・This
product is for industrial
equipment.
Don't use this
product
at general household.
Technical reference
AC Servo Motor & Driver
MINAS A4-series
• Thank you very much for your
purchase of Panasonic AC Servo
Motor & Driver, MINAS A4-series.
• Before use, refer this technical
reference and safety instructions
to ensure proper use. Keep this
technical reference and read
when necessary.
• Make sure to forward this technical
reference for safety to the final
user.
If you are the first user of this product, please be sure to purchase and read
the optional Engineering Material (DV0P4210), or downloaded Instruction
Manual from our Web Site.
[Web address of Motor Company, Matsushita Electric Industrial Co., Ltd.]
http://industrial.panasonic.com/ww/i_e/25000/motor_fa_e/motor_fa_e.html
<Contents>
page
page
1. Introduction ................................. B2
On Opening the Package ............................... B2
Check of the Driver Model .............................. B2
Check of the Motor Model .............................. B3
4. Parameter .................................. B27
Outline of Parameter .................................... B27
How to Set .................................................... B27
Setup with the Front Panel ........................... B27
Outline of PANATERM
® .......................................................
B28
Setup with the Console ................................ B28
How to Connect ............................................ B29
Composition and List of Parameters ............ B30
2. Installation .................................. B4
Driver .............................................................. B4
Motor .............................................................. B6
Console .......................................................... B8
3. System Configuration and
Wiring ........................................ B10
Overall Wiring (Connecting Example of C-frame, 3-
phase) .............................................................. B10
Overall Wiring (Connecting Example of E-frame) .... B12
Driver and List of Applicable Peripheral
Equipments .................................................. B14
Wiring of the Main Circuit (A to D-frame) ..... B16
Wiring of the Main Circuit (E and F-frame) ... B17
Wiring method to connector (A to D-frame) .. B18
Wiring to the Connector, CN X6
(Connection to Encoder) .............................. B22
Wiring for Typical Control Modes
to the Connector CN X5 ............................... B24
5. Protective Functions ................ B36
Protective Function (What Is Error Code ?) ..... B36
6. Maintenance and Inspections . B38
7. Conformity to EC Directives
and UL Standards ..................... B40
Composition of Peripheral Equipments ........ B41
Conformity to UL Standards ......................... B44
8. Built-in Holding Brake ............. B45
9. Dynamic Brake ......................... B47
10. Check of the Combination of
the Driver and the Motor ............ B48
After-Sale Service (Repair) .......... B51
IMC54D
Z0404-6066
1. Introduction
On Opening the Product Package
•
•
•
•
Make sure that the model is what you have ordered.
Check if the product is damaged or not during transportation.
Check if the instruction manual is attached or not.
Check if the power connector and motor connecters (CN X1 and CN X2 connectors)
are attached or not (A to D-frame).
Check of the Motor Model
Contents of Name Plate
Model
Rated input voltage/current
Rated output
Rated rotational speed
AC SERVO MOTOR
MODEL No.
MSMD5AZS1S
INPUT 3ØAC
92 V
1.6 A
RATED OUTPUT 0.2 kW
Hz
RATED FREQ. 200
RATED REV. 3000 r/min
CONT. TORQUE 0.64 Nm
RATING
S1
INS. CLASS B (TÜV) A (UL)
IP65
CONNECTION
SER No.
04110001
Serial Number
e.g.) :
04 11 0001
Lot number
Month of production
Year of production
(Lower 2 digits of AD year)
Contact to a dealer if you find any failures.
Model Designation
Check of the Driver Model
M S M D 5 A Z S 1 S
1 to 4
5 to 6
7
8
9
10
Contents of Name Plate
Model number
Rated input/output voltage
Rated input/output current
Rated output of
applicable motor
AC SERVO
Model No.
Symbol
MAMA
Serial No.P04110001Z
Type
Ultra low inertia
(100W to 750W)
Low inertia
(100W to 400W)
Low inertia
(50W to 750W)
Low inertia
(1.0kW to 5.0kW)
Middle inertia
(1.0kW to 5.0kW)
High inertia
(500W to 5.0kW)
Middle inertia
(400W to 4.5kW)
Middle inertia
(900W to 4.5kW)
MADDT1205
INPUT
OUTPUT
Voltage
Phase
F.L.C
Freq.
Power
200-240V
1ø
1.3A
50/60Hz
69V
3ø
1.2A
0~333.3Hz
100W
Serial Number
e.g.) :
P0411 0001Z
Lot number
Month of production
Year of production
(Lower 2 digits of AD year)
MQMA
MSMD
MSMA
MDMA
MHMA
MFMA
Motor rated output
Model Designation
MGMA
M A D D T 1 2 0 5
1 to 4
5 to 6
7
8 to 9
10 to 12
Special specifications
(letters and numbers)
Current detector rating
Symbol Current rating
05
5A
07
7.5A
10
10A
15
15A
20
20A
30
30A
40
40A
64
64A
90
90A
A2
120A
Symbol Output Symbol Output
5A
50W
15
1.5kW
01
100W
20
2.0kW
02
200W
25
2.5kW
04
400W
30
3.0kW
05
500W
40
4.0kW
08
750W
45
4.5kW
09
900W
50
5.0kW
10
1.0kW
Rotary encoder specifications
Specifications
Symbol
Format
Pulse count
Resolution
Wire count
2500P/r
P
Incremental
10,000
5-wire
17bit
S Absolute/Incremental common
131,072
7-wire
MAMA
Symbol
Special specifications
(letters and numbers)
Motor structure
Design order
1: Standard
Voltage specifications
Symbol
Specifications
1 100 V
2 200 V
100/200 common
Z (50W only)
11 to 12
Frame-size symbol
Symbol
MADD
MBDD
MCDD
MDDD
MEDD
MFDD
Frame
A4-series, A-frame
A4-series, B-frame
A4-series, C-frame
A4-series, D-frame
A4-series, E-frame
A4-series, F-frame
Max. current
rating of
power device
Symbol Current
rating
10A
T1
15A
T2
30A
T3
50A
T5
70A
T7
TA 100A
TB 150A
Power supply
Symbol
1
2
3
5
Specifications
Single phase, 100V
Single phase, 200V
3-phase, 200V
Single/3-phase,
200V
Motor structure
MSMD, MQMA
Holding brake
Oil seal
Shaft
Symbol
Round Key way
Without With Without With
*1
A
B
*2
S
*2
T
*
1 The product with oil seal is a special order
product.
*
2 Key way with center tap
Products are standard stock items or build to
order items. For details, inquire of the dealer.
Holding brake
Oil seal
Shaft
Round Key way
Without With Without With
A
B
E
F
MSMA, MDMA, MFMA, MGMA, MHMA
Holding brake
Oil seal
Shaft
Symbol
Round Key way
Without With Without With
C
D
G
H
– B2 –
– B3 –
2. Installation
Install the driver and the motor properly to avoid a breakdown or an accident.
E and F-frame
Mounting bracket
Driver
Installation Place
1) Indoors, where the products are not subjected to rain or direct sun beams. The prod-
ucts are not waterproof.
2) Where the products are not subjected to corrosive atmospheres such as hydrogen
sulfide, sulfurous acid, chlorine, ammonia, chloric gas, sulfuric gas, acid, alkaline and
salt and so on, and are free from splash of inflammable gas, grinding oil, oil mist, iron
powder or chips and etc.
3) Well-ventilated and low humidity and dust-free place.
4) Vibration-free place.
Mounting Direction and Spacing
• Reserve enough surround-
ing space for effective cool-
ing.
• Install fans to provide uni-
form distribution of tem-
perature in the control
panel.
• Observe the environmental
conditions of the control
panel described in the next
page.
Fan
Fan
100mm
or more
Environmental Conditions
Item
Ambient temperature
Ambient humidity
Storage temperature
Storage humidity
Vibration
Altitude
Conditions
0˚C to 55˚C (free from freezing)
Less than 90% RH (free from condensation)
–20˚C to 80˚C (free from freezing)
Less than 90% RH (free from condensation)
Lower than 5.9m/s
2
(0.6G), 10 to 60Hz
Lower than 1000m
40mm
or
more
10mm
or
more
10mm
or
more
10mm
or
more
40mm
or
more
100mm
or more
How to Install
1) Rack-mount type. Install in vertical position, and reserve enough space around the
servo driver for ventilation.
Base mount type (rear mount) is standard (A to D-frame)
2) Use the optional mounting bracket when you want to change the mounting face.
A to D-frame
MADD
MBDD
MCDD
MDDD
e.g.) In case of C-frame
<Note>
It is recommended to use the conductive paint when you make your own mounting
bracket, or repaint after peeling off the paint on the machine for installing the products, in
order to make noise countermeasure.
Caution on Installation
Mounting bracket
(optional parts)
We have been making the best effort to ensure the highest quality, however, application
of exceptionally large external noise disturbance and static electricity, or failure in input
power, wiring and components may result in unexpected action. It is highly recommended
that you make a fail-safe design and secure the safety in the operative range.
There might be a chance of smoke generation due to the failure of these products. Pay
an extra attention when you apply these products in a clean room environment.
Fastening torque of earth screws (M4) to be 0.39 to 0.59N
•
m.
– B4 –
– B5 –
2. Installation
Motor
Oil/Water Protection
1) Don't submerge the motor cable to water or oil.
2) Install the motor with the cable outlet facing downward.
3) Avoid a place where the motor is subjected to oil or water.
4) Use the motor with an oil seal when used with the gear re-
ducer, so that the oil may not enter to the motor through shaft.
Cable
Motor
Installation Place
Since the conditions of location affect a lot to the motor life, select a place which meets
the conditions below.
1) Indoors, where the products are not subjected to rain or direct sun beam. The prod-
ucts are not waterproof.
2) Where the products are not subjected to corrosive atmospheres such as hydrogen
sulfide, sulfurous acid, chlorine, ammonia, chloric gas, sulfuric gas, acid, alkaline and
salt and so on, and are free from splash of inflammable gas, grinding oil, oil mist, iron
powder or chips and etc.
3) Where the motor is free from grinding oil, oil mist, iron powder or chips.
4) Well-ventilated and humid and dust-free place, far apart from the heat source such as
a furnace.
5) Easy-to-access place for inspection and cleaning
6) Vibration-free place.
7) Avoid enclosed place. Motor may gets hot in those enclosure and shorten the motor life.
Oil / Water
Stress to Cables
1) Avoid a stress application to the cable outlet and connecting portion by bending or
self-weight.
2) Especially in an application where the motor itself travels, fix the attached cable and
contain the extension junction cable into the bearer so that the stress by bending can
be minimized.
3) Take the cable bending radius as large as possible. (Minimum R20mm)
Permissible Load to Output Shaft
1) Design the mechanical system so that the applied radial load and/or thrust load to the
motor shaft at installation and at normal operation can meet the permissible value
specified to each model.
2) Pay an extra attention when you use a rigid coupling. (Excess bending load may
damage the shaft or deteriorate the bearing life.
3) Use a flexible coupling with high stiffness designed exclusively for servo application in
order to make a radial thrust caused by micro misalignment smaller than the permis-
sible value.
4) For permissible load of each model, refer to the technical reference. (DV0P4210)
Environmental Conditions
Item
Ambient temperature
Ambient humidity
Storage temperature
Storage humidity
Vibration
Motor only
Impact
Motor only
Enclosure
rating
Motor only
Condition
0˚C to 40˚C (free from freezing)
*1
Less than 85% RH (free from condensation)
–20˚C to 80˚C (free from freezing)
*2
Less than 85% RH (free from condensation)
Lower than 49m/s
2
(5G) at running, 24.5m/s
2
(2.5G) at stall
Lower than 98m/s
2
(10G)
IP65 (except rotating portion of output shaft and lead wire end)
• These motors conform to the test conditions specified in EN standards
(EN60529, EN60034-5). Do not use these motors in application where
water proof performance is required such as continuous wash-down
operation.
Notes on Installation
1) Do not apply direct impact to the shaft by hammer while attaching/detaching a cou-
pling to and from the motor shaft.
(Or it may damage the encoder mounted on the other side of the shaft.)
2) Make a full alignment. (incomplete alignment may cause vibration and damage the
bearing.)
3) If the motor shaft is not electrically grounded, it may cause
electrolytic corrosion to the bearing depending on the condi-
Motor
tion of the machine and its mounting environment, and may
result in the bearing noise. Check and verification by customer
is required.
*1 Ambient temperature to be measured at 5cm away from the motor.
*2 Permissible temperature for short duration such as transportation.
How to Install
You can mount the motor either horizontally or vertically as long as you observe the followings.
1) Horizontal mounting
• Mount the motor with cable outlet facing downward for water/oil countermeasure.
2) Vertical mounting
• Use the motor with oil seal (non-standard) when mounting the motor with gear
reducer to prevent the reducer oil/grease from entering to the motor.
3) For mounting dimensions, refer to the technical reference. (DV0P4210)
– B6 –
– B7 –
2. Installation
Console
How to Connect
Installation Place
1) Indoors, where the products are not subjected to rain or direct sun beam. The prod-
ucts are not waterproof.
2) Where the products are not subjected to corrosive atmospheres such as hydrogen
sulfide, sulfurous acid, chlorine, ammonia, chloric gas, sulfuric gas, acid, alkaline and
salt and so on, and are free from splash of inflammable gas, grinding oil, oil mist, iron
powder or chips and etc.
3) Well-ventilated and low humidity and dust-free place.
4) Easy-to-access place for inspection and cleaning
Connect to CN X4.
SET
MO
M
DE
SHIFT
S
Environmental Conditions
Item
Ambient temperature
Ambient humidity
Storage temperature
Storage humidity
Vibration
Impact
Altitude
Condition
0˚C to 55˚C (free from freezing)
Less than 90% RH (free from condensation)
–20˚C to 80˚C (free from freezing)
Less than 90% RH (free from condensation)
Lower than 5.9m/s
2
(0.6G), 10 to 60Hz
Conform to JISC0044
(Free fall test, 1m for 2 directions, 2 cycles)
Lower than 1000m
<Remarks>
• Connect the console connector securely to CN X4 connector of the driver.
• Never pull the cable to plug in or plug out.
<Cautions>
• Do not give strong impact to the products.
• Do not drop the products.
• Do not pull the cables with excess force.
• Avoid the place near to the heat source such as a heater or a large winding resistor.
– B8 –
– B9 –
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