Operating Instructions (Basic)

AC Servo Motor & Driver

MINAS A5-series (A to F-frame)
• Thank you for purchasing this
Panasonic product.
• Before operating this product,
please read the instructions
carefully, and save this manual for
future use.
・This product is for industrial
equipment. Don't use this
product at general household.
* This product image is 1.5 kW type of A5-series.

English
If you are the first user of this product, please be sure to read the downloaded
Operating Instructions (Overall) from our Web Site.
[Web address of Panasonic Corporation]
http://industrial.panasonic.com/ww/i_e/25000/motor_fa_e/motor_fa_e.html

Make sure to forward these Operating Instructions for safety to the final user.

<Contents> page page

1. Introduction.................................. B2 Wiring to the Connector, X5 . ........................ B29
On Opening the Product Package................... B2 Wiring to the Connector, X6 . ........................ B30
Check of the Driver Model............................... B2 Wiring to the Connector, X7 . ........................ B32
Check of the Motor Model............................... B3 4. Parameter................................... B33
2. Installation................................... B4 Outline / Setup / Connection.......................... B33
Driver............................................................... B4 Composition of Parameters........................... B35
Motor................................................................ B6 5. Protective Functions................. B36
3. System Configuration and Protective Function (What Is Error Code ?)....... B36
Wiring............................................ B8 6. Maintenance and Inspections..... B38
Overall Wiring (Connector type)...................... B8 7. Conformity to EC Directives
Overall Wiring (Terminal block type)..................B12 and UL Standards...................... B40
Driver and List of Applicable Peripheral Equipments..... B14 Composition of Peripheral Equipments......... B42
Wiring of the Main Circuit (Connector type)......... B16 8. Built-in Holding Brake............... B48
Wiring of the Main Circuit (Terminal block type).... B18
Wiring method to connector.............................. B19
9. Dynamic Brake.......................... B50
Wiring Diagram.............................................. B21 10. Check of the Combination of
Wiring of connector for motor and brake....... B23 the Driver and the Motor............. B51
Wiring to the Connector, X1 . ........................ B24 Incremental Specifications, 20-bit................ B51
Wiring to the Connector, X2 . ........................ B24 Absolute Specifications, 17-bit.................... B53
Wiring to the Connector, X3 . ........................ B25 11. Specifications.......................... B55
Wiring to the Connector, X4 . ........................ B26 After-Sale Service (Repair)........... B58
IMD88+B
 1. Introduction
Check of the Motor Model

1. Introduction Contents of Name Plate

Model Serial Number
On Opening the Product Package Rated input e.g.) : 0 9 0 4 0 0 0 1 N
voltage/current Lot number
• Make sure that the model is what you have ordered. Rated output Month of production
• Check if the product is damaged or not during transportation. Year of production
Rated frequency (Lower 2 digits of AD year)
• Check if the Operating Instructions (safety) are included or not. Rated
rotational speed Manufacture date
• Check if the power connector, motor connectors, connector for external regenerative e.g.) : 2 0 0 9 0 4 0 1
resistor connection (only E-frame) and safety by-pass plug are included or not. Manufacture year Manufacture date
(Neither the power connector nor motor connector are included to F-frame.) Manufacture month

Model Designation
1. Introduction M S M E 5 A Z S 1 S
Check of the Driver Model 1 to 4 5 to 6 7 8 9 10 11 to 12
Special specifications
Contents of Name Plate

English
Motor structure
Type Motor rated output Design order
Model number Serial Number Symbol Specifications Symbol Output Symbol Specifications
Input/output voltage e.g.) : P09040001N 5A 50 W 1 Standard
MSMD Low inertia 01 100 W
Number of phase Lot number (50 W to 750 W) Connector for encoder
02 200 W
Month of production : N/MS3102A20-29P
Rated input/output MHMD High inertia 04 400 W C IP65 motor
(200 W to 750 W) 08 750 W
current Year of production 09 900 W (0.9 kW to 5.0 kW only selectable)
Input/output frequency
(Lower 2 digits of AD year) MSME Low inertia 10 1.0 kW
(50 W to 5.0 kW) 15 1.5 kW Voltage specifications
Manufacture date 20 2.0 kW
Rated output of e.g.) : 2009 0 4 0 1 MDME Middle inertia Symbol Specifications
applicable motor (1.0 kW to 5.0 kW) 25 2.5 kW
Manufacture year Manufacture date 30 3.0 kW 1 100 V
Manufacture month MFME Middle inertia 40 4.0 kW
45 4.5 kW
2 200 V
(1.5 kW to 4.5 kW)
50 5.0 kW Z 100/200 common(50 W only)
Model Designation MGME Middle inertia Rotary encoder specifications
(900 W to 4.5 kW)
M A D H T 1 5 0 5 MHME High inertia
(1.0 kW to 5.0 kW)
Symbol
Format
Specifications
Pulse count Resolution Wire count
1 to 3 4 5 to 6 7 8 to 9 10 to 12 Special specifications
Frame-size symbol G Incremental 20bit 1,048,576 5-wire
Max. current rating (letters and numbers)
S Absolute 17bit 131,072 7-wire
Symbol Frame of power device Current detector rating Motor structure
MAD A-frame MSMD, MHMD, MSME (50 W to 750 W) MSME (1.0 kW to 5.0 kW), MDME, MFME, MGME, MHME
MBD B-frame Symbol Current Symbol Current rating
rating Power supply 05 5A Shaft Holding brake Oil seal Shaft Holding brake Oil seal
MCD C-frame T1 10 A Symbol Symbol
MDD D-frame Symbol Specifications 07 7.5 A Round Key way Without With Without With*1 Round Key way Without With Without With
T2 15 A 10 10 A
MED E-frame 1 Single phase, 100 V A C
T3 30 A 20 20 A
MFD F-frame B D
T5 50 A 3 3-phase, 200 V 30 30 A *2
S G
Series T7 70 A
5 Single/3-phase, 40 40 A T *2 H
Symbol Series TA 100 A 200 V 64 64 A
TB 150 A *1 The product with oil seal is a special order product. *2 Key way with center tap
H A5-series 90 90 A [Products are standard stock items or manufactured by order. For details, inquire the dealer.]
K A5Ⅱ-series A2 120 A
− B2 − − B3 −
 2. Installation 2. Installation
Driver
Driver
Install the driver properly to avoid a breakdown or an accident. Mounting Direction and Spacing
Installation Place • Reserve enough sur-
1) Install the driver in a control panel enclosed in noncombustible material and placed indoor rounding space for Fan Fan 100 mm
Control panel
where the product is not subjected to rain or direct sunlight. The products are not waterproof. effective cooling. or more
2) Where the products are not subjected to corrosive atmospheres such as hydrogen • Install fans to provide
sulfide, sulfurous acid, chlorine, ammonia, sulfur, chloric gas, sulfuric gas, acid, al-
kaline and salt and so on, and are free from splash of inflammable gas. uniform distribution
3) Where the motor is free from grinding oil, oil mist, iron powder or chips. of temperature in the
4) Well-ventilated and low humidity and dust-free place. control panel. 40 mm 10 mm 10 mm 10 mm 40 mm
5) Vibration-free place. • D/E/F frame is pro- or or or or or
more more more
6) Do not use benzine, thinner, alcohol, acidic cleaner and alkaline cleaner because more more
they can discolor or damage the exterior case. vided with a cooling
fan at the bottom.
Environmental Conditions • Observe the environ-
Direction of air flowing
from the internal
100 mm
or more
Item Conditions *1 Extreme tempera- mental conditions of
cooling fan (D/E/F frame)
tures are permissible
Ambient temperature 0 ˚C to 55 ˚C (free from freezing) only for short period the control panel described in the previous page.
Ambient humidity 20 % to 85 % RH (free from condensation) such as during trans-
Note It is recommended to use the conductive paint when you make your own

English
portation.
–20 ˚C to 65 ˚C (Max.temperature guarantee: *2 Air containing water
Storage temperature*1 *2 mounting fixture, or repaint after peeling off the paint on the machine for
80 ˚C for 72 hours free from condensation ) vapor will become
Storage humidity 20 % to 85 % RH (free from condensation*2) saturated with water installing the products, in order to make noise countermeasure.
vapor as the temper-
Vibration Lower than 5.88 m/s (0.6 G), 10 to 60 Hz
2
ature falls, causing Caution on Installation
Altitude Lower than 1000 m dew.
• We have been making the best effort to ensure the highest quality, however, applica-
How to Install tion of exceptionally large external noise disturbance and static electricity, or failure
1) Rack-mount type. Install in vertical position, and reserve enough space around the in input power, wiring and components may result in unexpected action. It is highly
servo driver for ventilation. recommended that you make a fail-safe design and secure the safety in the opera-
2) Base mount (rear mount) is standard for A/B/C/D-frame driver.
tive range.
3) To change the mounting surface of A/B/C/D-frame driver, use the optional mounting
fixture. For choosing the correct optional mounting fixture, refer to the Operating In- • If stranded wires are used as the cable, bunch the conductors of the cable using a
structions (Overall). rod terminals or a round terminals.
4) For the dimensions and mass of the product, which are necessary design data of If stranded wires are used as they are, unexpected accidents such as an electric
the mounting section, refer to the dimensional outline drawing on the Operating In- shock and short circuit or injury may result. (Refer to P.B19. “Wiring method to con-
structions (Overall) or the Delivery Specification.
5) In consideration of strength of the screws and the material of the mounting base, nector”.)
select appropriate fastening torque for the product mounting screws, so that the • There might be a chance of smoke generation due to the failure of these products.
screws will not be loosened or damaged. Pay an extra attention when you apply these products in a clean room environment.
Example) To tighten a steel screw into a steel base, A to F-frame: M5 2.7 to 3.3 N·m • Be sure to install a no-fuse breaker in the power supply. In addition, be sure to
A to D-frame E, F-frame ground the grounding terminal or ground wire provided.
Basemount (Standard) Frontmount Front or Basemount [Use mounting fixture]
[Rear mount] [Use mounting fixture] <E-frame> If the product is grounded insufficiently, not only the driver may not deliver its perfor-
Fastening torque of
earth screws (M4)
mance sufficiently, but also safety hazards such as a malfunction due to a electrifi-
to be 0.7 to 0.8 N • m. cation or a disturbance may be caused.
<F-frame>
Fastening torque of • If electric wires are bound and run through metal duct, they cannot carry the rated
earth screws (M5)
to be 1.4 to 1.6 N • m.
current due to temperature rise. If they are forced to carry the rated current, they
may burn. When determining size of the wire, check the current decreasing coeffi-
Mounting fixture
Fastening torque of (optional parts)
Mounting
fixture
cient by referring to the Operating Instructions (Overall).
earth screws (M4) to be 0.7 to 0.8 N • m. (Attachment)
− B4 − − B5 −
 2. Installation 2. Installation
Motor
Motor
Install the motor properly to avoid a breakdown or an accident. 2) Vertical mounting
• Use the motor with oil seal (make-to-order in case of motor 750 W or less) when
Installation Place mounting the motor with gear reducer to prevent the reducer oil/grease from enter-
Since the conditions of location affect a lot to the motor life, select a place ing to the motor.
which meets the conditions below. 3) For the dimensions and mass of the product, which are necessary design data of
1) Indoors, where the products are not subjected to rain or direct sun beam. The prod- the mounting section, refer to the dimensional outline drawing on the Operating In-
structions (Overall) or the Delivery Specification.
ucts are not waterproof.
2) Where the products are not subjected to corrosive atmospheres such as hydrogen Oil/Water Protection
sulfide, sulfurous acid, chlorine, ammonia, sulfur, chloric gas, sulfuric gas, acid, al-
kaline and salt and so on, and are free from splash of inflammable gas. 1) Don't submerge the motor cable to water or oil.
2) Install the motor with the cable outlet facing down- Cable Motor
3) Where the motor is free from grinding oil, oil mist, iron powder or chips.
ward.
4) Well-ventilated and humid and dust-free place, far apart from the heat source such 3) Avoid a place where the motor is always subject-
as a furnace. ed to oil or water.
5) Easy-to-access place for inspection and cleaning Oil / Water
4) Use the motor with an oil seal when used with the
6) Vibration-free place. gear reducer, so that the oil may not enter to the motor through shaft.
7) Avoid enclosed place. Motor may gets hot in those enclosure and shorten the motor life.
Stress to Cables

English
Environmental Conditions 1) Avoid a stress application to the cable outlet and connecting portion by bending or
Item Conditions self-weight.
2) Especially in an application where the motor itself travels, fix the attached cable and
Ambient temperature*1 0 ˚C to 40 ˚C (free from freezing)
contain the extension junction cable into the bearer so that the stress by bending
Ambient humidity 20 % to 85 % RH (free from condensation) can be minimized.
*2 –20 ˚C to 65 ˚C (Max.temperature guarantee: 80 ˚C for 72 hours 3) Take the cable bending radius as large as possible. (When you use our optional
Storage temperature
free from condensation*5) cable, Minimum R20 mm)
Storage humidity 20 % to 85 % RH (free from condensation*5)
Vibration Motor only Lower than 49 m/s2 (5 G) at running, 24.5 m/s2 (2.5 G) at stall Permissible Load to Output Shaft
Impact Motor only Lower than 98 m/s2 (10 G) 1) Design the mechanical system so that the applied radial load and/or thrust load to
Enclosure Motor only IP67 (except rotating portion of output shaft and connecting pin the motor shaft at installation and at normal operation can meet the permissible
rating (Connector type) part of the motor connector and the encoder connector)*3*4 value specified to each model.
Altitude Lower than 1000 m 2) Pay an extra attention when you use a rigid coupling. (Excess bending load may
damage the shaft or deteriorate the bearing life.)
*1 Ambient temperature to be measured at 5 cm away from the motor. 3) Use a flexible coupling with high stiffness designed exclusively for servo application in order
*2 Permissible temperature for short duration such as transportation.
*3 These motors conform to the test conditions specified in EN standards (EN60529, EN60034-
to make a radial thrust caused by micro misalignment smaller than the permissible value.
5). Do not use these motors in application where water proof performance is required such as
continuous wash-down operation. Notes on Installation
*4 This condition is applied when the connector mounting screw in case of motor 750 W or less 1) Do not apply direct impact to the shaft by hammer
are tightened to the recommended tightening torque (Refer to P.B23, 30, 31). Be sure to use while attaching/detaching a coupling to and from
mounting screw supplied with the connector. the motor shaft. Motor
*5 Air containing water vapor will become saturated with water vapor as the temperature falls,
causing dew.
(Or it may damage the encoder mounted on the
other side of the shaft.)
How to Install 2) Make a full alignment. (incomplete alignment may
cause vibration and damage the bearing.)
You can mount the motor either horizontally or vertically as long as you observe the followings. 3) If the motor shaft is not electrically grounded, it may cause electrolytic corrosion to
1) Horizontal mounting the bearing depending on the condition of the machine and its mounting environment,
• Mount the motor with cable outlet facing downward for water/oil countermeasure. and may result in the bearing noise. Check and verification by customer is required.

− B6 − − B7 −
 3. System Configuration and Wiring 3. System Configuration and Wiring
Overall Wiring (Connector type)
Overall Wiring (Connector type)

Connecting Example of A to D-frame : High voltage PC (to be supplied by customer)

• Wiring of Main Connector (XA) Mains • Apply the voltage designated Wiring to Connector, X7
Residual on the nameplate from the • Monitor output
Circuit Breaker (MCCB) current device power source.
To protect power supply line from Symmetric current should be Handle lever
overloading, install a wiring circuit
5000 Arms or below. Use this for connector
If the short-circuit current on the
breaker rated to the capacity of the power source exceeds this value, connection. Store this Setup support software “PANATERM”
use a current-limiting device (e.g. after connection for other Please download from our web site.
power supply. current-limiting fuse, current-limiting occasions.
circuit breaker or transformer).
Noise Filter (NF) (Refer to P.B20 Wiring to Connector, X1
Removes external noise from the power Wiring to Connector, XA for connection.) • Connection to PC or host controller
lines. And reduces an effect of the noise • Connection to input power
Wiring to Connector, X2
generated by the servo driver. L1 (Pin-5)
• Connection to RS232, RS485
L2 (Pin-4) or host controller
Magnetic Contactor (MC)
Turns on/off the main power of the L3 (Pin-3) Wiring to Connector, X3
servo driver. L1C (Pin-2) • Connection to Safety by-pass plug

English
Use coil surge suppression units L2C (Pin-1) Charg lamp (Refer to P.B25)
together with this. (Red LED)*1
• Never start nor stop the servo
Short circuit wire Wiring to Connector, X4
motor with this Magnetic Contactor. (B2-B3)
• Connection to host controller
Reactor (L) U-phase
Reduces harmonic current of the main (red) Wiring to Connector, X5
power. V-phase
• Connection to external scale
(white)
W-phase Wiring to Connector, X6
• Wiring of Motor Connector (XB) Wiring to Connector, XB (black) • Connection to encoder
* These colors Ground Ground
Pin B1 (6-pin), B2 (4-pin), and • Connection to external components are used for terminal Remarks
(earth)
B3 (5-pin) B1 (Pin-6)
optional cable.
• X1 to X7 are used for the
• B2 and B3 to be kept shorted for Junction cable for encoder secondary circuit. To connect
B2 (Pin-4)
normal operation (For C-frame these terminals to the primary
and D-frame). power supply (particularly,
Junction cable for motor 24 VDC power supply for
• When you connect an external Regenerative resistor (optional)
Wiring to Connector, XB brake), insulation is required.
regenerative resistor, disconnect a Remarks Do not connect these terminals
• Connection to motor driving phase
short circuit wire between B2 and • When you use an external regenerative and ground to the same power supply.
B3 (For C-frame and D-frame), then resistor, install an external protective Junction cable
connect the external regenerative apparatus, such as thermal fuse without for brake
resistor between B1 and B2, set up fail.
Pr0.16 to 1 or 2. • Thermal fuse and thermostat are built in to
the regenerative resistor (Option). If the
Note thermal fuse is activated, it will not
DC Power supply
Note that no regenerative resistor is resume. for brake
equipped in Frame A and B type. • Mount the regenerative resistor on *1 Do not make displacement, wiring or inspection DC24 V
incombustible material such as metal. while the LED is lit - cause of electric shock. (to be supplied by customer)

− B8 − − B9 −
 3. System Configuration and Wiring 3. System Configuration and Wiring
Overall Wiring (Connector type)
Overall Wiring (Connector type)

Connecting Example of E-frame : High voltage PC (to be supplied by customer)

• Wiring of Main Connector (XA) Mains • Apply the voltage designated Wiring to Connector, X7
Residual on the nameplate from the • Monitor output
Circuit Breaker (MCCB) current device power source.
To protect power supply line from Symmetric current should be Handle lever
5000 Arms or below. Use this for connector
overloading, install a wiring circuit If the short-circuit current on the
breaker rated to the capacity of the power source exceeds this value, connection. Store this Setup support software “PANATERM”
use a current-limiting device (e.g. after connection for other Please download from our web site.
power supply. current-limiting fuse, current-limiting occasions.
circuit breaker or transformer).
Noise Filter (NF) (Refer to P.B20 Wiring to Connector, X1
Removes external noise from the power Wiring to Connector, XA for connection.) • Connection to PC or host controller
lines. And reduces an effect of the noise • Connection to input power Wiring to Connector, X2
generated by the servo driver. L1 (Pin-5)
• Connection to RS232, RS485
L2 (Pin-4) or host controller
Magnetic Contactor (MC)
Turns on/off the main power of the L3 (Pin-3) Wiring to Connector, X3
servo driver. L1C (Pin-2) • Connection to Safety by-pass plug

English
Use coil surge suppression units L2C (Pin-1)
(Refer to P.B25)
together with this.
• Never start nor stop the servo Short circuit wire
motor with this Magnetic Contactor. (B2-B3) Wiring to Connector, X4
Reactor (L) U-phase • Connection to host controller
(red)
Reduces harmonic current of the main V-phase Wiring to Connector, X5
power. (white) • Connection to external scale
W-phase
• Wiring of Motor Connector (XC) (black) Wiring to Connector, X6
Wiring to Connector, XC * These colors • Connection to encoder
Pin B1 (4-pin), B2 (2-pin), and • Connection to external components are used for
optional cable. Charg lamp
B3 (3-pin) (Red LED)*1
Remarks
B1 (Pin-6) Ground
• B2 and B3 to be kept shorted for • X1 to X7 are used for
B2 (Pin-4) terminal Ground Junction cable
normal operation. (earth) the secondary circuit.
for encoder To connect these
• When you connect an external
terminals to the primary
regenerative resistor, disconnect a Regenerative resistor (optional) power supply
Junction cable for motor
short circuit wire between B2 and Remarks (particularly, 24 VDC
B3, then connect the external Wiring to Connector, XB power supply for brake),
• When you use an external regenerative • Connection to motor driving phase
regenerative resistor between B1 insulation is required.
resistor, install an external protective and ground Do not connect these
and B2, set up Pr0.16 to 1 or 2. apparatus, such as thermal fuse without
Junction cable for brake terminals to the same
fail. power supply.
• Thermal fuse and thermostat are built in to
the regenerative resistor (Option). If the
thermal fuse is activated, it will not DC Power supply
resume. for brake
• Mount the regenerative resistor on DC24 V (to be supplied by customer)
incombustible material such as metal. *1 Do not make displacement, wiring or inspection while the LED is lit - cause of electric shock.

− B10 − − B11 −
 3. System Configuration and Wiring 3. System Configuration and Wiring
Overall Wiring (Terminal block type)
Overall Wiring (Terminal block type)

Connecting Example of F-frame : High voltage PC (to be supplied by customer)

• Wiring of Main Connector Mains • Apply the voltage designated

Residual on the nameplate from the
Circuit Breaker (MCCB) current device power source.
To protect power supply line from Symmetric current should be
5000 Arms or below. Wiring to Connector, X7 Setup support software “PANATERM”
overloading, install a wiring circuit If the short-circuit current on the
breaker rated to the capacity of the power source exceeds this value, • Monitor output Please download from our web site.
use a current-limiting device (e.g.
power supply. current-limiting fuse, current-limiting Wiring to Connector, X1
circuit breaker or transformer).
Noise Filter (NF) • Connection to PC or host controller
Removes external noise from the Connection with input
power lines. And reduces an effect power supply Wiring to Connector, X2
of the noise generated by the servo L1 • Connection to RS232, RS485
driver. or host controller
L2
Magnetic Contactor (MC) L3 Wiring to Connector, X3
L1C • Connection to Safety by-pass plug
Turns on/off the main power of the
(Refer to P.B25)

English
servo driver. L2C
Use coil surge suppression units
Short bar Wiring to Connector, X4
together with this.
(B2-B3) • Connection to host controller
• Never start nor stop the servo
motor with this Magnetic U-phase Wiring to Connector, X5
Contactor. (red) • Connection to external scale
V-phase
Reactor (L) (white) Wiring to Connector, X6
Reduces harmonic current of the W-phase
(black) • Connection to encoder
main power.
Connection to external * These colors
components are used for Remarks
optional cable. Junction cable
• X1 to X7 are used for
for encoder
Pin B1, B2 and B3 B1 the secondary circuit.
To connect these
• B2 and B3 to be kept shorted B2 Ground Ground Charg lamp
terminal (earth) terminals to the
for normal operation. (Red LED)*1 primary power supply
• When you connect an external (particularly, 24 VDC
Regenerative resistor (optional)
regenerative resistor, disconnect Junction cable for motor power supply for
a short bar between B2 and B3, Remarks Connection to motor driving brake), insulation is
• When you use an external regenerative required.
then connect the external phase and ground
resistor, install an external protective Do not connect these
regenerative resistor between B1 Junction cable for brake terminals to the same
and B2, set up Pr0.16 to 1 or 2. apparatus, such as thermal fuse without
power supply.
fail.
Pin NC • Thermal fuse and thermostat are built in to
• Do not connect anything. the regenerative resistor (Option). If the
thermal fuse is activated, it will not DC Power supply for brake
resume. DC24 V
(to be supplied by customer)
• Mount the regenerative resistor on
incombustible material such as metal. *1 Do not make displacement, wiring or inspection while the LED is lit - cause of electric shock.

− B12 − − B13 −
 3. System Configuration and Wiring 3. System Configuration and Wiring
Driver and List of Applicable Peripheral Equipments
Driver and List of Applicable Peripheral Equipments

Noise Surge
Rated Diameter Crimp Diameter and
Crimp
terminal
Diameter
and
Diameter Reference page Noise filter........................P.B43 “Composition of Peripheral Equipments”
Required Circuit Noise operating and terminal withstand and
for control withstand
Surge absorber................P.B45 “Composition of Peripheral Equipments”
Applicable Rated Power breaker filter absorber current of withstand for main voltage withstand
Driver Voltage filter for power voltage
load) (current) (
3-phase ) ( ) voltage of circuit of control voltage
(rated
motor output at the rated Single phase Single phase magnetic supply of motor
*1 ／ ／
3-phase
signal
( contactor Contact
) main circuit terminal power
terminal cable
of brake
configuration cable block supply cable
block *2
cable
Noise filter for signal........P.B46 “Composition of Peripheral Equipments”
Single
50 W to approx.
phase, DV0P4170 DV0P4190 Motor/brake connector.....P.B23 “Wiring of connector for motor and brake”
MSME 100 V 100 W 0.4 kVA
MADH
MADK
MSMD
Single/
approx.
DV0P4170 DV0P4190 • About circuit breaker and magnetic contactor
MHMD 50 W to
To comply to EC Directives, install a circuit breaker between the power and
／
3-phase, ／
200 W 0.5 kVA DV0PM
200 V DV0P1450
20042
Single
0.28 mm2/ the noise filter without fail, and the circuit breaker should conform to IEC
approx. AWG22
phase, 200 W
MSME 100 V 0.5 kVA
10 A DV0P4170 DV0P4190
20 A
0.75 mm2/
AWG18
to Standards and UL recognized (Listed and marked).
MBDH
MBDK
MSMD
Single/
DV0P4170 DV0P4190 (3P+1a) 600 VAC
0.75 mm2/
AWG18
Suitable for use on a circuit capable of delivering not more than 5,000 Arms sym-
metrical amperes, below the maximum input voltage of the product.
MHMD approx. ／ or more
3-phase, 400 W ／
100 VAC
0.9 kVA DV0PM
200 V DV0P1450

Connection to exclusive connector

Connection to exclusive connector

20042 or more
Single
approx.
0.75 mm2/ Remarks Select a circuit breaker and noise filter which match to the capacity of pow-
phase, 400 W DV0P4190 AWG18
MCDH
MSME
100 V
0.9 kVA
DV0PM
DV0P1460
600 VAC er supply (including a load condition).
MSMD
MCDK
MHMD
Single/
3-phase, 750 W
approx.
20042 or more 2.0 mm2/
AWG14 • Terminal block and ground terminals
200 V
1.3 kVA
15 A 600 VAC
or more
• Use a copper conductor cables with temperature rating of 75 ˚C or higher.
MDME
MHME
1.0 kW
approx.
1.8 kVA • Use the attached exclusive connector for A to E-frame, and maintain the peeled off
approx. DV0P4190 length of 8 to 9 mm. (Refer to P.B19)

English
MGME 0.9 kW
1.8 kVA
MDDH
Single/ approx.
／

DV0P1450 30 A
• Fastening torque list (Terminal block screw/Terminal cover fastening screw)
MSME 3-phase, 1.0 kW DV0P4220
1.8 kVA
MDDK
200 V
(3P+1a)
Terminal block Terminal cover
MHME
20 A 2.0 mm2/ Driver
MDME approx.
AWG14 screw fastening screw
1.5 kW 600 VAC
MFME 2.3 kVA Fastening Fastening
or more Nominal Nominal
MSME Frame Terminal name torque torque
size size
MDME
approx. DV0P1460 0.75 mm2/
(N•m) (*1) (N•m) (*1)
MSME 2.0 kW RJ8035
MEDH 3-phase, 3.3 kVA DV0PM 60 A AWG18 F200 V L1, L2, Ｌ３, L1C, L2C, B1, B2, B3, NC, U, V, W M5 1.0 to 1.7 M3 0.19 to 0.21
MEDK
MHME 200 V 30 A
20043
DV0P1450 Recommended
( component ) (3P+1a) 600 VAC
approx. or more 0.75 mm2/
MFME 2.5 kW
3.8 kVA
*3
AWG18 • Fastening torque list (Ground terminal screw/Connector to host controller (X4))
approx. 100 VAC
MGME 2.0 kＷ
3.8 kVA or more Terminal block Connector to host
MDME 60 A screw controller (X4)
MHME approx. (3P+1a) Driver frame Fastening Fastening
3.0 kＷ
4.5 kVA Nominal Nominal
MSME 11 mm or 11 mm or
torque torque
MGME
smaller smaller
size size
MDME
DV0P1460 3.5 mm2/ 0.75 mm2/ 3.5 mm2/ (N•m) (*1) (N•m) (*1)
MFDH approx. RJ8035 AWG12 AWG18 AWG12
3-phase,
MFDK
MHME
200 V
4.0 kＷ
6.0 kVA
50 A DV0P3410 DV0P1450 Recommended
( component ) 600 VAC
ø5.3
600 VAC
ø5.3
600 VAC
A to E M4 0.7 to 0.8
MSME or more
Terminal
or more
Terminal
or more M2.6 0.3 to 0.35
approx.
*3 block block F M5 1.4 to 1.6
MFME 100 A M5 M5
4.5 kＷ 6.8 kVA
MGME
(3P+1a)
(*1)
MDME approx. • Applying fastening torque larger than the maximum value may result in damage to the
MHME 5.0 kＷ 7.5 kVA
MSME
product.
• Do not turn on power without tightening all terminal block screws properly.
*1 Select peripheral equipments for single/3phase common specification according to the power
• Do not turn on power without tightening all terminal block screws properly, otherwise,
source.
loose contacts may generate heat (smoking, firing).
*2 The diameter of the ground cable must be equal to, or larger than that of the motor cable.
• To check for looseness, conduct periodic inspection of fastening torque once a year.
*3 Use these products to suit an international standard.
Caution
Be sure to conduct wiring properly and securely. Insecure or improper wiring may cause
the motor running out of control or being damaged from overheating. In addition, pay
attention not to allow conductive materials, such as wire chips, entering the driver during
the installation and wiring.

− B14 − − B15 −
 3. System Configuration and Wiring 3. System Configuration and Wiring
Wiring of the Main Circuit (Connector type)
Wiring of the Main Circuit (Connector type)

A to D-frame, 100 V / 200 V type E-frame, 200 V type

• Wiring should be performed by a specialist or an authorized personnel. • Wiring should be performed by a specialist or an authorized personnel.
• Do not turn on the power until the wiring is completed. • Do not turn on the power until the wiring is completed.
• Never touch the power connector (XA and XB) to which high voltage is applied. • Never touch the power connector (XA, XB and XC) to which high voltage is applied.
There is a risk of electric shock. There is a risk of electric shock.
• Tips on Wiring • Tips on Wiring
1) Wire connector (XA and XB). 1) Wire connector (XA, XB and XC).
2) Connect the wired connector to the driver. 2) Connect the wired connector to the driver.
Fully insert the connector to the bottom until it clicks. Fully insert the connector to the bottom until it clicks.
• Check the name plate of the driver for power • Check the name plate of the driver for power
specifications. specifications.
• Provide a residual current device. The residual • Provide a residual current device. The residual
current device to be the one designed for current device to be the one designed for
"Inverter" and is equipped with countermeasures "Inverter" and is equipped with countermeasures
for harmonics. for harmonics.
• Provide a circuit breaker. Power RCD MCCB
5 L1 • Provide a circuit breaker.
5 L1
• Make sure to provide a noise filter. supply
NF MC L
4 L2 • Make sure to provide a noise filter.
• Provide coil surge suppression units to the coil of • Provide coil surge suppression units to the coil of
Power RCD MCCB 3

English
L3
supply
NF MC L
4 L2 the Magnetic Contactor recommended by the Magnetic Contactor recommended by
3 L3
manufacturer. 2 L1C manufacturer.
Never start/stop the motor with this Magnetic Never start/stop the motor with this Magnetic
2 L1C Contactor.
1 L2C
Contactor.
XA
1 L2C • Provide an AC Reactor.
• Connect L1 and L1C, and L3 and L2C at single
• Provide an AC Reactor.
• Connect L1 and L1C, and L3 and L2C at single
XA phase use (100 V and 200 V), and don't use L2.
4 B1
phase use (100 V and 200 V), and don't use L2.
External regenerative
External
regenerative • Match the colors of the motor lead wires to those of resistor 3 B3
resistor 6 B1
the corresponding motor output terminals (U,V,W). 2 B2
• Don't disconnect the shorting cable between B2 and
B3. Disconnect this only when the external
5 B3 • Don't disconnect the shorting cable between B2 and 1 NC regenerative register is used.
B3 (C and D frame type). Shorting cable is not
4 B2
required for A and B frame. Disconnect this only
XC • Do not connect anything to NC.
Red
U
3 U when the external regenerative register is used. Red
U
3 U
• Match the colors of the motor lead wires to those of
the corresponding motor output terminals (U,V,W).
White
V 2 V • Avoid shorting and grounding. Don't connect
the main power. V 2 V • Avoid shorting and grounding. Don't connect the
W
1 W
• Earth-ground this.
White
1 W main power.
Black XB W
• To prevent electric shock, be sure to connect the Black XB • Earth-ground this.
Green or E ground terminal ( ) of the driver, and the ground • To prevent electric shock, be sure to connect the
Green/yellow Green
E
terminal (ground plate) of the control panel. ground terminal ( ) of the driver, and the ground
* These colors terminal (ground plate) of the control panel.
are used for
• The ground terminal ( ) must not be shared with * These colors
optional cable. other equipment. are used for • The ground terminal ( ) must not be shared with
Motor Two ground terminals are provided. Motor
optional cable. other equipment. Two ground terminals are provided.
Ground resistance: 100 Ω max. • Don't connect the earth cable to other inserting Ground resistance: 100 Ω max. • Don't connect the earth cable to other inserting
For applicable wire, slot, nor make them touch. For applicable wire, refer to P.B14. slot, nor make them touch.
refer to P.B14.
• Compose a duplex Brake Control Circuit so that the • Compose a duplex Brake Control Circuit so that the
DC DC power supply brake can also be activated by an external brake can also be activated by an external
immediate stop signal. DC DC power supply immediate stop signal.
24 V for brake 24 V for brake
• The holding Brake has no polarity. • The holding Brake has no polarity.
• For the capacity of the holding brake and how to • For the capacity of the holding brake and how to use
Varistor use it, refer to P.B48, "Specifications of Built-in Varistor it, refer to P.B48, "Specifications of Built-in Holding
Holding Brake". Brake".
Fuse (125 V 10 A) Fuse (125 V 10 A)
• Provide a varistor. • Provide a varistor.
Connect a 10 A fuse in series with the varistor. Connect a 10 A fuse in series with the varistor.

− B16 − − B17 −
 3. System Configuration and Wiring 3. System Configuration and Wiring
Wiring of the Main Circuit (Terminal block type) Wiring method to connector

F-frame, 200 V type • Follow the procedures below for the wiring connection to the Connector XA , XB and XC .
• Wiring should be performed by a specialist or an authorized personnel. How to connect
• Do not turn on the power until the wiring is completed.
• Never touch the terminal to which high voltage is applied. There is a risk of electric 1. Peel off the insulation cover of the cable. 8 to 9 mm
shock. • For single wire (Please obey the length in figure.)
• Tips on Wiring
1) Take off the cover fixing screws, and detach the terminal cover. • For stranded wires (ferrules must be used as illustrated below).
2) Make wiring Example: Ferrules with plastic insulating sleeve (AI series, Phoenix Contact, Ltd.)
Use clamp type terminals of round shape with insulation cover for wiring to the ter- 1) Peel off the sheath so that the conduc-
minal block. For cable diameter and size, refer to “Driver and List of Applicable Pe- tor portion of the cable will protrude from ① A＞B A B
ripheral Equipments” (P.B14). the tip of the ferrule. (It should protrude
Tighten the terminal block screw with a torque between 1.0 and 1.7 N•m. 1 mm or more from the ferrule.)
3) Attach the terminal cover, and fix with screws.
2) Insert the cable into the ferrule and crimp 1 mm or more
Tighten the screw securing the cover with a torque written on P.B15. ②
it with an appropriate crimping tool.
• Check the name plate of the driver for power
specifications. 3) After crimping, cut off the cable conduc-
• Provide a residual current device. The residual current tor portion protruding from the ferrule. ③

English
device to be the one designed for "Inverter" and is (The allowable protruding length after
L1 equipped with countermeasures for harmonics. cutting should be 0 to 0.5 mm.)
Power RCD MCCB NF • Provide a circuit breaker.
supply
MC L L2
• Make sure to provide a noise filter. • Part No. of the crimping tool:
L3 • Provide coil surge suppression units to the coil of the CRIMPFOX U-D66 (1204436) Available from Phoenix Contact, Ltd.
Magnetic Contactor recommended by manufacturer.
L1C Never start/stop the motor with this Magnetic Examples: Nylon-insulated ferrule (NTUB series, J.S.T. Mfg. Co., Ltd.)
Contactor. Vinyl-insulated ferrule (VTUB series, J.S.T. Mfg. Co., Ltd.)
L2C
• Provide an AC Reactor. 1) Peel off the sheath of the cable conduc-
B1 ① A≧B A≦B＋C
• Don't disconnect the short bar between B1 and B2. tor portion to the length equal to that of A B C
External regenerative Disconnect this only when an external regenerative
resistor
B3 sheath on the ferrule.
register is used.
B2 • Do not connect anything to NC. 2) Insert the cable into the ferrule and crimp
NC • Match the colors of the motor lead wires to those of the it with an appropriate crimping tool.
U
corresponding motor output terminals (U,V,W). • Part No. of the crimping tool: YNT-1614 ②
Red U • Avoid shorting and grounding.
Available from J.S.T. Mfg. Co., Ltd
V Don't connect the main power.
White V
• Earth-ground this. <Cables Compatible with Connector>
W
Black W • To prevent electric shock, be sure to connect the ground Conductor Size AWG18 to 12
Green
E terminal ( ) of the driver, and the ground terminal Sheath Outline φ2.1 to φ4.2 mm
(ground plate) of the control panel. <Recommended Connector Bar Terminal>
* These colors • The ground terminal ( ) must not be shared with other
are used for equipment. Conductor Size AWG18
Motor optional cable. Terminal Model Number AI0.75-8GY (Phoenix Contact, Ltd.)
Two ground terminals are provided.
• Don't connect the earth cable to other inserting slot, Conductor Size AWG16 to 14
Ground resistance: 100 Ω max. nor make them touch. Terminal Model Number VTUB-2 or NTUB-2 (J.S.T. Mfg. Co., Ltd)
For applicable wire, refer to P.B14.
• Compose a duplex Brake Control Circuit so that the
brake can also be activated by an external immediate Caution • When peeling off the sheath of the cable, take care not to damage
DC power
DC supply stop signal. other portions.
24 V • The holding Brake has no polarity. • When crimping the ferrule, sufficiently check the status of the ferrule
for brake
• For the capacity of the holding brake and how to use it,
and cable. If the conductors of the cable stick out from the insulation
Varistor refer to P.B48, "Specifications of Built-in Holding Brake".
• Provide a varistor. cover or protrude excessively from the tip of the ferrule, accidents such
Fuse (125 V 10 A) • Connect a 10 A fuse in series with the varistor. as an electric shock and fire from a short circuit may result.
− B18 − − B19 −
 3. System Configuration and Wiring
Wiring method to connector 3. System Configuration and Wiring
Wiring Diagram

2. Insert the cable to the connector in the following 2 methods. Compose the circuit so that the main circuit power will be shut off when an error occurs.
(a) Insert the cable using the supplied handle lever. In Case of Single Phase, In Case of 3-Phase,
(b) Insert the cable using a flat-blade screwdriver (Edge width: 3.0 to 3.5 mm). A to D-frame, 100 V / 200 V type A to D-frame, 200 V type

(a) Using handle lever Power supply Single phase, Power supply 3-phase,
100 V –15 % to 120 V +10 % Single phase, 200 V –15 % to 240 V +10 %
1 2 3 200 V –15 % to 240 V +10 %
Remarks
When you use single phase, connect the main power
between L1 and L3 terminals.
Built-in thermostat of an external Built-in thermostat of an external
regenerative resistor (light yellow) regenerative resistor (light yellow)

Attach the handle lever Insert the peeled cable Release the lever. ON OFF ALM
MC
ON OFF ALM
MC

to the handling slot on while pressing down the Coil surge suppression units Coil surge suppression units

the upper portion. Press lever, until it hits the MCCB L XA MCCB L XA

Noise filter

Noise filter
down the lever to push insertion slot (round L1
Main power
L1
Main power
L2 L2
down the spring. hole). supply supply

English
L3 L3
L1C Control power L1C Control power
* You can pull out the cable by pushing down the spring as the above.
MC MC
L2C supply L2C supply
External External
regenerative XB regenerative XB
B1 B1
(b) Using screw driver resistor
B3
resistor
B3
(Note 1) Shorting cable (Note 1) Shorting cable
B2 B2
Red Red
1 2 3 White
U
Motor White
U
Motor
* These colors V connection * These colors V connection
are used for Black Black
W are used for W
optional cable. Green or Green/Yellow optional cable. Green or Green/Yellow

Motor Motor
ALM ALM
X4 X4
37 37
Insulated + ALM+ Insulated + ALM+
DC12 to 24 V DC12 to 24 V
− 36 − 36
Press the screw driver Insert the peeled cable Release the screw (±5 %) ALM− (±5 %) ALM−
to the handling slot on while pressing down the driver.
the upper portion to screw driver, until it hits
push down the spring. the insertion slot (round (Note 1)
hole). Shorting Internal Connection of the connector XB
Frame cable regenerative In case of using In case of not using
(Accessories) resistor the external regenerative resistor the external regenerative resistor
Caution • Take off the connector from the Servo Driver before making connec-
Between B2 and B3: Open
tion. A-frame
Without Without Between B1 and B2: Between B2 and B3: Open
B-frame
Connect the external regenerative resistor
• Insert only one cable into each one of cable insertion slot.
Between B2 and B3:
• Pay attention to injury by screw driver. C-frame Disconnect the shorting cable Between B2 and B3:
With With
D-frame Between B1 and B2: Connect the shorting cable
Connect the external regenerative resistor

Note For wiring the motor connector, refer to P.B23.

− B20 − − B21 −
 3. System Configuration and Wiring
Wiring Diagram 3. System Configuration and Wiring
Wiring of connector for motor and brake

Compose the circuit so that the main circuit power will be shut off when an error occurs. • When the motors of <MSME (50 W to 750 W)> are used, they are connected as
In Case of 3-Phase, In Case of 3-Phase, shown below.
E-frame, 200 V type F-frame, 200 V type Connector: Made by Japan Aviation Electronics Industry, Ltd.
Power supply 3-phase, Power supply 3-phase,
(The figures below show connectors for the motor.)
200 V –15 % to 230 V +10 % 200 V –15 % to 230 V +10 % <Motor> <Brake>
PE
Built-in thermostat of an external Built-in thermostat of an external PIN No. Application 2 PIN No. Application
regenerative resistor (light yellow) regenerative resistor (light yellow)
3 1 U-phase 1 Brake
MC MC 2 2 V-phase 2 Brake
ON ALM ON ALM
OFF OFF 3 W-phase Tightening torque of
Coil surge suppression units Coil surge suppression units 1
PE Ground 1 the screw (M2)
MCCB L XA MCCB L Tightening torque of 0.19 to 0.21 N·m
Noise filter

Noise filter
L1 L1
L2
Main power
L2
Main power JN8AT04NJ1 the screw (M2) JN4AT02PJ1-R
supply supply
L3 L3 0.085 to 0.095 N·m
MC L1C Control power MC L1C Control power (screwed to plastic)
L2C supply L2C supply
External External B1 * Be sure to use only the screw supplied with the connector, to avoid damage.
XC regenerative
regenerative B1 B3
resistor resistor
B3 B2
• When the motors of <MSME (1.0 kW to 5.0 kW), MDME, MFME, MGME, MHME>

English
(Note 1) Shorting cable (Note 1) Short bar
B2 NC
Red
NC
* These colors
White
U
V
Motor are used, they are connected as shown below.
Red XB Black connection
U are used for W
* These colors White
V
Motor
connection
optional cable. Green Connector: Made by Japan Aviation Electronics Industry, Ltd.
are used for Black
optional cable. Green
W (The figures below show connectors for the motor.)
Motor ALM
X4 <without Brake> <with Brake>
Motor 37
ALM Insulated + ALM+
X4 DC12 to 24 V G H A A B C G H A A B C
37 − 36
Insulated + ALM+ (±5 %) ALM−
DC12 to 24 V F I B D E F F I B D E F
− 36
(±5 %) ALM−
E D C G H I E D C G H I

(Note 1) JL04V-2E20-18PE-B-R JL04V-2E24-11PE-B-R JL04V-2E20-18PE-B-R JL04V-2E24-11PE-B-R

Connection of the connector XC PIN No. Application PIN No. Application PIN No. Application PIN No. Application
Shorting Internal
Frame cable regenerative G NC A NC G Brake A Brake
In case of using In case of not using
(Accessories) resistor the external regenerative resistor the external regenerative resistor H NC B NC H Brake B Brake
A NC C NC A NC C NC
Between B2 and B3:
Disconnect the shorting cable Between B2 and B3: F U-phase D U-phase F U-phase D U-phase
E-frame With With
Between B1 and B2: Connect the shorting cable I V-phase E V-phase I V-phase E V-phase
Connect the external regenerative resistor B W-phase F W-phase B W-phase F W-phase
Connection of terminal block E Ground G Ground E Ground G Ground
Internal
Short bar D Ground H Ground D Ground H Ground
Frame regenerative In case of using In case of not using
(Accessories)
resistor the external regenerative resistor the external regenerative resistor C NC I NC C NC I NC
Between B2 and B3:
Disconnect the short bar Between B2 and B3: D A PIN No. Application
F-frame With With
Between B1 and B2: Connect the short bar
Connect the external regenerative resistor A U-phase
C B B V-phase
C W-phase
Remarks
JL04V-2E20-4PE-B-R D Ground
Note For wiring the motor connector, refer to P.B23. JL04HV-2E22-22PE-B-R Do not connect anything to NC.

− B22 − − B23 −
 3. System Configuration and Wiring 3. System Configuration and Wiring
Wiring to the connector, X1 Wiring to the connector, X3

This is used for USB connection to a personal computer. It is possible to change the A safety by-pass plug is supplied as standard equipment. Do not disconnect it in nor-
parameter setting and perform monitoring. mal times.
When controlling the safety function from the connected host controller, accessory
Application Symbol Connector Contents
Pin No. connector cannot be used. Prepare and wire the connector (option) as specified be-
VBUS 1 low. Since the standard connector cannot be used when controlling the safety function
Use for communication with personal
D− 2 from the host controller, purchase the optional connector and make connection as
computer.
USB signal terminal D＋ 3 shown below.
— 4 Do not connect.
Application Symbol Connector Contents
Pin No.
GND 5 Connected to ground of control circuit.
– 1
Caution Use commercially available USB mini-B connector for the driver. NC Do not connect.
– 2
SF1− 3
Safety input 1
3. System Configuration and Wiring
These are two independent circuits that
SF1+ 4
turn off the operation signal to the power
SF2− 5
module to shut off the motor current.

English
Wiring to the connector, X2 Safety input 2
SF2+ 6
This is used for connection to the host controller when two or more units are used. EDM− 7 This is an output for monitoring the failure
EDM output
RS232 and RS485 interfaces are supplied. EDM+ 8 of the safety function.
Connected with protective earth terminal in
Application Symbol Connector Contents Frame ground FG Shell
Pin No. the servo driver.
Signal ground GND 1 Connected to ground of control circuit. Connector (plug): 2013595-1 (optional, available from Tyco Electronics AMP)
NC – 2 Do not connect. [Connector pin assignment]
TXD 3 RS232 8 6 4 2
RS232 signal 7 5 3 1 (Viewed from cable)
RXD 4 The transmission / reception method.
485− 5
485+ 6 RS485
RS485 signal
485− 7 The transmission / reception method.
485+ 8
Connected with protective earth terminal in
Frame ground FG Shell
the servo driver.
Connector (plug): 2040008-1 (optional, available from Tyco Electronics AMP)
[Connector pin assignment]
8 6 4 2
7 5 3 1 (Viewed from cable)
Remarks X1 to X7 are used for the secondary circuit. To connect these terminals to the primary
power supply (particularly, the 24 VDC power supply for brake), insulation is required.
Remarks X1 to X7 are used for the secondary circuit. To connect these terminals to the primary
Do not connect these terminals to the same power supply.
power supply (particularly, the 24 VDC power supply for brake), insulation is required.
Do not connect these terminals to the same power supply. Caution Disconnecting this connector during operation results in immediate stop.

− B24 − − B25 −
 In case of open collector I/F (1) When you use the external
7 COM+ 2.2 kΩ 1
Command pulse OPC1 resistor with 12 V and 24 V

Remarks
inhibition input 33 4.7 kΩ 2.2 kΩ 3
Deviation counter
INH PULS1 power supply
clear input 30 220 Ω 4
CL PULS2 2.2 kΩ PULS1 3
Servo-ON input 2.2 kΩ 2 Command
29 SRV-ON OPC2
pulse PULS2 4 R
Gain switching input 27 2.2 kΩ 5
GAIN SIGN1 input A 220 Ω
Electronic gear 220 Ω 2.2 kΩ SIGN1 5
switching input 1 6 (Use with
28 DIV1 SIGN2 VDC
Damping control 500 kpps or less.)
13 SIGN2 6 R
switching input 1 GND 220 Ω
26 VS-SEL1
Control mode
switching input 32 C-MODE 21
OA+ A-phase
Alarm clear input 31 A-CLR 22 output Specifications VDC -1.5
Positive direction OA- VDC
over-travel inhibition input 9 of R R+220 ≒10 mA
POT 48
Negative direction OB+ B-phase 12 V 1 kΩ1/2 W
over-travel inhibition input 8 49 output
NOT 24 V 2 kΩ1/2 W
OB-

Divider
Servo-Ready output 23
35 S-RDY+ OZ+ Z-phase (2) When you do not use the
24 output external resistor with 24 V
Wiring to the connector, X4

34 S-RDY- OZ-
Servo-Alarm output power supply
37 ALM+
36 2.2 kΩ OPC1 1
ALM- 2.2 kΩ
Positioning complete output 39 25 PULS2 4
VDC INP+ GND
Z-phase output 220 Ω
12 to 24 V 38 INP- 2.2 kΩ OPC1 2
19 (open collector)

− B26 −
External brake release output 11 CZ 2.2 kΩ 24 VDC
BRKOFF+ SIGN2 6
10 BRKOFF- 220 Ω
Torque in-limit output 40 TLC 20 kΩ
47 kΩ 47 kΩ
Wiring Example of Position Control Mode

–
+
Zero speed detection output ( : Twisted pair)
12 ZSP 47 kΩ 47 kΩ 14
SPR/TRQR/SPL
20 kΩ
41 COM- 15
GND

Do not connect these terminals to the same power supply.

– 20 kΩ 20 kΩ 14 kΩ 16
44 2 kΩ 20 kΩ + Positive direction torque limit input
PULSH1 P-ATL/TRQR
120 Ω 10 kΩ 17
45 GND
(0 to +10 V)
PULSH2 2 kΩ 20 kΩ
– 20 kΩ 20 kΩ 14 kΩ
46 2 kΩ 18
SIGNH1 20 kΩ N-ATL Negative direction torque limit input
10 kΩ
47 SIGNH2 120 Ω (-10 to +10 V)
2k Ω 20 kΩ 1 kΩ 43
13 GND SP Velocity monitor output
1 kΩ 42
Command pulse input B 50 FG IM Torque monitor output
(Use with 4 Mpps or less.)
X4 The functions of the following pin can be changed using parameters.
Be sure to connect. Input: 8, 9, 26, 27, 28, 29, 30, 31, 32, 33
Output: 10-11, 12, 34-35, 36-37, 38-39, 40
3. System Configuration and Wiring

power supply (particularly, the 24 VDC power supply for brake), insulation is required.
X1 to X7 are used for the secondary circuit. To connect these terminals to the primary
7 COM+

Remarks
Selection 1 input of
internal command speed 33 INTSPD1 4.7 kΩ
Selection 2 input of
internal command speed 30 INTSPD2
Servo-ON input 29 SRV-ON
Gain switching input 27 GAIN
Selection 3 input of
internal command speed 28 INTSPD3 21
Speed zero clamp input 26 OA+
ZEROSPD 22 A-phase output
Control mode switching OA-
input 32 C-MODE 48
Alarm clear input OB+
31 A-CLR
49 B-phase output
Wiring to the connector, X4

Positive direction OB-

Divider

over-travel inhibition input 9 POT 23

Negative direction OZ+
over-travel inhibition input 8 Z-phase output
NOT 24
OZ-
Servo-Ready output 35 S-RDY+
34 S-RDY-
Servo alarm output 37 25
ALM+ GND
36 ALM- 19 Z-phase output (open collector)
At-speed output CZ
VDC 39 AT-SPEED+
12 to 24 V
− B27 −

38 AT-SPEED-
3. System Configuration and Wiring

External brake release output 11 20 kΩ

BRKOFF+ 47 kΩ 47 kΩ
–
10 BRKOFF- +

Torque in-limit output 47 kΩ 47 kΩ 14

40 SPR/TRQR/SPL Velocity command
Wiring Example of Velocity Control Mode

TLC
20 kΩ input (0 to ± 10 V)
GND 15
– 20 kΩ 20 kΩ 14 kΩ
+
Zero speed detection output 12 16
ZSP P-ATL/TRQR Positive direction torque
10 kΩ 17
41 COM- GND limit input (0 to ± 10 V)
–
Do not connect these terminals to the same power supply.

20 kΩ 20 kΩ 14 kΩ
+
N-ATL 18 Negative direction torque
10 kΩ
limit input (-10 to 0 V)
1 kΩ 43
SP Velocity monitor output
1 kΩ 42
50 FG IM Torque monitor output

X4 ( : Twisted pair)

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

Input: 8, 9, 26, 27, 28, 29, 30, 31, 32, 33
Output: 10-11, 12, 34-35, 36-37, 38-39, 40
power supply (particularly, the 24 VDC power supply for brake), insulation is required.
X1 to X7 are used for the secondary circuit. To connect these terminals to the primary

English
 3. System Configuration and Wiring
Wiring to the connector, X4 3. System Configuration and Wiring
Wiring to the connector, X5

Wiring Example of Torque Control Mode Connect on to External Scale

Provide a power supply for the external scale on your part or use the following power

velocity limit input (0 to ±10 V)

Wiring example when control mode Pr0.01=5 or Pr3.17=1
Negative direction torque
limit input (0 to ±10 V)
output (250 mA or less).

Torque command input or

Select with Pr3.17.

: Twisted pair)
Application Symbol Connector Contents
Pin No.
Supply the power of external
A-phase

B-phase

Z-phase
EX5V 1
output

output

output
scale or A, B, Z phase encoder.
Power supply output
Connected to ground of control

(
EX0V 2

Velocity monitor output

Torque monitor output
circuit.

19 Z-phase output (open collector)

16
17
EXPS 3 Serial signal

CCWTL/TRQR
I/F of external scale signals The transmission / reception

GND
/EXPS 4
method.
EXA 5
/EXA 6 Parallel signal
21
22
48
49
23
24

25

14
15

P-ATL/TRQR 16
17

N-ATL 18

43
42

English
SPR/TRQR/SPL

A, B, Z phase Endoder EXB 7 reception

GND

GND

GND
OB+

OZ+
OA+
OA-

OZ-
OB-

SP
CZ

IM
signal input /EXB 8 Correspondence speed :
1 kΩ

1 kΩ
10 kΩ

10 kΩ
20 kΩ 20 kΩ 14 kΩ

20 kΩ 20 kΩ 14 kΩ
47 kΩ

47 kΩ 47 kΩ

EXZ 9 4 Mpps (after quadruple)

47 kΩ

20 kΩ

Divider /EXZ 10
20 kΩ

+
–

+
–

Connected with ground terminal

X4
Frame ground FG Shell
in the servo driver.
The functions of the following pin can be changed using parameters.
4.7 kΩ

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

• Caution
11 BRKOFF+
39 AT-SPEED+

10 BRKOFF-
35 S-RDY+

38 AT-SPEED-
32 C-MODE
29 SRV-ON

34 S-RDY-
26 ZEROSPD

31 A-CLR
7 COM+

41 COM-
ALM+
ALM-
27 GAIN
28 DIV1

NOT
9 POT

ZSP
TLC
INH

FG
CL

1) The manufacturers applicable external scales for this product are as follows.
• Mitutoyo Corp.
33
30

37
36

40

Zero speed detection output 12

50

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

Input: 8, 9, 26, 27, 28, 29, 30, 31, 32, 33

• Magnescale Co., Ltd.

over-travel inhibition input
over-travel inhibition input

External brake release output

Speed zero clamp
Gain switching input

Alarm clear input

Servo-ON input

For the details of the external scale product, contact each company.
Negative direction

Servo-Ready output

Torque in-limit output

Positive direction

Servo-Alarm output
switching input

At-speed output
Control mode

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

input

If you set up the external scale ratio to smaller value than 50/position loop gain
(Pr1.00 and Pr.1.05), you may not be able to control per 1 pulse unit. Setup of larg-
er scale ratio may result in larger noise.
12 to 24 V
VDC

Remarks X1 to X7 are used for the secondary circuit. To connect these terminals to the primary Remarks X1 to X7 are used for the secondary circuit. To connect these terminals to the primary
power supply (particularly, the 24 VDC power supply for brake), insulation is required. power supply (particularly, the 24 VDC power supply for brake), insulation is required.
Do not connect these terminals to the same power supply. Do not connect these terminals to the same power supply.

− B28 − − B29 −
 3. System Configuration and Wiring 3. System Configuration and Wiring
Wiring to the connector, X6
Wiring to the connector, X6

Connection to Encoder
• In case of 20-bit incremental encoder • In case of 17-bit absolute encoder

MSMD 50 W to 750 W MSMD 50 W to 750 W White

E5V
7
X6 X6
MHMD 200 W to 750 W Black 8
White MHMD 200 W to 750 W

Regulator
4 1 +5 V

Regulator
E5V E5V E0V 1 +5 V
E5V
Black 5 2 0V 2 0V
E0V E0V E0V
3 Red 1 battery 3
BAT+
4 Pink 2 4
BAT−
Light blue 2 5 Light blue 4 5
PS PS PS PS
Purple 3 6 Purple 5 6
PS PS PS PS
6 Yellow/Green 3
FG Shell (FG) FG Shell (FG)
Twisted pair Twisted pair
172168-1 172160-1 172169-1 172161-1
(by Tyco Electronics, AMP) (by Tyco Electronics, AMP) (by Tyco Electronics) (by Tyco Electronics)
Motor Junction cable Driver Motor Junction cable Driver
Motor Motor

MSME 50 W to 750 W Twisted pair

X6 MSME 50 W to 750 W Twisted pair

English
X6
+5 V
Caution E5V 6 1 Caution E5V 6 1 +5 V

Regulator

Regulator
E5V E5V
• Tighten the motor connector mounting screw E0V 3 2
E0V
0V • Tighten the motor connector mounting screw E0V 3 2
E0V
0V
(M2) with a torque between 0.19 and 0.21 N•m. 3 (M2) with a torque between 0.19 and 0.21 N•m. 5 battery 3
BAT+
To avoid damage, be sure to use only the 4 To avoid damage, be sure to use only the 2 4
screw supplied with the connector. BAT−
7 5 screw supplied with the connector. 7 5
PS PS PS PS
• Do not remove the gasket supplied with the 4 6 • Do not remove the gasket supplied with the 4 6
junction cable connector. Securely install the PS PS junction cable connector. Securely install the PS PS
1 1
gasket in place. Otherwise, the degree of FG Shell (FG) gasket in place. Otherwise, the degree of FG Shell (FG)
protection of IP67 will not be guaranteed. Connector: JN6FR07SM1 protection of IP67 will not be guaranteed. Connector: JN6FR07SM1
Connector pin 1 (by Japan Aviation Electronics Ind.) Connector pin 1
(by Japan Aviation Electronics Ind.)
5 5
assignment 2 assignment 2
3
6 Motor Encoder cable Driver 3
6 Motor Encoder cable Driver
7 7
4 (Viewed from cable) 4 (Viewed from cable)

MSME 1.0 kW to 5.0 kW Twisted pair MSME 1.0 kW to 5.0 kW Twisted pair
X6 X6
+5 V
MDME 1.0 kW to 5.0 kW E5V 4 1 MDME 1.0 kW to 5.0 kW E5V 4 1 +5 V
Regulator

Regulator
E5V E5V
MFME 1.5 kW to 4.5 kW E0V 1 2
E0V
0V
MFME 1.5 kW to 4.5 kW E0V 1 2
E0V
0V
3 6 battery 3
MGME 0.9 kW to 4.5 kW MGME 0.9 kW to 4.5 kW BAT+
4 5 4
MHME 1.0 kW to 5.0 kW 3 5 MHME 1.0 kW to 5.0 kW BAT−
3 5
PS PS PS PS
7 6 7 6
PS PS PS PS
9 9
FG Shell (FG) FG Shell (FG)
Connector: JN2DS10SL1-R Connector: JN2DS10SL1-R
(by Japan Aviation Electronics Ind.) (by Japan Aviation Electronics Ind.)
Motor Encoder cable Driver Motor Encoder cable Driver

* For connection of IP65 motor, refer to the Operating Instructions (Overall). * For connection of IP65 motor, refer to the Operating Instructions (Overall).
Remarks X1 to X7 are used for the secondary circuit. To connect these terminals to the primary Remarks X1 to X7 are used for the secondary circuit. To connect these terminals to the primary
power supply (particularly, the 24 VDC power supply for brake), insulation is required. power supply (particularly, the 24 VDC power supply for brake), insulation is required.
Do not connect these terminals to the same power supply. Do not connect these terminals to the same power supply.

− B30 − − B31 −
 3. System Configuration and Wiring 4. Parameter
Wiring to the connector, X7 Outline / Setup / Connection

The connector X7 of the front panel is for monitor output. Outline of Parameter
Analogue output : 2 systems
This driver is equipped with various parameters to set up its characteristics and func-
Digital output : 1 systems
tions. This section describes the function and purpose of each parameter. Read and
In both cases, it is possible to switch the output signal by setting parameters.
comprehend very well so that you can adjust this driver in optimum condition for your
Output circuit running requirements.
Connector X7 1 kΩ AM1 1
• You can refer and set up the parameter with either one of the following.
1 kΩ AM2 2
Manufacturer’s part No.: Measuring
1) front panel of the driver
2.2 kΩ instrument
6 1
530140610 DM 4
2) combination of the setup support software, "PANATERM" and PC.
GND 3
Manufacturer:
X7
Japan Molex Inc. Setup with the Front Panel
Application Symbol Connector Contents
Pin No. Display LED (6-digit)
Analogue monitor • Output the analogue signal for Switch to error display screen when error
AM1 1 monitor.
output 1 occurs, and LED will flash (about 2 Hz).

English
• The amplitude of the output signal is LED will flash slowly (about 1 Hz) when
±10 V.
warning occurs.
Analogue monitor • Output impedance is 1 kΩ. When
AM2 2 connecting a measuring instrument, Mode switching button
output 2 6 1
check its input circuit for impedance (valid at SELECTION display)
matching. Press this to switch 4 kinds of mode.
X7 1) Monitor Mode
Signal ground GND 3 Connected to ground of control circuit.
2) Parameter Set up Mode
• Output the digital signal for monitor. 3) EEPROM Write Mode
• Output voltage is CMOS level
4) Auxiliary Function Mode
compatible.
Digital monitor output DM 4 • Output impedance is 2.2 kΩ. When SET Button (valid at any time)
connecting a measuring instrument, Press this to switch SELECTION and
check its input circuit for impedance EXECUTION display.
matching.
Press these to change display and data,
NC – 5 Do not connect. Shifting of the digit for data select parameters and execute actions.
changing to higher digit. (Change/Selection/Execution is valid to the
NC – 6 Do not connect.
digit which decimal point flashes.)
X7 Numerical value increases by pressing, ,
Output connector for monitor
decreases by pressing .

Remarks X1 to X7 are used for the secondary circuit. To connect these terminals to the primary
power supply (particularly, the 24 VDC power supply for brake), insulation is required.
Do not connect these terminals to the same power supply.

− B32 − − B33 −
 4. Parameter
Outline / Setup / Connection 4. Parameter
Composition of Parameters

Setup with the PC • The parameter No. is displayed in the form of PrX.YY (X: Classification, YY: No.).
• For the details on the parameters, refer to the Operating Instructions (Overall).
It is possible to connect your personal computer to connector X1 of MINAS A5 using a
USB cable for personal computer connection. Downloading the setup support software Parametr No.
Class name Group
“PANATERM” from our web site and installing it on your personal computer will allow Class No.*
you to perform the following easily.
0 00 to Basic setting Parameter for Basic setting
• With the PANATERM, you can execute the followings.
1 00 to Gain adjustment Parameter for Gain adjustment
1) Setup and storage of parameters, and writing to the memory (EEPROM).
2) Monitoring of I/O, pulse input and load factor. 2 00 to Damping control Parameter for Damping control
3) Display of the present alarm and reference of the error history.
4) Data measurement of the wave-form graphic and bringing of the stored data. Verocity/ Torque/
3 00 to Parameter for Verocity/ Torque/ Full-closed control
Full-closed control
5) Normal auto-gain tuning
6) Frequency characteristic measurement of the machine system. 4 00 to I/F monitor setting Parameter for I/F monitor setting
Note Because no production software such as CD-ROM is available, down- 5 00 to Enhancing setting Parameter for Enhancing setting

English
load the setup support software from our web site and install it on your
personal computer. 6 00 to Special setting Parameter for Special setting

* The Parameter No. consists of 2 digits.

• How to Connect

Connect to X1
(USB mini-B)

Setup support software “PANATERM”

Please download from our web site and
use after install to the PC.

• USB cable
On the driver, use commercially available USB mini-B connector.
The connector on the personal computer side should be in accordance with the
specifications of the PC.
When the cable does not have noise filter, attach a signal line noise filter (DV0P1460)
to both ends of the cable.

− B34 − − B35 −
 5. Protective Functions 5. Protective Functions
Protective Function (What Is Error Code ?)
Protective Function (What Is Error Code ?)

• Various protective functions are equipped in the driver. When these are triggered, the Error code Attribute
Protective function
motor will stall due to error, the driver will turn the Servo-Alarm output (ALM) to off (open). Main Sub History Can be cleared Immediate stop
• Error status and their measures 3 IF input function number error 2 protection ○
4 IF output function number error 1 protection ○
• During the error status, the error code No. will be displayed on the front panel
33 5 IF output function number error 2 protection ○
LED, and you cannot turn Servo-ON.
6 CL fitting error protection ○
• You can clear the error status by Alarm clear input (A-CLR) in 120 ms or longer. 7 INH fitting error protection ○
• When overload protection is triggered, you can clear it by Alarm clear input(A- 34 0 Software limit protection ○ ○
CLR) in 10 sec or longer after the error occurs. You can clear the Overload protec- 36 0 to 2 EEPROM parameter error protection
tion time characteristics (refer to P.B40, 41) by turning off the control power supply 37 0 to 2 EEPROM check code error protection
between L1C and L2C (100 V, 200 V) of the driver.*1 38 0 Over-travel inhibit input protection ○
• You can clear the above error by operating the front panel keys and setup support 0 Analog input1 excess protection ○ ○ ○
softwear "PANATERM". 39 1 Analog input2 excess protection ○ ○ ○
• Be sure to clear the alarm during stop after removing the cause of the error and 2 Analog input3 excess protection ○ ○ ○
40 0 Absolute system down error protection ○ ○
securing safety.
41 0 Absolute counter over error protection ○
• The error code No. is displayed in the form of ErrXX.Y (X: main, YY: sub).
42 0 Absolute over-speed error protection ○ ○

English
<List of error code No.> 43 0 Initialization failure ○
Error code Attribute 44 0 Absolute single turn counter error protection ○
Protective function
Main Sub History Can be cleared Immediate stop 45 0 Absolute multi-turn counter error protection ○
11 0 Control power supply under- voltage protection ○ 47 0 Absolute status error protection ○
12 0 Over-voltage protection ○ ○ 48 0 Encoder Z-phase error protection ○
0 Main power supply under-voltage protection (between P to N) ○ 49 0 Encoder CS signal error protection ○
13
1 Main power supply under-voltage protection (AC interception detection) ○
0 Feedback scale connection error protection ○
0 Over-current protection ○ 50
14 1 Feedback scale communication error protection ○
1 IPM error protection ○
0 Feedback scale status 0 error protection ○
15 0 Over-heat protection ○ ○
1 Feedback scale status 1 error protection ○
16 0 Over-load protection ○ ○*1
2 Feedback scale status 2 error protection ○
0 Over-regeneration load protection ○ ○ 51
18 3 Feedback scale status 3 error protection ○
1 Over-regeneration Tr error protection ○
0 Encoder communication disconnect error protection ○ 4 Feedback scale status 4 error protection ○
21 5 Feedback scale status 5 error protection ○
1 Encoder communication error protection ○
23 0 Encoder communication data error protection ○ 0 A-phase connection error protection ○
24 0 Position deviation excess protection ○ ○ ○ 55 1 B-phase connection error protection ○
25 0 Hybrid deviation excess error protection ○ ○ 2 Z-phase connection error protection ○
0 Over-speed protection ○ ○ ○ 87 0 Compulsory alarm input protection ○
26
1 2nd over-speed protection ○ ○ 95 0 Motor automatic recognition error protection
0 Command pulse input frequency error protection ○ ○ ○ Other number Other error ○
27
2 Command pulse multiplier error protection ○ ○ ○
Note History...The error will be stored in the error history.
28 0 Limit of pulse replay error protection ○ ○ ○
Can be cleared...To cancel the error, use the alarm clear input (A-CLR).
29 0 Deviation counter overflow protection ○ ○ If the alarm clear input is not effective, turn off power, remove the cause of the
30 0 Safety detection ○ error and then turn on power again.
0 IF overlaps allocation error 1 protection ○ Immediate stop...Instantaneous controlled stop upon occurrence of an error.
33 1 IF overlaps allocation error 2 protection ○ (Setting of “Pr.5.10 Sequence at alarm” is also required.)
2 IF input function number error 1 protection ○

− B36 − − B37 −
 6. Maintenance and Inspections 6. Maintenance and Inspections
Maintenance and Inspections
Maintenance and Inspections

• Routine maintenance and inspection of the driver and motor are essential for Guideline for Parts Replacement
the proper and safe operation.
Use the table below for a reference. Parts replacement cycle varies depending on the
actual operating conditions. Defective parts should be replaced or repaired when any
Notes on Maintenance and Inspection
error have occurred.
1) Turn on and turn off should be done by operators or inspectors themselves.
2) Internal circuit of the driver is kept charged with high voltage for a while even after Disassembling for inspection and repair should be
power-off. Turn off the power and allow 15 minutes or longer after LED display of carried out only by authorized dealers or service
the front panel has gone off, before performing maintenance and inspection. Prohibited company.
3) Disconnect all of the connection to the driver when performing megger test (Insulation
resistance measurement) to the driver, otherwise it could result in breakdown of the Standard replacement
Product Component Note
driver. cycles (hour)
4) Do not use benzine, thinner, alcohol, acidic cleaner and alkaline cleaner because Smoothing condenser Approx. 5 years
they can discolor or damage the exterior case.
2 to 3 years
Cooling fan
(10,000 to 30,000 hours)
Inspection Items and Cycles

English
General and normal running condition Aluminum electrolytic
Approx. 5 years
capacitor (on PCB)
Ambient conditions : 30 ˚C (annual average), load factor of 80 % or Driver
Approx. 100,000 times
lower, operating hours of 20 hours or less per day. Rush current
(depending on working
preventive relay
Perform the daily and periodical inspection as per the items below. condition)
These hours or cycles
Type Cycles Items to be inspected Approx. 20,000 times
Rush current are reference.
(depending on working
• Ambient temperature, humidity, speck, dust or foreign object preventive resistor When you experience
condition)
• Abnormal vibration and noise any error, replacement
• Main circuit voltage 3 to 5 years is required even before
Bearing
• Odor (20,000 to 30,000 hours) this standard replace-
Daily • Lint or other particles at air holes ment cycle.
Daily Oil seal 5000 hours
inspection • Cleanness at front portion of the driver and connector
• Damage of the cables 3 to 5 years
Encoder
• Loose connection or misalignment between the motor and (20,000 to 30,000 hours)
Motor
machine or equipment Life time varies depending
• Pinching of foreign object at the load on working conditions.
• Loose tightening Battery Refer to the Operating
Periodical • Trace of overheat for absolute encoder Instructions attached to
Annual the battery for absolute
inspection • Damage to the terminal block
• Loose fasteners on terminal block encoder.

Note Inspection cycle may change when the running conditions of the
above change.

− B38 − − B39 −
 7. Conformity to EC Directives and UL Standards 7. Conformity to EC Directives and UL Standards
EC Directives / Conformity to UL Standards
EC Directives / Conformity to UL Standards

EC Directives Overload protection time characteristics

The EC Directives apply to all such electronic products as those having specific func- MSME 50 W Time [s]
MSMD 50 W 100
tions and have been exported to EU and directly sold to general consumers. Those MSME 100 W（100 V）
products are required to conform to the EU unified standards and to furnish the CE MSMD 100 W（100 V）
marking on the products. MHMD 100 W（100 V）
10
MSME 100 W（200 V）
However, our AC servos meet the relevant EC Directives for Low Voltage Equipment MSMD 100 W（200 V）
MHMD 100 W（200 V）
so that the machine or equipment comprising our AC servos can meet EC Directives.
MSME 200 W 1
MSMD 200 W
EMC Directives MHMD 200 W
MSME 400 W
MINAS Servo System conforms to relevant standard under EMC Directives setting up MSMD 400 W 0.1
115
certain model (condition) with certain locating distance and wiring of the servo motor MHMD 400 W 100 200 300 400 500
Torque [%]
and the driver. And actual working condition often differs from this model condition es- MSME 750 W MSME 1.0 kW to 5.0 kW
MSMD 750 W MDME 1.0 kW to 5.0 kW
pecially in wiring and grounding. Therefore, in order for the machine to conform to the MFME 1.5k W to 4.5 kW
MHMD 750 W
EMC Directives, especially for noise emission and noise terminal voltage, it is neces- MGME 900 W to 4.5 kW

English
sary to examine the machine incorporating our servos. MHME 1.0 kW to 5.0 kW

Conformity to UL Standards Conformed Standards

Observe the following conditions of (1) and (2) to make the system conform to UL508C Driver Motor
EN55011
(File No. E164620). EMC
EN61000-6-2 –
(1) Use the driver in an environment of Pollution Degree 2 or 1 prescribed in Directives
EN61800-3
IEC60664-1. (e.g. Install in the control box with IP54 enclosure.) Low-Voltage IEC60034-1
EN61800-5-1
(2) Make sure to install a circuit breaker or fuse which are UL recognized (Listed Directives IEC60034-5
EC Directives
ISO13849-1 (PL d*)(Cat. 3)
marked) between the power supply and the noise filter.
EN61508 (SIL 2)
For the rated current of the circuit breaker or fuse, refer to P.B14, "Driver and List Functional
EN62061 (SILCL 2) –
safety
of Applicable Peripheral Equipments" of Preparation. EN61800-5-2 (STO)
IEC61326-3-1
Use a copper cable with temperature rating of 75 ˚C or higher.
UL1004-1
(3) Over-load protection level (E327868 : 50 W to 750 W)
UL Standards UL508C (File No.E164620)
Over-load protective function will be activated when the effective current exceeds UL1004
115 % or more than the rated current based on the time characteristics (see the (E327868 : 0.9 kW to 5.0 kW)
next page). Confirm that the effective current of the driver does not exceed the CSA Standards C22.2 No.14 C22.2 No.100
IEC : International Electrotechnical Commission EN : Europaischen Normen
rated current. Set up the peak permissible current with Pr0.13 (Setup of 1st torque EMC : Electromagnetic Compatibility UL : Underwriters Laboratories
limit) and Pr5.22 (Setup 2nd torque limit). CSA : Canadian Standards Association
(4) Motor over-temperature protection is not provided. Pursuant to the directive 2004/108/EC, article 9(2)
Motor over-load-temperature protection shall be provided at the final installation Panasonic Testing Centre
Panasonic Service Europe, a division of
upon required by the NEC (National Electric Code). Panasonic Marketing Europe GmbH
Winsbergring 15, 22525 Hamburg, F.R. Germany
* PL d: Provided that EDM is used.

− B40 − − B41 −
 7. Conformity to EC Directives and UL Standards 7. Conformity to EC Directives and UL Standards
Composition of Peripheral Equipments
Composition of Peripheral Equipments

Installation Environment Noise Filter

Use the servo driver in the environment of Pollution Degree 1 or 2 prescribed in IEC- When you install one noise filter at the power supply for multi-axes application, consult with
60664-1 (e.g. Install the driver in control panel with IP54 protection structure.) manufacturer of the noise filter. If sufficient noise margin is required, connect 2 filters in series.
Metallic control box • Optional parts
Power Noise filter for signal lines *1 Driver Option Voltage specifications Manufacturer’s Applicable
supply XA Manufacturer
Residual Noise filter for part No. for driver part No. driver (frame)
current Circuit L1
Noise filter L2
XB signal lines Motor DV0P4170 Single phase 100 V/200 V SUP-EK5-ER-6 A and B-frame Okaya Electric Ind.
device breaker U
(RCD) L3
V M 100.0±2.0 Terminal cover
L1C W 88.0 (transparent)
Surge L2C RE 7.0
75.0
5.0
53.1±1.0
absorber X6
Noise filter for signal lines
X3 Circuit diagram
IN OUT
Noise filter for signal lines Noise filter for
X4 signal lines 1 L L 3
2.0 Cy
Insulated power supply

12.0
R

50.0
60.0
Cx Cx
LABEL
for interface Cy

10.0
Safety 2 4
Controller controller

English
(11.6)
2–ø4.5 x 6.75 2–ø4.5 6-M4
(13.0) [Unit: mm]
Ground (PE)
*1 A to D-frame: Noise filter for signal lines, E, F-frame: Noise filter for signal lines <Power supply cable> Option Voltage specifications Manufacturer’s Applicable
Manufacturer
part No. for driver part No. driver (frame)
Caution Use options correctly after reading Operating Instructions of the options
3-phase 200 V A, B-frame
to better understand the precautions. DV0PM20042 Single phase 100 V/200 V 3SUP-HU10-ER-6
Take care not to apply excessive stress to each optional part. C-frame
3-phase 200 V Okaya Electric Ind.
DV0P4220 Single/ 3-phase 200 V 3SUP-HU30-ER-6 D-frame
Power Supply DV0PM20043 3-phase 200 V 3SUP-HU50-ER-6 E-frame
+10 % +10 % <DV0PM20042, DV0P4220> <DV0PM20043>
100 V type : Single phase, 100 V to 120 V 50/60 Hz H
–15 % –15 % A A
Earth
(A to C-frame) B H B terminal
+10 % +10 % C C M4
200 V type : Single/3-phase, 200 V to 240 V 50/60 Hz
–15 % –15 % Earth terminal
(A to D-frame) M4
+10 % +10 %

F
200 V type : 3-phase, 200 V to 230 V 50/60 Hz
–15 % –15 %

10
F
LABEL LABEL

D
E

D
E
(E, F-frame)
(1) This product is designed to be used in over-voltage category (installation category) Screw for cover
M3
Screw for
cover
III of EN 61800-5-1:2007. M4
M5
M3

(2) Use an insulated power supply of DC12 to 24 V which has CE marking or complies
Cover
with EN60950. Cover
G

G
Body Body
Circuit Breaker
[Size] [Unit: mm] Circuit IN OUT
Install a circuit breaker which complies with IEC Standards and UL recognized (Listed 1 L1 4
A B C D E F G H diagram
and marked) between power supply and noise filter. DV0PM20042 115 105 95 70 43 10 52 5.5 2 5
Integral solid state short circuit protection does not provide branch circuit protection. DV0P4220 145 135 125 70 50 10 52 5.5 3 6
Branch circuit protection must be provided in accordance with the National Electrical DV0PM20043 165 136 165 90 80 40 54 5.5
R Cx1 Cx1
For single phase application, use 2 terminals among 3 terminals,
Code and any additional local codes. leaving the remaining terminal unconnected. Cy1

− B42 − − B43 −
 7. Conformity to EC Directives and UL Standards 7. Conformity to EC Directives and UL Standards
Composition of Peripheral Equipments Composition of Peripheral Equipments

Option part No.

Voltage specifications Manufacturer’s Applicable
Manufacturer Surge Absorber
for driver part No. driver (frame)
DV0P3410 3-phase 200 V 3SUP-HL50-ER-6B F-frame Okaya Electric Ind. Provide a surge absorber for the primary side of noise filter.
Voltage specifications Manufacturer’s
286±3.0
Circuit diagram Option part No. Manufacturer
270
IN OUT for driver part No.
2-ø5.5 x 7 255±1.0 2-ø5.5
150 240 DV0P1450 3-phase 200 V R・A・V-781BXZ-4 Okaya Electric Ind.
1 4

6-6M

5.5±1
2

(13) (18)
5

11±1
ø4.2±0.2 [Unit: mm] Circuit diagram

90±1.0
120
L A B E L
3 6
① ② ③

28.5±1
[Unit: mm]

• Recommended components UL-1015 AWG16

+30
200 -0
Voltage specifications Current Applicable
Model No. Manufacturer
for driver rating (A) driver (frame)

4.5±0.5
1 2 3

28±1
RTHN-5010 10 A, B, C-frame
Single phase 100 V/200 V
RTHN-5030 30 D-frame TDK-Lambda Corp. 41±1
3-phase 200 V

English
RTHN-5050 50 E, F-frame

<RTHN-5010> <RTHN-5030> Voltage specifications Manufacturer’s

Option part No. Manufacturer
210±2
195±1
240±2
225±1 for driver part No.
DV0P4190 Single phase 100 V/200 V R・A・V-781BWZ-4 Okaya Electric Ind.

18.5±1 18.5±1

10±1
10±1
18.5±1 18.5±1
95±2
78±1

105±2
85±1
4.5±1

5.5±1
4.5±1

11±1
[Unit: mm]
M4 6-M4 M4 6-M4
ø4.2±0.2 Circuit diagram
4.5 4.5
50±2 55±2 ① ②

28.5±1
UL-1015 AWG16
<RTHN-5050>

+30
200 -0
300±2
280±1

4.5±0.5
1 2

28±1
12.5±1
21±1 21±1
128±2
102±1

41±1
5.5±1

6-M5
M4
5.5
68±2

Remarks • Select a noise filter whose capacity is commensurate with the power
source capacity (in consideration of the load condition).
• For the detailed specifications of each noise filter, contact the manufacturer.

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 7. Conformity to EC Directives and UL Standards 7. Conformity to EC Directives and UL Standards
Composition of Peripheral Equipments Composition of Peripheral Equipments

Noise Filter for Signal Lines Residual current device

Install noise filters for signal lines to all cables (power cable, motor cable, encoder Install a residual current device (RCD) at primary side of the power supply.
cable and interface cable) Select a RCD of type.B prescribed in IEC60947-2, JISC8201-2-2.
• Optional parts
<24 V Power cable, Encoder cable, Interface cable and USB cable>
Grounding
Manufacturer’s (1) To prevent electric shock, be sure to connect the ground terminal ( ) of the driv-
Option part No. Manufacturer
part No. er, and the ground terminal (PE) of the control panel.
DV0P1460 ZCAT3035-1330 TDK Corp. (2) The ground terminal ( ) must not be shared with other equipment. Two ground
terminals are provided.
39±1 [Unit: mm]
34±1
Mass: 62.8 g Remarks To connect the noise filter to Note For driver and applicable peripheral equipments, refer to P.B12 "Driver
the connector XB and List of Applicable Peripheral Equipments" .
connection cable, adjust the
sheath length at the tip of
13±1

30±1

the cable, as required.

English
Caution Fix the signal line noise filter in order to prevent excessive stress to the
cables.
• Recommended components
<Power cable>
Manufacturer’s
Manufacturer
part No.
RJ8035 KK-CORP.CO.JP

[Unit: mm]
107

130

200
180
34

7 R3.5

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 8. Built-in Holding Brake 8. Built-in Holding Brake
Outline / Specifications
Outline / Specifications

In the applications where the motor drives the vertical axis, this brake would be used Specifications of Built-in Holding Brake
to hold and prevent the work (moving load) from falling by gravity while the power to
Static Exciting
the servo is shut off. Rotor Engaging Releasing Permissible Permissible Permissible
Motor Motor friction current Releasing
inertia time time work (J) per total work angular
series output torque DC A voltage acceleration
Use this built-in brake for "Holding" purpose only, that is to hold the stalling × 10–4 kg·m2 ms ms one braking × 103 J rad/s2
N·m (at cool-off)
status. Never use this for "Brake" purpose to stop the load in motion. 50 W, 100 W 0.29 or more 0.002 35 or less 20 or less 0.3 39.2 4.9
DC1 V
MSME 200 W, 400 W 1.27 or more 0.018 50 or less 15 or less 0.36 137 44.1 30000
or more
750 W 2.45 or more 0.075 70 or less 20 or less 0.42 196 147
Output Timing of BRK-OFF Signal 50 W, 100 W 0.29 or more 0.002 35 or less 20 or less 0.3
DC1 V
39.2 4.9
MSMD 200 W, 400 W 1.27 or more 0.018 50 or less 15 or less 0.36 137 44.1 30000
• For the brake release timing at power-on, or braking timing at Servo-OFF/Servo- or more
750 W 2.45 or more 0.075 70 or less 20 or less 0.42 196 147
Alarm while the motor is in motion, refer to the Operating Instructions (Overall). MHMD
200 W, 400 W 1.27 or more 0.018 50 or less 15 or less 0.36 DC1 V 137 44.1
30000
• With the parameter, Pr4.38 (Setup of mechanical brake action while the motor is in 750 W 2.45 or more 0.075 70 or less 20 or less 0.42 or more 196 147
1.0 kW, 1.5 kW,
motion), you can set up a time between when the motor enters to a free-run from 7.8 or more 50 or less 15 or less
2.0 kW 0.33 0.81 392 490
(100) DC2 V
energized status and when BRK-OFF signal turns off (brake will be engaged), when MSME 3.0 kW 11.8 or more 80 or less 10000
or more
110 or 50 or less
the Servo-OFF or alarm occurs while the motor is in motion. Refer to the Operating 4.0 kW, 5.0 kW 16.2 or more 1.35 less (130) 0.9 1470 2200

80 or less 70(200)
Instructions (Overall) for the details. or less
1.0 kW 4.9 or more 0.59 588 780

English
100 or
Note 1. The lining sound of the brake (chattering and etc.) might be generated 1.5 kW, 2.0 kW 13.7 or more 1.35 less 50 or less 0.79
DC2 V
1176 1500 10000
MDME
while running the motor with built-in brake, however this does not af- 3.0 kW 16.2 or more 110 or (130)
0.9
or more
1470 2200
less
fect any functionality.
80 or less 25(200)
or less
4.0 kW, 5.0 kW 24.5 or more 4.7 1.3 1372 2900 5440
2. Magnetic flux might be generated through the motor shaft while the
1.5 kW 7.8 or more 4.7 80 or less 35 or less 0.83 1372 2900
brake coil is energized (brake is open). Pay an extra attention when MFME 2.5 kW 21.6 or more 150 or 100 or
DC2 V
1500 10000
8.75 0.75 or more 1470
magnetic sensors are used nearby the motor. 4.5 kW 31.4 or more less less 2200
100 or 50 or less
900 W 13.7 or more 1.35 0.79 1176 1500 10000
less (130)
80 or less 25(200)
or less
2.0 kW 24.5 or more 1.3 DC2 V
MGME 5440
50 or less or more
3.0 kW 4.7 1372 2900
150 or (130)
58.8 or more 1.4
less
4.5 kW 50 or less 5000
80 or less 70(200)
or less
1.0 kW 4.9 or more 0.59 588 780
1.35 10000
100 or 50 or less DC2 V
MHME 1.5 kW 13.7 or more 0.79 1176 1500
less (130) or more
2.0 kW to
80 or less 25(200)
or less
24.5 or more 4.7 1.3 1372 2900 5440
5.0 kW
• Excitation voltage is DC24 V±10 %.
• Releasing time values represent the ones with DC-cutoff using a varistor.
Values in ( ) represent those measured by using a diode (V03C by Hitachi, Ltd.)
• Above values (except static friction torque, releasing voltage and excitation current) rep-
resent typical values.
• Backlash of the built-in holding brake is kept ±1˚or smaller at ex-factory point.
• Service life of the number of acceleration/deceleration with the above permissible an-
gular acceleration is more than 10 million times. (Life end is defined as when the brake
backlash drastically changes.)

− B48 − − B49 −
 9. Dynamic Brake 10. Check of the Combination of the Driver and the Motor
Outline Incremental Specifications, 20-bit

This driver is designed to be used in a combination with the motor which are specified
This driver is equipped with a dynamic brake for emergency stop.
by us. Check the series name of the motor, rated output torque, voltage specifications
Pay a special attention to the followings. and encoder specifications.
Caution 1.Dynamic brake is only for emergency stop. Caution Do not use the driver in combination with unmatched motor.
Do not start/stop the motor by turning on/off the Servo-ON Motor Driver
signal (SRV-ON). Power
Type
Rated rotational
Model
Rated
Model Frame
supply speed output
Otherwise it may damage the dynamic brake circuit of the MSME5AZG1* 50 W MAD◇T1105
A-frame
driver. Single phase, MSME011G1* 100 W MAD◇T1107
100 V MSME021G1* 200 W MBD◇T2110 B-frame
The Motor becomes a dynamo when driven externally and MSME041G1* 400 W MCD◇T3120 C-frame
MSME
short circuit current occurred while dynamic brake is activat- Low inertia
3000 r/min MSME5AZG1* 50 W
MAD◇T1505
ed may cause smoking or fire. MSME012G1* 100 W A-frame
Single/3-phase,
MSME022G1* 200 W MAD◇T1507
200 V
2. Dynamic brake is a short-duration rating, and designed for only MSME042G1* 400 W MBD◇T2510 B-frame
emergency stop. Allow approx. 10 minutes pause when the dynamic MSME082G1* 750 W MCD◇T3520 C-frame

English
brake is activated during high-speed running. MSMD5AZG1* 50 W MAD◇T1105
A-frame
(F-frame (200 V) built-in dynamic brake resistor is capable of han- Single phase, MSMD011G1* 100 W MAD◇T1107
100 V MSMD021G1* 200 W MBD◇T2110 B-frame
dling up to 3 continuous halts at the rated revolutions with max.
MSMD041G1* 400 W MCD◇T3120 C-frame
permissible inertia. When overheated under more critical operating MSMD
3000 r/min MSMD5AZG1* 50 W
Low inertia MAD◇T1505
conditions, the brake will blow out and should be replaced with a MSMD012G1* 100 W A-frame
new one.) Single/3-phase,
MSMD022G1* 200 W MAD◇T1507
200 V
MSMD042G1* 400 W MBD◇T2510 B-frame
• You can activate the dynamic brake in the following cases.
MSMD082G1* 750 W MCD◇T3520 C-frame
1) when the main power is turned off Single phase, MHMD021G1* 200 W MBD◇T2110 B-frame
2) at Servo-OFF 100 V MHMD041G1* 400 W MCD◇T3120 C-frame
MHMD
3) when one of the protective function is activated. 3000 r/min MHMD022G1* 200 W MAD◇T1507 A-frame
Single/3-phase, High inertia
4) when over-travel inhibit input (NOT, POT) of connector X4 is acti- MHMD042G1* 400 W MBD◇T2510 B-frame
200 V
vated MHMD082G1* 750 W MCD◇T3520 C-frame
Single/3-phase, MSME102G□* 1.0 kW
In the above cases from 1) to 4), you can select either activation 200 V
MDD◇T5540 D-frame
MSME152G□* 1.5 kW
of the dynamic brake or making the motor free-run during decel- MSME202G□* 2.0 kW MED◇T7364 E-frame
MSME
eration or after the stop, with parameter. 3000 r/min
3-phase, Low inertia MSME302G□* 3.0 kW MFD◇TA390
200 V MSME402G□* 4.0 kW F-frame
MFD◇TB3A2
MSME502G□* 5.0 kW

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

• Suffix of “ * ” in the applicable motor model represents the motor structure.
• Suffix of “ ◇ ” in the applicable driver model represents series.

− B50 − − B51 −
 10. Check of the Combination of the Driver and the Motor
Incremental Specifications, 20-bit 10. Check of the Combination of the Driver and the Motor
Absolute Specifications, 17-bit

Motor Driver This driver is designed to be used in a combination with the motor which are specified
Power
Type
Rated rotational
Model
Rated
Model Frame by us. Check the series name of the motor, rated output torque, voltage specifications
supply speed output
and encoder specifications.
Single/3-phase, MDME102G□* 1.0 kW MDD◇T3530
D-frame
200 V MDME152G□* 1.5 kW MDD◇T5540 Caution Do not use the driver in combination with unmatched motor.
MDME MDME202G□* 2.0 kW MED◇T7364 E-frame
Motor Driver
2000 r/min
3-phase, Middle inertia MDME302G□* 3.0 kW MFD◇TA390 Power Rated rotational Rated
Type Model Model Frame
200 V MDME402G□* 4.0 kW F-frame supply speed output
MFD◇TB3A2
MDME502G□* 5.0 kW MSME5AZS1* 50 W MAD◇T1105
A-frame
Single/3-phase, Single phase, MSME011S1* 100 W MAD◇T1107
MFME152G1* 1.5 kW MDD◇T5540 D-frame
200 V MFME 100 V MSME021S1* 200 W MBD◇T2110 B-frame
2000 r/min
3-phase, Middle inertia MFME252G1* 2.5 kW MED◇T7364 E-frame MSME041S1* 400 W MCD◇T3120 C-frame
200 V MFME452G1* 4.5 kW MFD◇TB3A2 F-frame MSME
3000 r/min MSME5AZS1* 50 W
Low inertia MAD◇T1505
Single/3-phase, MSME012S1* 100 W A-frame
MGME092G□* 900 W MDD◇T5540 D-frame
200 V Single/3-phase,
MGME MSME022S1* 200 W MAD◇T1507
1000 r/min MGME202G□* 2.0 kW MFD◇TA390 200 V
3-phase, Middle inertia MSME042S1* 400 W MBD◇T2510 B-frame
MGME302G□* 3.0 kW F-frame
200 V MFD◇TB3A2 MSME082S1* 750 W MCD◇T3520 C-frame

English
MGME452G1* 4.5 kW
MSMD5AZS1* 50 W MAD◇T1105
Single/3-phase, MHME102G□* 1.0 kW MDD◇T3530 A-frame
D-frame Single phase, MSMD011S1* 100 W MAD◇T1107
200 V MHME152G□* 1.5 kW MDD◇T5540 100 V MSMD021S1* 200 W MBD◇T2110 B-frame
MHME MHME202G□* 2.0 kW MED◇T7364 E-frame
2000 r/min MSMD041S1* 400 W MCD◇T3120 C-frame
3-phase, High inertia MHME302G□* 3.0 kW MFD◇TA390 MSMD
3000 r/min MSMD5AZS1* 50 W
200 V MHME402G□* 4.0 kW F-frame Low inertia MAD◇T1505
MFD◇TB3A2 MSMD012S1* 100 W A-frame
MHME502G□* 5.0 kW Single/3-phase,
MSMD022S1* 200 W MAD◇T1507
200 V
Note • Suffix of “ □ ” in the applicable motor model represents design order. MSMD042S1* 400 W MBD◇T2510 B-frame
• Suffix of “ * ” in the applicable motor model represents the motor structure. MSMD082S1* 750 W MCD◇T3520 C-frame
• Suffix of “ ◇ ” in the applicable driver model represents series. MHMD021S1* 200 W MBD◇T2110 B-frame
Single phase,
100 V MHMD041S1* 400 W MCD◇T3120 C-frame
MHMD
3000 r/min MHMD022S1* 200 W MAD◇T1507 A-frame
Single/3-phase, High inertia
MHMD042S1* 400 W MBD◇T2510 B-frame
200 V
MHMD082S1* 750 W MCD◇T3520 C-frame
Single/3-phase, MSME102S□* 1.0 kW
MDD◇T5540 D-frame
200 V MSME152S□* 1.5 kW
MSME MSME202S□* 2.0 kW MED◇T7364 E-frame
3000 r/min
3-phase, Low inertia MSME302S□* 3.0 kW MFD◇TA390
200 V MSME402S□* 4.0 kW F-frame
MFD◇TB3A2
MSME502S□* 5.0 kW

Note 1) • Suffix of “ □ ” in the applicable motor model represents design order.

• Suffix of “ * ” in the applicable motor model represents the motor structure.
• Suffix of “ ◇ ” in the applicable driver model represents series.
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 Pr0.15 (Absolute encoder setup) from "1 (default)" to "0".

− B52 − − B53 −
 10. Check of the Combination of the Driver and the Motor
Absolute Specifications, 17-bit 11. Specifications
Basic Specifications

Motor Driver ＋ 10 ％
Power Rated rotational Rated
Main circuit Single phase, 100 to 120 V 50/60 Hz
Type Model Model Frame － 15 ％
supply speed output 100 V
＋ 10 ％
Single/3-phase, MDME102S□* 1.0 kW MDD◇T3530 Control circuit Single phase, 100 to 120 V 50/60 Hz
200 V
D-frame － 15 ％
MDME152S□* 1.5 kW MDD◇T5540
A to ＋ 10 ％

Input power
MDME MDME202S□* 2.0 kW MED◇T7364 E-frame Single/3-phase, 200 to 240 V 50/60 Hz
Middle inertia
2000 r/min
MDME302S□* 3.0 kW MFD◇TA390 Main D-frame － 15 ％
3-phase,
200 V
circuit E to ＋ 10 ％
MDME402S□* 4.0 kW F-frame 3-phase, 200 to 230 V 50/60 Hz
MFD◇TB3A2 F-frame － 15 ％
MDME502S□* 5.0 kW 200 V
Single/3-phase, A to ＋ 10 ％
MFME152S1* 1.5 kW MDD◇T5540 D-frame Single phase, 200 to 240 V 50/60 Hz
200 V MFME Control D-frame － 15 ％
2000 r/min circuit
3-phase, Middle inertia MFME252S1* 2.5 kW MED◇T7364 E-frame E to ＋ 10 ％
Single phase, 200 to 230 V 50/60 Hz
200 V MFME452S1* 4.5 kW MFD◇TB3A2 F-frame F-frame － 15 ％
Single/3-phase,
MGME092S□* 900 W MDD◇T5540 D-frame
Control method IGBT PWM Sinusoidal wave drive
200 V
17-bit (131072 resolution) absolute encoder, 7-wire serial
MGME
1000 r/min MGME202S□* 2.0 kW MFD◇TA390 Encoder feedback
3-phase, Middle inertia 20-bit (1048576 resolution) incremental encoder, 5-wire serial
MGME302S□* 3.0 kW F-frame
A/B phase, initialization signal defferential input.
200 V MFD◇TB3A2

English
MGME452S1* 4.5 kW Manufacturers that support serial communication scale:
External scale feedback
Single/3-phase, MHME102S□* 1.0 kW MDD◇T3530 Mitsutoyo Corp.
D-frame
200 V MHME152S□* 1.5 kW MDD◇T5540 Magnescale Co., Ltd.
MHME MHME202S□* 2.0 kW MED◇T7364 E-frame General purpose 10 inputs
2000 r/min Input

Parallel I/O connector

3-phase, High inertia MHME302S□* 3.0 kW MFD◇TA390 Control The function of general-purpose input is selected by parameters.
200 V MHME402S□* 4.0 kW F-frame signal General purpose 6 outputs
MFD◇TB3A2 Output
MHME502S□* 5.0 kW The function of general-purpose input is selected by parameters.
Analog Input 3 inputs (16Bit A/D : 1 input, 12Bit A/D : 2 inputs)
Note 1) • Suffix of “ □ ” in the applicable motor model represents design order.
• Suffix of “ * “ in the applicable motor model represents the motor structure. signal Output 2 outputs (Analog monitor: 2 output)
• Suffix of “ ◇ ” in the applicable driver model represents series. Pulse Input 2 inputs (Photo-coupler input, Line receiver input）
2) Default of the driver is set for the incremental encoder specifications. signal Output 4 outputs ( Line driver: 3 output、open collector: 1 output)
When you use in absolute, make the following operations.
a) Install a battery for absolute encoder. USB Connection with PC etc.
b) Switch the parameter Pr0.15 (Absolute encoder setup) from "1 (default)" to "0". Communication
RS232 1 : 1 communication
function
RS485 1 : n communication up to 31 axes to a host.
Safety function Used for IEC61800-5-2: STO.
(1) 5 keys (MODE, SET, UP, DOWN, SHIFT) (2) LED (6-digit)
Front panel (3) Monitor connector (Analog monitor output (2ch), Digital
monitor output (1ch))
A, B-frame:
no built-in regenerative resistor (external resistor only)
Regeneration
C to F-frame:
Built-in regenerative resistor (external resistor is also enabled.)
Dynamic brake Built-in
Switching among the following 7 mode is enabled,
(1) Position control (2) Velocity control (3) Toque control
Control mode
(4) Position/Velocity control (5) Position/Torque control
(6) Velocity/Torque control (7) Full-closed control

− B54 − − B55 −
 11. Specifications 11. Specifications
Functions
Functions

(1) Deviation counter clear (2) Command pulse inhibition Control input Speed zero clamp, Torque command sign input etc.
Control input (3) Command dividing gradual increase switching Control output Speed arrival etc.

Torque control
(4) Damping control switching etc.
Torque command input can be provided by means of analog
Control output Positioning complete (In-position) etc. Analog Torque command voltage.
Max. command Exclusive interface for Photo-coupler: 500 kpps input input Parameters are used for scale setting and command
pulse frequency Exclusive interface for line driver : 4 Mpps polarity.
Input pulse Speed limit function Speed limit value with parameter is enabled.
Differential input
signal format (1) Deviation counter clear (2) Command pulse inhibition
Pulse
Position control

Electronic gear Control input (3) Command dividing gradual increase switching
input (Division/ (4) Damping control switching etc.
1/1000 to 1000 times
Multiplication of Control output Full-closed positioning complete etc.
command pulse)
Max. command Exclusive interface for Photo-coupler: 500 kpps
Primary delay filter or FIR type filter is adaptable to the pulse frequency Exclusive interface for line driver : 4 Mpps
Smoothing filter
command input
Input pulse
Torque limit Individual torque limit for both positive and negative direction Differential input
signal format

Full-closed control
Analog command input is enabled.
Pulse Electronic gear

English
input Torque feed input
Analog voltage can be used as torque feed forward input. (Division/
forward input 1/1000 to 1000 times
Multiplication of
Instantaneous Speed command pulse)
Available
Observer Primary delay filter or FIR type filter is adaptable to the
Smoothing filter
Damping Control Available command input
(1) Selection of internal velocity setup 1 Torque limit Individual torque limit for both positive and negative direction
(2) Selection of internal velocity setup 2 Analog command input is enabled.
Control input
(3) Selection of internal velocity setup 3 input Torque feed
(4) Speed zero clamp etc. Analog voltage can be used as torque feed forward input.
forward input
Control output Speed arrival etc. Setup range of division/
Speed command input can be provided by means of analog multiplication of 1/40 to 160 times
Velocity voltage. feedback scale
command input Parameters are used for scale setting and command The load inertia is identified in real time by the driving
Analog polarity. state of the motor operating according to the command
Velocity control

input Torque limit Individual torque limit for both positive and negative direction Auto tuning given by the controlling device and set up support software
command input is enabled. “PANATERM”. The gain is set automatically in accordance
Torque feed with the rigidity setting.
Analog voltage can be used as torque feed forward input. Common
forward input Division of encoder Set up of any value is enabled (encoder pulses count is the
Internal velocity command Switching the internal 8speed is enabled by command input. feedback pulse max.).

Individual setup of acceleration and deceleration is enabled, Over-voltage, under-voltage, over-speed, over-load,
Hard error
Soft-start/down function with 0 to 10 s/1000 r/min. Sigmoid acceleration/deceleration Protective over-heat, over-current and encoder error etc.
is also enabled. function Excess position deviation, command pulse division error,
Soft error
Zero-speed clamp Speed zero clamp input is enabled. EEPROM error etc.

Instantaneous Speed Traceability of alarm data The alarm data history can be referred to.
Available
Observer
Velocity Control filter Available

− B56 − − B57 −
 After-Sale Service (Repair)

Repair • Take care to avoid inputting a supply voltage which significantly exceeds the rated
range to the power supply of this product. Failure to heed this caution may result in
Consult to a dealer from whom you have purchased the product for details of repair.
damage to the internal parts, causing smoking and/or a fire and other trouble.
When the product is incorporated to the machine or equipment you have purchased,
• The user is responsible for matching between machine and components in terms
consult to the manufacturer or the dealer of the machine or equipment.
of configuration, dimensions, life expectancy, characteristics, when installing the
Cautions for Proper Use machine or changing specification of the machine. The user is also responsible for
complying with applicable laws and regulations.
• Practical considerations for exporting the product or assembly containing the product
• The product will not be guaranteed when it is used outside its specification limits.
When the end user of the product or end use of the product is associated with mili-
• Parts are subject to minor change to improve performance.
tary affair or weapon, its export may be controlled by the Foreign Exchange and
Foreign Trade Control Law. Complete review of the product to be exported and ex-
port formalities should be practiced.
Technical information
• This product is intended to be used with a general industrial product, but not de-
signed or manufactured to be used in a machine or system that may cause personal Technical information of this product (Operating Instructions, CAD data) can be
death when it is failed. downloaded from the following web site.
• Installation, wiring, operation, maintenance, etc., of the equipment should be done http://industrial.panasonic.com/ww/i_e/25000/motor_fa_e/motor_fa_e.html

English
by qualified and experienced personnel.
• Apply adequate tightening torque to the product mounting screw by taking into
consideration strength of the screw and the characteristics of material to which the
product is installed. Overtightening can damage the screw and/or material; under-
tightening can result in loosening.
Example) Steel screw (M5) into steel section: 2.7-3.3 N·m.
• Install a safety equipments or apparatus in your application, when a serious acci-
dent or loss of property is expected due to the failure of this product.
• Consult us if the application of this product is under such special conditions and envi-
For your records:
ronments as nuclear energy control, aerospace, transportation, medical equipment,
The model number and serial number of this product can be found on either the back or the
various safety equipments or equipments which require a lesser air contamination.
bottom of the unit. Please note them in the space provided and keep for future reference.
• We have been making the best effort to ensure the highest quality of the products,
however, application of exceptionally larger external noise disturbance and static
Model No.
M □ D□ Serial No.
electricity, or failure in input power, wiring and components may result in unexpected M □M□
action. It is highly recommended that you make a fail-safe design and secure the
Date of
safety in the operative range.
purchase
• If the motor shaft is not electrically grounded, it may cause an electrolytic corrosion
to the bearing, depending on the condition of the machine and its mounting environ- Name
ment, and may result in the bearing noise. Checking and verification by customer is
required. Dealer Address
• Failure of this product depending on its content, may generate smoke of about one
cigarette. Take this into consideration when the application of the machine is clean Phone ( ) -
room related.
• Please be careful when using in an environment with high concentrations of sulfur
or sulfric gases, as sulfuration can lead to disconnection from the chip resistor or a 7-1-1 Morofuku, Daito, Osaka, 574-0044, Japan Phone : +81-72-871-1212
poor contact connection. © Panasonic Corporation 2009

− B58 − − B59 −
7-1-1 Morofuku, Daito, Osaka, 574-0044, Japan Phone : +81-72-871-1212
© Panasonic Corporation 2009
Printed in China IMD88+B
Z0409-2043