authorized dealers or service
the front panel has gone off, before performing maintenance and inspection. company.
Prohibited
3) Disconnect all of the connection to the driver when performing megger test (Insulation
resistance measurement) to the driver, otherwise it could result in breakdown of the
Standard replacement
driver. Product Component Note
cycles (hour)
4) Do not use benzine, thinner, alcohol, acidic cleaner and alkaline cleaner because
Smoothing condenser Approx. 5 years
they can discolor or damage the exterior case.
2 to 3 years
Cooling fan
Inspection Items and Cycles (10,000 to 30,000 hours)
English
General and normal running condition Aluminum electrolytic
Approx. 5 years
capacitor (on PCB)
Ambient conditions : 30 ˚C (annual average), load factor of 80 % or
Driver
lower, operating hours of 20 hours or less per day. Rush current
Approx. 100,000 times
(depending on working
Perform the daily and periodical inspection as per the items below. preventive relay
condition)
Type Cycles Items to be inspected These hours or cycles
Approx. 20,000 times
Rush current are reference.
• Ambient temperature, humidity, speck, dust or foreign object (depending on working
preventive resistor When you experience
• Abnormal vibration and noise condition)
any error, replacement
• Main circuit voltage
3 to 5 years is required even before
• Odor Bearing
(20,000 to 30,000 hours) this standard replace-
Daily • Lint or other particles at air holes ment cycle.
Daily Oil seal 5000 hours
inspection • Cleanness at front portion of the driver and connector
• Damage of the cables 3 to 5 years
Encoder
• Loose connection or misalignment between the motor and (20,000 to 30,000 hours)
Motor
machine or equipment Life time varies depending
• Pinching of foreign object at the load on working conditions.
• Loose tightening Battery Refer to the Operating
Periodical • Trace of overheat for absolute encoder Instructions attached to
Annual the battery for absolute
inspection • Damage to the terminal block
• Loose fasteners on terminal block encoder.
Note Inspection cycle may change when the running conditions of the
above change.
− B34 − − B35 −
7. Conformity to EC Directives and UL Standards 7. Conformity to EC Directives and UL Standards
EC Directives / Conformity to UL Standards
EC Directives / Conformity to UL Standards
EC Directives Overload protection time characteristics

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 MSME 750 W to 5.0 kW Time [s]
100
products are required to conform to the EU unified standards and to furnish the CE MDME 400 W to 5.0 kW
marking on the products. MFME 1.5 kW to 4.5 kW
MGME 0.9 kW to 4.5 kW
10
However, our AC servos meet the relevant EC Directives for Low Voltage Equipment MHME 1.0 kW to 5.0 kW
so that the machine or equipment comprising our AC servos can meet EC Directives.
1
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 0.1
115
100 200 300 400 500
and the driver. And actual working condition often differs from this model condition es-
Torque [%]
pecially 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 neces-
English
sary to examine the machine incorporating our servos.
Conformed Standards
Conformity to UL Standards Driver Motor
Observe the following conditions of (1) and (2) to make the system conform to UL508C EN55011
EMC
EN61000-6-2 –
(File No. E164620). Directives
EN61800-3
(1) Use the driver in an environment of Pollution Degree 2 or 1 prescribed in Low-Voltage IEC60034-1
IEC60664-1. (e.g. Install in the control box with IP54 enclosure.) EN61800-5-1
Directives IEC60034-5
EC Directives
(2) Make sure to install a circuit breaker or fuse which are UL recognized (Listed ISO13849-1 (PL d*)(Cat. 3)
marked) between the power supply and the noise filter. EN61508 (SIL 2)
Functional
EN62061 (SILCL 2) –
For the rated current of the circuit breaker or fuse, refer to P.B12, "Driver and List safety
EN61800-5-2 (STO)
of Applicable Peripheral Equipments" of Preparation. IEC61326-3-1
Use a copper cable with temperature rating of 75 ˚C or higher. UL508C UL1004
UL Standards
(3) Over-load protection level (File No.E164620) (File No.E327868)
Over-load protective function will be activated when the effective current exceeds CSA Standards C22.2 No.14 C22.2 No.100
115 % or more than the rated current based on the time characteristics (see the IEC : International Electrotechnical Commission
EN : Europaischen Normen
next page). Confirm that the effective current of the driver does not exceed the EMC : Electromagnetic Compatibility
rated current. Set up the peak permissible current with Pr0.13 (Setup of 1st torque UL : Underwriters Laboratories
CSA : Canadian Standards Association
limit) and Pr5.22 (Setup 2nd torque limit).
(4) Motor over-temperature protection is not provided. Pursuant to the directive 2004/108/EC, article 9(2)
Panasonic Testing Centre
Motor over-load-temperature protection shall be provided at the final installation Panasonic Service Europe, a division of
upon required by the NEC (National Electric Code). Panasonic Marketing Europe GmbH
Winsbergring 15, 22525 Hamburg, F.R. Germany
* PL d: Provided that EDM is used.
− B36 − − B37 −
7. Conformity to EC Directives and UL Standards 7. Conformity to EC Directives and UL Standards
Composition of Peripheral Equipments
Installation Environment Noise Filter

Use the servo driver in the environment of Pollution Degree 1 or 2 prescribed in When you install one noise filter at the power supply for multi-axes application, consult
IEC-60664-1 (e.g. Install the driver in control panel with IP54 protection structure.) with manufacturer of the noise filter. If sufficient noise margin is required, connect 2
Metallic control box filters in series.
Power Noise filter for signal lines Driver • Recommended components
supply XA Noise filter for
Residual Circuit L1 Voltage specifications Current rating Applicable
current device Noise filter signal lines Model No. Manufacturer
breaker L2 XB Motor for driver (A) driver (frame)
(RCD) L3 U
V M FN258L-16-07 16 D, E-frame
Insulated 24V W 3-phase 400 V SCHAFFNER
Surge DC24 V 0V
RE
FN258L-30-07 30 F-frame
X6
absorber Noise filter for
signal lines Remarks • Select a noise filter whose capacity is commensurate with the power
Noise filter for
signal lines source capacity (in consideration of the load condition).
X3
Insulated power supply • For the detailed specifications of each noise filter, contact the manufacturer.
X4 Noise filter for
for interface signal lines
Safety Surge Absorber
English
Controller controller
Provide a surge absorber for the primary side of noise filter.
Ground (PE) Voltage specifications Manufacturer’s
Option part No. Manufacturer
for driver part No.
Caution Use options correctly after reading Operating Instructions of the options
DV0PM20050 3-phase 400 V R・A・V-801BXZ-4 Okaya Electric Ind.
to better understand the precautions.
Take care not to apply excessive stress to each optional part.
5.5±1
11±1
ø4.2±0.2 Circuit diagram
Power Supply ① ② ③
28.5±1
• Main power supply
+10 % +10 %
400 V type : 3-phase, 380 V to 480 V 50/60 Hz
–15 % –15 % UL-1015 AWG16
+30

200 -0
• Control power supply
4.5±0.5
DC 24 V ±15 %
1 2 3
28±1
(1) This product is designed to be used in over-voltage category (installation category) 41±1
III of EN 61800-5-1:2007.
(2) Use an insulated power supply of DC12 to 24 V which has CE marking or complies
with EN60950.
Circuit Breaker
Install a circuit breaker which complies with IEC Standards and UL recognized (Listed
and marked) between power supply and noise filter.
Integral solid state short circuit protection does not provide branch circuit protection.
Branch circuit protection must be provided in accordance with the National Electrical
Code and any additional local codes.
− B38 − − B39 −
7. Conformity to EC Directives and UL Standards MEMO
Noise Filter for Signal Lines

Install noise filters for signal lines to all cables (power cable, motor cable, encoder
cable and interface cable)
Manufacturer’s
Option part No. Manufacturer
part No.
DV0P1460 ZCAT3035-1330 TDK Corp.
39±1
34±1 Mass: 62.8 g
Caution Fix the signal line noise filter

13±1
30±1
in order to prevent excessive

stress to the cables.
Residual current device
English
Install a residual current device (RCD) at primary side of the power supply.
Select a RCD of type.B prescribed in IEC60947-2, JISC8201-2-2.
Grounding
(1) To prevent electric shock, be sure to connect the ground terminal ( ) of the driv-
er, and the ground terminal (PE) of the control panel.
(2) The ground terminal ( ) must not be shared with other equipment. Two ground
terminals are provided.
Note For driver and applicable peripheral equipments, refer to P.B12 "Driver
and List of Applicable Peripheral Equipments" .
− B40 −
8. Built-in Holding Brake 8. Built-in Holding Brake
Outline / Specifications
Outline / Specifications
In the applications where the motor drives the vertical axis, this brake would be used Specifications of Built-in Holding Brake
to hold and prevent the work (moving load) from falling by gravity while the power to
Static Exciting
the servo is shut off. Rotor Engaging Releasing Permissible Permissible Permissible
Motor Motor friction current Releasing
inertia time time work (J) per total work angular
series output torque DC A voltage acceleration
Use this built-in brake for "Holding" purpose only, that is to hold the stalling ×10–4 kg·m2 ms ms one braking x 103J rad/s2
N·m (at cool-off)
status. Never use this for "Brake" purpose to stop the load in motion. 750 W 2.5 or more 15 or less 0.70
1.0 kW, 1.5 kW, 50 or less
7.8 or more 0.33 15 or less 392 490
2.0 kW 0.81 DC2 V
Output Timing of BRK-OFF Signal MSME
3.0 kW 11.8 or more 80 or less
(100)
or more
10000
• For the brake release timing at power-on, or braking timing at Servo-OFF/Servo- 4.0 kW, 110 or 50 or less
16.2 or more 1.35 0.9 1470 2200
5.0 kW less (130)
Alarm while the motor is in motion, refer to the Operating Instructions (Overall).
400 W, 600 W 2.5 or more 50 or less 15 or less 0.70 392 490
• With the parameter, Pr4.38 (Setup of mechanical brake action while the motor is in 70 or less
1.0 kW 4.9 or more 80 or less 0.59 588 780
motion), you can set up a time between when the motor enters to a free-run from (200)
1.35 100 or 10000
energized status and when BRK-OFF signal turns off (brake will be engaged), when 1.5 kW, 2.0 kW 13.7 or more 0.79 DC2 V 1176 1500
MDME less 50 or less
the Servo-OFF or alarm occurs while the motor is in motion. Refer to the Operating or more
110 or (130)
3.0 kW 16.2 or more 0.9 1470 2200
Instructions (Overall) for the details. less
English
25 or less
Note 1. The lining sound of the brake (chattering and etc.) might be generated 4.0 kW, 5.0 kW 24.5 or more 4.7 80 or less 1.3 1372 2900 5440
(200)
while running the motor with built-in brake, however this does not af- 1.5 kW 7.8 or more 4.7 80 or less 35 or less 0.83 1372 2900
DC2 V
fect any functionality. MFME 2.5 kW 21.6 or more
8.75
150 or 100 or
0.75 or more 1470
1500 10000
4.5 kW 31.4 or more less less 2200
2. Magnetic flux might be generated through the motor shaft while the
100 or 50 or less
brake coil is energized (brake is open). Pay an extra attention when 0.9 kW 13.7 or more 1.35
less (130)
0.79 1176 1500 10000
magnetic sensors are used nearby the motor. 25 or less
2.0 kW 24.5 or more 80 or less 1.3 DC2 V
MGME (200)
or more 5440
4.7 50 or less 1372 2900
3.0 kW 150 or
58.8 or more (130) 1.4
less
4.5 kW 50 or less 5000
70 or less
1.0 kW 4.9 or more 80 or less 0.59 588 780
(200)
1.35 10000
100 or 50 or less DC2 V
MHME 1.5 kW 13.7 or more 0.79 1176 1500
less (130) or more
2.0 kW to 25 or less
24.5 or more 4.7 80 or less 1.3 1372 2900 5440
5.0 kW (200)
• Excitation voltage is DC24 V±10 %.
• Releasing time values represent the ones with DC-cutoff using a varistor.
Values in ( ) represent those measured by using a diode (V03C by Hitachi, Ltd.)
• 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.
• 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.)
− B42 − − B43 −
9. Dynamic Brake 10. Check of the Combination of the Driver and the Motor
Outline Incremental Specifications, 20-bit
This driver is designed to be used in a combination with the motor which are specified
This driver is equipped with a dynamic brake for emergency stop.
by us. Check the series name of the motor, rated output torque, voltage specifications
Pay a special attention to the followings.
and encoder specifications.
Caution 1.Dynamic brake is only for emergency stop.
Caution Do not use in other combinations than those listed below.
Do not start/stop the motor by turning on/off the Servo-ON
Motor Driver
signal (SRV-ON). Rated
Power Rated
Otherwise it may damage the dynamic brake circuit of the supply
Type rotational Model
output
Model Frame
speed
driver. MSME084G1* 750 W MDD◇T2412
MSME104G□* 1.0 kW MDD◇T3420 D-frame
The Motor becomes a dynamo when driven externally and MSME154G□* 1.5 kW MDD◇T3420
short circuit current occurred while dynamic brake is activat- 3-phase, MSME
3000 r/min MSME204G□* 2.0 kW MED◇T4430 E-frame
400 V Low inertia
ed may cause smoking or fire. MSME304G□* 3.0 kW MFD◇T5440
MSME404G□* 4.0 kW F-frame
MFD◇TA464
2. Dynamic brake is a short-duration rating, and designed for only MSME504G□* 5.0 kW
emergency stop. Allow approx. 10 minutes pause when the dynamic MDME044G1* 400 W
English
MDD◇T2407
brake is activated during high-speed running. MDME064G1* 600 W
D-frame
MDME104G□* 1.0 kW MDD◇T2412
• You can activate the dynamic brake in the following cases. 3-phase, MDME MDME154G□* 1.5 kW MDD◇T3420
2000 r/min
1) when the main power is turned off 400 V Middle inertia MDME204G□* 2.0 kW MED◇T4430 E-frame
MDME304G□* 3.0 kW MFD◇T5440
2) at Servo-OFF
MDME404G□* 4.0 kW F-frame
3) when one of the protective function is activated. MFD◇TA464
MDME504G□* 5.0 kW
4) when over-travel inhibit input (NOT, POT) of connector X4 is acti- MFME154G1* 1.5 kW MDD◇T3420 D-frame
3-phase, MFME
vated 2000 r/min MFME254G1* 2.5 kW MED◇T4430 E-frame
400 V Middle inertia
MFME454G1* 4.5 kW MFD◇TA464 F-frame
In the above cases from 1) to 4), you can select either activation of
MGME094G□* 0.9 kW MDD◇T3420 D-frame
the dynamic brake or making the motor free-run during decelera- 3-phase, MGME MGME204G□* 2.0 kW MFD◇T5440
tion or after the stop, with parameter. 1000 r/min
400 V Middle inertia MGME304G□* 3.0 kW F-frame
MFD◇TA464
MGME454G1* 4.5 kW
MHME104G□* 1.0 kW MDD◇T2412
D-frame
MHME154G□* 1.5 kW MDD◇T3420
3-phase, MHME MHME204G□* 2.0 kW MED◇T4430 E-frame
2000 r/min
400 V High inertia MHME304G□* 3.0 kW MFD◇T5440
MHME404G□* 4.0 kW F-frame
MFD◇TA464
MHME504G□* 5.0 kW
Note • Suffix of “ □ ” in the applicable motor model represents design order.

• Suffix of “ * ” in the applicable motor model represents the motor structure.
• Suffix of “ ◇ ” in the applicable driver model represents series.
− B44 − − B45 −
10. Check of the Combination of the Driver and the Motor 11. Specifications
Absolute Specifications, 17-bit Basic Specifications
This driver is designed to be used in a combination with the motor which are specified Main D to ＋ 10 ％＋ 10 ％
Input power
by us. Check the series name of the motor, rated output torque, voltage specifications 3-phase, 380 to 480 V 50/60 Hz
circuit F-frame － 15 ％－ 15 ％
400 V
and encoder specifications. *1 Control D to
DC 24 V ±15 % *2
circuit F-frame
Caution Do not use in other combinations than those listed below.
Control method IGBT PWM Sinusoidal wave drive
Motor Driver
Rated 17-bit (131072 resolution) absolute encoder, 7-wire serial
Power Rated Encoder feedback
Type rotational Model Model Frame 20-bit (1048576 resolution) incremental encoder, 5-wire serial
supply speed output
MSME084S1* 750 W MDD◇T2412 A/B phase, initialization signal defferential input.
Manufacturers that support serial communication scale:
MSME104S□* 1.0 kW MDD◇T3420 D-frame External scale feedback
Mitsutoyo Corp.
MSME154S□* 1.5 kW MDD◇T3420
3-phase, MSME Magnescale Co., Ltd.
3000 r/min MSME204S□* 2.0 kW MED◇T4430 E-frame
400 V Low inertia
MSME304S□* 3.0 kW MFD◇T5440 General purpose 10 inputs
Input
MSME404S□* 4.0 kW F-frame Control The function of general-purpose input is selected by parameters.
MFD◇TA464
Parallel I/O connector

MSME504S□* 5.0 kW signal General purpose 6 outputs
MDME044S1* 400 W Output
The function of general-purpose input is selected by parameters.
English
MDD◇T2407
MDME064S1* 600 W
D-frame Input 3 inputs (16Bit A/D : 1 input, 12Bit A/D : 2 inputs)
MDME104S□* 1.0 kW MDD◇T2412 Analog
3-phase, MDME MDME154S□* 1.5 kW MDD◇T3420 signal Output 2 outputs (Analog monitor: 2 output)
2000 r/min
400 V Middle inertia MDME204S□* 2.0 kW MED◇T4430 E-frame
MDME304S□* 3.0 kW MFD◇T5440 Pulse Input 2 inputs (Photo-coupler input, Line receiver input）
MDME404S□* 4.0 kW F-frame signal
MFD◇TA464 Output 4 outputs ( Line driver: 3 output、open collector: 1 output)
MDME504S□* 5.0 kW
MFME154S1* 1.5 kW MDD◇T3420 D-frame USB Connection with PC etc.
3-phase, MFME
2000 r/min MFME254S1* 2.5 kW MED◇T4430 E-frame Communication
400 V Middle inertia RS232 1 : 1 communication
MFME454S1* 4.5 kW MFD◇TA464 F-frame function
MGME094S□* 0.9 kW MDD◇T3420 D-frame RS485 1 : n communication up to 31 axes to a host.
3-phase, MGME MGME204S□* 2.0 kW MFD◇T5440
1000 r/min Safety function Used for IEC61800-5-2: STO.
400 V Middle inertia MGME304S□* 3.0 kW F-frame
MFD◇TA464
MGME454S1* 4.5 kW (1) 5 keys (MODE, SET, UP, DOWN, SHIFT) (2) LED (6-digit)
MHME104S□* 1.0 kW MDD◇T2412 Front panel (3) Monitor connector (Analog monitor output (2ch), Digital
D-frame
MHME154S□* 1.5 kW MDD◇T3420 monitor output (1ch))
3-phase, MHME MHME204S□* 2.0 kW MED◇T4430 E-frame
2000 r/min D to F-frame:
400 V High inertia MHME304S□* 3.0 kW MFD◇T5440 Regeneration
Built-in regenerative resistor (external resistor is also enabled.)
MHME404S□* 4.0 kW F-frame
MFD◇TA464
MHME504S□* 5.0 kW Dynamic brake Built-in
Note 1) • Suffix of “ □ ” in the applicable motor model represents design order. Switching among the following 7 mode is enabled,
• Suffix of “ * ” in the applicable motor model represents the motor structure. (1) Position control (2) Velocity control (3) Toque control
Control mode
• Suffix of “ ◇ ” in the applicable driver model represents series. (4) Position/Velocity control (5) Position/Torque control
(6) Velocity/Torque control (7) Full-closed control
2) Default of the driver is set for the incremental encoder specifications.
When you use in absolute, make the following operations. *1 The specification out of Japan.
a) Install a battery for absolute encoder. *2 Use a power supply with 2 A or larger capacity.
b) Switch the parameter Pr0.15 (Absolute encoder setup) from "1 (default)" to "0".
− B46 − − B47 −
11. Specifications 11. Specifications
Functions
Functions
(1) Deviation counter clear (2) Command pulse inhibition Control input Speed zero clamp, Torque command sign input etc.
Control input (3) Command dividing gradual increase switching Control output Speed arrival etc.
Torque control
(4) Damping control switching etc.
Speed command input can be provided by means of analog
Control output Positioning complete (In-position) etc. Analog Torque command voltage.
Max. command Exclusive interface for Photo-coupler: 500 kpps input input Parameters are used for scale setting and command
pulse frequency Exclusive interface for line driver : 4 Mpps polarity.
Input pulse Speed limit function Speed limit value with parameter t is enabled.
Differential input
signal format (1) Deviation counter clear (2) Command pulse inhibition
Pulse
Position control
Electronic gear Control input (3) Command dividing gradual increase switching
input (Division/ (4) Damping control switching etc.
1/1000 to 1000 times
Multiplication of Control output Full-closed positioning complete etc.
command pulse)
Max. command Exclusive interface for Photo-coupler: 500 kpps
Primary delay filter or FIR type filter is adaptable to the pulse frequency Exclusive interface for line driver : 4 Mpps
Smoothing filter
command input
Input pulse
Torque limit Individual torque limit for both positive and negative direction Differential input
signal format
Full-closed control
Analog command input is enabled.
Pulse Electronic gear
English
input Torque feed input
Analog voltage can be used as torque feed forward input. (Division/
forward input 1/1000 to 1000 times
Multiplication of
Instantaneous Speed command pulse)
Available
Observer Primary delay filter or FIR type filter is adaptable to the
Smoothing filter
Damping Control Available command input
(1) Selection of internal velocity setup 1 Torque limit Individual torque limit for both positive and negative direction
(2) Selection of internal velocity setup 2 Analog command input is enabled.
Control input
(3) Selection of internal velocity setup 3 input Torque feed
(4) Speed zero clamp etc. Analog voltage can be used as torque feed forward input.
forward input
Control output Speed arrival etc. Setup range of division/
Speed command input can be provided by means of analog multiplication of 1/40 to 160 times
Velocity voltage. feedback scale
command input Parameters are used for scale setting and command The load inertia is identified in real time by the driving
Analog polarity. state of the motor operating according to the command
Velocity control
input Torque limit Individual torque limit for both positive and negative direction Auto tuning given by the controlling device and set up support software
command input is enabled. “PANATERM”. The gain is set automatically in accordance
Torque feed with the rigidity setting.
Analog voltage can be used as torque feed forward input. Common
forward input Division of encoder Set up of any value is enabled (encoder pulses count is the
Internal velocity command Switching the internal 8speed is enabled by command input. feedback pulse max.).
Individual setup of acceleration and deceleration is enabled, Over-voltage, under-voltage, over-speed, over-load,
Hard error
Soft-start/down function with 0 to 10 s/1000 r/min. Sigmoid acceleration/deceleration Protective over-heat, over-current and encoder error etc.
is also enabled. function Excess position deviation, command pulse division error,
Soft error
Zero-speed clamp Speed zero clamp input is enabled. EEPROM error etc.
Instantaneous Speed Traceability of alarm data The alarm data history can be referred to.
Available
Observer
Velocity Control filter Available
− B48 − − B49 −
After-Sale Service (Repair)

Repair • 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
Consult to a dealer from whom you have purchased the product for details of repair.
damage to the internal parts, causing smoking and/or a fire and other trouble.
When the product is incorporated to the machine or equipment you have purchased,
• The user is responsible for matching between machine and components in terms
consult to the manufacturer or the dealer of the machine or equipment.
of configuration, dimensions, life expectancy, characteristics, when installing the
Cautions for Proper Use machine or changing specification of the machine. The user is also responsible for
complying with applicable laws and regulations.
• Practical considerations for exporting the product or assembly containing the product
• The product will not be guaranteed when it is used outside its specification limits.
When the end user of the product or end use of the product is associated with mili-
• Parts are subject to minor change to improve performance.
tary affair or weapon, its export may be controlled by the Foreign Exchange and
Foreign Trade Control Law. Complete review of the product to be exported and ex-
port formalities should be practiced.
Technical information
• This product is intended to be used with a general industrial product, but not de-
signed or manufactured to be used in a machine or system that may cause personal Technical information of this product (Operating Instructions, CAD data) can be
death when it is failed. downloaded from the following web site.
• Installation, wiring, operation, maintenance, etc., of the equipment should be done http://industrial.panasonic.com/ww/i_e/25000/motor_fa_e/motor_fa_e.html
English
by qualified and experienced personnel.
• Apply adequate tightening torque to the product mounting screw by taking into
consideration strength of the screw and the characteristics of material to which the
product is installed. Overtightening can damage the screw and/or material; under-
tightening can result in loosening.
Example) Steel screw (M5) into steel section: 2.7-3.3 N·m.
• Install a safety equipments or apparatus in your application, when a serious acci-
dent 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-
For your records:
ronments as nuclear energy control, aerospace, transportation, medical equipment,
The model number and serial number of this product can be found on either the back or the
various safety equipments or equipments which require a lesser air contamination.
bottom of the unit. Please note them in the space provided and keep for future reference.
• 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
Model No.
M □D□ 　　　　　　　
Serial No.
electricity, or failure in input power, wiring and components may result in unexpected M □ME　　　　　　　　
action. It is highly recommended that you make a fail-safe design and secure the
Date of
safety in the operative range.
purchase
• 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- Name
ment, and may result in the bearing noise. Checking and verification by customer is
required. Dealer Address
• 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 Phone ( ) -
room related.
• Please be careful when using in an environment with high concentrations of sulfur
or sulfric gases, as sulfuration can lead to disconnection from the chip resistor or a 7-1-1 Morofuku, Daito, Osaka, 574-0044, Japan Phone : +81-72-871-1212
poor contact connection. © Panasonic Corporation 2009
− B50 − − B51 −
MEMO MEMO
7-1-1 Morofuku, Daito, Osaka, 574-0044, Japan Phone : +81-72-871-1212
© Panasonic Corporation 2009
Printed in China IMD89+B
Z0409-2043

IMD89 A5-400V e Basic

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Operating Instructions (Basic)

AC Servo Motor & Driver

<Contents> page page

1. Introduction Contents of Name Plate

Manufacture date Lot number

e.g.) : 20100401 Month of production

Lot number 06 600 W 25 2.5 kW 1 Standard

(Lower 2 digits of AD year) 10 1.0 kW 45 4.5 kW Symbol Specifications 0.9 kW to 5.0 kW

M D D H T 2 4 0 7 MFME Middle inertia

Connecting Example of D, E-frame, 400 V type : High voltage PC (to be supplied

Connecting Example of F-frame, 400 V type : High voltage

Rated Diameter Crimp

approx. • About circuit breaker and magnetic contactor

Connection to exclusive connector

Connection to exclusive connector

Note For wiring the motor connector, refer to next page.

3. System Configuration and Wiring

power supply for brake), insulation is required.

Do not connect these terminals to the same power supply.

Positive direction OB-

over-travel inhibition input 9 POT 23

External brake release output 11 20 kΩ

Torque in-limit output 47 kΩ 47 kΩ 14

The functions of the following pin can be changed using parameters.

Wiring Example of Torque Control Mode Connect on to External Scale

velocity limit input (0 to ±10 V)

Torque command input or

Select with Pr3.17.

output scale or A, B, Z phase encoder.

Velocity monitor output

A, B, Z phase Endoder EXB 7 reception

EXZ 9 4 Mpps (after quadruple)

Connected with ground terminal

Connector (plug): MUF-PK10K-X (by J.S.T. Mfg. Co., Ltd.)

Zero speed detection output 12

Output: 10-11, 12, 34-35, 36-37, 38-39, 40

• Magnescale Co., Ltd.

External brake release output

Alarm clear input

Torque in-limit output

2) Recommended external scale ratio is 1/40 ≤ External scale ratio ≤ 160

MSME 750 W to 5.0 kW MSME 750 W to 5.0 kW

* The Parameter No. consists of 2 digits.

Setup support software “PANATERM”

EC Directives Overload protection time characteristics

Installation Environment Noise Filter

Noise Filter for Signal Lines

Caution Fix the signal line noise filter

in order to prevent excessive

Residual current device

Note • Suffix of “ □ ” in the applicable motor model represents design order.

Parallel I/O connector

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