AC Servo Motor Driver

MINAS AIII-series

Operating Manual
DV0P3450

[Be sure to give this instruction manual to the user.]

Thank you very much for your buying Panasonic AC Servo Motor Driver, MINAS
AIII-series.
Before use, read through this manual to ensure proper use. Keep this manual at
an easily accessible place so as to be referred anytime as necessary.

INDEX
page

Safety Precautions ...........................................................8

Maintenance and Inspections ................................................. 12

[Before Use]

page

Introduction.............................................................................. 14
Outline .......................................................................................................................................................... 14
Check the Model of Driver ............................................................................................................................ 14
Check the Model of Motor ............................................................................................................................ 15
Check the Combination of Driver and Motor ................................................................................................ 16

Parts Description ..................................................................... 20

Driver ............................................................................................................................................................ 20
Motor ............................................................................................................................................................. 22

Installation................................................................................ 23
Driver ............................................................................................................................................................ 23
Motor ............................................................................................................................................................. 24

[Preparations]

page

System Configuration and Wiring .......................................... 26

General Wiring Diagram ............................................................................................................................... 26
List of Drivers and Compatible Peripheral Equipment ................................................................................. 30
Main Circuits ................................................................................................................................................. 32
CN X4 Connector (For Encoder) .................................................................................................................. 36
CN X6 and CN X7 Connectors (For Personal Computer/Host Controller) .................................................. 38
CN X5 Connector (For High order control equipment) ................................................................................. 39
Timing Chart ................................................................................................................................................. 40
Holding Brake ............................................................................................................................................... 44
Dynamic Brake (DB) ..................................................................................................................................... 46
Initialization (Precautions) ............................................................................................................................ 48

Setting parameters and mode ................................................ 50

Out line ......................................................................................................................................................... 50
Parameter Groups and Listing ..................................................................................................................... 50
Pr5E Torque limit setting .............................................................................................................................. 55
Front Panel Key Operations and Display ..................................................................................................... 56
Functions of the Key Switches ..................................................................................................................... 56
Operating procedure..................................................................................................................................... 57
Details of the execution display in the monitor mode ................................................................................... 60
Details of the execution display in the parameter setup mode .................................................................... 63
Details of the execution display in the EEPROM writing mode ................................................................... 63
Details of the execution display in the auto gain tuning mode ..................................................................... 64
Details of the execution display in the auxiliary function mode.................................................................... 66

Trial Run (JOG) ........................................................................ 68

Inspections before Trial Run ......................................................................................................................... 68
Motor trial run ............................................................................................................................................... 69

[Connections and Settings in Position Control Mode]

page

Position control block diagram .............................................. 72

2

Trial run at Position Control Mode ......................................... 86

Operation with CN X5 Connected ................................................................................................................ 86

Real time auto gain tuning ...................................................... 88

[Connections and Settings in Speed Control Mode]

page

CN X5 Connector ....................................................................................................................................... 107

Interface Circuit .......................................................................................................................................... 108
Input signal (common) assignment to CN X5 connector pins .................................................................... 110
Input signal assignment to CN X5 connector pins - designation(logic) ..................................................... 112
Output signal assignment to CN X5 connector pins - designation(logic) .................................................. 112

Operation with CN X5 Connected .............................................................................................................. 114

Real time auto gain tuning .................................................... 116

Parameter Setting .................................................................. 118

Appendix

Parameters for Function Selection ............................................................................................................. 118

Parameters for Time Constants of Gains and Filters: Related to Real Time Auto Tuning ......................... 122
Parameters for real time auto gain tuning .................................................................................................. 122
Parameters for Switching to 2nd Gains ...................................................................................................... 124
Parameters for Position Control ................................................................................................................. 125
Parameters for Speed Control .................................................................................................................... 126
Parameters for Torque Control ................................................................................................................... 128
Parameters for various sequences ............................................................................................................ 128

Encountering
Difficulties?

Outline ........................................................................................................................................................ 116

Application range ........................................................................................................................................ 116
How to use .................................................................................................................................................. 116
Description of the adaptive filter ................................................................................................................. 117
Parameters, which are set up automatically .............................................................................................. 117
Caution ....................................................................................................................................................... 117

Adjustments

Trial run at Speed Control Mode ........................................... 114

Full-closed control
mode

Speed control block diagram................................................ 106

CN X5 Connector ................................................................... 107

Connections and Settings in

Torque Control Mode

Parameters for Function Selection ............................................................................................................... 90

Parameters for Time Constants of Gains and Filters: Related to Real Time Auto Tuning ........................... 93
Parameters for real time auto gain tuning .................................................................................................... 94
Parameters for Switching to 2nd Gains ........................................................................................................ 96
Parameters for Position Control ................................................................................................................... 97
Parameters for Speed Control .................................................................................................................... 100
Parameters for Torque Control ................................................................................................................... 101
Parameters for various sequences ............................................................................................................ 101

Connections and Settings in

Speed Control Mode

Parameter Setting .................................................................... 90

Connections and Settings in

Position Control Mode

Outline .......................................................................................................................................................... 88
Application range .......................................................................................................................................... 88
How to use .................................................................................................................................................... 88
Description of the adaptive filter ................................................................................................................... 89
Parameters, which are set up automatically
Caution ......................................................................................................................................................... 89

Preparations

CN X5 Connector ......................................................................................................................................... 73
Interface Circuit ............................................................................................................................................ 74
Input signal (common) assignment to CN X5 connector pins ...................................................................... 76
Input signal assignment to CN X5 connector pins - designation(logic) ....................................................... 78
Output signal assignment to CN X5 connector pins - designation(logic) .................................................... 78
Examples of connection to high order control equipment ............................................................................ 80

Before Use

CN X5 Connector ..................................................................... 73

[Connections and Settings in Torque Control Mode]

page

Torque control block diagram............................................... 132

CN X5 Connector ................................................................... 133
CN X5 Connector ....................................................................................................................................... 133
Interface Circuit .......................................................................................................................................... 134
Input signal (common) assignment to CN X5 connector pins .................................................................... 136
Input signal assignment to CN X5 connector pins - designation(logic) ..................................................... 138
Output signal assignment to CN X5 connector pins - designation(logic) .................................................. 138

Trial run at Torque Control Mode.......................................... 140

Operation with CN X5 Connected .............................................................................................................. 140

Real time auto gain tuning .................................................... 142

Outline ........................................................................................................................................................ 142
Application range ........................................................................................................................................ 142
How to use .................................................................................................................................................. 142
Parameters, which are set up automatically .............................................................................................. 143
Caution ....................................................................................................................................................... 143

Parameter Setting .................................................................. 144

Parameters for Function Selection ............................................................................................................. 144
Parameters for Time Constants of Gains and Filters: Related to Real Time Auto Tuning ......................... 147
Parameters for real time auto gain tuning .................................................................................................. 148
Parameters for Switching to 2nd Gains ...................................................................................................... 150
Parameters for Position Control ................................................................................................................. 150
Parameters for Speed Control .................................................................................................................... 151
Parameters for Torque Control ................................................................................................................... 152
Parameters for various sequences ............................................................................................................ 152

[Full-closed control mode]

page

Outline of Full-closed loop control ....................................... 156

What is full closed loop control .................................................................................................................. 156
Selecting among full-closed modes ........................................................................................................... 157

Full-closed control block diagram........................................ 159

CN X5 Connector ................................................................... 160
Functional selection of interface connector CN X5 by control mode ......................................................... 160
Interface Circuit .......................................................................................................................................... 162
Connector CN X4 ...................................................................................................................................... 164
Connector CN X5 ....................................................................................................................................... 164

Connections to external scale CN X4 ................................... 168

External scale interface specification ......................................................................................................... 168
External scale connection CN X4 ............................................................................................................... 168

Parameter Setting .................................................................. 170

Parameters for Function Selection ............................................................................................................. 170
Parameters for Switching to 2nd Gains ...................................................................................................... 175
Parameters for Position Control ................................................................................................................. 176
Parameters for Speed Control .................................................................................................................... 179
Parameters for Torque Control ................................................................................................................... 180
Parameters for various sequences ............................................................................................................ 180
Parameters for Full-closed Control ............................................................................................................ 184

page

Fit gain function .......................................................................................................................................... 190

Nomal Mode Auto gain tuning .............................................. 193

Operation on front panel ............................................................................................................................. 195

Manual gain tuning (Application) ......................................... 207

[Encountering Difficulties?]

page

Check Points .............................................................................................................................................. 216

Protective Functions (What are Alarm codes?) .......................................................................................... 216
Protective Functions: Causes and Corrections .......................................................................................... 217

Troubleshooting .................................................................... 221

Adjustments
Encountering
Difficulties?

The motor does not rotate. ......................................................................................................................... 221

The rotation is not smooth. / The motor rotates slowly even if the target speed is zero in the speed control mode. ........... 221
Positioning accuracy is bad. ....................................................................................................................... 222
The initial (home) position varies. .............................................................................................................. 223
The motor produces an abnormal sound and/or vibration. ........................................................................ 223
Overshoot or undershoot / The motor overheats (burnt) ........................................................................... 224
The motor speed does not increase up to the specified value. / The speed (movement) is too large or small. ........ 224
Parameter values change to the former value. .......................................................................................... 224
PANATERM, a message "communication port or driver cannot be detected" appears. .......................... 224

Full-closed control
mode

Identifying Problem ............................................................... 216

Connections and Settings in

Torque Control Mode

Instantaneous speed observer ................................................................................................................... 207

Command follow-up control ........................................................................................................................ 208
Vibration suppression control ..................................................................................................................... 211
Resonance ratio control ............................................................................................................................. 212
Disturbance observer ................................................................................................................................. 213
Torsion correction / Status feed back control ............................................................................................. 214

Connections and Settings in

Speed Control Mode

Tuning of position control mode ................................................................................................................. 198

Tuning of speed control mode .................................................................................................................... 200
Tuning of torque control mode ................................................................................................................... 200
Tuning of full-closed control mode ............................................................................................................. 201
Setting for hybrid control ............................................................................................................................ 201
Adjustment upon switching gain ................................................................................................................. 202
To Reduce the Mechanical Resonance ...................................................................................................... 204
Gain auto setting function ........................................................................................................................... 206

Connections and Settings in

Position Control Mode

Disabling of auto tuning function ......................................... 196

Manual gain tuning (Basic) ................................................... 197

Preparations

Gain Tuning ............................................................................ 186

Real Time Auto Gain Tuning ................................................. 188

Before Use

[Adjustments]

Appendix

[Appendix]

page

Absolute System ......................................................................................................................................... 226

Set up support software PANATERM ....................................................................................................... 236
Communication ........................................................................................................................................... 238
Description on Command Pulse Ratio for Parameter Setup ..................................................................... 264
Conformance to EC Directives and UL Standards ..................................................................................... 266
Acceptable Loads on Output Axes ............................................................................................................. 269
Optional Parts ............................................................................................................................................. 270
Recommended Parts .................................................................................................................................. 282
Dimensions ................................................................................................................................................. 284
Driver Block Diagra ..................................................................................................................................... 296
Control block diagrams ............................................................................................................................... 298
Specifications (Driver) ................................................................................................................................ 304
Motor characteristics .................................................................................................................................. 306

[Index]
A ................................................................................................................................................................. 314
B ................................................................................................................................................................. 314
C ................................................................................................................................................................. 314
D ................................................................................................................................................................. 315
E ................................................................................................................................................................. 315
I ................................................................................................................................................................... 315
M ................................................................................................................................................................. 315
O ................................................................................................................................................................. 316
P ................................................................................................................................................................. 316
R ................................................................................................................................................................. 317
S ................................................................................................................................................................. 317
T .................................................................................................................................................................. 317
W ................................................................................................................................................................ 317

Before Use

Preparations

Connections and Settings in

Position Control Mode

Connections and Settings in

Speed Control Mode

Connections and Settings in

Torque Control Mode
Full-closed control
mode

Adjustments

Encountering
Difficulties?

Appendix

Safety Precautions (Important)

See the following precautions in order to avoid damages on machinery and injuries among the operators
and other people during the operation.
The following symbols are used to indicate the level of danger possibly occurred when you fail to observe
the safety precautions.

DANGER

Indicates a potentially hazardous situation, which if not avoided, will result in death or serious injury.

CAUTION

Indicates a potentially hazardous situation, which if not avoided, will result in minor injury or physical damage.

The following symbols indicate what you must do.

Indicates that the operation is prohibited to do.
Indicates that the operation must be done.

DANGER
Do not subject the product to water,
corrosive or flammable gases, and
combustibles.
The failure could result in
fire.

The failure could result in

electric shocks, damages,
or malfunction.

An over-current protection, earth

leakage breaker, over temparture
protecter and emergency stop device
must be installed.
The failure could result
in electric shocks,
injuries, or fire.

Conduct the transportation, wiring and

inspection at least 10 minutes after
the power off. Only electronic expert
is allowed to conduct wiring.

Ground the earth terminal of the servo

motor and servo driver.

Install an external emergency stop

device to shut down the main power
source in any emergency.

The failure could result

in electric shocks.

Do not expose the cables to sharp

objects, excessive pressing or
pinching forces, and heavy loads.

The failure could result

in electric shocks.

The failure could result

in electric shocks,
injuries, fire, damages,

DANGER
Install the product properly to avoid
personal accidents or fire in case of
an earthquake.

The failure could result

in electric shocks,
injuries, or fire.
Do not put your hands in the servo
driver.

The failure could result

in burns, or electric
shocks.

Do not touch the rotating

part of the motor while
operating.

Rotor
The failure could result
in injuries.

Make sure to secure the safety after

the earthquake.

The failure could result

in electric shocks,
injuries, or fire.
Attach the motor, driver, regenerative
discharge resistor to incombustible
matter such as metal.

Do not drive the motor from the

outside.

The failure could result

in fire.

Do not place inflammable matter near

the motor, driver, and regenerative
discharge resistor.
The failure could result
in fire.

The failure could result

in fire.

Arrange the phase sequense of the

motor and wiring of the encoder.

The failure could result

in injuries, damages,
or malfunction.

Do not touch the motor, driver, and

external regenerative discharge of
driver, since they become hot.
The failure could result
in burns.

Safety Precautions (Important)

CAUTION
Do not hold the cables or motor shaft
when transporting the motor.
The failure could result
in injuries.

Use the motor and driver with the

specified combination.
The failure could result
in fire.

Use the eye-bolt of the motor only

when you carry the motor. Do not use
it when you carry the machine.
The failure could result
in injuries, or damages.

Install the driver and the

motor in the specified direction.
The failure could result
in damages.

Do not give hard

pressure to the shaft.
The failure
could result
in damages.

The failure could result

in electric shocks, or fire.

Make sure that the wirings are

correctly connected.
The failure could result
in electric shocks, or
injuries.
Never start and stop the motor by
magnet contactor which is provide on
the main line.
The failure could result
in damages.

Do not climb or stand on the

servo equipment .
The failure could result
in electric shocks, injuries,
damages, or malfunction.
Conduct proper installation according
to product weight or rated output.

Motor

Do not shock the driver

and the motor.
The failure could result
in damages.
10

Do not block the heat dissipation

hole.

The failure could result

in injuries, or damages.

Ambient temperature of installed

driver should be under permittable
one.
The failure could result
in damages.

CAUTION
Use the specified voltage on the
product.
The failure could result
in electric shocks,
injuries, or fire.
Avoid excessive gain adjustments,
changes, or unstable operation of the
product.
The failure could result
in injuries.

Do not use the motor internal brake

for the purpose of controlling speed of
load.
The failure could result
in injuries, or damages.

Connect a relay that stops at

emergency stop in series with the
brake control relay.
The failure could result
in injuries, or damages.

Do not modify, dismantle or repair the

product.
The failure could result
in electric shocks,
injuries, or fire.

Do not turn on or off the power

frequently.
The failure could result
in damages.

Execute the trial-operations with the

motor fixed and a load unconnected.
Connect a load to the motor after the
successful trial-operations.
The failure could result
in injuries.

Do not approach to the equipment

after recovery from the power failure
because they may restart suddenly.
Execute the personal safety setting
on the Equipment after the restart.
The failure could result
in injuries, or damages.

If an error occurs, remove the causes

of the error and secure the safety
before restarting
The failure could result
in injuries.

When you dispose batteries, insulate

them with tape or the like, and
dispose them according to the local
ordinances of your self-governing
body.

This product should be treated as an

industrial waste when it is disposed.

11

Maintenance and Inspections

Routine maintenance and inspections are essential for proper and satisfactory operation of the driver and motor.
Notes to Maintenance/Inspections Personnel
1) Power-on/off operations should be done by the operators themselves.
2) For a while after power off, the internal circuits is kept charged at higher voltage. Inspections should be
done a while (about 10 minutes), after the power is turned off and the LED lamp on the panel is
extinguished.
3) Do not take insulation resistance measures. Otherwise the driver will be damaged.

Inspection Items and Cycles

Normal (correct) operating conditions:
Ambient condition: 20 hours max. at 30C (annual average) and under 80% or less load ratio
Daily and periodical inspections should be done per the following instructions.
Inspection items

Cycles

Type

Daily
inspection

Cycles

Periodical
inspection

Every year

Ambient temperature, humidity, dust, particles, foreign matters, etc.

Abnormal sound and vibration
Main circuit voltage
Odor
Lint or other foreign matters in the ventilation openings
Cleanliness of the operation board
Damaged circuits
Loosened connections and improper pin positions
Foreign matters caught in the machine (motor load)
Loosened screws
Signs of overheat
Burned terminals

<Notes>
If the actual operating conditions differ from things mentioned above, the inspection cycles may change
accordingly.

Replacement Guidance
Parts replacement cycles depend on the actual operating conditions and how the equipment has been used.
Defective parts should be replaced or repaired immediately.
Dismantling for inspections or repairs should be done by our company (or our sales agents).
Prohibited
Equipment

Part

Standard replacement
cycles (hour)

Smoothing condenser

about 5 years
2 to 3 years
(10 to 30 thousand hours)

Cooling fan
Driver

Aluminum
electrolytic capacitor
on the print board
Inrush current
preventing relay
Bearing
Oil seal

Motor

Encoder
Battery
(Absolute encoder)

12

Remarks

about 5 years
Approx. 100 thousand times
(Life expectancy depends
on operating condition)
3 to 5 years
(20 to 30 thousand hours)
5000 hours
3 to 5 years
(20 to 30 thousand hours)
1 year from
the first use

The replacement cycles shown here are just

only for reference. If any part is found
defective regardless of the standard
replacement cycles, immediately replace it
with a new one.

[Before Use]
page

Introduction ............................................................. 14
Outline .........................................................................................
Check the Model of Driver ...........................................................
Check the Model of Motor ...........................................................
Check the Combination of Driver and Motor ...............................

14
14
15
16

Parts Description .................................................... 20

Driver ........................................................................................... 20
Motor ........................................................................................... 22

Installation ............................................................... 23
Driver ........................................................................................... 23
Motor ........................................................................................... 24

Introduction
Outline
The high performance AC servo motor driver MINAS-AIII series which can drive a machine at a high speed
through a small servomotor of 30 W or a large servomotor of 5.0 kW. By using a top performance CPU, it
responses to a speed at frequency 1 kHz, enabling the driven machine to operate at a high speed and
significantly reducing tact time.
It supports full closed loop control and has an auto-tuning function. The motor can support either 2,500 p/r
incremental encoder specification or a high-resolution 17-bit absolute/incremental encoder.
It also has a damping control equipment that makes it possible to automate complicated gain tuning and
enables a low rigid equipment to have stable stop performance. A variety of high speed motors are available
for various applications.
This document is prepared for you to fully make use of excellent features and functions available on the
MINAS-AIII series.
Precautions
(1) No part of this publication may be reproduced in any form by any means without prior permission.
(2) Contents of this publication are subject to change without notice.

Check the Model of Driver

Name plate
AC SERVO

Model

MODEL No.

MADCT1503

Voltage

Phase

200-240V
1/3

84V
3

F.L.C
Freq.

1.0A/0.70A
50/60Hz

1.0A
0~333.3Hz

INPUT

Rated input voltage

OUTPUT

SERIAL No. 02070001

product No.
mm
yy
Rated output current

100W

Power

Serial Number

ex. 0 2 0 7 0 0 0 1

ENCODER

Rated motor output

Model Designation

M A D C T 1 5 0 3
2

Applicable motors
Symbol Applicable motors
A
AIII Series Type A
B
AIII Series Type B
C
AIII Series Type C
D
AIII Series Type D
E
AIII Series Type E
F
AIII Series Type F
G
AIII Series Type G

AC servo driver
C: AIII Series

14

5~6

8~9

10~12

Custom specification
(Alphanumeric)
Maximum continuous
output current
continuous
Symbol Maximum
output current
Power supply voltage
03
3A
1: Single-phase 100 V
05
5A
3: 3-phase 200 V
07
7.1A
5: Single-phase/3-phase 200 V 12
12.5A
16
Maximum instantaneous
16.7A
output current
25
25A
instantaneous
Symbol Maximum
33
33.3A
output current
50
50A
T1
10A
75
75A
T2
15A
T3
30A
T5
50A
T7
75A
TA
100A
TB
150A
TC
200A

[Before Use]
Before Use

Check the Model of Motor

Name plate

Type
Rated output
Revolution rating

AC SERVO MOTOR
MODEL No. MSMA3AZS1A
INPUT 3AC
92
V
1.6 A
RATED OUTPUT 0.2 kW
Hz
RATED FREQ. 200
RATED REV. 3000 r/min

CONT. TORQUE 0.64 Nm

RATING
S1
INS. CLASS B (TV) A (UL)
IP65
CONNECTION
SER No.
02070001

Serial No

ex. 0 2 0 7 0 0 0 1
yy

mm

product No.

Model Designation

M S M A 3 A Z S 1 A
1~4
Symbol
MSMA
MAMA
MDMA
MHMA
MFMA
MGMA

5~6

10

11~12
Custom
specification

Type
Low inertia
Ultra Low inertia
Middle inertia
High inertia
Middle inertia
Middle inertia

Motor structure
Custom specification
1: Standard
Specification for Position/Speed Detector
Rated output

Table 1-a Rated Motor Output

Rated
Rated
Symbol output
Symbol output
3A
30W 10 1.0kW
5A
50W 12 1.2kW
01 100W 15 1.5kW
02 200W 20 2.0kW
03 300W 25 2.5kW
04 400W 30 3.0kW
05 500W 35 3.5kW
06 600W 40 4.0kW
08 750W 45 4.5kW
09 900W 50 5.0kW

Voltage
1: 100V
2: 200V
Z: 100/200V
(only 30/50W)

Table 1-b Rotary encoder

Specifications
Symbol
Type
No. of pulses Resolution Lead wire
Incremental
2500P/r
10000 5-wire
P
131072 7-wire
Absolute/Incremental 17bit
S

Table 1-c Motor Structure

Shaft
Holding Brake
Oil Seal
Straight Key way None Yes None Yes
A
B
C
D
E
F
G
H

15

Introduction
Check the Combination of Driver and Motor
The Driver has been designed for use in combination with the specified motors only. Check the specifications (Series symbol, output rating, voltage rating and encoder type) of the motor you want to use.

With the incremental type encoder: 2500P/r

* You must not use a combination other than those listed below:

Driver
power
suply

Motor
Series symbol

Revolution
rating

Single-phase
200V
MAMA
Ultra Low inertia

5000r/min

Three-phase
200V

Single-phase
100V

Single-phase
200V

MSMA
Low inertia

Three-phase
200V

16

3000r/min

Driver
Motor type

Output
rating

MAMA012P1*

100W

MAMA022P1*
MAMA042P1*
MAMA082P1*

200W
400W
750W

MAMA012P1*

100W

MAMA022P1*
MAMA042P1*
MAMA082P1*

200W
400W
750W

MSMA3AZP1*

30W

MSMA5AZP1*

50W

MSMA011P1*

100W

MSMA021P1*
MSMA041P1*

200W
400W

MSMA3AZP1*

30W

MSMA5AZP1*

50W

MSMA012P1*

100W

MSMA022P1*

200W

MSMA042P1*
MSMA082P1*

400W
750W

MSMA3AZP1*

30W

MSMA5AZP1*

50W

MSMA012P1*

100W

MSMA022P1*

200W

MSMA042P1*

400W

MSMA082P1*

750W

MSMA102P1*

1.0KW

MSMA152P1*

1.5KW

MSMA202P1*
MSMA252P1*
MSMA302P1*
MSMA352P1*
MSMA402P1*
MSMA452P1*
MSMA502P1*

2.0KW
2.5KW
3.0KW
3.5KW
4.0KW
4.5KW
5.0KW

Driver
MADCT1505
MBDCT1505
MBDCT2507
MCDCT3512
MDDCT5516
MADCT1505
MBDCT1505
MBDCT2507
MCDCT3512
MDDCT5516
MADCT1103
MBDCT1103
MADCT1103
MBDCT1103
MADCT1105
MBDCT1107
MBDCT2107
MCDCT3112
MADCT1503
MBDCT1503
MADCT1503
MBDCT1503
MADCT1503
MBDCT1503
MADCT1505
MBDCT1507
MBDCT2507
MDDCT5512
MADCT1503
MBDCT1503
MADCT1503
MBDCT1503
MADCT1503
MBDCT1503
MADCT1505
MBDCT1507
MBDCT2507
MCDCT3312
MDDCT5512
MDDCT5316
MEDCT5316
MDDCT5325
MEDCT5325
MFDCT7333
MFDCT7333
MGDCTA350
MGDCTB375
MGDCTB375
MGDCTB375
MGDCTB375

Driver
type
Type A
Type B
Type B
Type C
Type D
Type A
Type B
Type B
Type C
Type D
Type A
Type B
Type A
Type B
Type A
Type B
Type B
Type C
Type A
Type B
Type A
Type B
Type A
Type B
Type A
Type B
Type B
Type D
Type A
Type B
Type A
Type B
Type A
Type B
Type A
Type B
Type B
Type C
Type D
Type D
Type E
Type D
Type E
Type F
Type F
Type G
Type G
Type G
Type G
Type G

[Before Use]
Motor
Series symbol

Revolution
rating

Single-phase 200V

Three-phase
200V

MDMA
Middle inertia

2000r/min

Single-phase 200V

Three-phase
200V

MHMA
High inertia

2000r/min

Single-phase
200V

Three-phase
200V

MFMA
Middle inertia

2000r/min

Single-phase
200V

Three-phase
200V

MGMA
Middle inertia

1000r/min

Before Use

Driver
power
suply

Driver
Motor type

Output
rating

MDMA082P1*

750W

MDMA082P1*

750W

MDMA102P1*

1.0KW

MDMA152P1*

1.5KW

MDMA202P1*
MDMA252P1*
MDMA302P1*
MDMA352P1*
MDMA402P1*
MDMA452P1*
MDMA502P1*
MHMA052P1*

2.0KW
2.5KW
3.0KW
3.5KW
4.0KW
4.5KW
5.0KW
500W

MHMA052P1*

500W

MHMA102P1*

1.0KW

MHMA152P1*

1.5KW

MHMA202P1*
MHMA302P1*
MHMA402P1*
MHMA502P1*
MFMA042P1*
MFMA082P1*

2.0KW
3.0KW
4.0KW
5.0KW
400W
750W

MFMA042P1*

400W

MFMA082P1*

750W

MFMA152P1*

1.5KW

MFMA252P1*
MFMA352P1*
MFMA452P1*
MGMA032P1*
MGMA062P1*

2.5KW
3.5KW
4.5KW
300W
600W

MGMA032P1*

300W

MGMA062P1*

600W

MGMA092P1*

900W

MGMA122P1*
MGMA202P1*
MGMA302P1*
MGMA452P1*

1.2KW
2.0KW
3.0KW
4.5KW

Driver
MDDCT5512
MDDCT5512
MEDCT5312
MEDCT5316
MDDCT5316
MDDCT5325
MEDCT5325
MFDCT7333
MFDCT7333
MGDCTA350
MGDCTB350
MGDCTB375
MGDCTB375
MGDCTB375
MDDCT5507
MDDCT5507
MEDCT5307
MDDCT5316
MEDCT5316
MDDCT5325
MEDCT5325
MFDCT7333
MGDCTA350
MGDCTB375
MGDCTB375
MDDCT5507
MDDCT5512
MCDCT3307
MDDCT5507
MDDCT5512
MEDCT5312
MDDCT5325
MEDCT5325
MFDCT7333
MGDCTB350
MGDCTB375
MDDCT5507
MDDCT5512
MCDCT3307
MDDCT5507
MDDCT5512
MEDCT5312
MDDCT5316
MEDCT5316
MFDCT7325
MGDCTA350
MGDCTB375
MGDCTB375

Driver
type
Type D
Type D
Type E
Type E
Type D
Type D
Type E
Type F
Type F
Type G
Type G
Type G
Type G
Type G
Type D
Type D
Type E
Type D
Type E
Type D
Type E
Type F
Type G
Type G
Type G
Type D
Type D
Type C
Type D
Type D
Type E
Type D
Type E
Type F
Type G
Type G
Type D
Type D
Type C
Type D
Type D
Type E
Type D
Type E
Type F
Type G
Type G
Type G

17

Introduction
With the Absolute/Incremental type encoder: 17bit
* You must not use a combination other than those listed below:

Driver
power
suply

Motor
Series symbol

Revolution
rating

Single-phase
200V
MAMA
Ultra Low inertia

5000r/min

Three-phase
200V

Single-phase
100V

Single-phase
200V

3000r/min

MSMA
Low inertia

Three-phase
200V

18

Driver
Motor type

Output
rating

MAMA012S1*

100W

MAMA022S1*
MAMA042S1*
MAMA082S1*

200W
400W
750W

MAMA012S1*

100W

MAMA022S1*
MAMA042S1*
MAMA082S1*

200W
400W
750W

MSMA3AZS1*

30W

MSMA5AZS1*

50W

MSMA011S1*

100W

MSMA021S1*
MSMA041S1*

200W
400W

MSMA3AZS1*

30W

MSMA5AZS1*

50W

MSMA012S1*

100W

MSMA022S1*

200W

MSMA042S1*
MSMA082S1*

400W
750W

MSMA3AZS1*

30W

MSMA5AZS1*

50W

MSMA012S1*

100W

MSMA022S1*

200W

MSMA042S1*

400W

MSMA082S1*

750W

MSMA102S1*

1.0KW

MSMA152S1*

1.5KW

MSMA202S1*
MSMA252S1*
MSMA302S1*
MSMA352S1*
MSMA402S1*
MSMA452S1*
MSMA502S1*

2.0KW
2.5KW
3.0KW
3.5KW
4.0KW
4.5KW
5.0KW

Driver
MADCT1505
MBDCT1505
MBDCT2507
MCDCT3512
MDDCT5516
MADCT1505
MBDCT1505
MBDCT2507
MCDCT3512
MDDCT5516
MADCT1103
MBDCT1103
MADCT1103
MBDCT1103
MADCT1105
MBDCT1107
MBDCT2107
MCDCT3112
MADCT1503
MBDCT1503
MADCT1503
MBDCT1503
MADCT1503
MBDCT1503
MADCT1505
MBDCT1507
MBDCT2507
MDDCT5512
MADCT1503
MBDCT1503
MADCT1503
MBDCT1503
MADCT1503
MBDCT1503
MADCT1505
MBDCT1507
MBDCT2507
MCDCT3312
MDDCT5512
MDDCT5316
MEDCT5316
MDDCT5325
MEDCT5325
MFDCT7333
MFDCT7333
MGDCTA350
MGDCTB375
MGDCTB375
MGDCTB375
MGDCTB375

Driver
type
Type A
Type B
Type B
Type C
Type D
Type A
Type B
Type B
Type C
Type D
Type A
Type B
Type A
Type B
Type A
Type B
Type B
Type C
Type A
Type B
Type A
Type B
Type A
Type B
Type A
Type B
Type B
Type D
Type A
Type B
Type A
Type B
Type A
Type B
Type A
Type B
Type B
Type C
Type D
Type D
Type E
Type D
Type E
Type F
Type F
Type G
Type G
Type G
Type G
Type G

[Before Use]
Motor
Series symbol

Revolution
rating

Single-phase 200V

Three-phase
200V

MDMA
Middle inertia

2000r/min

Single-phase 200V

Three-phase
200V

2000r/min

Single-phase
200V

MFMA
Three-phase
200V

2000r/min

Motor type

Output
rating

MDMA082S1*

750W

MDMA082S1*

750W

MDMA102S1*

1.0KW

MDMA152S1*

1.5KW

MDMA202S1*
MDMA252S1*
MDMA302S1*
MDMA352S1*
MDMA402S1*
MDMA452S1*
MDMA502S1*
MHMA052S1*

2.0KW
2.5KW
3.0KW
3.5KW
4.0KW
4.5KW
5.0KW
500W

MHMA052S1*

500W

MHMA102S1*

1.0KW

MHMA152S1*

1.5KW

MHMA202S1*
MHMA302S1*
MHMA402S1*
MHMA502S1*
MFMA042S1*
MFMA082S1*

2.0KW
3.0KW
4.0KW
5.0KW
400W
750W

MFMA042S1*

400W

MFMA082S1*

750W

MFMA152S1*

1.5KW

MFMA252S1*
MFMA352S1*
MFMA452S1*
MGMA032S1*
MGMA062S1*

2.5KW
3.5KW
4.5KW
300W
600W

MGMA032S1*

300W

MGMA062S1*

600W

MGMA092S1*

900W

MGMA122S1*
MGMA202S1*
MGMA302S1*
MGMA452S1*

1.2KW
2.0KW
3.0KW
4.5KW

Middle inertia

Single-phase
200V

Three-phase
200V

Driver

MHMA
High inertia

MGMA
Middle inertia

Before Use

Driver
power
suply

1000r/min

Driver
MDDCT5512
MDDCT5512
MEDCT5312
MEDCT5316
MDDCT5316
MDDCT5325
MEDCT5325
MFDCT7333
MFDCT7333
MGDCTA350
MGDCTB350
MGDCTB375
MGDCTB375
MGDCTB375
MDDCT5507
MDDCT5507
MEDCT5307
MDDCT5316
MEDCT5316
MDDCT5325
MEDCT5325
MFDCT7333
MGDCTA350
MGDCTB375
MGDCTB375
MDDCT5507
MDDCT5512
MCDCT3307
MDDCT5507
MDDCT5512
MEDCT5312
MDDCT5325
MEDCT5325
MFDCT7333
MGDCTB350
MGDCTB375
MDDCT5507
MDDCT5512
MCDCT3307
MDDCT5507
MDDCT5512
MEDCT5312
MDDCT5316
MEDCT5316
MFDCT7325
MGDCTA350
MGDCTB375
MGDCTB375

Driver
type
Type D
Type D
Type E
Type E
Type D
Type D
Type E
Type F
Type F
Type G
Type G
Type G
Type G
Type G
Type D
Type D
Type E
Type D
Type E
Type D
Type E
Type F
Type G
Type G
Type G
Type D
Type D
Type C
Type D
Type D
Type E
Type D
Type E
Type F
Type G
Type G
Type D
Type D
Type C
Type D
Type D
Type E
Type D
Type E
Type F
Type G
Type G
Type G

< Notes >

1. The default is for "incremental" spec.
When you use the driver with the "absolute" spec, you need to;
1) Install the battery (see page 278 "Optional Parts" in Appendix).
2) Change the value of the parameter "Absolute encoder set-up (Pr0B)" from 1 (factory set default) to 0.
2. When the 17-bit 7-wire absolute encoder is used as an incremental encoder, the backup battery needs
not to be connected.
19

Parts Description
Driver
<Type A>
Mounting bracket

MODE
selector switch

SET
button

MODE

SET

LED indicator (6 digits)

Rotary switch (ID)

Data setting buttons

: SHIFT

Check pins

: UP
: DOWN

Connector

Check pins
Main power supply
input terminal
(L1, L2, L3)
L2

L1

Communication
connector 1
(CN X7)
Communication
connector 2
(CN X6)

L1C

L3

Control power supply

input terminal
(L1C, L2C)

DL1
RB2

RB1

DL2

Regenerative discharge
resistor connection terminal
(RB1, RB2, RB3)

Controller connector
Host device, etc.
(CN X5)

Encoder connector
(CN X4)

Motor connection terminal

(U, V, W, E)

Motor connector
CN X3
723-604
(WAGO)

Normally short-circuited
(DL1, DL2)

Regenerative
resistor
connector
CN X2
723-605
(WAGO)

RB3

L2C

Power input
connector
CN X1
721-205/026-000
(WAGO)

Ground terminal
(Two Locations)

Example : MADCT1505 (Single-phase/Three-phase 200V 100W : Type A)

<Type B D>
Mounting bracket

MODE
selector switch

SET
button

MODE

SET

Rotary switch (ID)

LED indicator (6 digits)
Data setting buttons
: SHIFT

Check pins

: UP

Connector
Main power supply
input terminal
(L1, L2, L3)
L2

L1

X7

L3

X6

L1C

Control power supply

input terminal
(L1C, L2C)

L2C

Power input
connector
CN X1
721-205/026-000
(WAGO)

: DOWN

DL1
DL2
RB1

X5

RB3

Regenerative discharge
resistor connection terminal
(RB1, RB2, RB3)

Controller connector
Host device, etc.
(CN X5)

RB2

Normally short-circuited
(DL1, DL2)

Motor connection terminal

(U, V, W, E)

X4

Encoder connector
(CN X4)

Motor connector
CN X3
723-604
(WAGO)

Regenerative
resistor
connector
CN X2
723-605
(WAGO)

Communication
connector 1
(CN X7)
Communication
connector 2
(CN X6)

Ground terminal
(Two Locations)

Example : MBDCT2507 (Single-phase/Three-phase 200V 400W : Type B)

20

[Before Use]
Mounting bracket
Rotary switch (ID)

MODE
selector switch

SET
button

MODE

SET

Before Use

<Type E F>

LED indicator (6 digits)

Data setting buttons
: SHIFT

Check pins

: UP
: DOWN

Terminal
Main power supply
input terminal
(L1, L2, L3)

Communication
connector 1
(CN X7)
Communication
connector 2
(CN X6)

X7

L1
X6

L2
L3

Control power supply

input terminal
(r, t)

r
X5

Regenerative discharge
resistor connection terminal
(P, B2)

P
B1
B2

X4

Encoder
connector
(CN X4)

Motor connection terminal

(U, V, W)

Controller
connector
Host device,
etc.
(CN X5)

Terminal
block cover

Ground terminal
(Two Locations)

Cover setscrew

Example : MEDCT5316 (Three-phase 200V 1.0kW : Type E)

<Type G>

Rotary switch (ID)

Check pins

MODE
selector switch

SET
button

MODE

SET

LED indicator (6 digits)

Data setting buttons
: SHIFT
Terminal

: UP
: DOWN

Main power supply

input terminal
(L1, L2, L3)

X7

L1
L2

X6

L3

Control power supply

input terminal
(r, t)
Regenerative discharge
resistor connection terminal
(P, B2)

r
X5

t
P
B1
B2
U
V
W

Motor connection terminal

(U, V, W)

X4

Communication connector 1
(CN X7)
Communication connector 2
(CN X6)
Controller
connector
Host device,
etc.
(CN X5)
Encoder
connector
(CN X4)

Terminal
block cover

Ground terminal
(Two Locations)
Cover setscrew

Example : MGDCTB375 (Three-phase 200V 5.0kW : Type G)

< Notes >
For detailed information for each of driver types, see page 292 ~ page 295 " Dimensions" in Appendix.
Connectors X1, X2 and X3 come with frames A to D.
21

Parts Description
Motor
MAMA 100W ~ 200W
MSMA 30W ~ 750W
Motor cable

Encoder cable
Rotary encoder

Frame
Flange
Mounting bolt holes (Four locations)

Example: Low-Inertia Motor (MSMA Series, 50W)

MSMA
MDMA
MHMA
MFMA
MGMA

1.0kW ~ 5.0kW
750W ~ 5.0kW
500W ~ 5.0kW
400W ~ 4.5kW
300W ~ 4.5kW

Brake Motor connector

Encoder connector

Flange
Mounting bolt holes (4)

Frame

Example: Middle-Inertia Motor (MDMA Series, 1.0kW)

< Notes >
For detailed information for each of motor types, see page 284 ~ page 290 " Dimensions" in Appendix.
22

Installation

[Before Use]
Before Use

The motor and driver should be properly installed to avoid failures, mechanical damages and injuries.

Driver
Location
1) Indoors, where the driver is not subjected to rain water and direct sun beams. Note that the driver
is not a waterproof structure.
2) A void the place where the driver is subjected to corrosive gases, flammable gases, grinding liquids,
oil mists, iron powders and cutting particles.
3) Place in a well-ventilated, and humid- and dust-free space.
4) Place in a vibration-free space.

Environmental Conditions
Item
Ambient temperature
Ambient humidity
Storage temperature
Storage humidity
Vibration
Altitude

Conditions
0 to 55C (free from freezing)
Not greater than 90%RH (free from condensation)
20 to 80C (free from freezing)
Not greater than 90%RH (free from condensation)
Not greater than 5.9m/s2 (0.6G) at 10 to 60 Hz
Not greater than 1000 m

How to Install
1) This is a rack-mount type.
Place the driver vertically. Allow enough space surrounding for ventilation.
Type D and smaller : Back panel mount type (projected, use Bracket A)
Type E and larger : Front panel mount type (recessed, use Bracket B)
(Type A D)

(Type E G)

Bracket A

Bracket B

MEDC
MFDC
MGDC

MADC
MBDC
MCDC
MDDC

2) If you want to change the mounting configuration, use the optional bracket (see page 273 "Optional Parts" in Appendix).

Mounting Direction and Space Requirements

Allow enough space to ensure enough cool
ing.
Install fans to provide a uniform distribution
of temperature in the control box.
Observe the environmental requirements for
the control box, mentioned in the previous
page.

Fan

Fan
min. 100mm

min.
40mm

min.
10mm

min.
10mm

min.
10mm

min.
40mm

min. 100mm

23

Installation
Motor
Location
1) Indoors, where the driver is not subjected to rain water and direct sun beams.
2) Avoid the place where the driver is subjected to corrosive gases, flammable gases, grinding liquids, oil
mists, iron powders and cutting particles.
3) Place in a well-ventilated, and humid- and dust-free space.
4) Easy maintenance, inspections and cleaning is also important.

Environmental Conditions
Item
Ambient temperature
Ambient humidity
Storage temperature
Storage humidity
Motor only
Vibration
Mechanical shock Motor only

Conditions
0 to 40C (free from freezing)
Not greater than 85%RH (free from condensation)
-20 to 80C (free from freezing)
Not greater than 85%RH (free from condensation)
Not greater than 49m/s2 (5G) in operation; not greater than 24.5m/s2 (2.5G) at rest
Not greater than 98m/s2 (10G)

How to Install
The motor can be installed either vertically or horizontally. Observe the following notes.
1) Horizontal mounting
Place the motor with the cable outlet facing down to prevent the entry of oil and water.
2) Vertical mounting
If the motor is coupled with a reduction gear, make sure that the oil in the reduction gear does not enter into
the motor.

Oil and Water Protections

1) This motor can be used where it is subjected to water and/or oil drops, but is not water or oilproof.
Therefore, the motors should not be placed or used in such environment.
2) If the motor is coupled with a reduction gear, use the motor should with oil
seals to prevent the reduction gear oil from entering into the motor.
Motor
Cable
3) Don't use the motor with the cables being immersed in oil or water.

Cable: Stress Relieving

Oil/Water
1) Make sure that the cables are not subjected to moments or vertical loads
due to external bending forces or self-weight at the cable outlets or connections.
2) In case the motor is movable, secure the cable (proper one supplied together with the motor) to a stationery part (e.g. floor), and it should be extended with an additional cable which should be housed in a
cable bearer so that
bending stresses can be minimized.
3) Make the bending radius of cables as large as possible. Minimum bend radius: 20 mm

Permissible Shaft Load

1) Make sure that both of radial and thrust load to be applied to the motor shaft during installation and
running, becomes within the specified value of each model.
2) Pay extra attention at installing a rigid coupling(especially an excess bending load which may cause the
damages and/or wear of the shaft and bearings.
3) Flexible coupling is recommended in order to keep the radial load smaller than the permissible value,
which is designed exclusively for servo motors with high mechanical stiffness.
4) For the permissible shaft load, see page 269 "Allowable Shaft Loads Listing" in Appendix.

Installation Notes
1) Don't hit the shaft with a hammer directly while attaching/detaching the coupling to
the motor shaft.(otherwise the encoder at the opposite end of the shaft will be damaged).
2) Try perfect alignment between shafts (misalignment may cause vibration, and damages of the bearings).
24

Motor