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Instruction Manual
AC Servo Motor and Driver
MINAS A4P Series
DV0P4490
Thank you for buying and using Panasonic AC Servo Motor and Driver, MINAS A4P Series.
Read through this Instruction Manual for proper use, especially read "Precautions for Safety" ( P.8
to 11) without fail for safety purpose.
Keep this Manual at an easily accessible place so as to be referred anytime as necessary.
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Strany 1 - MINAS A4P Series

Instruction ManualAC Servo Motor and DriverMINAS A4P SeriesDV0P4490 •Thank you for buying and using Panasonic AC Servo Motor and Driver, MINAS A4P S

Strany 2 - [Setting] page

10Safety PrecautionsObserve the Following Instructions Without FailDo not hold the motor cable or motor shaft during the transporta-tion.Failure to ob

Strany 3 - [Operation Setting] page

100How to Use the ConsoleClearing of Absolute EncoderOnly applicable to the system which uses absolute encoder. You can clear the alarm and multi-turn

Strany 4 - [When in Trouble] page

101[Setting]Setting<Remarks>Don't disconnect the console from the driver between to .Should the

Strany 5 - [Supplement] page

102How to Use the ConsoleCopying of Parameters from the Console to the DriverStarting from initial LED status,Press six time after pressing

Strany 6

103[Setting]SettingOutline of Setup Support Software, "PANATERM®"Outline of PANATERM®With the PANATERM®, you can execute the followings.(1)

Strany 7

104Outline of Setup Support Software, "PANATERM®"Log on of the "PANATERM®" .<Cautions/Notes>1. Once the "PANATERM®"

Strany 8

105[Operation Setting]pageOverview of Operation Setting...106Step Operation ...

Strany 9 - Before Using

106In MINAS A4P, the following operations can be performed.The most basic operation.Specify a point number set in advance when performing the operati

Strany 10 - Safety Precautions

107[Operation Setting]OperationSettingStep OperationPositioning can be performed to a specified point by the step operation.The four types of modes ar

Strany 11 - [Before Using the Products]

108Caution1) If a set value of speed, acceleration or deceleration at a specified point is “0”, an operation trips due to unde-fined data error protec

Strany 12 - Maintenance and Inspection

109[Operation Setting]OperationSettingVEL1ACC1DEC116.Pr**001012Parameter namePositioning setting first speedPositioning acceleration setting 1

Strany 13

11[Before Using the Products]Before Usingthe ProductsUse the motor and the driver in the specified combination.Failure to observe this instruction cou

Strany 14 - Introduction

110Step OperationExample of Rotary Axis Operation SettingIf the rotary axis operation is specified, the shaft moves in a direction nearest from the cu

Strany 15 - MSMD5AZS1S

111[Operation Setting]OperationSetting3) Setting of step data • Do not use the rotary axis operation (Rotary) mode together with the incremental opera

Strany 16

112Jog OperationJog OperationThe motor can be moved in a positive direction or negative direction independently.Point specifying input(P1IN to P32IN)

Strany 17

113[Operation Setting]OperationSetting• Parameters related to jog operation Set the parameters below when performing the jog operation.Caution1) If a

Strany 18 - Parts Description

114Homing OperationHoming OperationTo start a step operation after turning the power supply on, you need to execute the homing to detect a homepositi

Strany 19

115[Operation Setting]OperationSettingA chart of I/O signal timing during homing and an operating procedure are shown as an example of the casethat 16

Strany 20

116Homing OperationDetect the home sensor (at the front end) in a direction of homing by 16.Pr30 (Homing speed (high)), get outof the home sensor area

Strany 21

117[Operation Setting]OperationSetting2) Also, if the over-travel inhibit input is enabled in an operating direction under any of the conditions below

Strany 22 - How to Install

118Homing OperationCaution1) If any of the set values of the parameters below is “0”, an operation trips due to homing error protection(error code No.

Strany 23

119[Operation Setting]OperationSettingCaution1) If any of the set values of the parameters below is “0”, an operation trips due to homing error protec

Strany 24

12Maintenance and InspectionDailyAnnual• Ambient temperature, humidity, speck, dust or foreign object• Abnormal vibration and noise• Mai

Strany 25

120Homing OperationDetect the home sensor and the limit sensor in a reverse direction, not in a direction of homing, by 16.Pr30(Homing speed (high)),

Strany 26

121[Operation Setting]OperationSettingDetect the limit sensor in a direction of homing by 16.Pr30 (Homing speed (high)), decelerate and stop. Aftertha

Strany 27 - [Preparation]

122Homing OperationZ Phase HomingExample: Z phase count = 3 at an operation in a positive directionCount the Z phase specified times by 16.Pr3B (homin

Strany 28 - • Wiring of the Main Circuit

123[Operation Setting]OperationSettingCaution1) If any of the set values of the parameters below is “0”, an operation trips due to homing error protec

Strany 29

124Homing OperationHoming Offset OperationThe home offset at the completion of homing can be specified by 32.Pr00 (Home offset). Specify the travelfro

Strany 30

125[Operation Setting]OperationSettingEmergency Stop Operation/Deceleration-and-Stop OperationAn active operation can be interrupted and canceled.Emer

Strany 31

126Temporary Stop OperationAn active operation can be stopped temporarily and restarted.Multifunction input 1, 2(EX-IN1, EX-IN2)SpeedIn-operation sig

Strany 32 - 11.0 or

127[Operation Setting]OperationSettingOverview of Block OperationThis servo driver can perform the two types of block operations, i.e., continuous blo

Strany 33

128Caution1) A maximum point number (specified by the settings of SV.Pr57 (selection of number of input points)) istreated as the “Single” operation,

Strany 34 - Tips on Wiring

129[Operation Setting]OperationSettingCombined block operation procedure (example)1. Set a 16-bit positioning parameter and step parameter. (Refer to

Strany 35

13[Before Using the Products]Before Usingthe ProductsDriverMotorMotor withgear reducerSmoothing capacitor Cooling fa

Strany 36

130Sequential OperationSequential OperationThe sequential operation can be performed by setting 16.Pr52 (sequential operation setting) to “1”. Whenthe

Strany 37

131[Operation Setting]OperationSettingS-shaped Acceleration/Deceleration FunctionS-shaped Acceleration/Deceleration FunctionThis servo driver can perf

Strany 38 - (by Tyco Electronics , AMP)

132Timing ChartOperation Timing after Power-ON<Notes> • The above chart shows the timing from AC power-ON to command input. • Activate the exter

Strany 39

133[Operation Setting]OperationSettingWhen an Error (Alarm) Has Occurred (at Servo-ON Command)Caution*1. t1 will be a shorter time of either the setup

Strany 40 - Cautions

134Timing ChartWhen an Alarm Has Been Cleared (at Servo-ON Command)Dynamic brakeMotor energizationBrake release output(BRK-OFF)Servo-Alarm output(AL

Strany 41

135[Operation Setting]OperationSettingServo-ON/OFF Action While the Motor Is at Stall (Servo-Lock)Caution*1. t1 will be determined by SV.Pr6A setup va

Strany 42 - Wiring for Connector CN X5

136Absolute SystemOverview of Absolute SystemIn a motor of the absolute encoder specifications or absolute/incremental specifications, an absolute sys

Strany 43 - Interface Circuit

137[Operation Setting]OperationSetting<Caution>Use the following battery for absolute encoder.Part No. : DV0P2990 (Lithium battery by Toshiba Ba

Strany 44 - Common input signals

138Absolute SystemWhen you make your own cable for 17-bit absolute encoder When you make your own cable for 17-bit absolute encoder, connect the optio

Strany 45

139[Operation Setting]OperationSetting• Using the setup support software “PANATERM®”Basically, the step (3) and (4) only are different from the proced

Strany 46

14Model numberRated input/output voltageRated output of applicable motorRated input/output currentSerial NumberMADDT1205Pe.g.) : P05110001ZLot number

Strany 47

140Outline of Full-Closed ControlWhat Is Full-Closed Control ?In this full-closed control, you can make a position control by using a external scale m

Strany 48 - Setup with the Front Panel

[Adjustment]pageGain Adjustment...142Real-Time Auto-Gain Tuning Mode...144Adaptive

Strany 49

142Position loop gain : 20Velocity loop gain : 100Time constant ofV-loop integration : 50Velocity loop feed forward : 0Inertia rati

Strany 50 - Built-in Holding Brake

143[Adjustment]Adjustment<Remarks> • Pay extra attention to safety, when oscillation (abnormal noise and vibration) occurs, shut off the mainpow

Strany 51

144OutlineEstimates the load inertia of themachine in real time and setsup the optimum gain automati-cally responding to the result.Also, an adaptive

Strany 52 - Dynamic Brake

145[Adjustment]AdjustmentSetup of parameter, Pr21Press .Press .Match to the parameter No. to be set up with . (Here match

Strany 53

146SV.PrNo.101112131418191A1B1C20Title1st position loop gain1st velocity loop gain1st velocity loop integration time constant1st speed de

Strany 54

147[Adjustment]Adjustment<Notes>The adaptive filter may be disabled also if SV.Pr23 is set to any value other than “0”. Refer to “Invalidation o

Strany 55

148<Remarks>Set up the torque limit selection (SV.Pr03) to 1.When you set up other than 1, driver may not act correctly.CautionNormal mode auto-

Strany 56 - Parameter Setup

149[Adjustment]Adjustment101st position loop gain111st velocity loop gain121st velocity loop integration time constant131st speed detectio

Strany 57 - Composition of Parameters

15[Before Using the Products]Before Usingthe ProductsAC SERVO MOTORRATING S1MODEL No.MSMD5AZS1SINS. CLASS B (TÜV) A (UL)CONT. TORQUE0.64NmA1.6CO

Strany 58 - List of Servo Parameter

150Normal Mode Auto-Gain Tuning(1) Turn to the normal auto-gain tuning  mode from the monitor mode, by  pressing the SET button, then press

Strany 59

151[Adjustment]AdjustmentRelease of Automatic Gain Adjusting FunctionSV.Pr2F01234567891011121314151617181920211st notch frequenc

Strany 60 - UnitTitle Function/Content

1521kΩ1kΩIMSPRS232connection cableConnect to CN X4 Manual Gain Tuning (Basic)As explained previously, MINAS-A4P series features the automatic gain

Strany 61

153[Adjustment]Adjustment1011121314151618191A1B1C1D1EStandard value271537015200271537015215002Title of parameter1st positio

Strany 62

154Manual Gain Tuning (Basic)Adjustment in Full-Closed Control ModeFull-closed control of MINAS-A4P series is described in Block diagram of P.225 of F

Strany 63

155[Adjustment]AdjustmentSuppress the vibration by lowering the gain.Stop(Servo-Lock)Low gain(1st gain)Low gain(1st gain)High gain(2nd gain)1ms 2m

Strany 64

156Hysteresis(SV.Pr34)Level(SV.Pr33)0HLManual Gain Tuning (Basic)• Positing control mode, Full-closed control mode ( : Corresponding parameter is

Strany 65 - Title Function/Content

157[Adjustment]Adjustmentspeed NFig.Atorque Tleveldelay∆T∆S1st gain22 122111command speed SFig. Bleveldelay1st gain2nd1st 2nd 1stmotor speed or

Strany 66

158Manual Gain Tuning (Basic)torquecommandAdaptive filterfrequency automatic followingfrequency frequencyDepthwidth1st notch filter 2nd notch filt

Strany 67

159[Adjustment]AdjustmentHow to Check the Resonance Frequency of the Machine(1) Start up the Setup Support Software, "PANATERM® " and bring

Strany 68

16IntroductionSingle phase,200V3-phase,200VSingle phase,100VSingle phase,200VSingle phase,100VSingle phase,200VSingle/3-phase,200V

Strany 69

160Instantaneous Speed ObserverOutlineThis function enables both realization of high responseand reduction of vibration at stopping, by estimatingthe

Strany 70

161[Adjustment]AdjustmentDamping ControlOutlineThis function reduces the vibration by removingthe vibration frequency component from the com-mand when

Strany 71

162MEMO

Strany 72 - Closed Control”

[When in Trouble]pageWhen in Trouble ...164What to Check ? ...

Strany 73

164When in TroubleWhat to Check ?Protective Function (What is Error Code ?) • Various protective functions are equipped in the driver. When these are

Strany 74

165[When in Trouble]When in TroubleWarning Function • In MINAS-A4P Series, a warning is given before a protection function works and you can check the

Strany 75

166When in TroubleProtectivefunctionCauses MeasuresErrorcode No.*Over-current protection14Current through the converter portion has exceeded the spe

Strany 76

167[When in Trouble]When in TroubleProtectivefunctionCauses MeasuresErrorcode No.Position deviation excess protection24Deviation pulses have exceede

Strany 77 - List of Step Parameters

168When in TroubleProtectivefunctionCauses MeasuresErrorcode No.36*EEPROM parameter error protectionData in parameter storage area has been damaged

Strany 78

169[When in Trouble]When in TroubleProtectivefunctionCauses MeasuresErrorcode No.*External scale status 0 error protection50Bit 0 of the external sc

Strany 79

17[Before Using the Products]Before Usingthe ProductsSingle phase,200V3-phase,200VSingle phase,100VSingle phase,200VSingle phase,100VSi

Strany 80

170When in Trouble1001150.1110100150 200 250 300 350 400 450 500 torque [100%]time [sec]Overload protection time characteristics (Motor type M*MA)MAMA

Strany 81 - Mode Change

171[When in Trouble]When in TroubleMotor LoadMotormovablerangeErr34 occurrence range Err34 occurrence rangeSV.Pr26SV.Pr26Motor LoadMotor movable

Strany 82 - Monitor Mode

172TroubleshootingMotor Does Not Run Motor Stops During an OperationClassificationCauses CountermeasuresError in control mode settingError in to

Strany 83

173[When in Trouble]When in TroublePoint Deviates Positioning Accuracy is PoorHome Position SlipsThe setting of the parameter for positioning ope

Strany 84

174TroubleshootingGain adjustment is not proper.Load inertia is large.Looseness or slip of the machineAmbient temperature, environment Stall

Strany 85

175[Supplement]pageConformity to EC Directives and UL Standards...176Options...180Re

Strany 86

176Conformity to EC Directives and UL StandardsControl boxControllerInsulated power supply for interfacePower supplyCircuit breakerProtective earth

Strany 87 - Teaching Mode

177[Supplement]資  料SupplementOption part No. DV0P4170Single phase 100V/200V Applicable driver (frame)A and B-frameManufacturer's part No.SUP-

Strany 88

178Surge AbsorberProvide a surge absorber for the primary side of noise filter.<Remarks>Take off the surge absorber when you execute a dielectr

Strany 89

179[Supplement]資  料SupplementNoise Filter for Signal Lines *Install noise filters for signal lines to all cables (power cable, motor cable, encoder ca

Strany 90

18Driver<Note>X1 and X2 are attached in A to D-frame driver.e.g.) : MADDT1207P (Single phase, 200V, 200W : A-frame)Parts Descriptione.g.) : MCDD

Strany 91 - Parameter setup mode

180Options• Specifications of 2500P/r  incremental encoder• Specifications of 17bit absolute/incremental  encoder*Connection to Pin-S and T ar

Strany 92

181[Supplement]SupplementMotor typeMAMA100W to 750WMSMD 50W to 750WMQMA100W to 400WMSMA1.0kW, 1.5kWMDMA1.0kW, 1.5kWMHMA0.5kW to 1.5kWM

Strany 93

182Options110 300L300110LMFECA0**0EAEFig. 2-1Fig. 2-4Fig. 2-2Fig. 2-5Fig. 2-3MFECA0**0ESEMSMD 50W to 750W, MQMA 100W to 400W, MAMA 100W to 750W17-bit

Strany 94

183[Supplement]SupplementMFECA0**3ECTMFMCD0**3ECT(ø14)(50)Lø43.7ø37.3 ø37.3(ø14)(50)Lø40.5MFMCA0**2ECDMFMCA0**0EEDMSMD 50W to 750W, MQMA 100W to 400W,

Strany 95

184OptionsMFMCA0**2FCDL(50)L(50)(ø12.5)MFMCA0**2FCTL(50)L(50)ø37.3(ø12.5)(ø9.8)(ø9.8)MFMCB0**0GET(ø9.8)(40) (50)L(5.6)(12.0)(10.0)MSMD 50W to 750WMQ

Strany 96

185[Supplement]Supplement3) Pin disposition (36 pins) (viewed from the soldering side)<Cautions>1) Check the stamped pin-No. on the connector bo

Strany 97

186Options1) Part No. DV0P42902) Components ( )2500P/r incremental encoderTitle1NumberPart No. ManufacturerFor CN X6 (6-pins)172160-1170365-11

Strany 98

187[Supplement]SupplementNoteFor CN X6 (6-pins)For junction cable to encoderFor junction cable to motor powerNumber11111TitleConnector Straight plugCa

Strany 99

188Options<Caution>For E and F-frame, you con make a front end and back end mounting by changing the mounting direction of L-shape bracket (atta

Strany 100 - How to Use the Console

189[Supplement]SupplementCBA(Mounting pitch)D6-1RSTNPXYZBCD2-1G4-HEG4-HEFig.1Fig.2DV0P220DV0P221DV0P222DV0P223DV0P224DV0P225DV0P226DV0P227DV0P228DV0P2

Strany 101 - SELECTION display

19[Before Using the Products]Before Usingthe ProductsX7X5X3BX3AX4SPIMGX6Terminal coverScrew for cover M3Screw for cover M3Display LED (2-digit)ID ad

Strany 102

190OptionsDV0P4282DV0P4283DV0P4284Part No.RF18BRF18BRF240RH450F255030SpecificationsActivationtemperature ofbuilt-in thermostatDV0P4280DV0P4281RF70MRF7

Strany 103 - How to Connect

191[Supplement]SupplementSurge absorber for motor brakeMotorManufacturerOkaya Electric Industries Co. Ltd.Nippon Chemi_Con Corp.Ishizuka Electronics C

Strany 104 - Log on of the "PANATERM

192Dimensions (Driver)A-frameMass 0.8kgConnector at driver side* Refer to P.188, "Mounting bracket for driver"of Options,  when you use th

Strany 105 - [Operation Setting]

193[Supplement]SupplementC-frameMass 1.5kgConnector at driver side* Refer to P.188, "Mounting bracket for driver"of Options,  when you use

Strany 106 - Overview of Operation Setting

194Dimensions (Driver)E-frameMass 3.2kgConnector at driver sideConnector signCNX7CNX6CNX5CNX4CNX3BCNX3AManufacturerMolex Inc.Molex Inc.Molex

Strany 107 - Step Operation

195[Supplement]SupplementDimensions (Motor)• MAMA 100W to 750WMAMA series (Ultra low inertia)012P1 * 012S1 * 022P1 * 022S1 * 042P1 * 042S1 * 082P1 * 0

Strany 108

196Dimensions (Motor)• MSMD 50W to 100WMSMD series (low inertia)5A * P1 * 5A * S1 * 01 * P1 * 01 * S1 *MSMD50W 100W258453038363226.53.41412.53h936.2M3

Strany 109

197[Supplement]Supplement• MSMD 200W to 750W02 * P1 * 02 * S1 * 04 * P1 * 04 * S1 * 08 * P1 * 08 * S1 *200W 400W 750W79115.5301170506036.5434.520184h9

Strany 110

198Dimensions (Motor)• MQMA 100W to 400W01 * P1 * 01 * S1 * 02 * P1 * 02 * S1 * 04 * P1 * 04 * S1 *100W 200W 400W608425870506037434.51412.53h936.2M3 x

Strany 111

199[Supplement]Supplement• MSMA 1.0kW to 2.0kWMSMA series (low inertia)10 * P1 * 10 * S1 * 15 * P1 * 15 * S1 * 20 * P1 * 20 * S1 *MSMA1.0kW 1.5kW 2.0k

Strany 112

2[Before Using the Products] pageSafety Precautions ... 8Maintenance and Inspection..

Strany 113

20<Note>For details of each model, refer to "Dimensions " (P.195 to P.209) of Supplement.Motore.g.) : Low inertia type (MSMD series, 5

Strany 114 - Homing Operation

200Dimensions (Motor)• MSMA 3.0kW to 5.0kW30 * P1 * 30 * S1 * 40 * P1 * 40 * S1 * 50 * P1 * 50 * S1 *3.0kW 4.0kW 5.0kW2172425522130/145 (slot)11012016

Strany 115

201[Supplement]Supplement• MDMA 1.0kW to 1.5kWMDMA series (Middle inertia)10 * P1 * 10 * S1 * 15 * P1 * 15 * S1 *MDMA1.0kW 1.5kW5522145110130165612841

Strany 116

202Dimensions (Motor)• MDMA 2.0kW to 3.0kW20 * P1 * 20 * S1 * 30 * P1 * 30 * S1 *2.0kW 3.0kW200225552214511013016561284118945418h971865241451101301656

Strany 117

203[Supplement]Supplement* Dimensions are subject to change without notice. Contact us or a dealer for the latest information. • MDMA 4.0kW to 5.0kWMD

Strany 118

204Dimensions (Motor)• MGMA 900W to 2.0kW* Dimensions are subject to change without notice. Contact us or a dealer for the latest information. MGMA se

Strany 119

205[Supplement]Supplement• MGMA 3.0kW to 4.5kWMGMA series (Middle inertia)30 * P1 * 30 * S1 * 45 * P1 * 45 * S1 *MGMA3.0kW 4.5kW222271222271300.5337.5

Strany 120

206Dimensions (Motor)• MFMA 400W to 1.5kWMFMA series (Middle inertia)04 * P1 * 04 * S1 * 15 * P1 * 15 * S1 *MFMA400W 1.5kW1201455519145110130165612841

Strany 121 - Limit Sensor

207[Supplement]Supplement• MFMA 2.5kW to 4.5kW25 * P1 * 25 * S1 * 45 * P1 * 45 * S1 *2.5kW 4.5kW13916665352352002202684168416413.5555010h9830703523520

Strany 122 - Direction of homing

208Dimensions (Motor)* Dimensions are subject to change without notice. Contact us or a dealer for the latest information. • MHMA 500W to 1.5kWMHMA se

Strany 123 - Data Set

209[Supplement]Supplement• MHMA 2.0kW to 5.0kWMHMA series (High inertia)20 * P1 * 20 * S1 * 30 * P1 * 30 * S1 * 40 * P1 * 40 * S1 * 50 * P1 * 50 * S1

Strany 124

21[Before Using the Products]Before Usingthe ProductsConnectorConsole bodyCableDisplay (7-segment LED)Touch panelDisplay LED (6-digit)All of LED wil

Strany 125

210Permissible Load at Output Shaft50W, 100W200W, 400W750W1kW1.5kW to 3.0kW4.0kW to 5.0kW100W200W, 400W1.0kW to 2.0kW3.0kW4.0kW5.0kW500W t

Strany 126 - Temporary Stop Operation

211[Supplement]資  料SupplementMotor Characteristics (S-T Characteristics)• Note that the motor characteristics may vary due to the existence of oil sea

Strany 127 - Block Operation

212Motor Characteristics (S-T Characteristics)MSMD series (50W to 100W)* These are subject to change. Contact us when you use these values for your

Strany 128

213[Supplement]資  料SupplementMSMD series (200W to 750W)* These are subject to change. Contact us when you use these values for your machine design.• M

Strany 129 - 16-bit positioning parameter

214Motor Characteristics (S-T Characteristics)• MSMA202 * 1 * Input voltage to driver: AC200V (Dotted line represents torque at 10% less voltage

Strany 130 - Sequential Operation

215[Supplement]資  料Supplement* These are subject to change. Contact us when you use these values for your machine design.• MDMA302 * 1 * Input volt

Strany 131

216Motor Characteristics (S-T Characteristics)* These are subject to change. Contact us when you use these values for your machine design.• MGMA202 *

Strany 132 - Timing Chart

217[Supplement]資  料SupplementMotor with Gear ReducerModel No. of Motor with Gear ReduceModel DesignationCombination of Driver and Motor with Gear Redu

Strany 133

218MSMD01 * P31NMSMD01 * P32NMSMD01 * P33NMSMD01 * P34NMSMD02 * P31NMSMD02 * P32NMSMD02 * P33NMSMD02 * P34NMSMD04 * P31NMSMD04 * P32NMSMD04 * P33NMSMD

Strany 134

219[Supplement]資  料SupplementTHBøLA4-LZ Depth LLCMoment of inertia is combined value of the motor and the gear reducer, and converted to that of the

Strany 135

22How to InstallA to D-frame e.g.) In case of C-frameFastening torque of earth screws (M4) to be 0.39 to 0.59N•m.Mounting bracket(optional parts)MADD

Strany 136 - –1 0 0 1 1 2

220Permissible Load at Output ShaftRemarks on installation(1) Do not hit the output shaft of the gear reducer when attaching a pulley or sprocket to i

Strany 137 - Close the cover

221[Supplement]資  料SupplementCharacteristics of Motor with Gear ReducerSupplyvoltageto driverReductionratio1/5MSMD011 * * 1N MSMD011 * * 2N MSMD011 *

Strany 138 - Absolute System

222L 1L 2L 3DC/DCL1CL2CRB1RB3X4X6UVWMRENP+Gate driveRS232+-++-A/DPositionSpeeddetectionVoltagedetectionSpeeddeviation amp.PWMcircuitRB2DL1DL2Fuse

Strany 139

223[Supplement]資  料SupplementL 1L 2L 3DC/DCrtPB1X4X6UVWMREX5NP+Gate driveAlarmsignalPointintputPusleoutputControlinput++-+-A/DPositionFuse(F-fram

Strany 140 - What Is Full-Closed Control ?

224Block Diagram by Control ModePosition Control Mode • when Pr02 (Setup of control mode) is 0PointcommandPositioncommandPositional deviation moni

Strany 141 - [Adjustment]

225[Supplement]資  料SupplementFull closed position deviation monitorActual speed monitorCommand speedmonitorPosition deviationmonitorFeedback pulses

Strany 142 - Gain Adjustment

226Specifications (Driver)Input power supplyOperationconditionsControl methodControl modeEncoder feedbackExternal scale feedbackControl signal

Strany 143

227[Supplement]資  料SupplementFunctionReal timeNormal modeHardware errorSoftware errorProtectionfunctionExternal scale division gradual increase

Strany 144 - How to Operate

228Default Parameters (for all the models of A4P Series)SV.Pr**000102030405060708090A0B0C0D0E0F101112131415161718191A1B1C

Strany 145

229[Supplement]資  料Supplement16.Pr**000102030405060708090A0B0C0D0E0F101112131415161718191A1B1C1D1E1F202122232425

Strany 146

23[Before Using the Products]Before Usingthe ProductsFan Fan100mm or more100mm or more40mm or more40mm or more10mmormore10mmormore10mmormore

Strany 148 - Normal Mode Auto-Gain Tuning

231Motor Company, Matsushita Electric Industrial Co.,Ltd.Marketeing GroupTokyo: Kyobashi MID Bldg, 2-13-10 Kyobashi, Chuo-ku, Tokyo 104-0031 TEL (03)3

Strany 149

After-Sale Service (Repair)RepairConsult to a dealer from whom you have purchased the product for details of repair.When the product is incorporated t

Strany 150

24How to InstallOil, waterCableMotorItemAmbient temperatureAmbient humidityStorage temperatureStorage humidityVibration Motor only Impact Mo

Strany 151

25[Before Using the Products]Before Usingthe ProductsMotorStress to Cables1) Avoid a stress application to the cable outlet and connecting portion by

Strany 152 - Manual Gain Tuning (Basic)

26<Cautions> • Do not give strong impact to the products. • Do not drop the products. • Do not pull the cables with excess force. • Avoid the pl

Strany 153

[Preparation]pageSystem Configuration and Wiring ...28Overall Wiring (Connecting Example of C-frame, 3-phase)... 28Overall

Strany 154

28System Configuration and WiringCircuit Breaker (NFB)Use the circuit breaker matching capacity of the power source to protect the power lines.Nois

Strany 155 - Gain Switching Function

29[Preparation]PreparationX5X3BX3AX4X6X7SPIMGPC (to be supplied by customer)Setup support software"PANATERM®"DV0P4460 Console (option)DV0

Strany 156

3List of Servo Parameter ...

Strany 157

30System Configuration and WiringOverall Wiring (Connecting Example of E-frame)Ground (earth)• Connection with input  power supply <Remarks>

Strany 158

31[Preparation]PreparationX7X5X3BX3AX4SPIMGX6Setup support software"PANATERM®"DV0P4460 Console (option)DV0P4420• Wiring to Connector, CN

Strany 159

32System Configuration and WiringDriver and List of Applicable Peripheral EquipmentsConnectionDriverApplicablemotorVoltageRatedoutputRequiredPower

Strany 160 - Instantaneous Speed Observer

33[Preparation]Preparation • Select a single and 3-phase common specifications according to the power source. • Manufacturer of circuit breaker and ma

Strany 161 - Damping Control

34System Configuration and WiringWiring of the Main Circuit (A to D-frame) • Wiring should be performed by a specialist or an authorized personnel. •

Strany 162

35[Preparation]PreparationIn Case of Single Phase, 100V (A and B-frame) In Case of Single Phase, 200V (A and B-frame)In Case of Single Phase, 200V (C

Strany 163 - [When in Trouble]

36System Configuration and WiringWiring of the Main Circuit (E and F-frame) • Wiring should be performed by a specialist or an authorized personnel. •

Strany 164 - When in Trouble

37[Preparation]PreparationABDCAHGCDEBIFCBAIHGFEDJL04V-2E20-4PE-B-RJL04HV-2E22-22PE-B-RJL04V-2E20-18PE-B-R JL04V-2E24-11PE-B-RIn Case of 3-Phase, 200V

Strany 165

38System Configuration and WiringWiring Diagram In case of 2500P/r incremental encoderWiring to the Connector, CN X6 (Connection to Encoder)Tips on Wi

Strany 166

39[Preparation]Preparation• MSMA 1kW to 5kW • MDMA 1kW to 5kW • MHMA500W to 5kW • MFMA 400W to 4.5kW• MGMA900W to 4.5kW• MSMD 50W t

Strany 167

4Timing Chart ... 132Operation Timing after Power-ON ...

Strany 168

40System Configuration and WiringCautions(1) Following external scale can be used for full-closed control.• AT500 series by Mitutoyo (Resolution 0.05[

Strany 169

41[Preparation]PreparationWiring to the Connector, CN X5 (Connection to Host Controller)• Tips on wiringController 3mor shorter30cm or longerCOM+GND1

Strany 170

42System Configuration and WiringDivider4.7kΩDriver side4.7kΩ( represents twisted pair.)OA+OA-OB+OB-OZ+OZ-GNDCZ111213102616149330Ω330Ω330Ω

Strany 171

43[Preparation]PreparationInterface CircuitInput CircuitOutput Circuit • Connect to contacts of switches and relays, or open collec-tor output transis

Strany 172 - Troubleshooting

44System Configuration and WiringList of Signal for Connector CN X5Common input signalsApplication Code FunctionConnectorpin No.Control signal power

Strany 173

45[Preparation]PreparationOperation instruction is specified by use of signal for point specifying input (P1IN to P32IN).See the table below for the

Strany 174

46System Configuration and WiringCommon output signals and their functionsApplication Code FunctionConnectorpin No.Application Code FunctionConnector

Strany 175 - [Supplement]

47[Preparation]Preparation<Note>• When the output source is the encoder• If the encoder resolution X is multiple of 4, Z-phas

Strany 176 - Installation Environment

48Setup with the Front PanelComposition of Touch Panel and DisplayDisplay LED (2 digits)In the case of an error, the alarm code will flash.In the ca

Strany 177

49[Preparation]PreparationOutput Signals (Analog) and Their FunctionsSpeed monitor signal outputSP• The content of the output signal varies

Strany 178 - Surge Absorber

[Supplement] pageConformity to EC Directives and UL Standards ... 176Options ...

Strany 179

50DriverSurge absorberRelays to be shut offat emergency stopMotorBrake coilBRK-OFF+3617RYCOM–VDCRY12 to 24VPower supply for brakeDC24VCN X5Fuse(5A

Strany 180

51[Preparation]Preparation4.944.114744.114719649021567801470215624502940784147029407842940147021561470294039.21371

Strany 181

52D BD BFree-runFree-runD BD BFree-runFree-runD BFree-runFree-runD BD BClearClearClearClearHoldHoldHoldHoldFree-runFree-runEmergency stopClearD

Strany 182 - Junction Cable for Encoder

53[Preparation]PreparationD BD BFree-runFree-runD BFree-runFree-runD BHoldHoldHoldHold0123Setup value of SV.Pr68Sequence at main Servo-OFF (SV.Pr

Strany 184 - MFMCA0**3FCT

55[Setting]pageParameter Setup...56Outline of Parameter ...

Strany 185 - 3) Table for wiring

56Parameter SetupOutline of ParameterThis driver is equipped with various parameters to set up its characteristics and functions. This sectiondescribe

Strany 186

57[Setting]Setting• Servo parameterGroup OutlineServoparameter No.Function selectionAdjustmentPosition ControlInput signalsSequence

Strany 187

58Parameter Setup01*0 to 15<1>7-segment LED status for console, initial condition displayYou can select the type of data to be displayed on th

Strany 188 - Part No. DV0P4420

59[Setting]SettingServoPrNo.SetuprangeTitle Function/ContentStandard default : < >08 0 to 12<0>Torque monitor (IM) selectionYou can set

Strany 190 - DV0P2990

60Parameter SetupStandard default : < >ServoPrNo.SetuprangeUnitTitle Function/Content13 0 to 5<0>*–1st speed detection filterYou can s

Strany 191 - Recommended components

61[Setting]SettingParameters for Auto-Gain TuningStandard default : < >ServoPrNo.SetuprangeUnitTitle Function/Content2E–200 to 2000<0>0

Strany 192 - Mass 1.1kg

62Parameter SetupStandard default : < >ServoPrNo.SetuprangeUnitTitle Function/Content21 0 to 7<1>–Real time auto tuning set upYou can

Strany 193 - Mass 1.7kg

63[Setting]Setting26 0 to 1000<10>0.1revolutionSoftware limit set upYou can set up the movable range of the motor against the position command

Strany 194 - Mass 6.0kg

64Parameter SetupStandard default : < >ServoPrNo.SetuprangeUnitTitle Function/Content340 to 20000<33>*–1st control switching hysteresi

Strany 195 - Dimensions (Motor)

65[Setting]SettingServoPrNo.SetuprangeTitle Function/ContentStandard default : < >44*45*1 to 32767<10000>0 to 32767<10000>

Strany 196 - MSMD series

66Parameter Setup4D*0 to 31<0>FIR filter set up You can set up the moving average times of the FIR filter covering the internal command pulse.

Strany 197 - MSMD 200W to 750W

67[Setting]Setting58 0 to 1<1>Point specifying input logic settingSet the logic of the point specifying inputs (P1IN to P32IN: CN X5 Pin 3, 4,

Strany 198

68Parameter SetupStandard default : < >ServoPrNo.SetuprangeUnitTitle Function/Content60 0 to 32767<131>PulseIn-position rangeYou can s

Strany 199 - MSMA 1.0kW to 2.0kW

69[Setting]SettingStandard default : < >ServoPrNo.SetuprangeUnitTitle Function/Content65 0 to 1<1>–Undervoltage error response at main

Strany 200

7[Before Using the Products]pageSafety Precautions ...8Maintenance and Inspection ...

Strany 201 - MDMA 1.0kW to 1.5kW

70Parameter SetupStandard default : < >ServoPrNo.SetuprangeUnitTitle Function/Content69 0 to 9<0>–Sequence at Servo-OFFYou can set up

Strany 202

71[Setting]SettingStandard default : < >ServoPrNo.SetuprangeUnitTitle Function/Content6C*0 to 3forA, B-frame<3>forC to F-frame<

Strany 203 - MDMA 4.0kW to 5.0kW

72Parameter SetupParameters for Full-Closed Control7B*(F)1 to 10000<100>16 x external scale pulseHybrid deviation error level• You can setup

Strany 204

73[Setting]SettingList of 16-bit Positioning ParametersParameters for Motor speedParameters for Acceleration and Deceleration00 0 to 6000<0>r/m

Strany 205 - MGMA 3.0kW to 4.5kW

74Parameter Setup160 to 10000<0>ms2nd decelerationSpecify deceleration when Deceleration Selection 2 has been selected.Specify a deceleration

Strany 206

75[Setting]Setting390 to 10000<0>msBumping detection timeSpecify home position recognition time for bumping homing.3A 0 to 100<0>%Torque

Strany 207 - MFMA 2.5kW to 4.5kW

76Parameter Setup45 0 to 1000<0>msSetting of S-shaped deceleration in jog operationSpecify S-shaped deceleration for a jog operation.Specify t

Strany 208

77[Setting]SettingList of 32-bit Positioning ParametersList of Step ParametersStepPrNo.Standard default : < >Setup rangePANATERM displayConsole

Strany 209 - MHMA 2.0kW to 5.0kW

78Parameter SetupModel No.FrameApplicable motorMax. value ofSV.Pr5E,5FModel No.FrameApplicable motor3003003003003003003003003003003003003

Strany 210

79[Setting]SettingCautions on Replacing the MotorAs stated above, torque limit setup range might change when you replace the combination of the motor

Strany 211

8Safety PrecautionsObserve the Following Instructions Without FailObserve the following precautions in order to avoid damages on the machinery and inj

Strany 212

80How to Use the ConsoleSetup with the ConsoleComposition of Display/Touch panelDisplay LED (6-digit)All of LED will flash when error occurs, and swi

Strany 213

81[Setting]SettingMode ChangeThe modes below are available in this console. To switch a mode, press once in the initial state to enter the

Strany 214

82How to Use the Console(Mode switch button)SET(button)Positional deviationMotor rotational speedTorque outputControl modeI/O signal stat

Strany 215

83[Setting]SettingDisplay of Position Deviation, Motor Rotational Speed and Torque OutputDisplay of Control Mode...Positional deviation (cumula

Strany 216

84How to Use the Console• Signal No. and its title000102030405060708090A0B0C0D0E0F101112131415161718191A1B1C1D1E1FSignal No.SRV-ONCWLCCWLEX-IN1EX-IN2Z

Strany 217 - Motor with Gear Reducer

85[Setting]SettingAlarm Display ...no alarm ...Alarm occurrence• Over-load alarm :  Turns on when the load reaches 85% or more of

Strany 218 - Rotary encoder lead wire

86How to Use the ConsolePress .Total sum of pulses after control power-ON. The display range is from –2147483647 to 2147483647.An overflow occu

Strany 219

87[Setting]SettingTeaching ModeOverview of Teaching ModeIn the teaching mode, you can operate the motor actually using this console, set a target posi

Strany 220

88How to Use the ConsoleWhen you keep on pressing + , the motor rotates continuously in a positive direction while pressing it.When you k

Strany 221

89[Setting]SettingTest Mode• Step operationAn operation is performed at a position of a selected point number.* Execute homing completely before perfo

Strany 222 - Voltage

9[Before Using the Products]Before Usingthe ProductsFailure to observe this in-struction could result in fire.Do not place the console close to a heat

Strany 223

90How to Use the Console• Jog operationThe motor can be operated by the jog operation.• HomingHoming is performed as follows...A current position is

Strany 224 - Block Diagram by Control Mode

91[Setting]SettingPress .Press .When you press once and twice in the initial LED state, the step parameter display shows

Strany 225 - Full-closed Control Mode

92How to Use the ConsoleStep ParameterStep parameter can be set.* An example to set in ST.Pr1 is shown below.Press .Press .Press .Pr

Strany 226 - Input power supply

93[Setting]Setting16-Bit Positioning Parameter16-bit positioning parameter can be set...16.Pr01...16.Pr00Selected 16.PrNo...16.Pr63<Notice&

Strany 227 - Operation modeAuto tuning

94How to Use the Console32-Bit Positioning Parameter32-bit positioning parameter can be set...32.Pr01...32.Pr00Selected 32.PrNo.* The data is sho

Strany 228 - • Servo parameter (SV.Pr)

95[Setting]SettingServo ParameterServo parameter can be set. For the details of parameter, refer to “Parameter Setup” on page 56.<Remarks>When

Strany 229

96How to Use the Console• When you change the parameters which contents become valid after resetting, will be  displayed after fin

Strany 230

97[Setting]SettingStarting from the initial LED status, press four time after pressing ,then brings the display of normal auto-gain tuni

Strany 231 - FAX (072)870-3151

98How to Use the ConsoleAuxiliary Function ModeThe console has two auxiliary functions.(1) Alarm ClearA protection function works and a motor stop (mo

Strany 232 - After-Sale Service (Repair)

99[Setting]SettingAlarm Clear ScreenProtective function will be activated and release the motor stall status (error status).Alarm clear starts.Clearin

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