Technical reference

AC Servo Motor & Driver

MINAS A4-series
• Thank you very much for your
purchase of Panasonic AC Servo
Motor & Driver, MINAS A4-series.
• Before use, refer this technical
reference and safety instructions
to ensure proper use. Keep this
technical reference and read
when necessary.
• Make sure to forward this technical
reference for safety to the final
user.

If you are the first user of this product, please be sure to purchase and read
the optional Engineering Material (DV0P4210), or downloaded Instruction
Manual from our Web Site.
[Web address of Motor Company, Matsushita Electric Industrial Co., Ltd.]
http://industrial.panasonic.com/ww/i_e/25000/motor_fa_e/motor_fa_e.html

<Contents> page page

1. Introduction ................................. B2 4. Parameter .................................. B27
On Opening the Package ............................... B2 Outline of Parameter .................................... B27
Check of the Driver Model .............................. B2 How to Set .................................................... B27
Check of the Motor Model .............................. B3 Setup with the Front Panel ........................... B27
2. Installation .................................. B4 Outline of PANATERM® ....................................................... B28
Driver .............................................................. B4 Setup with the Console ................................ B28
Motor .............................................................. B6 How to Connect ............................................ B29
Console .......................................................... B8 Composition and List of Parameters ............ B30
3. System Configuration and 5. Protective Functions ................ B36
Wiring ........................................ B10 Protective Function (What Is Error Code ?) ..... B36
Overall Wiring (Connecting Example of C-frame, 3- 6. Maintenance and Inspections . B38
phase) .............................................................. B10 7. Conformity to EC Directives
Overall Wiring (Connecting Example of E-frame) .... B12 and UL Standards ..................... B40
Driver and List of Applicable Peripheral Composition of Peripheral Equipments ........ B41
Equipments .................................................. B14 Conformity to UL Standards ......................... B44
Wiring of the Main Circuit (A to D-frame) ..... B16 8. Built-in Holding Brake ............. B45
Wiring of the Main Circuit (E and F-frame) ... B17
9. Dynamic Brake ......................... B47
Wiring method to connector (A to D-frame) .. B18
Wiring to the Connector, CN X6
10. Check of the Combination of
(Connection to Encoder) .............................. B22 the Driver and the Motor ............ B48
Wiring for Typical Control Modes
to the Connector CN X5 ............................... B24 After-Sale Service (Repair) .......... B51
IMC54D
Z0404-6066
Downloaded from www.Manualslib.com manuals search engine
 1. Introduction
On Opening the Product Package
• Make sure that the model is what you have ordered.
• Check if the product is damaged or not during transportation.
• Check if the instruction manual is attached or not.
• Check if the power connector and motor connecters (CN X1 and CN X2 connectors)
are attached or not (A to D-frame).

Contact to a dealer if you find any failures.

Check of the Driver Model

Contents of Name Plate
AC SERVO
Model number Model No. MADDT1205
INPUT OUTPUT
Serial No.P04110001Z
Serial Number
Rated input/output voltage Voltage
Phase
200-240V
1ø
69V
3ø e.g.) : P0411 0001Z
F.L.C 1.3A 1.2A
Freq. 50/60Hz 0~333.3Hz
Rated input/output current Power 100W Lot number
Rated output of Month of production
applicable motor Year of production
(Lower 2 digits of AD year)

Model Designation

M A D D T 1 2 0 5
1 to 4 5 to 6 7 8 to 9 10 to 12
Special specifications
(letters and numbers)
Frame-size symbol Current detector rating
Max. current
Symbol Frame rating of Symbol Current rating
MADD A4-series, A-frame power device Power supply 05 5A
MBDD A4-series, B-frame Symbol Current Symbol Specifications 07 7.5A
rating
MCDD A4-series, C-frame 1 Single phase, 100V 10 10A
T1 10A
MDDD A4-series, D-frame 2 Single phase, 200V 15 15A
T2 15A
MEDD A4-series, E-frame 3 3-phase, 200V 20 20A
T3 30A
MFDD A4-series, F-frame 5 Single/3-phase, 30 30A
T5 50A 200V 40 40A
T7 70A
64 64A
TA 100A
90 90A
TB 150A
A2 120A

– B2 –
Downloaded from www.Manualslib.com manuals search engine
 Check of the Motor Model
Contents of Name Plate
Serial Number
Model CONT. TORQUE 0.64 Nm
e.g.) : 04 11 0001
AC SERVO MOTOR RATING S1
MODEL No. MSMD5AZS1S INS. CLASS B (TÜV) A (UL)
Rated input voltage/current INPUT 3ØAC 92 V IP65
Lot number
1.6 A CONNECTION
Rated output
RATED OUTPUT 0.2 kW
RATED FREQ. 200 Hz
SER No. 04110001
Month of production
RATED REV. 3000 r/min
Rated rotational speed Year of production
(Lower 2 digits of AD year)

Model Designation
M S M D 5 A Z S 1 S
1 to 4 5 to 6 7 8 9 10 11 to 12
Special specifications
Symbol Type (letters and numbers)
Ultra low inertia Motor structure
MAMA (100W to 750W) Design order
Low inertia
MQMA (100W to 400W)
1: Standard
Low inertia Motor rated output Voltage specifications
MSMD (50W to 750W) Symbol Output Symbol Output Symbol Specifications
Low inertia
MSMA (1.0kW to 5.0kW) 5A 50W 15 1.5kW 1 100 V
Middle inertia 01 100W 20 2.0kW 2 200 V
MDMA (1.0kW to 5.0kW) 02 200W 25 2.5kW 100/200 common
High inertia 04 400W 30 3.0kW Z (50W only)
MHMA (500W to 5.0kW) 05 500W 40 4.0kW
Middle inertia 08 750W 45 4.5kW
MFMA (400W to 4.5kW) 09 900W 50 5.0kW
MGMA
Middle inertia 10 1.0kW
(900W to 4.5kW)
Rotary encoder specifications
Specifications
Symbol
Format Pulse count Resolution Wire count
P Incremental 2500P/r 10,000 5-wire
S Absolute/Incremental common 17bit 131,072 7-wire
Motor structure
MSMD, MQMA MAMA
Shaft Holding brake Oil seal Shaft Holding brake Oil seal
Symbol Symbol
Round Key way Without With Without With*1 Round Key way Without With Without With
A A
B B
S *2 E
T *2 F
*1 The product with oil seal is a special order MSMA, MDMA, MFMA, MGMA, MHMA
product. Shaft Holding brake Oil seal
Symbol
*2 Key way with center tap Round Key way Without With Without With
C
Products are standard stock items or build to D
order items. For details, inquire of the dealer. G
H

– B3 –
Downloaded from www.Manualslib.com manuals search engine
 2. Installation
Install the driver and the motor properly to avoid a breakdown or an accident.

Driver
Installation Place
1) Indoors, where the products are not subjected to rain or direct sun beams. The prod-
ucts are not waterproof.
2) Where the products are not subjected to corrosive atmospheres such as hydrogen
sulfide, sulfurous acid, chlorine, ammonia, chloric gas, sulfuric gas, acid, alkaline and
salt and so on, and are free from splash of inflammable gas, grinding oil, oil mist, iron
powder or chips and etc.
3) Well-ventilated and low humidity and dust-free place.
4) Vibration-free place.

Environmental Conditions
Item Conditions
Ambient temperature 0˚C to 55˚C (free from freezing)
Ambient humidity Less than 90% RH (free from condensation)
Storage temperature –20˚C to 80˚C (free from freezing)
Storage humidity Less than 90% RH (free from condensation)
Vibration Lower than 5.9m/s2 (0.6G), 10 to 60Hz
Altitude Lower than 1000m

How to Install
1) Rack-mount type. Install in vertical position, and reserve enough space around the
servo driver for ventilation.
Base mount type (rear mount) is standard (A to D-frame)
2) Use the optional mounting bracket when you want to change the mounting face.

A to D-frame e.g.) In case of C-frame

MADD
MBDD
MCDD Mounting bracket
MDDD (optional parts)

Fastening torque of earth screws (M4) to be 0.39 to 0.59N • m.

– B4 –
Downloaded from www.Manualslib.com manuals search engine
 E and F-frame

Mounting bracket

Mounting Direction and Spacing

• Reserve enough surround-
ing space for effective cool- Fan Fan 100mm
ing. or more
• Install fans to provide uni-
form distribution of tem-
perature in the control
panel. 10mm 10mm 10mm
40mm or or or 40mm
• Observe the environmental or more more more or
conditions of the control more more

panel described in the next 100mm

page. or more

<Note>
It is recommended to use the conductive paint when you make your own mounting
bracket, or repaint after peeling off the paint on the machine for installing the products, in
order to make noise countermeasure.

Caution on Installation
We have been making the best effort to ensure the highest quality, however, application
of exceptionally large external noise disturbance and static electricity, or failure in input
power, wiring and components may result in unexpected action. It is highly recommended
that you make a fail-safe design and secure the safety in the operative range.
There might be a chance of smoke generation due to the failure of these products. Pay
an extra attention when you apply these products in a clean room environment.

– B5 –
Downloaded from www.Manualslib.com manuals search engine
 2. Installation
Motor
Installation Place
Since the conditions of location affect a lot to the motor life, select a place which meets
the conditions below.
1) Indoors, where the products are not subjected to rain or direct sun beam. The prod-
ucts are not waterproof.
2) Where the products are not subjected to corrosive atmospheres such as hydrogen
sulfide, sulfurous acid, chlorine, ammonia, chloric gas, sulfuric gas, acid, alkaline and
salt and so on, and are free from splash of inflammable gas, grinding oil, oil mist, iron
powder or chips and etc.
3) Where the motor is free from grinding oil, oil mist, iron powder or chips.
4) Well-ventilated and humid and dust-free place, far apart from the heat source such as
a furnace.
5) Easy-to-access place for inspection and cleaning
6) Vibration-free place.
7) Avoid enclosed place. Motor may gets hot in those enclosure and shorten the motor life.

Environmental Conditions
Item Condition
Ambient temperature 0˚C to 40˚C (free from freezing) *1
Ambient humidity Less than 85% RH (free from condensation)
Storage temperature –20˚C to 80˚C (free from freezing) *2
Storage humidity Less than 85% RH (free from condensation)
Vibration Motor only Lower than 49m/s2 (5G) at running, 24.5m/s2 (2.5G) at stall
Impact Motor only Lower than 98m/s2 (10G)
IP65 (except rotating portion of output shaft and lead wire end)
Enclosure • These motors conform to the test conditions specified in EN standards
Motor only (EN60529, EN60034-5). Do not use these motors in application where
rating water proof performance is required such as continuous wash-down
operation.
*1 Ambient temperature to be measured at 5cm away from the motor.
*2 Permissible temperature for short duration such as transportation.

How to Install
You can mount the motor either horizontally or vertically as long as you observe the followings.
1) Horizontal mounting
• Mount the motor with cable outlet facing downward for water/oil countermeasure.
2) Vertical mounting
• Use the motor with oil seal (non-standard) when mounting the motor with gear
reducer to prevent the reducer oil/grease from entering to the motor.
3) For mounting dimensions, refer to the technical reference. (DV0P4210)
– B6 –
Downloaded from www.Manualslib.com manuals search engine
 Oil/Water Protection
1) Don't submerge the motor cable to water or oil. Cable Motor
2) Install the motor with the cable outlet facing downward.
3) Avoid a place where the motor is subjected to oil or water.
4) Use the motor with an oil seal when used with the gear re-
ducer, so that the oil may not enter to the motor through shaft. Oil / Water

Stress to Cables
1) Avoid a stress application to the cable outlet and connecting portion by bending or
self-weight.
2) Especially in an application where the motor itself travels, fix the attached cable and
contain the extension junction cable into the bearer so that the stress by bending can
be minimized.
3) Take the cable bending radius as large as possible. (Minimum R20mm)

Permissible Load to Output Shaft

1) Design the mechanical system so that the applied radial load and/or thrust load to the
motor shaft at installation and at normal operation can meet the permissible value
specified to each model.
2) Pay an extra attention when you use a rigid coupling. (Excess bending load may
damage the shaft or deteriorate the bearing life.
3) Use a flexible coupling with high stiffness designed exclusively for servo application in
order to make a radial thrust caused by micro misalignment smaller than the permis-
sible value.
4) For permissible load of each model, refer to the technical reference. (DV0P4210)

Notes on Installation
1) Do not apply direct impact to the shaft by hammer while attaching/detaching a cou-
pling to and from the motor shaft.
(Or it may damage the encoder mounted on the other side of the shaft.)
2) Make a full alignment. (incomplete alignment may cause vibration and damage the
bearing.)
3) If the motor shaft is not electrically grounded, it may cause
electrolytic corrosion to the bearing depending on the condi- Motor
tion of the machine and its mounting environment, and may
result in the bearing noise. Check and verification by customer
is required.

– B7 –
Downloaded from www.Manualslib.com manuals search engine
 2. Installation
Console
Installation Place
1) Indoors, where the products are not subjected to rain or direct sun beam. The prod-
ucts are not waterproof.
2) Where the products are not subjected to corrosive atmospheres such as hydrogen
sulfide, sulfurous acid, chlorine, ammonia, chloric gas, sulfuric gas, acid, alkaline and
salt and so on, and are free from splash of inflammable gas, grinding oil, oil mist, iron
powder or chips and etc.
3) Well-ventilated and low humidity and dust-free place.
4) Easy-to-access place for inspection and cleaning

Environmental Conditions
Item Condition
Ambient temperature 0˚C to 55˚C (free from freezing)
Ambient humidity Less than 90% RH (free from condensation)
Storage temperature –20˚C to 80˚C (free from freezing)
Storage humidity Less than 90% RH (free from condensation)
Vibration Lower than 5.9m/s2 (0.6G), 10 to 60Hz
Conform to JISC0044
Impact
(Free fall test, 1m for 2 directions, 2 cycles)
Altitude Lower than 1000m
<Cautions>
• Do not give strong impact to the products.
• Do not drop the products.
• Do not pull the cables with excess force.
• Avoid the place near to the heat source such as a heater or a large winding resistor.

– B8 –
Downloaded from www.Manualslib.com manuals search engine
 How to Connect

Connect to CN X4. S
SET
M
MO
DE

SHI
FT

<Remarks>
• Connect the console connector securely to CN X4 connector of the driver.
• Never pull the cable to plug in or plug out.

– B9 –
Downloaded from www.Manualslib.com manuals search engine
 3. System Configuration and Wiring
Overall Wiring (Connecting Example of C-frame, 3-phase)
• Wiring of the Main Circuit
Circuit Breaker (NFB)
Use the circuit breaker matching
capacity of the power source to
protect the power lines.
Noise Filter (NF)
Prevents external noise from the pow-
er lines. And reduces an effect of the
noise generated by the servo driver. • Connection to
the Connector, CN X1
Magnetic Contactor (MC) (connection to input power)
Turns on/off the main power of the
L1 (Pin-5)
servo driver.
Use a surge absorber together L2 (Pin-4)
with this. L3 (Pin-3)
• Never start nor stop the servo mo- L1C (Pin-2)
tor with this Magnetic Contactor.
L2C (Pin-1)
Reactor (L)
Reduces harmonic current of the
main power.
For specifications, refer to the • Connection to the Connector, CN X2
downloaded Instruction Manual (connection to external components)
from our Web Site. RB1 (Pin-6)

Pin RB1 (6-pin), RB2 (4-pin), and RB2 (Pin-4)

RB3 (5-pin) Handle lever
RB2 and RB3 to be kept shorted for Use this for connector
normal operation. connection. Store this
When the capacity shortage of after connection for other
the regenerative resister is found, occasions. Ground
disconnect a shorting bar be- (see page for connection.) (earth)
tween RB2 and RB3, then connect Short bar
the external regenerative resister Regenerative resistor
between RB1 and RB2. (optional)
(Note that no regenerative resister <Remarks>
When you use an external
is equipped in Frame A and B type.
regenerative resister, install
Install an external regenerative
an external protective apparatus, such as
resister on incombustible materi- thermal fuse without fail.
al, such as metal. Follow the same For resistor value and capacity, refer to the
wiring connection as the above.) downloaded Instruction Manual from our Web Site.
When you connect an external re- Thermal fuse and thermostat are built in to the
generative resister, set up Parame- regenerative resistor (Option). If the thermal
ter No. 6C to 1 or 2. fuse is activated, it will not resume.
– B10 –
Downloaded from www.Manualslib.com manuals search engine
 PC (to be supplied by customer)

Setup support software

"PANATERM® "
DV0P4460

Console (option)
X3 DV0P4420
X1
X4 • Wiring to Connector, CN X3/X4 (option)
(Connection to PC or host controller)

X5 • Wiring to Connector, CN X5
X2
(Connection to host controller)

Junction cable for encoder

X6
• Wiring to Connector, CN X6
X7 (Connection to encoder)
• Wiring to
Connector, CN X7
U-phase (red) (Connection to
V-phase (white) external scale)
W-phase (black)
Junction cable for motor
• Wiring to Connector,
CN X2
(Connection to
motor driving
phase and DC Power supply for brake
ground) DC24V
(to be supplied by customer)
Junction cable
for brake

: High voltage
– B11 –
Downloaded from www.Manualslib.com manuals search engine
 3. System Configuration and Wiring
Overall Wiring (Connecting Example of E-frame)
• Wiring of the Main Circuit
Circuit Breaker (NFB)
Use the circuit breaker matching
capacity of the power source to
protect the power lines.
Noise Filter (NF)
Prevents external noise from the pow-
er lines. And reduces an effect of the
noise generated by the servo driver.
Magnetic Contactor (MC)
Turns on/off the main power of the • Connection
servo driver. with input
Use a surge absorber together power supply
with this. L1
• Never start nor stop the servo mo- L2
tor with this Magnetic Contactor.
L3
Reactor (L)
r
Reduces harmonic current of the
main power. t
For specifications, refer to the
downloaded Instruction Manual
from our Web Site.
Pin P, B1 and B2... • Connection to external
B1 and B2 to be kept shorted for components
P
normal operation.
When the capacity shortage of B2 Ground
(earth)
the regenerative resister is
Short bar
found, disconnect a short bar
between B1 and B2, then con- Regenerative resistor
nect the external regenerative (optional)
resister between P and B2. <Remarks>
Install an external regenera- When you use an external
regenerative resister, install
tive resister on incombustible
an external protective apparatus, such as thermal
material, such as metal. Follow fuse without fail.
the same wiring connection as For resistor value and capacity, refer to the
the above. downloaded Instruction Manual from our Web Site.
When you connect an external Thermal fuse and thermostat are built in to the
regenerative resister, set up regenerative resistor (Option). If the thermal fuse
Parameter No. 6C to 1 or 2. is activated, it will not resume.
– B12 –
Downloaded from www.Manualslib.com manuals search engine
 PC (to be supplied by customer)

Setup support software

"PANATERM® "
DV0P4460

Console (option)
X3 DV0P4420
• Wiring to Connector, CN X3/X4 (option)
(Connection to PC or host controller)
X4
X1

X5 • Wiring to Connector, CN X5
(Connection to host controller)

X6
• Wiring to Connector, CN X6
(Connection to encoder)
X7
Junction cable
for encoder

• Wiring to Connector, CN X7
(Connection to external scale)
• Connection to motor driving
phase and ground
Junction cable
From a top for motor
U-phase
V-phase
W-phase
Junction cable for brake

DC Power supply for brake

DC24V
(to be supplied by customer)

: High voltage
– B13 –
Downloaded from www.Manualslib.com manuals search engine
 3. System Configuration and Wiring
Driver and List of Applicable Peripheral Equipments
Applicable Rated Required Circuit
Noise Surge Noise Cable
Magnetic diameter Cable
Power breaker diameter Connection
Driver Voltage (at the rated (rated filter for
motor output load) current) filter absorber signal contactor (main circuit) (control circuit)
50W approx.
MSMD Single to 100W 0.4kVA BMFT61041N
phase, approx. (3P+1a)
MQMA 100V 100W 0.4kVA
50W approx.
MSMD to 200W 0.5kVA
MADD approx.
Single 100W 0.3kVA BMFT61542N
MQMA phase, approx. (3P+1a)
200V 200W 0.5kVA
DV0P4170 DV0P4190
approx.
MAMA 100W 0.3kVA
10A
MSMD Single approx. BMFT61041N
phase, 200W 0.5kVA (3P+1a) 0.75 to
MQMA 100V 2.0mm2
AWG
MBDD MSMD approx. 14 to 18
Single 400W 0.9kVA BMFT61542N

Connection to exclusive connector

MQMA phase, (3P+1a)
200V approx.
MAMA 200W 0.5kVA

MQMA Single approx. BMFT61541N

phase, 400W 0.9kVA (3P+1a)
100V
MSMD approx.
750W 1.3kVA
MCDD DV0P4180 0.75mm2
DV0P1460
MAMA Single/ approx. BMFT61542N AWG18
3- phase, 400W 0.9kVA (3P+1a)
MFMA 200V
approx.
MHMA 500W 1.1kVA 15A
approx.
MAMA 750W 1.6kVA

MDMA approx.
1.0kW 1.8kVA
MHMA
approx. DV0P1450
MGMA 900W 1.8kVA BMFT61842N 2.0mm2
Single/ approx. (3P+1a) AWG14
MDDD MSMA 3- phase, 1.0kW 1.8kVA
200V
MHMA
20A
MDMA DV0P4220
approx.
1.5kW 2.3kVA
MSMA

MFMA
Terminal
MDMA block
approx. 2.0mm 2 M5
MSMA 2.0kW 3.3kVA BMF6352N AWG14 11.0 or
MEDD 3- phase, 30A (3P+2a2b)
smaller
MHMA 200V
approx. 3.5mm2
MFMA 2.5kW 3.8kVA AWG12 ø5.3

– B14 –
Downloaded from www.Manualslib.com manuals search engine
 Applicable Rated Required Circuit
Noise Surge Noise Cable
Magnetic diameter Cable
Power breaker
Driver Voltage (at the rated (rated filter for diameter Connection
motor output load) current) filter absorber signal contactor (main circuit) (control circuit)
approx.
MGMA 2.0kW 3.8kVA
MDMA

MHMA BMF6352N
approx. (3P+2a2b)
3.0kW 4.5kVA
MSMA
3.5mm2
MGMA AWG12 Terminal
block
MDMA M5
3- phase, approx. 11.0 or
MFDD MHMA 200V 4.0kW 6kVA 50A DV0P3410 DV0P1450 DV0P1460 0.75mm2 smaller
AWG18
MSMA
approx. ø5.3
MFMA 6.8kVA BMF6652N
4.5kW approx. (3P+2a2b)
MGMA 7.5kVA
5.3mm2
MDMA AWG10
approx.
MHMA 5.0kW 7.5kVA
MSMA

• Select a single and 3-phase common specifications according to the power source.
• Manufacturer of circuit breaker and magnetic contactor : Matsushita Electric Works.
To comply to EC Directives, install a circuit breaker between the power and the noise
filter without fail, and the circuit breaker should conform to IEC Standards and UL
recognized (Listed and marked).
5000Arms, 240V is the maximum capacity to be delivered to the circuit of 750W or
larger model when the maximum current value of the circuit breaker is limited to 20A.
• For details of noise filters, refer to P.B42, "Noise Filter".
<Remarks>
• Select and use the circuit breaker and noise filter with matching capacity to those of
the power source, considering the load conditions as well.
• Terminal block and protective earth terminal
Use a copper conductor cable with temperature rating of 60˚C or higher.
Protective earth terminal is M4 for A to D-frame, and M5 for E and F-frame.
Larger tightening torque of the screw than the max. value (M4 : 1.2 N • m, M5 : 2.0 N • m)
may damage the terminal block.
• Earth cable diameter should be 2.0mm2 (AWG14) or larger for 50W to 2.0kW model,
and 3.5mm2 (AWG12) or larger for 2.5kW to 4.0kW, and 5.3mm2 (AWG10) or larger
for 4.5kW to 5kW model.
• Use the attached exclusive connectors for A to D-frame, and maintain the peeled off
length of 8 to 9mm.
• Tightening torque of the screws for connector (CN X5) for the connection to the host
to be 0.3 to 0.35 N • m. Larger tightening torque than these may damage the connector
at the driver side.
– B15 –
Downloaded from www.Manualslib.com manuals search engine
 3. System Configuration and Wiring
Wiring of the Main Circuit (A to D-frame)
• Wiring should be performed by a specialist or an authorized personnel.
• Do not turn on the power until the wiring is completed.

Tips on Wiring
8~9mm

1) Peel off the insulation cover of the cable.

(Observe the dimension as the right fig. shows.)
2) Insert the cable to the connector detached
from the driver.(See P.B18 for details.)
3) Connect the wired connector to the driver.
• Check the name plate of the driver for power
specifications.
• Provide a circuit breaker, or a leakage breaker.
The leakage breaker to be the one designed for
"Inverter" and is equipped with countermeasures
for harmonics.
• Provide a noise filter without fail.
Power
5 L1 • Provide a surge absorber to a coil of the Magnetic
NFB NF MC L
supply 4 L2 Contactor. Never start/stop the motor with this
Magnetic Contactor.
3 L3 Connect a fuse in series with the surge absorber.
Ask the manufacturer of the Magnetic Contactor
2 L1C for the fuse rating.
1 L2C • Provide an AC Reactor.
• Connect L1 and L1C, and L3 and L2C at single
CN X1 phase use (100V and 200V), and don't use L2.

6 RB1 • Match the colors of the motor lead wires to those of

the corresponding motor output terminals (U,V,W).
5 RB3 • Don't disconnect the shorting cable between RB2
and RB3 (C and D frame type). Disconnect this only
Yellow
(X2)
4 RB2 when the external regenerative register is used.
U 3 U • Avoid shorting and ground fault. Don't
Red
1 connect the main power.
V 2 V * Connect pin 3 of the connector on the amplifier
White 2 1 W side with pin 1 of the connector on the motor side.
W
Black 3 CN X2 • Earth-ground this.
Green E • Connect the protective earth terminal ( ) of the
yellow 4 driver and the protective earth (earth plate) of the
control panel without fail to prevent electrical shock.
• Don't co-clamp the earth wires to the protective
earth terminal ( ) . Two terminals are provided.
Motor • Don't connect the earth cable to other
Ground resistance : 100Ω max. inserting slot, nor make them touch.
For applicable wire, • Compose a duplex Brake Control Circuit so that
refer to P.B14 and B15. the brake can also be activated by an external
emergency stop signal.
DC DC power supply
• The Electromagnetic Brake has no polarity.
24V for brake • For the capacity of the electromagnetic brake and
how to use it, refer to P.B45, "Specifications of
Surge absorber Built-in Holding Brake".
• Provide a surge absorber.
Fuse (5A) • Connect a 5A fuse in series with the surge absorber.

– B16 –
Downloaded from www.Manualslib.com manuals search engine
 Wiring of the Main Circuit (E and F-frame)
• Wiring should be performed by a specialist or an authorized personnel.
• Do not turn on the power until the wiring is completed.

Tips on Wiring
1) Take off the cover fixing screws, and detach the terminal cover.
2) Make wiring
Use clamp type terminals of round shape with insulation cover for wiring to the termi-
nal block. For cable diameter and size, rater to "Driver and List of Applicable Periph-
eral Equipments" (P.B14 and B15).
3) Attach the terminal cover, and fix with screws.
Fastening torque of cover fixed screw in less than 0.2 N • m.
• Check the name plate of the driver for power
specifications.
• Provide a circuit breaker, or a leakage breaker.
The leakage breaker to be the one designed for
"Inverter" and is equipped with countermeasures
for harmonics.
L1 • Provide a noise filter without fail.
Power • Provide a surge absorber to a coil of the
supply NFB NF MC L L2 Magnetic Contactor. Never start/stop the motor
with this Magnetic Contactor.
L3 Connect a fuse in series with the surge absorber.
Ask the manufacturer of the Magnetic Contactor
r for the fuse rating.
• Provide an AC Reactor.
t
• Don't disconnect the short bar between B1 and
P B2. Disconnect this only when an external
regenerative register is used.
B1 • Match the colors of the motor lead wires to those
of the corresponding motor output terminals
Yellow
B2 (U,V,W).
(X2) • Avoid shorting and ground fault.
Red U U Don't connect the main power.
V V
White • Earth-ground this.
W • Connect the protective earth terminal ( ) of the
Black W driver and the protective earth (earth plate) of the
E control panel without fail to prevent electrical
Green
yellow shock.
• Don't co-clamp the earth wires to the protective
earth terminal ( ) . Two terminals are provided.
• Don't connect the earth cable to other
Motor inserting slot, nor make them touch.
Ground resistance : 100Ω max.
For applicable wire, • Compose a duplex Brake Control Circuit so that
refer to P.B14 and B15. the brake can also be activated by an external
emergency stop signal.
DC • The Electromagnetic Brake has no polarity.
24V DC power supply • For the capacity of the electromagnetic brake and
for brake how to use it, refer to P.B47, "Specifications of
Built-in Holding Brake".
Surge absorber
• Provide a surge absorber.
Fuse (5A) • Connect a 5A fuse in series with the surge absorber.
– B17 –
Downloaded from www.Manualslib.com manuals search engine
 3. System Configuration and Wiring
Wiring method to connector (A to D-frame)
• Follow the procedures below for the wiring connection to the Connector CN X1 and X2 .

How to connect 8 to 9mm

1. Peel off the insulation cover of the cable.
(see the right fig for exact length for peeling.)
2. Insert the cable to the connecter in the following 2 methods.
(a) Using the attached Handle Lever
(b) Using a screw driver (blade width of 3.0 to 3.5 mm)

(a) Using handle lever

1 2 3

Attach the handle lever Insert the peeled cable Release the lever.
to the handling slot on while pressing down the
the upper portion. Press lever, until it hits the
down the lever to push insertion slot (round
down the spring. hole).
* You can pull out the cable by pushing down the spring as the above.

(b) Using screw driver

1 2 3

Press the screw driver Insert the peeled cable Release the screw
to the handling slot on while pressing down the driver.
the upper portion to screw driver, until it hits the
push down the spring. insertion slot (round hole).
* You can pull out the cable by pushing down the spring as the above.
<CAUTION>
• Peel off the cable with exact length (8 to 9 mm).
• Take off the connector from the Servo Driver before making connection.
• Insert one cable into each one of cable insertion slot.
• Pay attention to injury by screw driver.
– B18 –
Downloaded from www.Manualslib.com manuals search engine
 Wiring Diagram
Compose the circuit so that the main circuit power will be shut off when an error occurs.
In Case of Single Phase, 100V (A and B-frame)
+10% +10%
Power supply Single phase, 100V –15% to 115V –15%
Built-in thermostat of an external
ON OFF ALM regenerative resistor (light yellow)
MC
MC
Surge absorber

NFB MC L CN X1

Noise
L1 Main power

filter
L3 supply
L1C Control power
L2C supply

CN X2
External regenerative resistor RB1
172167-1 RB3
Tyco Electronics AMP RB2
Red
1 1 U
White Motor
2 2 V connection
Black
3 3 W
Green
4 4

Motor

172159-1 ALM CN X5
37
Tyco Electronics AMP ALM+
DC12 to 24V
(±5%) 36 ALM–

In Case of Single Phase, 200V (A and B-frame)

+10% +10%
Power supply Single phase, 200V –15% to 240V –15%
Built-in thermostat of an external
ON OFF ALM regenerative resistor (light yellow)
MC
MC
Surge absorber

NFB MC L CN X1
Noise

L1 Main power
filter

L3 supply
L1C Control power
Use a reactor for L2C supply
3-phase
CN X2
External regenerative resistor RB1
172167-1 RB3
Tyco Electronics AMP RB2
Red
1 1 U
White Motor
2 2 V connection
Black
3 3 W
Green
4 4

Motor

172159-1 ALM CN X5
37
Tyco Electronics AMP ALM+
DC12 to 24V
(±5%) 36 ALM–

– B19 –
Downloaded from www.Manualslib.com manuals search engine
 3. System Configuration and Wiring
In Case of Single Phase, 200V (C and D-frame) * When you use motor model of
+10% +10% MSMA, MDMA, MFMA, MHMA
Power supply Single phase, 200V –15% to 240V –15%
and MGMA, use the connections
<Remarks> Built-in thermostat of an external
When you use single regenerative resistor (light yellow) as the below table shows.
phase, connect the main ON OFF ALM
power between L1 and MC
MC
[Motor portion]
Surge absorber
L3 terminals. Connector : by Japan Aviation Electronics Ind.
NFB MC L CN X1
L1 D A

Noise
Main power

filter
L2 supply
Use a reactor for L3 C B
3-phase L1C Control power
supply JL04V-2E20-4PE-B-R
L2C
(Remove the short wire when you connect JL04HV-2E22-22PE-B-R
the external regenerative resistor.)
CN X2 PIN No. Application
External regenerative resistor RB1
172167-1 RB3 A U-phase
Tyco Electronics AMP
Red
1 1
* RB2
U
B V-phase
White Motor C W-phase
2 2 V connection
Black
3 3 W
D Ground
Green
4 4
G H A

F I B
Motor

172159-1 ALM CN X5 E D C
Tyco Electronics AMP 37
ALM+
DC12 to 24V
JL04V-2E20-18PE-B-R
(±5%) 36 ALM–
PIN No. Application
G Brake
H Brake
In Case of 3-Phase, 200V (C and D-frame) A NC
+10% +10% F U-phase
Power supply 3-phase, 200V –15% to 240V –15%
I V-phase
<Remarks> Built-in thermostat of an external B W-phase
When you use single regenerative resistor (light yellow)
phase, connect the main ON OFF ALM E Ground
MC
power between L1 and L3
MC D Ground
Surge absorber
terminals. C NC
NFB MC L CN X1
L1
Noise

Main power
filter

L2 supply A B C
L3
L1C D E F
Control power
L2C supply
(Remove the short wire when you connect G H I
the external regenerative resistor.)
CN X2
External regenerative resistor RB1 JL04V-2E24-11PE-B-R
172167-1 RB3
Tyco Electronics AMP RB2
PIN No. Application
Red
1
*1 U A Brake
White Motor
2 2 V connection B Brake
Black
3 3 W C NC
Green
4 4
D U-phase
E V-phase
F W-phase
Motor
G Ground
172159-1 CN X5 Ground
Tyco Electronics AMP
ALM
37 H
ALM+
I NC
DC12 to 24V
(±5%) 36 ALM–
<Remark>
Do not connect anything to NC.

– B20 –
Downloaded from www.Manualslib.com manuals search engine
 In Case of 3-Phase, 200V (E and F-frame) [Motor portion]
+10% +10% Connector : by Japan Aviation Electronics Ind.
Power supply 3-phase, 200V –15% to 230V –15%
D A
Built-in thermostat of an external
regenerative resistor (light yellow)
ON OFF ALM
MC C B
MC
Surge absorber JL04V-2E20-4PE-B-R
JL04HV-2E22-22PE-B-R
NFB MC L
L1 PIN No. Application
Main power
Noise
filter

L2 supply A U-phase
L3
B V-phase
Control power
r supply C W-phase
t
D Ground
External regenerative resistor P
(Remove the short bar when you connect B1
the external regenerative resistor.) G H A
B2
Red
U Motor F I B
White connection
V
Black E D C
W
Green
JL04V-2E20-18PE-B-R
PIN No. Application
G Brake
Motor
H Brake
ALM
37
A NC
ALM+
DC12 to 24V
F U-phase
(±5%)
36 ALM–
I V-phase
B W-phase
E Ground
D Ground
C NC

A B C

D E F

G H I

JL04V-2E24-11PE-B-R
PIN No. Application
A Brake
B Brake
C NC
D U-phase
E V-phase
F W-phase
G Ground
H Ground
I NC

<Remark>
Do not connect anything to NC.

– B21 –
Downloaded from www.Manualslib.com manuals search engine
 3. System Configuration and Wiring
Wiring to the Connector, CN X6 (Connection to Encoder)
Wiring Diagram In case of 2500P/r incremental encoder

MSMD 50W to 750W

MAMA 100W to 750W
MQMA 100W to 400W
CN X6
White 4 1 E5V +5V
E5V
Black 5 2 0V Regulator
E0V E0V
3
4
Light Blue 2 5
PS PS
Purple 3 6
PS PS
6
FG

Twisted pair Case

172168-1 172160-1
(by Tyco Electronics, AMP) (by Tyco Electronics, AMP)
motor Junction cable
Motor side Driver side

MSMA 1kW to 5kW MFMA 400W to 4.5kW

MDMA 1kW to 5kW MGMA 900W to 4.5kW
MHMA 500W to 5kW
Pin No. of connector CN X6
E5V H 1 E5V +5V
0V Regulator
E0V G 2 E0V
3
4
K 5
PS PS
L 6
PS PS
J
FG

Straight plug N/MS3106B20-29S

Cable clamp N/MS3057-12A Case
Twisted pair
(by Japan Aviation Electronics Ind.)

motor
Junction cable
Motor side Driver side

– B22 –
Downloaded from www.Manualslib.com manuals search engine
 Wiring Diagram In case of 17-bit absolute/incremental encoder

MSMD 50W to 750W

MAMA 100W to 750W
MQMA 100W to 400W
CN X6
White 7 1 E5V +5V
E5V
Black 8 2 E0V 0V Regulator
E0V
3
4
Red 1 battery 5
BAT+ PS
Pink 2 6
BAT– PS
Light Blue 4
PS
Purple 5
PS
Yellow/Green 3
FG

Twisted pair Case

172169-1 172161-1
(by Tyco Electronics, AMP) (by Tyco Electronics, AMP)
motor Junction cable
Motor side Driver side

MSMA 1kW to 5kW MFMA 400W to 4.5kW

MDMA 1kW to 5kW MGMA 900W to 4.5kW
MHMA 500W to 5kW
Pin No. of connector CN X6
E5V H 1 E5V +5V
G 2 0V Regulator
E0V E0V
3
4
T battery 5
BAT+ PS
S 6
BAT– PS
K
PS
L
PS
J
FG
Straight plug N/MS3106B20-29S
Cable clamp N/MS3057-12A Case
Twisted pair
(Japan Aviation Electronics Industry, Ltd.)

motor
Junction cable
Motor side Driver side

– B23 –
Downloaded from www.Manualslib.com manuals search engine
 In case of open collector I/F (1) When you use the external
7 COM+ 1 resistor with 12V and 24V
Command pulse OPC1
4.7kΩ 2.2kΩ 2
inhibition input 33 power supply
Deviation counter
INH OPC2
2.2kΩ 3
clear input 30 CL PULS1 PULS1 3
Servo-ON input 4 Command
29 SRV-ON PULS2 PULS2 4 R
220Ω pulse 220Ω
Gain switching input 27 5
GAIN SIGN1 input A SIGN1 5
Electronic gear
switching input 28 6 (Use with 500kpps
DIV SIGN2 SIGN2 6 R
Damping control 220Ω or less.)
13 220Ω 13
switching input 26 VS-SEL GND GND VDC
Control mode
switching input 32 C-MODE 21
OA+ A-phase VDC
pecifications VDC -1.5 .
=10mA
22 330Ω

Downloaded from www.Manualslib.com manuals search engine

Alarm clear input 31 A-CLR R+220 .
CCW over-travel
output of R
OA-
inhibition input 9 CCWL 48 12V 1kΩ1/2W
CW over-travel OB+ B-phase 24V 2kΩ1/2W
inhibition input 8 CWL 49 330Ω output
OB-

Divider
Servo-Ready output 23 (2) When you do not use the
35 S-RD Y+ OZ+ Z-phase external resistor with 24V
24 330Ω output power supply
34 S-RDY- OZ-
Servo-Alarm output 37 ALM+ 2.2kΩ OPC1 1

36 ALM- PULS2 4
Positioning complete output 39 25 220Ω
VDC COIN+ GND 2.2kΩ OPC2 2
24VDC

– B24 –
12 to 24V 38 COIN- 19 Z-phase output (open collector) SIGN2 6
Brake release output CZ 220Ω 13
GND
11 BRKOFF+
10 BRKOFF-
Torque in-limit output 40 TLC
(Select with Pr09)
Wiring Example of Position Control Mode

Zero speed detection output 12

ZSP 20kΩ 14
(Select with Pr0A) 41 COM- SPR/TRQR
15
GND
44 2kΩ 43kΩ 10kΩ 16
PULSH1 PULS CCWTL/TRQR CCW torque limit input
220Ω 3.83kΩ
45 (0 to +10V)
PULSH2 2kΩ 43kΩ GND
46 2kΩ 43kΩ 10kΩ 18
SIGNH1 SIGN CWTL CW torque limit input
220Ω 3.83kΩ
47 SIGNH2 (-10 to +10V)
2kΩ 43kΩ 1kΩ 43
Wiring for Typical Control Modes to the Connector CN X5

13 GND SP Velocity monitor output

Command pulse input B 1kΩ 42
50 FG IM Torque monitor output
(Use with 2Mpps or less.)
3. System Configuration and Wiring

CN X5 ( represents twisted pair.)

 7 COM+
Selection 1 input of
internal command speed 33 INTSPD1 4.7kΩ
Selection 2 input of
internal command speed
30 INTSPD2
Servo-ON input 29 SRV-ON
Gain switching input 27 GAIN
Slection 3 input of
internal command speed 28 INTSPD3
Speed zero clamp input 26
Control mode switching
ZEROSPD
input 21
32 C-MODE OA+ A-phase output

Downloaded from www.Manualslib.com manuals search engine

22 330Ω
Alarm clear input 31 A-CLR OA-
CCW over-travel inhibition 48
input 9 CCWL OB+
CW over-travel inhibition 49 330Ω B-phase output
input 8 CWL OB-

Divider
23
Servo-Ready output OZ+
35 S-RDY+ 24 330Ω
Z-phase output
OZ-
34 S-RDY-
Servo alarm output 37 ALM+
36 ALM- 25
Positioning complete GND
output

– B25 –
39 AT-SPEED+
VDC
12 to 24V 19 Z-phase output (open collector)
38 AT-SPEED- CZ
Brake release output 11 BRKOFF+
10 BRKOFF-
Torque in-limit output 40 TLC
Wiring Example of Velocity Control Mode

(Select with Pr09)

20kΩ 14
Zero speed detection output SPR/TRQR Velocity command
12 ZSP
GND 15 input (0 to ± 10V)
(Select with Pr0A) 41 COM- 10kΩ 16
CCWTL/TRQR CCW torque limit
3.83kΩ
17 input(0 to ± 10V)
GND
10kΩ
CWTL 18 CW torque limit
3.83kΩ
input(-10 to 0V)
1kΩ 43
SP Velocity monitor output
1kΩ 42
50 FG IM Torque monitor output

CN X5 ( represents twisted pair.)

 7 COM+
33 4.7kΩ
INH
30 CL
Servo-ON input 29 SRV-ON
Gain switching input 27 GAIN
28
DIV
Speed zero clamp
input 26 ZEROSPD
Control mode 21
switching input 32 C-MODE OA+ A-phase

Downloaded from www.Manualslib.com manuals search engine

22 330Ω output
Alarm clear input 31 A-CLR OA-
CCW over-travel 48
inhibition input 9 CCWL OB+ B-phase
CW over-travel 49 330Ω
inhibition input output
8 CWL OB-

Divider
23
Servo-Ready output OZ+ Z-phase
35 S-RDY+ 24 330Ω output
OZ-
34 S-RDY-
Servo-Alarm output 37 ALM+
36 ALM- 25
At-speed signal output GND

– B26 –
39 AT-SPEED+
VDC
19 Z-phase output (open collector)
12 to 24V 38 AT-SPEED- CZ
Brake release output 11 BRKOFF+
10 BRKOFF-
Wiring Example of Torque Control Mode

Torque in-limit output 40 TLC 20kΩ 14

(Select with Pr09) SPR/TRQR Torque command input or
GND 15 velocity limit input (0 to ±10V)
Zero speed detection output 12
ZSP 10kΩ
(Select with Pr0A) CCWTL/TRQR 16 Wiring example when control mode Pr02=0 or Pr5B=1,
41 COM- 3.83kΩ
17 16
GND CCWTL/TRQR CW torque limit input
10kΩ 17
CWTL 18 GND (0 to ±10V)
3.83kΩ
Select with Pr5B.
1kΩ 43
SP Velocity monitor output
1kΩ 42
IM Torque monitor output
<Remarks>
In case Pr5B=0, 50 FG
enter a speed limit value to
3. System Configuration and Wiring

4th speed of speed setup (Pr56). CN X5

( represents twisted pair.)
 4. Parameter
Outline of Parameter
This driver is equipped with various parameters to set up its characteristics and func-
tions. This section describes the function and purpose of each parameter. Read and
comprehend very well so that you can adjust this diver in optimum condition for your
running requirements.

How to Set
• You can refer and set up the parameter with either one of the following.
1) front panel of the driver
2) combination of the setup support software, "PANATERM®" (Option, DV0P4460: En-
glish/Japanese version) and PC.
3) console (DV0P4420, option)
<Note>
For setup of the parameters on PC screen, refer to the instruction manual of the
"PANATERM®".

Setup with the Front Panel

Display LED (6-digit)
All of LED will flash when error occurs,
and switch to error display screen.
All of LED will flash slowly when warning occurs.
Shifting of the digit for data changing to higher digit.
(Valid to the digit whose decimal point flashes.)
Press these to change display and data, select
parameters and execute actions.
(Change/Selection/Execution is valid to the digit
which decimal point flashes.)
Numerical value increases by pressing , ,
decreases by pressing .
SET Button (valid at any time)
Press this to switch SELECTION and
EXECUTTION display.
Mode switching button (valid at SELECTION display)
Press this to switch 5 kinds of mode.
1) Monitor Mode 4) Auto-Gain Tuning Mode
2) Parameter Set up Mode 5) Auxiliary Function Mode
3) EEPROM Write Mode

– B27 –
Downloaded from www.Manualslib.com manuals search engine
 4. Parameter
Outline of PANATERM®
With the PANATERM®, you can execute the followings.
1) Setup and storage of parameters, and writing to the memory (EEPROM).
2) Monitoring of I/O and pulse input and load factor.
3) Display of the present alarm and reference of the error history.
4) Data measurement of the wave-form graphic and bringing of the stored data.
5) Normal auto-gain tuning
6) Frequency characteristic measurement of the machine system.

Setup with the Console

Display LED (6-digit)
All of LED will flash when error occurs, and switch to
error display screen.

Displays ID No. (address) of selected driver (in 2 digits).

The value set in Pr00(address) is ID No. Parameter No.
is displayed (2 digits) at parameter setup mode.

Press this to shift the digit for data change.

Press these to change data or execute selected action

of parameter.
Numerical value increases by pressing , ,
decreases by pressing .

SET Button
Press this to shift each mode which is selected by
mode switching button to EXECUTION display.

Mode Switching Button Press this to switch 6 kinds of mode.

1) Monitor mode 4) Normal auto-gain tuning mode
2) Parameter setup mode 5) Auxiliary function mode
3) EEPROM write mode 6) Copy mode

– B28 –
Downloaded from www.Manualslib.com manuals search engine
 How to Connect
RS232 connection cable (option)
DV0P1960 (for DOS/V machines)

Connect to CN X4

Setup disc of setup support software,

PANATERM®
• DV0P4460 :
English/Japanese version (option)

Connect to CN X4

Console
DV0P4420 (option)

<Remarks>
• Connect the console connector to the connector, CN X4 of the driver securely.
• Do not pull the cable to insert/unplug.

– B29 –
Downloaded from www.Manualslib.com manuals search engine
 4. Parameter
Composition and List of Parameters
Parameter No.
Group (Pr ) Outline
Functional selection 00 to 0F You can select a control mode, designate I/O
signals and set up a baud rate.
Adjustment 10 to 1F, You can set up servo gains (1st and 2nd) of
27 to 2E position, velocity, integration, etc, and time
constants of various filters.
20 to 26, 2F Parameters related to Real Time Auto-Gain Tuning. You
can set up a mode and select a mechanical stiffness.
30 to 3F You can set up parameters related to gain
switching(1st 2nd)
Position (Step) 40 to 4F You can set up an input form, directional selection
Control of command pulses, dividing of encoder output
pulse and set up a division multiplier ratio of
command pulse.
Velocity Control, 50 to 5A, You can set up an input gain of command pulse,
Torque Control 74 to 77 reverse polarity and adjust offset. You can also set
up internal speeds (1 to 8th speed), acceleration/
deceleration time.
5B to 5F You can set an input gain, reverse polarity and set
up a torque limit of torque command.
Sequence 60 to 6F You can set up detecting conditions of output signals,
such as positioning-complete and zero-speed.
You can also set up a deceleration/stop action at
main power-off, at alarm output and at servo-off,
and clear condition of the deviation counter.
70 to 73 You can set up actions of protective functions.
Full-Closed Control 78 to 7F You can set up dividing of external scale.

• In this document, following symbols represent each mode.

Setup value Setup value
Symbol Control mode Symbol Control mode
of Pr02 of Pr02
P Position control 0 P/S Position (1st)/Velocity (2nd) control 3*
S Velocity control 1 P/T Position (1st)/Torque (2nd) control 4*
T Torque control 2 S/T Velocity (1st)/Torque (2nd) control 5*
F Full-Closed control 6
* When you select the combination mode of 3, 4 or 5, you can select either 1st or 2nd
with control mode switching input (C-MODE).
when C-MODE is open : 1st mode selection
when C-Mode is closed: 2nd mode selection
Do not enter the command 10ms before/after the switching.

– B30 –
Downloaded from www.Manualslib.com manuals search engine
 Parameters for Functional Selection
Parameter Related control
No.
(Pr )
Set up of parameter Range Default Unit mode
00*1 Address of axis 0 to 15 1 – all
01*1 Initial display of LED 0 to 17 1 – all
02*1 Setup of control mode 0 to 6 1 – all
03 Selection of torque limit 0 to 3 1 – P, S, F
04*1 Setup of over-travel inhibit input 0 to 2 1 – all
05 Switching of Internal/External speed setup 0 to 3 0 – S
06 Selection of ZEROSPD input 0 to 2 0 – S, T
07 Selection of speed monitor (SP) 0 to 9 3 – all
08 Selection of torque monitor (IM) 0 to 12 0 – all
09 Selection of TLO output 0 to 8 0 – all
0A Selection of ZSP output 0 to 8 1 – all
0B*1 Setup of absolute encoder 0 to 2 1 – all
0C*1 Baud rate setup of RS232 0 to 5 2 – all
0D*1 Baud rate setup of RS485 0 to 5 2 – all
0E*1 Setup of front panel lock 0 to 1 0 – all
0F (For manufacturer's use) – – – –

Parameters for Adjustment of Time Constant for Gains and Filters

Parameter Default Related control
No.
(Pr )
Set up of parameter Range A to D to Unit mode
C-frame F-frame
10 1st gain of position loop 0 to 3000 <63> <32> 1/s P, F
11 1st gain of velocity loop 1 to 3500 <35> <18> Hz all
12 1st time constant of velocity loop integration 1 to 1000 <16> <31> ms all
13 1st filter of velocity detection 0 to 5 <0> – all
14 1st time constant of torque filter 0 to 2500 <65> <126> 0.01ms all
15 Velocity feed forward –2000 to 2000 <300> 0.1% P, F
16 Time constant of feed forward filter 0 to 6400 <50> 0.01ms P, F
17 (For manufacturer's use) – – – –
<Notes>
• For parameters with suffix of "*1", change will be validated after the reset of the control power.
• For parameters which default values are parenthesized by "< >", default value varies
automatically by the real-time auto-gain tuning function. Set up Pr21 (Setup of Real-
time auto-gain tuning mode) to 0 (invalid) when you want to adjust manually.
* In this documentation, each mode is represented by the following symbols
P : Position control, S : Velocity control, T : Torque control, F : Full-closed control,
P/S : Position (1st),/Velocity (2nd) control, P/T : Position (1st)/Torque (2nd) control,
S/T : Velocity (1st)/Torque (2nd) control.
– B31 –
Downloaded from www.Manualslib.com manuals search engine
 4. Parameter
Parameters for Adjustment of Time Constant for Gains and Filters
Parameter Default Related control
No.
(Pr )
Set up of parameter Range A to D to Unit mode
C-frame F-frame
18 2nd gain of position loop 0 to 3000 <73> <38> 1/s P, F
19 2nd gain of velocity loop 1 to 3500 <35> <18> Hz all
1A 2nd Time constant of velocity loop integration 1 to 1000 <1000> ms all
1B 2nd filter of velocity detection 0 to 5 <0> – all
1C 2nd torque filter time constant 0 to 2500 <65> <126> 0.01ms all
1D 1st notch frequency 100 to 1500 1500 Hz all
1E Selection of 1st notch width 0 to 4 2 – all
1F (For manufacturer's use) – – – –
27 Setup of instantaneous velocity observer 0 to 1 <0> – P, S
28 2nd notch frequency 100 to 1500 1500 Hz all
29 Selection of 2nd notch width 0 to 4 2 – all
2A Selection of 2nd notch depth 0 to 99 0 – all
2B 1st damping frequency 0 to 2000 0 0.1Hz P, F
2C Setup of 1st damping filter –200 to 2000 0 – P, F
2D 2nd damping frequency 0 to 2000 0 0.1Hz P, F
2E Setup of 2nd damping filter –200 to 2000 0 – P, F

Parameters for Auto-Gain Tuning

Parameter Default Related control
No.
(Pr )
Set up of parameter Range A to D to Unit mode
C-frame F-frame
20 Inertia ratio 0 to 10000 <250> % all
21 Setup of real-time auto-gain tuning mode 0 to 7 1 – all
22 Mechanical stiffness at real-time auto-gain tuning 0 to 15 4 1 – all
23 Setup of adaptive filter mode 0 to 2 1 – P, S, F
24 Selection of damping filter switching 0 to 2 0 – P, F
25 Setup of action at normal mode auto-gain tuning 0 to 7 0 – all
26 Setup of software limit 0 to 1000 10 0.1rev P, F
2F*2 Adaptive filter frequency 0 to 64 0 – P, S, F
*2 this parameter will be automatically set up when the adaptive filter is validated (Pr23,
“Setup of adaptive filter mode” is “1”, and you cannot set this up at your discretion.
Set up Pr23, “Setup of adaptive filter mode” to “0” (invalid) to clear this parameter.

* In this documentation, each mode is represented by the following symbols

P : Position control, S : Velocity control, T : Torque control, F : Full-closed control,
P/S : Position (1st),/Velocity (2nd) control, P/T : Position (1st)/Torque (2nd) control,
S/T : Velocity (1st)/Torque (2nd) control.
– B32 –
Downloaded from www.Manualslib.com manuals search engine
 Parameters for Adjustment (2nd Gain Switching Function)
Parameter Related control
No.
(Pr )
Set up of parameter Range Default Unit mode
30 Setup of 2nd gain 0 to 1 <1> – all
31 1st mode of control switching 0 to 10 <0> – all
32 1st delay time of control switching 0 to 10000 <30> 166µs all
33 1st level of control switching 0 to 20000 <50> – all
34 1st hysteresis of control switching 0 to 20000 <33> – all
(1+Setup value)
35 Time for position gain switching 0 to 10000 <20> x 166µs P, F
36 2nd mode of control switching 0 to 5 <0> – S, T
37 2nd delay time of control switching 0 to 10000 0 166µs S, T
38 2nd level of control switching 0 to 20000 0 – S, T
39 2nd hysteresis 0f control switching 0 to 20000 0 – S, T
3A (For manufacturer's use) – – – –
3B (For manufacturer's use) – – – –
3C (For manufacturer's use) – – – –
3D Setup of JOG speed 0 to 500 300 r/min all
3E (For manufacturer's use) – – – –
3F (For manufacturer's use) – – – –

Parameters for Position Control

Parameter Related control
No.
(Pr )
Set up of parameter Range Default Unit mode
40*1 Selection of command pulse input 0 to 1 0 – P, F
41*1 setup of rotational direction of command pulse 0 to 1 0 – P, F
42*1 setup of command pulse input mode 0 to 3 1 – P, F
43 Canceling of command pulse prohibition input
0 to 1 1 – P, F
44*1 Numerator of pulse output division 1 to 32767 2500 – all
45*1 Denominator of pulse output division 0 to 32767 0 – all
46*1 Logic reversal of pulse output 0 to 3 0 – all
47*1 Setup of Z-phase of external scale 0 to 32767 0 – F
<Notes>
• For parameters with suffix of "*1", change will be validated after the reset of the con-
trol power.
• For parameters which default values are parenthesized by "< >", default value varies
automatically by the real-time auto-gain tuning function. Set up Pr21 (Setup of Real-
time auto-gain tuning mode) to 0 (invalid) when you want to adjust manually.

– B33 –
Downloaded from www.Manualslib.com manuals search engine
 4. Parameter
Parameter Related control
No.
(Pr )
Set up of parameter Range Default Unit mode
48 1st numerator of electronic gear 0 to 10000 0 – P, F
49 2nd numerator of electronic gear 0 to 10000 0 – P, F
4A Multiplier for numerator of electronic gear 0 to 17 0 – P, F
4B Denominator of electronic gear 1 to 10000 10000 – P, F
4C Setup of smoothing filter for primary delay 0 to 7 1 – P, F
4D*1 Setup of FIR smoothing 0 to 31 0 – P, F
4E Counter clear input mode 0 to 2 1 – P, F
4F (For manufacturer's use) – – – –

Parameters for Velocity/Torque control

Parameter Related control
No.
(Pr )
Set up of parameter Range Default Unit mode
50 Input gain of speed command 10 to 2000 500 (r/min)/V S, T
51 Input reversal of speed command 0 to 1 1 – S
52 Offset of speed command –2047 to 2047 0 0.3mV S, T
53 1st speed of speed setup –20000 to 20000 0 r/min S
54 2nd speed of speed setup –20000 to 20000 0 r/min S
55 3rd speed of speed setup –20000 to 20000 0 r/min S
56 4th speed of speed setup –20000 to 20000 0 r/min S, T
74 5th speed of speed setup –20000 to 20000 0 r/min S
75 6th speed of speed setup –20000 to 20000 0 r/min S
76 7th speed of speed setup –20000 to 20000 0 r/min S
77 8th speed of speed setup –20000 to 20000 0 r/min S
57 Setup of speed command filter 0 to 6400 0 0.01ms S, T
2ms/
58 Setup of acceleration time 0 to 5000 0 (1000r/min) S
2ms/
59 Setup of deceleration time 0 to 5000 0 (1000r/min) S
5A Setup of sigmoid acceleration/deceleration time 0 to 500 0 2ms S
5B Selection of torque command 0 to 1 0 – T
0.1V /
5C Input gain of torque command 10 to 100 30 rated torque T
5D Input reversal of torque command 0 to 1 0 – T
5E Setup of 1st torque limit 0 to 500 <500>*3 % all
5F Setup of 2nd torque limit 0 to 500 <500>*3 % P, S, F

* In this documentation, each mode is represented by the following symbols

P : Position control, S : Velocity control, T : Torque control, F : Full-closed control,
P/S : Position (1st),/Velocity (2nd) control, P/T : Position (1st)/Torque (2nd) control,
S/T : Velocity (1st)/Torque (2nd) control.
– B34 –
Downloaded from www.Manualslib.com manuals search engine
 Parameters for Sequence
Parameter Related control
No.
(Pr )
Set up of parameter Range Default Unit mode
60 In-position (positioning complete) range 0 to 32767 131 Pulse P, F
61 Zero speed 10 to 20000 50 r/min all
62 At-speed (arrived speed) 10 to 20000 1000 r/min S, T
63 Setup of in-position output 0 to 3 0 – P, F
64 (For manufacturer's use) – – – –
65 Selection of LV-trip at main power off 0 to 1 1 – all
66*1 Sequence at run-prohibition 0 to 2 0 – all
67 Sequence at main power off 0 to 9 0 – all
68 Sequence at alarm 0 to 3 0 – all
69 Sequence at servo-off 0 to 9 0 – all
6A Setup of mechanical brake action at stall 0 to 100 0 2ms all
6B Setup of mechanical brake action in motion 0 to 100 0 2ms all
A, B-frame : 3,
6C*1 Selection of external regenerative resister 0 to 3 C,D,E-frame : 0 – all
6D*1 Detection time of main power shut-off 35 to 1000 35 2ms all
6E Setup to torque at emergency stop 0 to 500 0 – all
6F (For manufacturer's use) – – – –
70 Excess setup of positional deviation 0 to 32767 25000 256Pulse P, F
71 Excess setup of analog input 0 to 100 0 0.1V S, T
72 Setup of over-load level 0 to 500 0 % all
73 Setup of over-speed level 0 to 20000 0 r/min all

Parameters for Full-Closed Control

Parameter Related control
No.
(Pr )
Set up of parameter Range Default Unit mode
78*1 Numerator of external scale division 0 to 32767 0 – F
79*1 Numerator multiplier of external scale division 0 to 17 0 – F
7A*1 Denominator of external scale division 1 to 32767 10000 – F
16 X external
7B*1 Excess setup of hybrid deviation 1 to 10000 100 scale pulses F
7C*1 Reversal of direction of external scale 0 to 1 0 – F
7D (For manufacturer's use) – – – –
7E (For manufacturer's use) – – – –
7F (For manufacturer's use) – – – –
<Notes>
• For parameters with suffix of "*1", change will be validated after the reset of the con-
trol power.
*3 Defaults of Pr5E and Pr5F vary depending on the combination of the driver and the motor.
– B35 –
Downloaded from www.Manualslib.com manuals search engine
 5. Protective Functions
Protective Function (What Is Error Code ?)
• Various protective functions are equipped in the driver. When these are triggered, the
motor will stall due to error, the driver will turn the Servo-Alarm output (ALM) to off
(open).

• Error status ands their measures

• During the error status, the error code No. will be displayed on the front panel LED,
and you cannot turn Servo-ON.
• You can clear the error status by turning on the alarm clear input (A-CLR) for 120ms
or longer.
• When overload protection is triggered, you can clear it by turning on the alarm clear
signal (A-CLR) 10 sec or longer after the error occurs. You can clear the time charac-
teristics by turning off the connection between L1C and L2C or r and t of the control
power supply of the driver.
• You can clear the above error by operating the front panel keys.
• You can also clear the above error by operating the "PANATERM®".

<Remarks>
• When the protective function with a prefix of "*" in the protective function table is
triggered, you cannot clear with alarm clear input (A-CLR). For resumption, shut off
the power to remove the cause of the error and re-enter the power.
• Following errors will not be stored in the error history.
Control power supply under-voltage protection (Error code No. 11)
Main power supply under-voltage protection (Error code No. 13)
EEPROM parameter error protection (Error code No. 36)
EEPROM check code error protection (Error code No. 37)
Over-travel prohibition input protection (Error code No. 38)
Motor self-recognition error protection (Error code No. 95)

– B36 –
Downloaded from www.Manualslib.com manuals search engine
 Error Error
code Protective function code Protective function
No. No.
Control power supply under- voltage
11 39 Analog input excess protection
protection
Absolute system down error
12 Over-voltage protection 40
protection
Main power supply under-voltage * Absolute counter over error
13 41
protection protection

14 * Over-current protection 42 Absolute over-speed error protection

15 * Over-heat protection 44 * Absolute single turn counter error

protection

16 Over-load protection 45 * Absolute multi-turn counter error

protection

18 * Over-regeneration load protection 47 Absolute status error protection

21 * Encoder communication error 48 * Encoder Z-phase error protection

protection

23 * Encoder communication data error 49 * Encoder CS signal error protection

protection

24 Position deviation excess protection 50 * External scale status 0 error

protection

25 * Hybrid deviation excess error 51 * External scale status 1 error

protection protection

26 Over-speed protection 52 * External scale status 2 error

protection
Electronic gear error protection * External scale status 3 error
27 53
protection

28 * External scale communication data 54 * External scale status 4 error

error protection protection

29 Deviation counter overflow protection 55 * External scale status 5 error

protection

34 Software limit protection 65 CCWTL input excess protection

35 * External scale communication error 66 CWTL input excess protection

protection

36 * EEPROM parameter error protection 95 * Motor automatic recognition error

protection
* EEPROM check code error Other
37
protection No. * Other error
38 Over-travel inhibit input protection

– B37 –
Downloaded from www.Manualslib.com manuals search engine
 6. Maintenance and Inspections
• Routine maintenance and inspection of the driver and motor are essential for the
proper and safe operation.

Notes on Maintenance and Inspection

1) Turn on and turn off should be done by operators or inspectors themselves.
2) Internal circuit of the driver is kept charged with high voltage for a while even after
power-off. Turn off the power and allow 15 minutes or longer after LED display of the
front panel has gone off, before performing maintenance and inspection.
3) Disconnect all of the connection to the driver when performing megger test (Insulation
resistance measurement) to the driver, otherwise it could result in breakdown of the
driver.

Inspection Items and Cycles

General and normal running condition

Ambient conditions : 30˚C (annual average), load factor of 80%

or lower, operating hours of 20 hours or less per day.
Perform the daily and periodical inspection as per the items below.

Type Cycles Items to be inspected

• Ambient temperature, humidity, speck, dust or foreign object
• Abnormal vibration and noise
• Main circuit voltage
• Odor
Daily Daily • Lint or other particles at air holes
inspection
• Cleanness at front portion of the driver and connecter
• Damage of the cables
• Loose connection or misalignment between the motor and
machine or equipment
• Pinching of foreign object at the load
• Loose tightening
Periodical
Annual • Trace of overheat
inspection
• Damage of the terminals
<Notes>
Inspection cycle may change when the running conditions of the above change.

– B38 –
Downloaded from www.Manualslib.com manuals search engine
 Guideline for Parts Replacement
Use the table below for a reference. Parts replacement cycle varies depending on the
actual operating conditions. Defective parts should be replaced or repaired when any
error have occurred.

Disassembling for inspection and repair should

be carried out only by authorized dealers or ser-
Prohibited vice company.

Standard replacement
Product Component cycles (hour) Note

Smoothing condenser Approx. 5 years

2 to 3 years
Cooling fan
(10,000 to 30,000 hours)

Aluminum electrolytic
Approx. 5 years
capacitor (on PCB)
Driver
Approx. 100,000 times
Rush current
(depending on working
preventive relay
condition)
Approx. 20,000 times These hours or cycles are
Rush current
(depending on working reference.
preventive resistor
condition) When you experience any
3 to 5 years error, replacement is re-
Bearing quired even before this
(20,000 to 30,000 hours)
standard replacement cy-
Oil seal 5000 hours cle.
3 to 5 years
Encoder
(20,000 to 30,000 hours)
Motor Life time varies depending
on working conditions.
Battery Refer to the instruction
for absolute encoder manual attached to the
battery for absolute
encoder.
Motor with
10,000 hours
gear reducer Gear reducer

– B39 –
Downloaded from www.Manualslib.com manuals search engine
 7. Conformity to EC Directives and UL Standards
EC Directives
The EC Directives apply to all such electronic products as those having specific func-
tions and have been exported to EU and directly sold to general consumers. Those
products are required to conform to the EU unified standards and to furnish the CE
marking on the products.
However, our AC servos meet the relevant EC Directives for Low Voltage Equipment so
that the machine or equipment comprising our AC servos can meet EC Directives.

EMC Directives
MINAS Servo System conforms to relevant standard under EMC Directives setting up
certain model (condition) with certain locating distance and wiring of the servo motor
and the driver. And actual working condition often differs from this model condition espe-
cially in wiring and grounding. Therefore, in order for the machine to conform to the EMC
Directives, especially for noise emission and noise terminal voltage, it is necessary to
examine the machine incorporating our servos.

Conformed Standards
Subject Conformed Standard
Motor IEC60034-1 IEC60034-5 UL1004 CSA22.2 No.100 Conforms to
Low-Voltage
EN50178 UL508C Directives
Radio Disturbance Characteristics of Industrial, Scien-
EN55011
tific and Medical (ISM) Radio-Frequency Equipment
Motor/ EN61000-6-2 Immunity for Industrial Environments
Motor IEC61000-4-2 Electrostatic Discharge Immunity Test
Standards
and IEC61000-4-3 Radio Frequency Electromagnetic Field Immunity Test referenced by
EMC Directives
driver IEC61000-4-4 Electric High-Speed Transition Phenomenon/Burst Immunity Test
IEC61000-4-5 Lightening Surge Immunity Test
IEC61000-4-6 High Frequency Conduction Immunity Test
IEC61000-4-11 Instantaneous Outage Immunity Test

IEC : International Electrotechnical commission

E N : Europaischen Normen
EMC : Electromagnetic Compatibility
UL : Underwriters Laboratories
CSA : Canadian Standards Association

<Precautions in using options>

Use options correctly after reading operation manuals of the options to better under-
stand the precautions.
Take care not to apply excessive stress to each optional part.

– B40 –
Downloaded from www.Manualslib.com manuals search engine
 Composition of Peripheral Equipments
Installation Environment
Use the servo driver in the environment of Pollution Degree 1 or 2 prescribed in IEC-
60664-1 (e.g. Install the driver in control panel with IP54 protection structure.)
Control box

Controller

Insulated
power supply
for interface CN X5
Driver
Noise filter for Noise filter
Power signal lines for signal
supply CN X1 lines
Circuit Ground-fault L1
breaker Noise filter L2 CN X2 Motor
breaker (RCD) L3 U
V M
W
L1C
Surge L2C RE

absorber
CN X6
Protective earth (PE)

Power Supply
+10% +10%
100V type : Single phase, 100V to 115V 50/60Hz
–15% –15%
(A, B and C-frame)
+10% +10%
200V type : Single phase, 200V to 240V 50/60Hz
–15% –15%
(B, C-frame)
+10% +10%
200V type : Single/3-phase, 200V to 240V 50/60Hz
–15% –15%
(C, D-frame)
+10% +10%
200V type : 3-phase, 200V to 230V 50/60Hz
–15% –15%
(E, F-frame)
(1) This product is designed to be used at over-voltage category (Installation category) II
of EN 50178:1997. If you want to use this product un over-voltage category (Installa-
tion category) III, install a surge absorber which complies with EN61634-11:2002 or
other relevant standards at the power input portion.
(2) Use an insulated power supply of DC12 to 24V which has CE marking or complies
with EN60950

Circuit Breaker
Install a circuit breaker which complies with IEC Standards and UL recognizes (Listed
and marked) between power supply and noise filter.
– B41 –
Downloaded from www.Manualslib.com manuals search engine
 7. Conformity to EC Directives and UL Standards
Noise Filter
When you install one noise filter at the power supply for multi-axes application, contact
to a manufacture of the noise filter.
Voltage specifications
Option part No. for driver Manufacturer’s part No. Applicable driver (frame) Manufacturer
DV0P4170 Single phase 100V/200V SUP-EK5-ER-6 A and B-frame Okaya Electric Ind.
100.0±2.0 Terminal cover
88.0 (transparent)
7.0 5.0
75.0 53.1±1.0
Circuit diagram
IN OUT

1 L L 3
2.0 Cy
12.0
50.0 R

60.0
Cx Cx
LABEL
Cy
10.0

2 4

6-M4 (11.6)
2–ø4.5 x 6.75 2–ø4.5
(13.0)

Voltage specifications
Option part No. for driver Manufacturer’s part No. Applicable driver (frame) Manufacturer
DV0P4180 3SUP-HQ10-ER-6 C-frame
3-phase 200V Okaya Electric Ind.
DV0P4220 3SUP-HU30-ER-6 D and E-frame
A
B H Circuit diagram
C
IN OUT
Earth terminal
M4 1 L1 4

2 5
10
F

LABEL
D
E

3 6

Screw for cover R Cx1 Cx1

M3
M4 Cy1

Cover A B C D E F G H K L
DV0P4180 115 105 95 70 43 10 52 5.5 M4 M4
G

Body DV0P4220 145 135 125 70 50 10 52 5.5 M4 M4

Voltage specifications
Option part No. for driver Manufacturer’s part No. Applicable driver (frame) Manufacturer
DV0P3410 Three-phase 200V 3SUP-HL50-ER-6B F-frame Okaya Electric Ind.
286±3.0
Circuit diagram
270 IN OUT
2-ø5.5 x 7 255±1.0 2-ø5.5
150 240 1 4

2 5
6-6M
(13) (18)
90±1.0

3
120

L A B E L 6

– B42 –
Downloaded from www.Manualslib.com manuals search engine
 Surge Absorber
Provide a surge absorber for the primary side of noise filter.
<Remarks>
Take off the surge absorber when you execute a dielectric test to the machine or equip-
ment, or it may damage the surge absorber.
Voltage specifications
Option part No. for driver Manufacturer's part No. Manufacturer
DV0P1450 3-phase 200V R . A .V-781BXZ-4 Okaya Electric Ind.
5.5±1
11±1

ø4.2±0.2
Circuit diagram

1 2 3
28.5±1

UL-1015 AWG16
+30
200 -0

4.5±0.5

1 2 3
281

41±1

Voltage specifications
Option part No. for driver Manufacturer's part No. Manufacturer
DV0P4190 Single phase 100/200V R . A .V-781BWZ-4 Okaya Electric Ind.
5.5±1
11±1

ø4.2±0.2
Circuit diagram

1 2
28.5±1

UL-1015 AWG16
+30
200 -0

4.5±0.5

1 2
281

41±1

– B43 –
Downloaded from www.Manualslib.com manuals search engine
 7. Conformity to EC Directives and UL Standards
Noise Filter for Signal Lines *
Install noise filters for signal lines to all cables (power cable, motor cable, encoder cable
and interface cable)
39±1
* In case of D-frame, install 3 noise 34±1 Mass: 62.8g
filters at power line.
Option part No. DV0P1460

13±1
Manufacturer's part No. ZCAT3035-1330

30±1
Manufacturer TDK Corp.

<Caution> Fix the signal line noise filter in place to eliminate excessive stress to the cables.

Ground-Fault Breaker
Install a type B ground fault breaker (RCD) at primary side of the power supply.

Grounding
(1) Connect the protective earth terminal ( ) of the driver and the protective earth
terminal (PE) of the control box without fail to prevent electrical shocks.
(2) Do not make a joint connection to the protective earth terminals ( ). 2 terminals are
provided for protective earth.
<Note>
For driver and applicable peripheral equipments, refer to P.B14 "Driver and List of Ap-
plicable Peripheral Equipments" .

Conformity to UL Standards
Observe the following conditions of (1) and (2) to make the system conform to UL508C
(File No. E164620).
(1) Use the driver in an environment of Pollution Degree 2 or 1 prescribed in IEC60664-
1. (e.g. Install in the control box with IP54 enclosure.)
(2) Install a circuit breaker or fuse which are UL recognized (Listed marked) between
the power supply and the noise filter without fail.
For the rated current of the circuit breaker or fuse, refer to P.32, "Driver and List of
Applicable Peripheral Equipments" of Preparation.
Use a copper cable with temperature rating of 60˚C or higher.
Tightening torque of more than the max. values (M4:1.2N • m, M5: 2.0N • m) may break
the terminal block.
(3) Over-load protection level
Over-load protective function will be activated when the effective current exceeds 115%
or more than the rated current based on the time characteristics. Confirm that the effec-
tive current of the driver does not exceed the rated current. Set up the peak permissible
current with Pr5E (Setup of 1st torque limit) and Pr5F (Setup 2nd torque limit).
– B44 –
Downloaded from www.Manualslib.com manuals search engine
 8. Built-in Holding Brake
In the applications where the motor drives the vertical axis, this brake would be used to
hold and prevent the work (moving load) from falling by gravity while the power to the
servo is shut off.

Use this built-in brake for "Holding" purpose only, that is to hold the stalling status.
Never use this for "Brake" purpose to stop the load in motion.

Output Timing of BRK-OFF Signal

• For the brake release timing at power-on, or braking timing at Servo-OFF/Servo-Alarm
while the motor is in motion, refer to the technical reference. (DV0P4210)
• With the parameter, Pr6B (Setup of mechanical brake action while the motor is in
motion), you can set up a time between when the motor enters to a free-run from
energized status and when BRK-OFF signal turns off (brake will be engaged), when
the Servo-OFF or alarm occurs while the motor is in motion.

<Notes>
1. The lining sound of the brake (chattering and etc.) might be generated while running
the motor with built-in brake, however this does not affect any functionality.
2. Magnetic flux might be generated through the motor shaft while the brake coil is ener-
gized (brake is open). Pay an extra attention when magnetic sensors are used nearby
the motor.

Specifications of Built-in Holding Brake

Static Rotor Engaging Releasing Exciting Permissible Permissible
Motor Motor friction inertia current Releasing work (J) per total work
torque x 10 –4 time time DC A voltage
series output
N •m kg • m2 ms ms* (at cool-off) one braking x 103J
50W, 100W 0.29 or more 0.002 35 or less 0.25 39.2 4.9
MSMD 10 or less DC2V
200W, 400W 1.27 or more 0.018 50 or less 0.30 137 44.1
MAMA or more
750W 2.45 or more 0.075 70 or less 20 or less 0.35 196 147
100W 0.29 or more 0.03 50 or less 0.29 DC1V 137 44.1
MQMA 15 or less
200W, 400W 1.27 or more 0.09 60 or less 0.41 or more 196 147
1.0kW 4.9 or more 0.25 0.74 196
50 or less 15 (100)
1.5kW, 2.0kW 7.8 or more 392
0.33 or less 0.81 DC2V 490
MSMA 3.0kW 11.8 or more 80 or less
or more
50 (130)
4.0kW, 5.0kW 16.1 or more 1.35 110 or less 0.90 1470 2156
or less

(Continues to next page)

– B45 –
Downloaded from www.Manualslib.com manuals search engine
 8. Built-in Holding Brake
Rotor Engaging Releasing Exciting
Static Permissible Permissible
Motor Motor inertia
friction current Releasing work (J) per total work
torquex 10 –4 time time DC A voltage
series output
kg • m2
N •m ms ms* (at cool-off) one braking x 103J
70 (200)
1.0kW 4.9 or more 80 or less 0.59 588 780
or less
1.35
1.5kW, 2.0kW 13.7 or more 100 or less 50 (130) 0.79 1176 1470
3.0kW 16.1 or more 110 or less or less 0.90 1470 2156
MDMA
35 (150)
4.0kW 21.5 or more 4.25 90 or less 1.10 1078 2450
or less
25 (200)
5.0kW 24.5 or more 4.7 1.30 1372 2940
or less
80 or less
70 (200)
500W, 1.0kW 4.9 or more 0.59 588 784
or less
1.35
50 (130)
MHMA 1.5kW 13.7 or more 100 or less 0.79 1176 1470
or less
25 (200) DC2V
2.0kW to 5.0kW 24.5 or more 4.7 1.30 1372 2940
or less or more
70 (200)
400W 4.9 or more 1.35 80 or less 0.59 588 784
or less
35 (150)
MFMA 1.5kW 7.8 or more 4.7 0.83 1372 2940
or less
2.5kW 21.6 or more 100 (450) 1470
8.75 150 or less 0.75 1470
4.5kW 31.4 or more or less 2156
50 (130)
900W 13.7 or more 100 or less 0.79 1176 1470
1.35 or less
25 (200)
MGMA 2.0kW 24.5 or more 80 or less 1.3
or less
1372 2940
4.7 50 (130)
3.0kW, 4.5kW 58.8 or more 150 or less 1.4
or less

• Excitation voltage is DC24V±10%.

• Values represent the ones with DC-cutoff using a surge absorber for holding brake.
Values in ( ) represent those measured by using a diode (V03C by Renesas Technol-
ogy Corp.).
• Above values (except static friction torque, releasing voltage and excitation current)
represent typical values.
• Backlash of the built-in holding brake is kept ±1˚o r smaller at ex-factory point.
• Permissible angular acceleration : 30000rad/s2 for MAMA series
10000rad/s2 for MSMD, MQMA, MSMA MDMA,MHMA MFMA and MGMA series
• Service life of the number of acceleration/deceleration with the above permissible
angular acceleration is more than 10 million times.
(Life end is defined as when the brake backlash drastically changes.)
– B46 –
Downloaded from www.Manualslib.com manuals search engine
 9. Dynamic Brake
This driver is equipped with a dynamic brake for emergency stop.
Pay a special attention to the followings.

<Caution>
1.Dynamic brake is only for emergency stop.

Do not start/stop the motor by turning on/off the Servo-ON signal (SRV-ON).
Or it may damage the dynamic brake circuit of the driver.

The motor becomes a dynamo when driven externally, and shorting current
runs while this dynamic brake is activated and might cause smoking or fire.

2. Dynamic brake is a short-duration rating, and designed for only emergency stop. Al-
low approx. 3 minutes pause when the dynamic brake is activated during high-speed
running.
• You can activate the dynamic brake in the following cases.
1) when the main power is turned off
2) at Servo-OFF
3) when one of the protective function is activated.
4) when over-travel inhibit input (CWL, CCWL) of CN X5 is activated
In the above cases from 1) to 4), you can select either activation of the dynamic
brake or making the motor free-run during deceleration or after the stop, with pa-
rameter.
Note that when the control power is off, the dynamic brake will be kept activated.

– B47 –
Downloaded from www.Manualslib.com manuals search engine
 10. Check of the Combination of the Driver and the Motor
This drive is designed to be used in a combination with the motor which are specified by us.
Check the series name of the motor, rated output torque, voltage specifications and
encoder specifications.

Incremental Specifications, 2500P/r

<Remarks> Do not use in other combinations than those listed below.
Applicable motor Applicable driver
Power
supply Motor Rated Rated
Model Model Frame
series rotational speed output
Single phase, MAMA012P1* 100W MADDT1207 A-frame
MAMA
200V MAMA022P1* 200W MBDDT2210 B-frame
Ultra low 5000r/min
3-phase, MAMA042P1* 400W MCDDT3520 C-frame
inertia
200V MAMA082P1* 750W MDDDT5540 D-frame
MQMA011P1* 100W MADDT1107 A-frame
Single phase,
MQMA021P1* 200W MBDDT2110 B-frame
100V MQMA
MQMA041P1* 400W MCDDT3120 C-frame
Low 3000r/min
MQMA012P1* 100W MADDT1205 A-frame
Single phase, inertia
MQMA022P1* 200W MADDT1207 A-frame
200V
MQMA042P1* 400W MBDDT2210 B-frame
MSMD5AZP1* 50W MADDT1105
A-frame
Single phase, MSMD011P1* 100W MADDT1107
100V MSMD021P1* 200W MBDDT2110 B-frame
MSMD MSMD041P1* 400W MCDDT3120 C-frame
Low 3000r/min MSMD5AZP1* 50W
MADDT1205
Single phase, inertia MSMD012P1* 100W A-frame
200V MSMD022P1* 200W MADDT1207
MSMD042P1* 400W MBDDT2210 B-frame
MSMD082P1* 750W MCDDT3520 C-frame
Single/3-phase,
MSMA102P1* 1.0kW
200V MDDDT5540 D-frame
MSMA152P1* 1.5kW
MSMA
MSMA202P1* 2.0kW MEDDT7364 E-frame
Low 3000r/min
3-phase, MSMA302P1* 3.0kW MFDDTA390
inertia
200V MSMA402P1* 4.0kW F-frame
MFDDTB3A2
MSMA502P1* 5.0kW
Single/3-phase, MDMA102P1* 1.0kW MDDDT3530
D-frame
200V MDMA152P1* 1.5kW MDDDT5540
MDMA
MDMA202P1* 2.0kW MEDDT7364 E-frame
Middle 2000r/min
3-phase, MDMA302P1* 3.0kW MFDDTA390
inertia
200V MDMA402P1* 4.0kW F-frame
MFDDTB3A2
MDMA502P1* 5.0kW
MHMA052P1* 500W MCDDT3520 C-frame
Single/3-phase,
MHMA102P1* 1.0kW MDDDT3530
200V D-frame
MHMA MHMA152P1* 1.5kW MDDDT5540
High 2000r/min MHMA202P1* 2.0kW MEDDT7364 E-frame
3-phase, inertia MHMA302P1* 3.0kW MFDDTA390
200V MHMA402P1* 4.0kW F-frame
MFDDTB3A2
MHMA502P1* 5.0kW

– B48 –
Downloaded from www.Manualslib.com manuals search engine
 Applicable motor Applicable driver
Power
supply Motor Rated Rated
Model Model Frame
series rotational speed output
Single/3-phase, MFMA042P1* 400W MCDDT3520 C-frame
MFMA
200V MFMA152P1* 1.5kW MDDDT5540 D-frame
Middle 2000r/min
3-phase, MFMA252P1* 2.5kW MEDDT7364 E-frame
inertia
200V MFMA452P1* 4.5kW MFDDTB3A2 F-frame
Single/3-phase, 200V MGMA092P1* 900W MDDDT5540 D-frame
MGMA
MGMA202P1* 2.0kW MFDDTA390
Middle 1000r/min
3-phase, 200V MGMA302P1* 3.0kW F-frame
inertia MFDDTB3A2
MGMA452P1* 4.5kW
<Note>
Suffix of " * " in the applicable motor model represents the motor structure.

Absolute/Incremental Specifications, 17-bit

<Remarks> Do not use in other combinations than those listed below.
Applicable motor Applicable driver
Power
supply Motor Rated Rated
Model Model Frame
series rotational speed output
Single phase, MAMA012S1* 100W MADDT1207 A-frame
MAMA
200V MAMA022S1* 200W MBDDT2210 B-frame
Ultra low 5000r/min
3-phase, MAMA042S1* 400W MCDDT3520 C-frame
inertia
200V MAMA082S1* 750W MDDDT5540 D-frame
MQMA011S1* 100W MADDT1107 A-frame
Single phase,
MQMA021S1* 200W MBDDT2110 B-frame
100V MQMA
MQMA041S1* 400W MCDDT3120 C-frame
Low 3000r/min
MQMA012S1* 100W MADDT1205 A-frame
Single phase, inertia
MQMA022S1* 200W MADDT1207 A-frame
200V
MQMA042S1* 400W MBDDT2210 B-frame
MSMD5AZS1* 50W MADDT1105
A-frame
Single phase, MSMD011S1* 100W MADDT1107
100V MSMD021S1* 200W MBDDT2110 B-frame
MSMD MSMD041S1* 400W MCDDT3120 C-frame
Low 3000r/min MSMD5AZS1* 50W
MADDT1205
Single phase, inertia MSMD012S1* 100W A-frame
200V MSMD022S1* 200W MADDT1207
MSMD042S1* 400W MBDDT2210 B-frame
MSMD082S1* 750W MCDDT3520 C-frame
Single/3-phase,
MSMA102S1* 1.0kW
200V MDDDT5540 D-frame
MSMA152S1* 1.5kW
MSMA
MSMA202S1* 2.0kW MEDDT7364 E-frame
Low 3000r/min
3-phase, MSMA302S1* 3.0kW MFDDTA390
inertia
200V MSMA402S1* 4.0kW F-frame
MFDDTB3A2
MSMA502S1* 5.0kW
(continues to next page)

– B49 –
Downloaded from www.Manualslib.com manuals search engine
 10. Check of the Combination of the Driver and the Motor
Applicable motor Applicable driver
Power
supply Motor Rated Rated
Model Model Frame
series rotational speed output
Single/3-phase, MDMA102S1* 1.0kW MDDDT3530
D-frame
200V MDMA152S1* 1.5kW MDDDT5540
MDMA
MDMA202S1* 2.0kW MEDDT7364 E-frame
Middle 2000r/min
3-phase, MDMA302S1* 3.0kW MFDDTA390
inertia
200V MDMA402S1* 4.0kW F-frame
MFDDTB3A2
MDMA502S1* 5.0kW
MHMA052S1* 500W MCDDT3520 C-frame
Single/3-phase,
MHMA102S1* 1.0kW MDDDT3530
200V D-frame
MHMA MHMA152S1* 1.5kW MDDDT5540
High 2000r/min MHMA202S1* 2.0kW MEDDT7364 E-frame
3-phase, inertia MHMA302S1* 3.0kW MFDDTA390
200V MHMA402S1* 4.0kW F-frame
MFDDTB3A2
MHMA502S1* 5.0kW
Single/3-phase, MFMA042S1* 400W MCDDT3520 C-frame
MFMA
200V MFMA152S1* 1.5kW MDDDT5540 D-frame
Middle 2000r/min
3-phase, MFMA252S1* 2.5kW MEDDT7364 E-frame
inertia
200V MFMA452S1* 4.5kW MFDDTB3A2 F-frame
Single/3-phase, 200V MGMA092S1* 900W MDDDT5540 D-frame
MGMA
MGMA202S1* 2.0kW MFDDTA390
Middle 1000r/min
3-phase, 200V MGMA302S1* 3.0kW F-frame
inertia MFDDTB3A2
MGMA452S1* 4.5kW
<Notes>
1) Suffix of " * " in the applicable motor model represents the motor structure.
2) Default of the driver is set for the incremental encoder specifications.
When you use in absolute, make the following operations.
a) Install a battery for absolute encoder.
b) Switch the parameter Pr0B (Absolute encoder setup) from "1 (default)" to "0".
3) No wiring for back up battery is required when you use the absolute 17-bit encoder in
incremental.

– B50 –
Downloaded from www.Manualslib.com manuals search engine
 After-Sale Service (Repair)
Repair
Consult to a dealer from whom you have purchased the product for details of repair.
When the product is incorporated to the machine or equipment you have purchased,
consult to the manufacture or the dealer of the machine or equipment.

Cautions for Proper Use

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

Downloaded from www.Manualslib.com manuals search engine

 Technical information
Technical information of this product (Instruction Manual, CAD data) can be downloaded
from the following web site.
http://industrial.panasonic.com/ww/i_e/25000/motor_fa_e/motor_fa_e.html

MEMO (Fill in the blanks for reference in case of inquiry or repair.)

M DD
Date of
Model No. M MD
purchase
M MA
GHV Vertriebs-GmbH
Am Schammacher Feld 47
Dealer 85567 Grafing
[email protected] - www.ghv.de
Tel : ( ) -
Motor Company
Matsushita Electric Industrial Co., Ltd.
7-1-1 Morofuku, Daito, Osaka, 574-0044, Japan Tel : (81)-72-871-1212

Downloaded from www.Manualslib.com manuals search engine