Panasonic Power Supply IMC80A User Manual
Reference  
Page  
Outline of “PANATERM®”, Setup Support Software ..............................156  
Communications ...................................................................................158  
Description on Dividing/Multiplier Ratio ................................................178  
Conformance to EC Directives/UL Standards .......................................180  
Optional Parts .......................................................................................184  
Recommended Parts ............................................................................192  
Dimensional Outline Drawing................................................................193  
Allowable Load of Output Shaft ............................................................196  
Motor Characteristics (S-T Characteristics) ..........................................197  
Servo Motor with Gear ..........................................................................198  
Dimensional Outline Drawing of Motor with Gear .................................200  
Allowable Load of Output Shaft of Servo Motor with Gear ...................202  
Characteristics of Servo Motor with Gear (S-T Characteristics) ...........203  
Driver Internal Block Diagram ...............................................................204  
Control Block Diagram ..........................................................................205  
Specifications (Driver/Motor).................................................................206  
Hit-and-stop Initialization and Load Pressing Control ...........................207  
Index .....................................................................................................209  
Reference .............................................................................................214  
After-sale Service (Repair)........................................................ Back cover  
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[Reference]  
Starting PANATERM®  
<Cautions/Remarks>  
1. Once you have installed “PANATERM®” on the hard disk, you do not have to reinstall it every time you boot up.  
2. Before you start, connect the driver with the power supply, motor, and encoder. For the startup procedure, refer  
to the manual of the corresponding OS.  
Steps of Procedure  
(1) Power on your personal computer and start the corresponding OS.  
(2) Turn on the driver.  
(3) Click on Start button of the corresponding OS of the personal computer.  
(For the startup procedure, refer to the manual of the corresponding OS.)  
(4) Select PANATERM® in the program  
.
(5) After opening splash is displayed for 2 seconds, PANATERM® screen will appear.  
For any detailed information on operation/functions of “PANATERM®”, refer to the operating instructions of  
“PANATERM®”.  
* Windows®, Windows® 95, Windows® 98, Windows® NT, Windows® 2000, Windows® Me, Windows® XP are the  
trademarks of Microsoft Corporation in the United States.  
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Communications  
Outline of Communications  
With a personal computer or host NC connected with MINAS-E Series through RS232C-compliant serial  
communications, you can do the following:  
(1) Rewriting parameters  
(2) Browsing and clearing status and history of alarm data  
(3) Monitoring control status including status, I/O, etc.  
(4) Saving and Loading parameters  
Advantages  
• You can write parameters all at once from the host when starting the machine.  
• As you can display operating condition of the machine, serviceability will improve.  
Note that the following application programs for a personal computer and cables are available for use. For  
information of PANATERM®, refer to the instruction manual of PANATERM®.  
Name of Optional Components  
Model Name  
DV0P4230  
DV0P4240  
DV0P1960  
PANATERM Japanese version (WIN95/98/Me/NT4.0/2000/XP)  
PANATERM English version (WIN95/98/Me/NT4.0/2000/XP)  
Connection cable for personal computer (DOS/V)  
For the latest version, please contact us.  
158  
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[Reference]  
Communications Specification  
Connection of Communications Line  
MINAS-E Series has RS232C communications port. and is capable of communications between the host as follows:  
RS232C Communications  
In RS232C communications, a host and the driver are connected 1:1 and communicate with each other  
according to the RS232C transmission protocol.  
RS232C  
STATUS  
ALM CODE  
x
6
5
X6  
x
Host  
x
4
3
x
x1  
(ID)=1  
You can change settings of the module ID with Pr00. In particular, you may set the same module ID unless  
there is management problem on the host side.  
Interface of Communication Connector Unit  
Connection with a Host through RS232C  
MINAS-E  
Host  
RTS  
CTS  
RXD  
G
X6  
1
2
3
4
5
6
7
8
Equivalent to ADM202E  
TXD  
G
TXD  
DTR  
DSR  
FG  
RXD  
+5V  
+5V  
<Note>  
You must leave pins 1, 2, 6, 7 and 8 of X6 unconnected.  
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Communications  
Communications Method  
RS232C  
Full-duplex, asynchronous communication method  
Communications baud rate  
2400, 4800, 9600bps  
Data  
8 bit  
No  
Parity  
Start bit  
Stop bit  
1 bit  
1 bit  
Set RS232C communications baud rate with Pr0C. Any change to these parameters will be valid when you  
power on the control power supply. For detailed information, refer to list of parameters related to the following  
communications:  
List of User Parameters Related to Communications  
Parameter Name Range of Setting  
Functional Description  
PrNo.  
00  
Shaft name  
1 - 15  
0 - 2  
Refer to descriptions on parameters on pages 88 and 116.  
Set the communications speed of RS232C communications.  
Setting of baud rate for  
0 : 2400[bps]  
1 : 4800[bps]  
2 : 9600[bps]  
0C  
RS232C communications  
A change will be valid when you power on the control power supply.  
Time for data transmission is calculated with the following expression, for instance, in the case of 9600 [bps]:  
(1000/9600) x (1 + 8 + 1) = 1.04 [ms/byte]  
Stop bit  
Start bit  
Data  
When the baud rates of 2400 bps and 4800 [bps] are used, data transmission time will be 4.17 [ms/byte] and  
2.08 [ms/byte], respectively. Note, however, actual communication time will be added time necessary for  
processing received command, and necessary for switching between a line and transmission/reception control.  
Handshaking Code  
For line control, the following codes are used.  
Name  
Code  
05h  
04h  
06h  
15h  
Functions  
ENQ  
EOT  
ACK  
NAK  
Transmission request  
Ready for receiving  
Acknowledgement  
Negative acknowledgement  
ENQ …When the module has a block to transmit, it sends ENQ.  
EOT … When the module is ready to receive a block, it sends EOT. The line enters transmission mode when  
sending ENQ and receiving EOT. It enters reception mode when receiving ENQ and sending EOT.  
ACK … When a received block is judged normal, ACK is returned.  
NAK … When a received block is judged as abnormal, NAK is returned. A judgment is made based on  
checksum and timeout.  
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[Reference]  
Transmission Sequence  
Transmission Protocol  
RS232C  
Host  
MINAS-E  
(1) ENQ (05h)  
(2) EOT (04h)  
(3) Data Block  
STATUS  
ALM CODE  
x
x
6
5
Received  
Data  
(4) ACK (06h)  
(or NAK (15h))  
(5) ENQ (05h)  
(6) EOT (04h)  
(7) Data Block  
x
x
4
3
Transmitted  
x
1
Data  
(8) ACK (06h)  
(or NAK (15h))  
Line Control  
Direction of transmission and conflict are solved.  
Reception mode …The module enters reception mode after receiving ENQ and returning EOT.  
Transmission mode … The module enters transmission mode after sending ENQ and receiving EOT.  
When there occurs a conflict between the transmitting module and receiving module:  
When subsequent to transmission of ENQ, a slave receives ENQ while waiting for EOT, priority is given to  
ENQ sent from a maser, and the slave enters the reception mode.  
Transmission Control  
Entering transmission mode, a module transmits a command block continuously and then waits for reception  
of ACK. When the module receives ACK, transmission is complete. When the number of transferred  
command bytes is incorrect, ACK may not be returned. When ACK is not returned within T2 period, or when  
NAK or any code other than ACK is received, transmission retry will be executed. The retry will start with  
ENQ.  
Receiving Control  
Entering receiving mode, the module receives transmitted blocks continuously. It obtains the number of  
command bytes from the first byte, and receives as many command bytes as that number plus 3. When the  
sum of received data is zero, reception is considered successfully ended and ACK is returned. When  
abnormal checksum or timeout between characters occurs, NAK is sent.  
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Communications  
Configuration of Data Block  
A data block to be transmitted in physical phase is configured as illustrated below:  
1 byte  
N
axis  
mode  
command  
Parameter  
(N bytes)  
check sum  
N
: This is the number of command bytes (0 - 240),  
which indicates the number of parameters needed by a command.  
: This defines a module ID assigned to parameter No.00 axis name of the driver. (1 - 15)  
axis  
command : This is the control command (0 - 15).  
mode  
: This is the command execution mode (0 - 15),  
which differs depending on a command.  
check sum : This is 2’s complement of the total number of bytes, ranging from the first byte to the byte immedi-  
ately before the checksum byte.  
Protocol Parameter  
The following parameters can control transfer of a block. A user can set these parameters to any value with INIT  
command to be described later.  
Name  
T1  
Function  
Initial Value  
Range of Settings  
1 - 255  
Unit  
0.1 second  
1 second  
once  
Timeout between character transmissions 5 (0.5 second)  
T2  
Protocol time limit  
Retry limit  
10 (10 seconds)  
1 (once)  
1 - 255  
RTY  
M/S  
1 - 8  
Master/slave  
0 (slave)  
0, 1(master)  
T1 .... • This is allowable time between module identification byte and ENQ/EOT, or time from reception of a  
character code by this device to that of a next character code in a transmission/reception data block.  
When this specified time is exceeded, timeout error occurs and NAK is returned to the transmitting  
module.  
T2 .... • This is allowable time after this device transmits ENQ till it receives EOT. When this specified time is  
exceeded, it means that the receiving module is not ready to receive data or fails to receive ENQ code  
for some reason. In this case, ENQ code will be resent to the receiving module (number of retries).  
• This is allowable time after EOT is sent out till a first character is received. When this specified time is  
exceeded, NAK is returned and the receiving mode ends.  
• This is allowable time after checksum byte is sent out till ACK is received. When this specified time is  
exceeded, ENQ code is resent to the receiving module, as in the case of reception of NAK.  
RTY .....This shows the maximum number of retries. When this specified value is exceeded, transmission error  
occurs.  
M/S..... This shows switching of a master/slave. When conflict of ENQ transmission occurs, this parameter  
determines to which priority is given. (0=slave mode, 1=master mode) Transmission of the module  
defined as a master should take precedence.  
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[Reference]  
Example of Data Communication  
Example of Changing Parameters  
The following illustrates time-series communications data flow when a change is made to a parameter.  
Communications should be conducted in the sequence of outline, (1) individual writing of parameters and (2) writing  
to EEPROM if storage is needed. In this example of hardware connection, the device is directly connected with a  
host through RS232C communications with user ID=1. Data is represented in hexadecimals.  
(1) Individual Writing of Parameters  
Host  
05  
03  
01  
18  
0B  
00  
00  
D9  
(ENQ)  
04  
06  
MINAS-E(1)  
(EOT)  
(ACK)  
(2) Writing of Parameters to EEPROM  
Host  
04  
06  
05  
00  
01  
48  
(EOT)  
(ACK) (ENQ)  
05  
01  
01  
18  
00  
E6  
04  
MINAS-E(1)  
(ENQ)  
(EOT)  
Host  
B7  
04  
06  
(EOT)  
(ACK)  
06  
05  
01  
01  
48  
00  
B6  
MINAS-E(1)  
(ACK) (ENQ)  
(Note) For details of commands, refer to “List of Communications Commands” on Page 166.  
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Communications  
State Transition Diagram  
RS232C Communications  
EOT is received.  
Transmitting Module  
Waiting for EOT  
Size  
Number of command  
bytes + 3  
T2 stop  
One character is received.  
Size Number of command  
bytes - 1  
ENQ is received and in slave  
mode.  
Transmission of block  
ENQ is returned to receiving  
buffer (To reception  
processing)  
T2 timeout  
There are requests  
for transmission  
(within the number  
of retries).  
Size becomes zero.  
T2 START  
The number of retries  
is counted once.  
T2 stop  
Transmission buffer is  
cleared.  
ENQ transmission  
and T2 start.  
There are requests for  
transmission but the number of  
retries is exceeded.  
Waiting for ACK/NAK  
NAK is received or T2  
times out.  
ACK is received.  
The number of retries is to be  
reset once. A request for  
transmission is cleared.  
The number of retries  
is reset.  
T2 stop  
The request for  
transmission is cleared.  
The number of retries is  
counted once.  
T2 STOP  
Transmission buffer is  
cleared.  
Idling  
T2 timeout  
T1 times out or checksum  
error occurs when size  
becomes 0.  
Reception is successful  
(checksum is OK when size  
becomes 0).  
ENQ  
NAK is transmitted.  
T2 stop  
EOT is  
transmitted.  
T2 start  
NAK is transmitted.  
T1 stop  
ACK is transmitted.  
T1 stop  
Waiting for the number  
of command bytes  
Receiving  
Remaining blocks  
The number of command bytes is  
received.  
One character is received.  
Size  
Sum  
T1 start  
Number of command bytes -1  
Sum + received characters  
Size  
Sum  
T1 start, T2 stop  
Number of command bytes +3  
Number of command bytes  
Receiving module  
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[Reference]  
Communications Timing  
RS232C Communications  
T3  
T4  
T3  
T5  
T4  
Host Driver  
Request for transmission  
Data block  
Driver Host  
Permission to transmit  
ACK/NAK  
T3  
T5  
T3  
T4  
T5  
Host Driver  
Driver Host  
Permission to transmit  
ACK/NAK  
Request for transmission  
Data block  
Code  
T3  
Name  
Minimum  
Maximum  
Continuous inter-character time  
Driver response time  
Stop bit length  
4ms  
Protocol parameter T1  
Protocol parameter T2  
Protocol parameter T2  
T4  
T5  
Host response time  
2ms  
<Caution>  
The time represents a period of time from stop bit rising edge.  
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Communications  
List of Communications Commands  
command  
Description  
mode  
NOP  
Readout of CPU version  
1
5
6
0
Readout of the driver model name  
Readout of the motor model name  
INIT  
1
2
Setting of protocol parameters  
POS, STATUS, I/O  
Readout of status  
Readout of the command pulse counter  
Readout of the feedback pulse counter  
Readout of current speed  
Readout of current torque output  
Readout of the current deviation counter  
Readout of input signal  
1
0
1
2
4
5
6
7
8
9
A
Readout of output signal  
Readout of current speed/torque/deviation counter  
Readout of status/input signal/output signal  
PARAMETER  
Individual readout of parameters  
Individual writing of parameters  
Writing of parameters to EEPROM  
ALARM  
Readout of current alarm data  
Individual readout of alarm history  
Batch readout of alarm history  
Alarm history clear (also on EEPROM)  
Alarm clear  
0
1
4
8
9
0
1
2
3
4
PARAMETER  
Individual readout of user parameters  
Page readout of user parameters  
Page writing of user parameters  
0
1
2
B
<Note>  
Be sure to use the above commands only. We could not guarantee proper operation of the driver when you  
transmit a command not listed above.  
Details on Communications Commands  
command  
0
mode  
1
Readout of CPU version information  
Received data  
Transmitted data  
1
0
axis  
3
axis  
1
0
0
checksum  
Version (high order)  
(low order)  
Error code  
checksum  
Error code  
bit7  
0 : Normal  
1 : Error  
6
5
4
3
2
1
0
Command error  
For version information, Ver.  
is divided into high order data and low order data and sent back. (The decimal point  
returns low-order 4 bits of the high order data as "0".)  
A version is expressed by digits of 0 to 9 (Example: Ver.3.13 is composed of high order data 30h and low order data 13h).  
This indicates the CPU version.  
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[Reference]  
command  
0
mode  
5
Readout of the driver model name  
Received data  
Transmitted data  
0
axis  
0Dh  
axis  
5
0
5
0
checksum  
Driver Model Name (high order)  
Driver Model Name (low order)  
Error code  
checksum  
Error code  
bit7  
0 : Normal  
1 : Error  
6
5
4
3
2
1
0
Command error  
The driver model name is 12 characters and transmitted by ASCII code.  
ex. "MKDET1505  
"
command  
0
mode  
6
Readout of the motor model name  
Received data  
Transmitted data  
0
axis  
0Dh  
axis  
6
0
6
0
checksum  
Motor Model Name (high order)  
Motor Model Name (low order)  
Error code  
checksum  
Error code  
bit7  
0 : Normal  
1 : Error  
6
5
4
3
2
1
0
Command error  
The motor model name is 12 characters and transmitted by ASCII code.  
ex. "MUMA012P1  
"
command  
1
mode  
1
Setting of RS232C protocol parameters  
Received data  
Transmitted data  
3
1
axis  
axis  
1
1
1
1
T1  
T2  
Error code  
checksum  
M/S  
RTY  
checksum  
Error code  
bit7  
0 : Normal  
1 : Error  
6
5
4
3
2
1
0
Command error  
RTY error  
T2 error  
T1 error  
M/S error  
Setting of the previous protocol parameters remains valid until execution of this command completes. The updated parameter setting will be  
valid from a next command after execution of this command.  
M/S=0 indicates "SLAVE" mode, while M/S=1 indicates "MASTER".  
The RTY code is 4 bit and M/S is 1 bit.  
Unit of T1 and T2 are 0.1 second and 1 second, respectively.  
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Communications  
command  
2
mode  
0
Readout of status  
Received data  
Transmitted data  
0
3
axis  
axis  
0
2
0
2
checksum  
Control mode  
Status  
Error code  
checksum  
Status  
bit7  
6
6
5
4
3
3
2
2
1
0
CCW  
CW  
CCW  
CW  
rotating  
Less than DB  
permission speed limited  
Torque being  
Torque being output Torque being output rotating  
Error code  
bit7  
0 : Normal  
1 : Error  
5
4
1 0  
Command error  
The control modes are defined as follows:  
0
1
2
High speed response positioning control mode  
Internal velocity control mode  
High function positioning control  
command  
2
mode  
1
Readout of the command pulse counter  
Received data  
Transmitted data  
0
5
axis  
axis  
1
2
1
2
checksum  
Counter value L  
H
Error code  
checksum  
Error code  
bit7  
0 : Normal  
1 : Error  
6
5
4
3
2
1
0
Command error  
A current command position is expressed by absolute coordinates from the start-up time. (Cumulative sum of the number of  
command pulses)  
The counter value is 32 bits.  
For the counter value, "-" indicates CW and "+" indicates CCW.  
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[Reference]  
command  
2
mode  
2
Readout of the feedback pulse counter  
Received data  
Transmitted data  
0
5
axis  
axis  
2
2
2
2
checksum  
Counter value  
L
H
Error code  
checksum  
Error code  
bit7  
0 : Normal  
1 : Error  
6
5
4
3
2
1
0
Command error  
A current position of the feedback pulse counter is expressed by absolute coordinates from the start-up time.  
For the counter value, "-" indicates CW and "+" indicates CCW.  
The feedback pulse counter indicates a cumulative sum of pulses of the position detector, which corresponds to a position of  
the motor that really moves.  
command  
2
mode  
4
Readout of current speed  
Received data  
Transmitted data  
0
3
axis  
axis  
4
2
4
2
checksum  
Data (current speed)  
L
H
Error code  
checksum  
Error code  
bit7  
0 : Normal  
1 : Error  
6
5
4
3
2
1
0
Command error  
This command is used to read current speed (unit [r/min]).  
An output value is 16 bits.  
For the counter value, "-" indicates CW and "+" indicates CCW.  
command  
2
mode  
5
Readout of current torque output  
Received data  
Transmitted data  
0
3
axis  
axis  
5
2
5
2
checksum  
Data (torque)  
L
H
Error code  
checksum  
Error code  
bit7  
0 : Normal  
1 : Error  
6
5
4
3
2
1
0
Command error  
This command is used to read current torque output (unit: to be converted as rated torque = 2000).  
An output value is 16 bits.  
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Communications  
command  
2
mode  
6
Readout of the current deviation counter  
Received data  
Transmitted data  
0
5
axis  
axis  
6
2
6
2
checksum  
Data (deviation)  
L
H
Error code  
checksum  
Error code  
bit7  
0 : Normal  
1 : Error  
6
5
4
3
2
1
0
Command error  
This command is used to read a current value of the deviation counter. (unit [pulse])  
An output value is 32 bits.  
"+" indicates that the encoder is in CW direction and "-" indicates that the encoder is in CCW direction relative to the position  
command.  
command  
2
mode  
7
Readout of input signal  
Received data  
Transmitted data  
0
5
axis  
axis  
7
2
7
2
checksum  
Data  
L
Data  
H
Error code  
checksum  
Error code  
bit7  
0 : Normal  
1 : Error  
6
6
5
4
3
3
2
2
1
1
0
0
Command error  
Data  
bit7  
5
4
Reserved  
Command dividing/ Zero speed  
multiplier switching clamp  
Control mode  
switching  
CCW overtravel CCW overtravel Alarm cleared  
inhibited inhibited  
Servo-ON  
bit15  
14  
13  
12  
11  
10  
9
8
Reserved  
Reserved  
Internal velocity  
Internal velocity  
Reserved  
Counter cleared Gain switching  
Reserved  
command selection 2 command selection 1  
bit23  
22  
21  
20  
19  
18  
17  
16  
Reserved  
Reserved  
Reserved  
Reserved  
Reserved  
Reserved  
Reserved  
Reserved  
bit31  
31  
29  
28  
27  
26  
25  
24  
Reserved  
Reserved  
Reserved  
Reserved  
Reserved  
Reserved  
Reserved  
Reserved  
For "CW overtravel inhibited", "CCW overtravel inhibited" and speed zero clamp, "1" indicates the open status.  
For other input signals, "0" indicates the open status.  
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[Reference]  
command  
2
mode  
8
Readout of output signal  
Received data  
Transmitted data  
0
7
axis  
axis  
8
2
8
2
checksum  
Data  
Data  
L
H
Warning data  
Warning data  
L
H
bit7 Overload  
bit5 Over-regeneration  
bit0 Battery  
Error code  
checksum  
Error code  
bit7  
0 : Normal  
1 : Error  
6
5
4
3
3
2
2
1
0
0
Command error  
Data  
bit7  
Reserved  
6
5
Torque being  
limited  
4
Zero speed  
detected  
1
Reserved  
Electromagnetic Positioning  
brake released  
Servo alarm  
Servo ready  
completed  
bit15  
14  
13  
12  
11  
10  
9
8
Reserved  
Reserved  
Dynamic brake  
activated  
Reserved  
Reserved  
Reserved  
Speed achieved Reserved  
bit23  
22  
21  
20  
19  
18  
17  
16  
Reserved  
Reserved  
Reserved  
Reserved  
Reserved  
Reserved  
Reserved  
Reserved  
bit31  
31  
29  
28  
27  
26  
25  
24  
Reserved  
Reserved  
Reserved  
Reserved  
Reserved  
Reserved  
Reserved  
Reserved  
The following table shows the relation between each signal and operation.  
Signal  
Servo ready  
0
1
not Ready  
Servo ready  
Servo alarm  
Normal condition  
Abnormal condition  
In positioning completed  
Electromagnetic brake released  
Zero speed detected  
Torque being limited  
Achieved speed  
Positioning not completed  
Electromagnetic brake running  
Zero speed not detected  
Torque not being limited  
Not achieved speed  
Dynamic brake released  
Positioning being completed  
Electromagnetic brake released  
Zero speed detected  
Torque being limited  
Speed being achieved  
Dynamic brake being activated  
Dynamic brake activated  
command  
mode  
9
Readout of current speed/torque/deviation counter  
2
Received data  
Transmitted data  
9
0
axis  
axis  
9
2
9
2
Data  
(Speed) H  
Data  
(Torque) H  
Data  
L
checksum  
L
L
(Deviation) H  
Error code  
checksum  
Error code  
bit7  
0 : Normal  
1 : Error  
6
5
4
3
2
1
0
Command error  
The speed and torque output values are 16 bits and deviation output value is 32 bits.  
The unit and sign of output data are same for command Nos. 24, 25, and 26.  
171  
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Communications  
command  
2
mode  
A
Readout of status/input signal/output signal  
Received data  
Transmitted data  
0
axis  
0Dh  
axis  
A
2
A
2
checksum  
Control mode  
Status  
Input signal  
L
Input signal  
H
Output signal L  
Output signal H  
Warning data L  
Warning data H  
Error code  
checksum  
Error code  
bit7  
0 : Normal  
1 : Error  
6
5
4
3
2
1
0
Command error  
Meanings of each bit for control mode, status, input signal, output signal, and warning data are same as those of command  
No.20 (command=2, mode=0), 27 (mode=7), and 28 (mode=8).  
172  
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[Reference]  
command  
8
mode  
0
Individual readout of parameters  
Received data  
Transmitted data  
1
3
axis  
axis  
0
8
0
8
Parameter No.  
checksum  
Parameter value  
L
H
Error code  
checksum  
Error code  
bit7  
0 : Normal  
1 : Error  
6
5
4
3
2
1
0
Command error  
No. error  
command  
8
mode  
1
Individual writing of parameters  
Received data  
Transmitted data  
3
1
axis  
axis  
1
8
1
8
Parameter No.  
Parameter value  
Error code  
checksum  
L
H
checksum  
Error code  
bit7  
0 : Normal  
1 : Error  
6
5
4
3
2
1
0
Data error  
Command error  
No. error  
This command just changes a parameter temporarily. If you wish to write to EEPROM, execute writing to EEPROM of  
parameter (mode=4)  
Be sure to set 0 to unused parameters. Otherwise, data error will occur.  
command  
8
mode  
4
Writing of parameters to EEPROM  
Received data  
Transmitted data  
0
1
axis  
axis  
4
8
4
8
checksum  
Error code  
checksum  
Error code  
bit7  
0 : Normal  
1 : Error  
6
5
4
3
2
1
0
Data error  
Command error  
Control LV  
This command is used to write a set parameters to EEPROM.  
Transmission data will be returned after completion of EEPROM writing.  
Writing to EEPROM may take approx. 5 seconds max. (if all parameters are changed).  
When writing of parameters fails, data error will occur.  
When control power supply LV is detected, control LV of error code will be returned, and parameter writing will be disabled.  
173  
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Communications  
command  
9
mode  
0
Readout of current alarm data  
Received data  
Transmitted data  
0
2
axis  
axis  
0
9
0
1
2
9
9
9
checksum  
Alarm No.  
Error code  
checksum  
Error code  
bit7  
0 : Normal  
1 : Error  
6
5
4
3
2
2
2
1
0
0
0
Command error  
Alarm No. is 0 when no alarm is generated.  
(Refer to “Details of Protective Function” on Page 145.)  
command  
9
mode  
1
Individual readout of alarm history  
Received data  
Transmitted data  
1
axis  
3
axis  
1
9
History No.  
checksum  
History No.  
Alarm No.  
Error code  
checksum  
Error code  
bit7  
0 : Normal  
1 : Error  
6
5
4
3
1
Command error  
No. error  
History No.1 to No.14 indicate the 1st to 14th previous alarm history, respectively.  
command  
9
mode  
2
Batch readout of alarm history  
Received data  
Transmitted data  
0
axis  
0Fh  
axis  
2
9
checksum  
1st previous  
2nd previous  
Alarm No.  
Alarm No.  
~
Alarm No.  
Error code  
checksum  
14th previous  
Error code  
bit7  
0 : Normal  
1 : Error  
6
5
4
3
1
Command error  
The command is used to read 14 previous alarm events.  
174  
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[Reference]  
command  
9
mode  
3
Alarm history clear  
Received data  
Transmitted data  
0
1
axis  
axis  
3
9
3
9
checksum  
Error code  
checksum  
Error code  
bit7  
0 : Normal  
1 : Error  
6
5
4
3
2
1
0
Data error  
Command error  
Control LV  
The command clears history of alarm data.  
When the command fails to clear, data error occurs.  
When control power supply LV is detected, control LV of error code will be returned, and parameter writing will be disabled.  
command  
9
mode  
4
Alarm clear  
Received data  
Transmitted data  
0
1
axis  
axis  
4
9
4
9
checksum  
Error code  
checksum  
Error code  
bit7  
0 : Normal  
1 : Error  
6
5
4
3
2
1
0
Command error  
This command clears the current alarm (only applicable to alarms that can be cleared).  
175  
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Communications  
command  
B
mode  
0
Individual readout of user parameters  
Received data  
Transmitted data  
1
9
axis  
axis  
0
B
0
B
Parameter No.  
checksum  
Parameter value  
L
H
MIN value  
L
H
MAX value L  
H
Attribute  
L
H
Error code  
checksum  
Attribute  
bit7  
Unused  
6
5
4
3
2
1
0
8
Display inhibited For privileged  
users  
To be changed at System related  
initialization  
parameter  
bit15  
14  
6
13  
12  
4
11  
10  
9
Read only  
Error code  
bit7  
0 : Normal  
1 : Error  
5
3
2
1
0
Command error  
No. error  
command  
B
mode  
1
Page readout of user parameters  
Received data  
Transmitted data  
1
axis  
82h  
axis  
1
B
1
B
Page No.  
checksum  
Page No.  
Parameter value  
(No.0)  
L
H
MIN value  
(No.0)  
L
H
MAX value L  
(No.0)  
H
Attribute  
(No.0)  
L
H
Parameter value  
(No.0fh)  
L
H
MIN value  
(No.0fh)  
L
H
MAX value L  
(No.0fh)  
Attribute  
(No.0fh)  
H
L
H
Error code  
checksum  
Attribute  
bit7  
Unused  
parameter  
6
5
4
3
2
1
0
Display inhibited For privileged  
users  
To be changed at System related  
initialization  
bit15  
14  
13  
12  
4
11  
10  
9
8
Read only  
Error code  
bit7  
0 : Normal  
1 : Error  
6
5
3
2
1
0
Data error  
Command error  
No. error  
A page number is designated from 0 to 7, and 16 parameters are read from each page designation.  
176  
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[Reference]  
command  
B
mode  
2
Page writing of user parameters  
Received data  
Transmitted data  
21h  
axis  
2
axis  
2
B
2
B
Page No.  
Parameter  
(No.0 value) H  
Parameter value  
(No.1 value)  
~
Page No.  
Error code  
checksum  
L
L
H
Parameter value  
(No.0fh value)  
checksum  
L
H
Error code  
bit7  
0 : Normal  
1 : Error  
6
5
4
3
2
1
0
Data error  
Command error  
No. error  
The command writes 16 parameters at once.  
Be sure to set 0 to unused parameters. Otherwise, data error will occur.  
177  
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Description on Dividing/Multiplier Ratio  
Relation between Positional Resolution/Moving Speed and Command Dividing Multiplier Ratio  
Servo driver  
Command dividing multiplier ratio  
Rotation speed: N [r/min]  
Pulse row position  
Pr4A  
command  
Pr46 x 2  
Pr4B  
Servo  
motor  
Gear  
D =  
Machine  
Distance: P1 [P]  
Reduction ratio: R  
Traveling speed: F [PPS]  
Encoder  
Number of encoder pulses E [P/r]  
10000 = (phase A/B 2500 [P/r] x 4)  
Example of driving ball screw using the servo motor  
As an example of a machine, we describe a ball screw driving system below:  
When lead of a ball screw is L [mm], actual distance of a ball screw M [mm] with respect to the distance command  
PI [P] is expressed with formula (1) below:  
M = P1 x (D/E) x (1/R) x L................................. (1)  
Therefore, position resolution (distance DM per command pulse) is expressed by the following formula (2):  
∆M = (D/E) x (1/R) x L ....................................... (2)  
Through transformation of formula (2), a command dividing multiplier ratio D is determined by the formula (3):  
D = (∆M x E x R)/L ............................................ (3)  
In addition, actual traveling speed V [mm/s] of a ball screw with respect to traveling speed command F [PPS] is  
expressed by formula (4), and the corresponding motor rotation speed N is determined by formula (5):  
V = F x (D/E) x (1/R) x L ................................... (4)  
N = F x (D/E) x 60 ............................................. (5)  
Through transformation of formula (5), a command dividing multiplier ratio D is determined by the formula (6):  
D = (N x E)/(F x 60) ........................................... (6)  
<Remarks>  
1. Set the positional resolution (∆M) at approx. 1/5 to 1/10 of the positioning accuracy (∆ε), in view of mechanical  
errors.  
2. Set a value from 1 to 10000 to Pr46 and Pr4B.  
3. You can set any value depending on numerator and denominator settings. However, if you specify an extreme  
dividing/multiplier ratio, we cannot guarantee proper operation of the motor. We recommend that you set the  
dividing/multiplier ratio in the range of 1/50 to 20 times.  
4.  
2n  
20  
Decimal  
1
21  
2
22  
4
23  
8
24  
16  
25  
32  
26  
64  
27  
28  
29  
128  
256  
512  
1024  
2048  
4096  
8192  
16384  
32768  
65536  
131072  
210  
211  
212  
213  
214  
215  
216  
217  
178  
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[Reference]  
Pr4A  
Command dividing  
multiplier ratio  
∆M x E x R  
Pr46 x 2  
Example  
D =  
... Formula (3) D =  
L
Pr4B  
Determine  
Lead of ball screw L = 10mm  
Reduction ratio R=1  
Position resolution  
∆M = 0.005mm  
For the encoder of 2500 P/r  
(E=10000P/r)  
parameters Pr46,  
Pr4A and Pr4B so  
that D=5. Consider  
the following:  
Pr46 = 10000  
Pr4A = 0  
0.005 x 10000 x 1  
10  
D =  
= 5  
1
Pr4B = 2000  
10000 x 20  
D =  
2000  
Lead of ball screw L = 20mm  
Reduction ratio R=1  
Position resolution  
∆M = 0.005mm  
For the encoder of 2500 P/r  
(E=10000P/r)  
D<1 is not  
D = 1 is a condition  
of minimum  
resolution.  
0.0005 x 10000 x 1  
20  
appropriate to  
determination of  
the accuracy.  
D =  
2
= 0.25  
D
Motor rotation speed (r/min)  
N = F x  
x 60  
... Formula (5)  
Example  
E
0.005 x 10000 x 1  
D =  
= 25  
... Formula (3)  
... Formula (5)  
x 60  
Lead of ball screw L= 20mm  
Reduction ratio R=1  
Position resolution  
∆M = 0.005mm  
Line driver pulse input  
500 kpps  
20  
2.5  
10000  
N = 500000 x  
= 7500  
For the encoder of 2500 P/r  
Thus, motor specification is not met.  
Pr4A  
N x E  
Pr46 x 2  
Command dividing  
multiplier ratio  
D =  
D =  
... Formula (6)  
F x 60  
Pr4B  
Determine  
parameters Pr46,  
Pr4A and Pr4B so  
that D=1. Consider  
the following:  
Pr46 = 10000  
Pr4A = 0  
Pr4B = 10000  
3000 x 10000  
500000 x 60  
To make motor rotation speed  
3000 r/min under the same  
condition as above, with lead of  
ball screw of L = 20 mm and the  
line driver pulse input of 500 kpps.  
D =  
= 1  
10000 x 20  
D =  
10000  
Then, distance per command pulse (mm) is as follows:  
(position resolution)  
D
E
1
R
1
1
1
∆M =  
x
x L =  
x
x 20 = 0.002mm  
10000  
179  
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Conformance to EC Directives/UL Standards  
EC Directives  
The EC Directives apply to all such electronic products as those having specific functions and directly sold to  
general consumers in EU countries. These products are required to meet the EU unified standards and to be  
furnished with CE Marking.  
However, our AC servo meet the EC Directives for Low Voltage Equipment so that the machine or equipment  
comprising our AC servo can meet relevant EC Directives.  
EMC Directives  
Our servo systems can meet EMC Directives and related standards. However, to meet these requirements, the  
systems must be limited with respect to configuration and other aspects, e g. the distance between the servo driver  
and motor is restricted, and some special wiring conditions must be met. This means that in some cases machines  
and equipment comprising our servo systems may not satisfy the requirements for wiring and grounding conditions  
specified by the EMC Directives. Therefore, conformance to the EMC Directives (especially the requirements for  
emission noise and noise terminal voltage) should be examined based on the final products that include our servo  
drivers and servo motors.  
Applicable Standards  
Subject  
Motor  
Applicable standard  
IEC60034-1  
EN50178  
Standards referenced  
by Low-Voltage  
Directives  
Motor and  
driver  
EN55011  
Radio Disturbance Characteristics of Industrial, Scientific  
and Medical (ISM) Radio Frequency Equipment  
EN61000-6-2  
General standards for immunity in industrial environment  
IEC61000-4-2 Electrostatic Discharge Immunity Test  
Standards  
referenced by  
EMC Directives  
IEC61000-4-3 Radio Frequency Electromagnetic Field Immunity Test  
IEC61000-4-4 Electric High-Speed Transition Phenomenon - Burst Immunity  
Test  
IEC61000-4-5 Lightning Surge Immunity Test  
IEC61000-4-6 High Frequency Conduction Immunity Test  
IEC61000-4-11 Instantaneous Outage - Immunity Test  
IEC: International Electrotechnical Commission  
EN: Europaischen Normen  
EMC: Electromagnetic Compatibility  
180  
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[Reference]  
Peripheral Equipment  
Environment  
The servo driver should be used under Contamination Level 2 or 1 specified by IEC60664-1 (housing the driver in  
an IP54 control box).  
Control box  
Controller  
Power supply for  
insulated type  
interface  
CN X5  
AC servo  
Insulating  
transformer  
driver  
Noise filter for  
signal lines  
Noise filter for  
signal lines  
CN X1  
Power  
AC servo  
driver  
L1  
L2  
L3  
CN  
X3  
Circuit  
breaker  
Leakage  
breaker(RCD)  
Noise filter  
U
V
W
E
M
RE  
Surge  
absorber  
CN X4  
Protective earth (PE)  
Power  
+ 10%  
- 15 %  
+ 10%  
- 15 %  
+ 10%  
- 15 %  
+ 10%  
Single-phase 100V: Single-phase 100V  
Single-phase 200V: Single-phase 200V  
Three-phase 200V: Three-phase 200V  
to 115V  
to 240V  
to 240V  
50/60Hz  
50/60Hz  
50/60Hz  
- 15 %  
+ 10%  
- 15 %  
+ 10%  
- 15 %  
(1) Use under the environment of Over-voltage Category II specified by IEC60664-1  
In order to realize the environment of overvoltage category II, install in the power supply input unit an insulating  
transformer that is compliant with ICE or EN standard (EN 60742).  
(2) The power for interface should be marked CE or appropriate EN Standard type (EN60950), 12VDC to 24VDC,  
insulated.  
Circuit Breaker  
Install a circuit breaker between the power supply and noise filter. The circuit breaker should be IEC Standard and  
UL listed  
marked.  
181  
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Conformance to EC Directives/UL Standards  
Noise Filter  
When, one set of noise filters is installed in the power unit with two or more drivers, be sure to consult with the noise  
filter manufacturer.  
Option Part No. Manufacturer’s part No.  
Manufacturer  
Okaya Electric  
DV0P4160  
3SUP-HU10-ER-6  
Industries Co., Ltd.  
Surge Absorber  
Install the surge absorber on the primary line of the noise filter.  
<Note>  
When conducting voltage-resistant test on the machine/equipment, remove the surge absorber.  
Otherwise the absorber may be damaged.  
Option Part No. Manufacturer’s part No.  
Manufacturer  
Okaya Electric  
DV0P1450  
R•A•V-781BXZ-4  
Industries Co., Ltd.  
Circuit diagram  
182  
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[Reference]  
Noise Filter for Signal cables  
Provide all the cables (power supply cable, motor cable, encoder cable, interface cable) with the noise filter for  
signal cable.  
Option Part No. Manufacturer’s part No.  
Manufacturer  
TDK Co., Ltd.  
DV0P1460  
ZCAT3035-1330  
Weight: 62.8 g  
Grounding  
(1) Don’t fail to connect the servo driver protective earth terminal ( ) and the protective earth plate of the control  
panel together.  
(2) When connecting to the protective earth terminal ( ), avoid co-clamping. Two protective earth terminals are  
provided.  
Leakage Breaker  
Connect Type-B leakage breaker (RCD) to the primary power supply of the servo driver.  
Driver and Peripheral Devices Applied Thereto (EC Directives)  
For the detail refer to “System Configuration and Wiring“, Page 26.  
Install the noise filters in reference to DV0P4160 (page 182).  
Conformance to UL Standards  
The noise filters conform to UL508C (File No. E164620) to satisfy the following conditions.  
(1) The servo driver should be used under Contamination Level 2 or 1 specified by IEC60664-1 (housing the driver  
in an IP54 control box).  
(2) Install a circuit breaker or fuse between the power supply and noise filter. The circuit breaker or fuse should be  
a UL listed mark ( ) type.  
The current rating of the circuit breaker or fuse should be per the table in page 26.  
183  
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Optional Parts  
MINAS-E Series Table of Junction Cable by Model  
Part No.  
Figure No.  
Motor Type  
Junction Cable  
For an encoder (2500 P/r 5 wires)  
Incremental  
MFECAO * * OEAM  
2-1  
MUMA50W - 400W  
3-1  
4-1  
For a motor  
MFMCAO * * OAEB  
MFMCBO * * OGET  
For a brake  
Junction Cable for Encoder  
Figure 2-1  
MFECA0 * * 0EAM  
L
L (m)  
Part No.  
(20)  
3
5
MFECA0030EAM  
MFECA0050EAM  
MFECA0100EAM  
MFECA0200EAM  
10  
20  
(4)  
(14)  
(4)  
Manufactured by Tyco Electronics AMP K.K.  
Manufactured by Molex Incorporated  
Connector 55100-0600  
Connector  
Pin  
172160-1  
170365-1  
Junction Cable for Motors (Robotop® 600V DP)  
Robotop® is a trade mark of  
Daiden Co., Ltd.  
Figure 3-1  
MFMCA0 * * 0AEB  
(50)  
(50)  
L
L (m)  
3
Part No.  
MFMCA0030AEB  
MFMCA0050AEB  
MFMCA0100AEB  
MFMCA0200AEB  
5
10  
20  
(4) (10.0) (4)  
Manufactured by Molex Incorporated  
Connector 5557-06R-210  
Manufactured by Tyco Electronics AMP K.K.  
Connector 172159-1  
Pin  
5556PBTL  
Pin  
170362-1  
or 170366-1  
Junction Cable for Brakes (Robotop® 600V DP)  
Figure 4-1  
MFMCB0 * * 0GET  
(40)  
(50)  
L
L (m)  
3
Part No.  
MFMCB0030GET  
MFMCB0050GET  
MFMCB0100GET  
MFMCB0200GET  
5
10  
20  
For pressure  
(5.6)  
Manufactured by Tyco Electronics AMP K.K.  
connection terminal M4  
Connector  
Pin  
172157-1  
170362-1  
or 170366-1  
184  
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[Reference]  
Connector Kits for Power Supply of the Driver  
(1) Part No. DV0P2870  
(2) Components  
Name  
Manufacturer’s part No.  
5557-10R-210  
Number  
Manufacturer  
Remarks  
For connector CN X1  
(pin 10)  
Connector (10P)  
Connector Pin  
1
6
Molex Incorporated  
5556PBTL  
(3) Pin arrangement of connector for CN x 1  
10  
L1  
5
9
(NC)  
4
8
L2  
3
7
(NC)  
2
6
L3  
1
P
(NC)  
B
(NC)  
E
(4) Recommended manual pressure bonding tool  
(Customers are requested to provide it by  
themselves.)  
Manufacturer’s part No.  
57026-5000  
Wire rod  
UL1007  
UL1015  
57027-5000  
<Cautions>  
1. The above table shows arrangement of pins viewed from the pin inserting direction of the connector.  
Also check pin Nos. carved on the main body of the connector so as to avoid incorrect wiring.  
2. For wiring and connection, refer to “System Configuration and Wiring”, Wiring of Main Circuits (Page  
27).  
3. You should leave a pin labeled with (NC) unconnected.  
185  
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Optional Parts  
Connector Kits for Connection of Motor and Encoder  
Used for: MUMA 50W to 400W  
Incremental  
2500 pulse 5-wire  
(1) Part No. DV0P3670  
(2) Components  
Name  
Manufacturer’s part No. Number  
Manufacturer  
Remarks  
For connector CN X4  
(pin 6)  
Connector  
55100-0600  
1
Molex Incorporated  
Manufactured by  
Tyco Electronics AMP K.K.  
Manufactured by  
Connector (6P)  
Connector pin  
Connector (4P)  
Connector pin  
Connector (6P)  
Connector pin  
172160-1  
170365-1  
1
6
1
4
1
4
For junction of encoder  
cable (pin 6)  
For junction of motor  
power line (pin 4)  
For connector CN X3  
(pin 6)  
172159-1  
Tyco Electronics AMP K.K.  
170366-1  
5557-06R-210  
5556PBTL  
Molex Incorporated  
<Note>  
You may use parts of other manufacturer equivalent to the above parts for such components as connector, connec-  
tor cover, etc.  
(3) Pin arrangement of connector CN X4 plug  
1
3
+5V  
+5V  
2
4
0V  
0V  
5 Tx/Rx  
6 Tx/Rx  
(Case FG)  
Name  
Manufacturer’s part No.  
Manufacturer  
Wire rod  
(4) Recommended manual  
pressure bonding tool  
For junction of encoder cable  
For junction of motor power line  
755330-1  
Tyco Electronics AMP K.K.  
–
755331-1  
57026-5000  
57027-5000  
(A customer is requested to  
provide it by himself.)  
UL1007  
UL1015  
For connector CN X3  
Molex Incorporated  
<Cautions>  
1. The above figure shows the pin arrangement viewed from the soldering side of the connector.  
Also check pin Nos. carved on the main body of the connector so as to avoid incorrect wiring.  
2. Be sure to connect shield of the shielded wire to be used to the case (FG).  
3. For wiring and connection, refer to “System Configuration and Wiring”, Connector CNX4 (Page 29).  
186  
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[Reference]  
(5) Pin arrangement of connector for junction of encoder cable  
1
2
3
(NC)  
4
TX/RX  
5
TX/RX  
6
+5V  
0V  
FG  
(6) Pin arrangement of connector for junction of motor power line  
1
U
3
2
V
4
W
E
(7) Pin arrangement of connector for connector CN X3  
6
W
3
5
4
V
1
(NC)  
2
E
(NC)  
U
<Cautions>  
1. The above table shows arrangement of pins viewed from the pin inserting direction of the connector.  
Also check pin Nos. carved on the main body of the connector so as to avoid incorrect wiring.  
2. For wiring and connection, refer to “System Configuration and Wiring”, Wiring of Main Circuits (Page  
27).  
187  
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Optional Parts  
Connector Kit for Connection with Host Controller  
(1) Part No. DV0P0770  
(2) Components  
Remarks  
For CN X5  
(Pin 26)  
Name  
Manufacturer’s part No. Number  
Manufacturer  
Connector  
10126-3000PE  
1
1
Sumitomo 3M Ltd  
Connector Cover  
10326-52A0-008  
(3) Pin arrangement of connector X5 (pin 26) (viewed from the soldering side of the connector)  
14  
16  
18  
OB–  
20  
OZ–  
22  
24  
26  
GND OA–  
PULS1 SIGN1 FG  
15  
OA+  
17  
OB+  
19  
OZ+  
21  
CZ  
23  
25  
PULS2 SIGN2  
1
3
5
7
9
11  
13  
COM+ A-CLR GAIN  
CWL ALM  
BRK- COM–  
OFF  
ZEROSPD  
2
4
6
DIV  
INTSPD1  
8
10  
12  
SRV- CL  
CCWL COIN WARN  
ON  
INTSPD2  
<Cautions>  
1. When wiring, also check pin Nos. carved on the main body of the connector.  
2. For codes representative of signal names in the above table or functions of signals, refer to Wiring to  
Connector CN X5 (Page 30, 67 and 105).  
Interface Cable for Connection with Host Controller  
Shell Kit : 10326-52AO-008  
(1) Part No. DV0P0800  
Sumitomo 3M Ltd or item equivalent to it  
(2) Outline dimension  
2000  
12.7  
39  
50  
14  
Plug : 10126-3000PE  
Sumitomo 3M Ltd or item equivalent to it  
(3) Table of Wiring  
Pin No.  
Signal Name Color of Core Wire Pin No.  
Signal Name Color of Core Wire Pin No.  
Signal Name Color of Core Wire  
1
2
3
4
5
6
7
8
9
COM+  
SRV-ON  
A-CLR  
Orange (red 1)  
Orange (black 1)  
Gray (red 1)  
10  
11  
12  
13  
14  
15  
16  
17  
18  
COIN  
BRK-OFF  
WARN  
COM  
GND  
Pink (black 1)  
Orange (red 2)  
Orange (black 2 )  
Gray (red 2)  
19  
20  
21  
22  
23  
24  
25  
26  
OZ+  
OZ  
Pink (red 2)  
Pink (black 2)  
Orange (red 3)  
Gray (red 3)  
CZ  
CL/INTSPD2  
GAIN/ZEROSPD  
DIV/INTSPD1  
CWL  
Gray (black 1 )  
White (red 1)  
White (black 1)  
Yellow (red 1)  
Yellow (black 1 )  
Pink (red 1)  
PLUS1  
PLUS2  
SIGN1  
SIGN2  
FG  
Gray (black 2)  
White (red 2)  
Gray (black 3)  
White (red 3)  
White (black 3)  
Orange (black 3)  
OA+  
OA  
White (black 2)  
Yellow (red 2)  
Yellow (black 2)  
CCWL  
OB+  
ALM  
OB  
<Remarks>  
• For example, the color of the wire, Orange (Red 1) means that the lead wire is colored in orange with one red dot  
mark.  
• The shield of this cable is not connected with the terminal of the connector.  
Please use the connector kit for connection with Host Controller when you connect the shield with FG or GND on  
the driver side.  
188  
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[Reference]  
Communications Cable (Connection with Personal Computer)  
(1) Part No. DV0P 1960 (for DOS/V compatible machines)  
2000  
33  
18  
Mini DIN8P  
MD connector  
D sub connector 9P  
For pin arrangement of CN X6, see Page 159.  
“PANATERM®”, software for communications control  
(1) Part No. DV0P4230 (Japanese version) DV0P4240 (English version)  
(2) This is supplied in the form of a 3.5 inch floppy disk.  
<Cautions>  
For details on the operating environment or others, refer to the operating instructions of “PANATERM®”.  
For information on latest version, please contact us.  
Console  
Part No. DV0P3690  
(62)  
(24)  
Insert screw  
M3 depth 5  
Screw down with a tightening  
torque of no more than 0.5  
N•m.  
MINAS  
DIGITAL AC SERVO  
Nameplate  
M
MODE  
SHIFT  
S
SET  
(15)  
DIN8P mini  
MD connector  
(1500)  
189  
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Optional Parts  
External Regenerative Resistor  
Specification  
Operating Temperature for  
Remarks  
Manufacturer’s  
Part No.  
(Specifications for  
the driver voltage)  
For single-phase 100V  
For single-phase/  
three-phase 200V  
model name  
Ohmic Value Rated Power  
Built-in Temperature Fuse  
DV0P2890  
DV0P2891  
45M03  
45M03  
50 Ω  
10W  
10W  
130 2˚C  
100 Ω  
130 2˚C  
Manufactured by: IWAKI MUSEN KENKYUSHO CO., LTD.  
<Note>  
For safety reasons, the external regenerative resistor has a built-in temperature fuse. The built-in  
temperature fuse may be disconnected depending on heat dissipation conditions, range of use  
temperatures, supply voltage, and load variations.  
<Cautions>  
4.3  
57  
The regenerative resistor may be hot.  
Take preventive actions against a fire and burn.  
Do not mount the regenerative resistor in the vicinity  
of an inflammable object or in a place where an  
operator may easily touch it by hand.  
300  
4.3  
Female terminal  
5556PBTL  
65  
(or 5556PBT)  
DIN Rail Mounting Unit  
(1) Part No. DV0P3811  
(2) Outline Dimension  
<Remarks>  
• Two mounting screws (M4 x length 8, pan head  
machine screws) are supplied.  
35  
2-M4 bar ring  
(for mounting screws)  
(6)  
20  
• * When extended, the rail stopper is 10mm long.  
<Note>  
For installation and removal, refer to “Installation” of  
Before Use edition on Pages 18 to 19.  
Mounting plate  
(6)  
Rail stop  
190  
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[Reference]  
Reactor  
2-I  
E
Voltage  
Specification  
for Power  
Source of  
Driver  
Figure 1  
Driver  
Outline  
Frame  
Code  
Rated Output Reactor Part No. Figure  
Single-  
phase  
100V  
Single-  
phase  
200V  
Three-  
phase  
200V  
Single-  
phase  
100V  
50 - 100W  
50 - 100W  
50 - 200W  
200W  
DV0P227  
1
MKDE  
A
F
4-H  
(Mounting  
(Mounting dimension)  
dimension)  
B
G
DV0P220  
DV0P228  
2
1
X
Y
Z
Figure 2  
NP  
Single-  
phase  
200V  
Three-  
phase  
200V  
R
S
T
MLDE  
200 - 400W  
400W  
6-I  
E
DV0P220  
2
A
F
4-H  
(Mounting  
(Mounting dimension)  
B
dimGension)  
Inductance  
(mH)  
Rated  
Current (A)  
Figure Part No.  
A
B
C
D
E
F
G
H
I
DV0P227  
4.02  
2
5
8
3
1
55  
65  
80  
68  
83  
90  
90  
41  
70  
55  
ø 7  
M4  
M4  
DV0P228  
2
DV0P220  
125  
118  
145  
85  
Width 7 x Length 12  
6.81  
• The former Agency of Natural Resources and Energy of Ministry of International Trade and Industry (present  
Ministry of Economy, Trade and Industry) established higher harmonics suppression guidelines in September  
1994.  
(1) Drivers rated 4kW or lower are subject to “Higher Harmonics Suppression Guidelines for Home Electric and  
General Purpose Appliances”.  
(2) Drivers rated over 4kW are subject to “Higher Harmonics Suppression Guidelines for High Voltage and Special  
Customers”.  
• The Ministry of Economy, Trade and Industry strongly demands manufacturers to enforce measures to curb  
harmonics.  
In order to comply with the established regulatory level, connect a power-factor improvement reactor (L) to drivers  
of 4 kW or lower. For drivers of over 4kW, determine the level of harmonics according to the guideline and take a  
suppression measure, as appropriate.  
<Reference>  
[Harmonics Suppression Technical Guideline], JEAG 9702-1995, Japan Electric Association  
[Harmonic Current Calculation Procedure for General-purpose Inverter at Special Customers], JEM-TR201-1996,  
Japan Electrical Manufacturers’ Association  
191  
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Recommended Parts  
Surge Absorber for Motor Brake  
Motor  
Surge Absorber for Motor Brake  
• C-5A2 or Z15D151  
MUMA50W - 400W  
Ishizuka Electronics Corporation  
• The recommended parts are specified items to measure the brake release time.  
List of Manufacturers of Peripheral Equipment  
As of February 2003  
Equipment  
Manufacturer/Agent  
Phone Number  
+81-6-6908-1131  
No-fuse breaker  
Electromagnetic switch  
Surge absorber  
Matsushita Electric Works, Ltd.  
Automation Controls Company  
http://www.mew.co.jp  
+81-44-833-4311  
IWAKI MUSEN NKENKYUSHO CO., LTD.  
Regenerative resistor  
Surge absorber for holding brake  
Noise filter for signal line  
http://www.iwakimusen.co.jp/  
+81-3-3621-2703  
Ishizuka Electronics Corporation  
Renesas Technology Corpration.  
TDK Corporation  
http://www.semitec.co.jp/  
+81-6-6233-9511  
http://www.renesas.com/jpn/  
+81-3-5201-7229  
http://www.tdk.co.jp/  
+81-3-3424-8120  
Surge absorber  
Noise filter  
Okaya Electric Industries, Co., Ltd.  
Sumitomo 3M Ltd  
http://www.okayatec.co.jp/  
+81-3-5716-7290  
http://www.mmmco.jp  
+81-44-844-8111  
Tyco Electronics AMP K.K.  
Japan Molex Incorporated  
Daiden Co., Ltd.  
Connector  
Cable  
http://www.tycoelectronics.com/japan/amp  
+81-462-65-2313  
http://www.molex.co.jp  
+81-3-5805-5880  
http://www.dyden.co.jp  
192  
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Dimensional Outline Drawing  
[Reference]  
Driver (Frame K)  
Estimated Mass 0.35 kg  
Driver (Frame L)  
Estimated Mass 0.4 kg  
193  
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Dimensional Outline Drawing  
Motor  
MUMA Series 50W to 400W  
LL  
LR  
LE  
LF  
Output  
LG  
50W, 100W  
230mm  
220mm  
200W, 400W  
(Unit: mm)  
Output  
(W)  
Model  
LL  
75.5  
92.5  
96  
S
LB  
LE  
LF  
LR  
50  
100  
200  
400  
50  
MUMA5A P1  
MUMA01 P1  
MUMA02 P1  
MUMA04 P1  
MUMA5A P1  
MUMA01 P1  
MUMA02 P1  
MUMA04 P1  
22  
8
2
24  
30  
24  
7
11  
14  
50  
22  
3
2
124  
107  
8
100  
200  
124  
129  
7
11  
14  
50  
3
30  
400  
157  
194  
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[Reference]  
Shaft-end Center Tap TP  
Output  
Screw  
M3  
Depth  
Specification of Keyed Version  
(Dimension)  
50W, 100W  
200W  
6
8
M4  
M5  
400W  
10  
(Unit: mm)  
Rotor Moment of Inertia (x10-4kg·m2)  
LA  
LC  
LZ  
LW  
LK  
KW  
KH  
RH  
LH  
Mass (kg)  
0.40  
0.021  
0.032  
0.10  
48  
42  
3.4  
14  
12.5  
3
3
6.2  
34  
0.50  
20  
25  
18  
4
5
4
5
8.5  
11  
0.96  
43  
34  
43  
70  
48  
60  
42  
4.5  
3.4  
22.5  
1.5  
0.60  
0.70  
1.4  
0.17  
0.026  
0.036  
0.13  
14  
12.5  
3
3
6.2  
20  
25  
18  
4
5
4
5
8.5  
11  
70  
60  
4.5  
22.5  
1.9  
0.20  
195  
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AllowableLoadofOutput Shaft  
Radial Load Direction (P)  
Thrust Load Directions (A, B)  
LR  
A
B
M
LR/2  
P
Unit: N (1kgf = 9.8N)  
When Assembled  
Thrust Load  
Direction A Direction B  
In Operation  
Motor  
Series  
Thrust Load  
Motor Output  
Radial Load  
Radial Load  
Directions A, B  
50W, 100W  
147  
392  
88.2  
147  
117.6  
196  
68.6  
245  
58.8  
98  
MUMA  
200W, 400W  
<Remarks>  
If a position of load point varies, calculate allowable radial load P (N) from distance L (mm) of a load point  
from mounting flange face, based on the relational expression, so that the result of calculation will be as  
follows:  
Motor  
Series  
Relational Expression  
of Load - Load Point  
Motor Output  
50W, 100W  
200W  
1406  
P =  
L + 7.5  
2940  
P =  
MUMA  
L – 3  
L
5831  
P =  
400W  
L + 8.8  
P
196  
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Motor Characteristics (S-T Characteristics)  
[Reference]  
Note that motor characteristics may vary depending on whether or not there is a brake.  
The continuous torque — ambient temperature characteristic shows a value when our standard  
flange made of aluminum (having about doubled angle of that of the motor flange) is mounted.  
They are characteristics without an oil seal.  
Supply Voltage of Driver  
Motor  
Capacity  
AC100V  
AC200V  
MUMA5AZP1  
Supply Voltage of Driver: At AC100V/200V  
Torque  
[N¥m]  
* Continuous Torque/Ambient Temperature  
With a Brake  
50W  
0.5  
100  
90  
Instant  
Operation Area  
0.25  
50  
Continuous  
Operation Area  
0
1000 2000 3000 4000 5000  
Rotation Speed [r/min]  
0
10  
20  
30  
40  
Ambient Temperature [ßC]  
MUMA011P1  
Supply Voltage of Driver: AC100V  
MUMA012P1  
Supply Voltage of Driver: AC200V  
(A dotted line indicates the case in which the supply voltage drops by 10%.)  
*
Continuous Torque/Ambient  
Temperature  
*
Continuous Torque/Ambient  
Temperature  
Torque  
Torque  
1.0  
With a Brake  
With a Brake  
100  
95  
1.0  
0.5  
100W  
0.73  
100  
95  
Instant  
Operation Area  
Instant Operation Area  
0.58  
50  
0.5  
50  
Continuous  
Operation Area  
Continuous  
Operation Area  
0
1000 2000 3000 4000 5000  
Rotation Speed [r/min]  
0
10  
20  
30  
40  
0
1000 2000 3000 4000 5000  
Rotation Speed [r/min]  
0
10  
20  
30  
40  
Ambient Temperature [ßC]  
Ambient Temperature [ßC]  
MUMA021P1  
MUMA022P1  
Supply Voltage of Driver: AC200V  
Supply Voltage of Driver: AC200V  
(A dotted line indicates the case in which the supply voltage drops by 10%.)  
(A dotted line indicates the case in which the supply voltage drops by 10%.)  
*
Continuous Torque/Ambient  
Temperature  
*
Continuous Torque/Ambient  
Temperature  
Torque  
2.0  
Torque  
2.0  
With a Brake  
200W  
With a Brake  
100  
90  
100  
90  
Instant  
Instant  
Operation Area  
Operation Area  
1.0  
0
1.0  
0
50  
50  
Continuous  
Operation Area  
Continuous  
Operation Area  
3300 3800  
1000 2000 3000 4000 5000  
Rotation Speed [r/min]  
0
10  
20  
30  
40  
0
10  
20  
30  
40  
1000 2000 3000 4000 5000  
Ambient Temperature [ßC]  
Ambient Temperature [ßC]  
Rotation Speed [r/min]  
MUMA042P1  
Supply Voltage of Driver: AC200V  
(A dotted line indicates the case in which the supply voltage drops by 10%.)  
*
Continuous Torque/Ambient  
Temperature  
Torque  
4.0  
With a Brake  
400W  
100  
90  
Instant  
Operation Area  
2.0  
0
50  
Continuous  
Operation Area  
0
10  
20  
30  
40  
1000 2000 3000 4000 5000  
Rotation Speed [r/min]  
Ambient Temperature [ßC]  
* In the case of no oil seal and no brake, the rated torque ratio is 100% at ambient temperature of 40ßC.  
197  
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Servo Motor with Gear  
Checking Model of Servo Motor with Gear  
How to check the model  
M U M A 0 1 1 P 3 1 N  
1~4  
5~6  
7
8
9
10  
Reduction Ratio  
Symbol  
Type  
Ultra low Inertia  
Symbol Reduction Ratio  
MUMA  
Structure of the motor  
1N  
2N  
4N  
1/5  
1/9  
Specifications of  
1/25  
Position/Speed Detector  
Motor Rated Output  
Rated Output  
Symbol Rated Output  
Voltage Specification  
1 : 100V  
2 : 200V  
100W  
200W  
400W  
01  
02  
04  
Specification of Rotary Encoder  
Specification  
Structure of the motor  
Symbol  
Number of Pulses  
Method  
Resolution Lead Wire  
Holding Brake  
Symbol  
2500P/r  
Incremental  
10000  
5-wire  
P
No  
Yes  
3
4
198  
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[Reference]  
Check the Combination of Driver and Motor with Gear  
This driver was designed for use with the motor designated by us.  
Check a name of the series, rated output, voltage specification, and encoder specification of the motor you plan to  
use.  
<Note>  
Incremental Specification 2500 P/r  
You must not use any combination other than those listed below.  
Applicable Motors with Gear  
Applicable Drivers  
Power Supply Motor Rated Output Reduction Ratio 1/5 Reduction Ratio 1/9 Reduction Ratio 1/25  
Driver Model  
Driver Frame  
Frame K  
Single Phase  
100V  
100W  
200W  
100W  
200W  
400W  
100W  
200W  
MUMA011P * 1N  
MUMA021P * 1N  
MUMA012P * 1N  
MUMA022P * 1N  
MUMA042P * 1N  
MUMA012P * 1N  
MUMA022P * 1N  
MUMA011P * 2N  
MUMA021P * 2N  
MUMA012P * 2N  
MUMA022P * 2N  
MUMA042P * 2N  
MUMA012P * 2N  
MUMA022P * 2N  
MUMA011P * 4N  
MUMA021P * 4N  
MUMA012P * 4N  
MUMA022P * 4N  
MUMA042P * 4N  
MUMA012P * 4N  
MUMA022P * 4N  
MKDET1110P  
MLDET2110P  
MKDET1505P  
MLDET2210P  
MLDET2510P  
MKDET1505P  
MKDET1310P  
MLDET2310P  
MLDET2510P  
Frame L  
Frame K  
Single Phase  
200V  
Frame L  
Frame K  
Frame L  
Three-Phase  
200V  
400W  
MUMA042P * 1N  
MUMA042P * 2N  
MUMA042P * 4N  
<Remarks>  
The mark "*" under the model name of the applicable motors refer to the structure of motor.  
199  
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Dimensional Outline Drawing of Motor with Gear  
Servo Motor with Gear  
* 220 refers to 200W or higher.  
(unit: mm)  
Motor Reduction  
Model  
L
LL  
LM  
LT  
KB1 LF LR LQ LB  
S
LP LH  
J
(LG) LE (G)  
Output  
Ratio  
MUMA01 P31N  
1/5  
192  
32 20 50 12 45 10 14  
67.5  
25  
MUMA01 P32N 100W  
MUMA01 P34N  
1/9  
92.5  
64  
28.5 38.8  
1/25 234,5  
50 30 70 19 62 17 22  
32 20 50 12 45 10 14  
92  
MUMA02 P31N  
1/5  
1/9  
200.5  
235.5  
246  
72.5  
3
89.5  
MUMA02 P32N 200W  
MUMA02 P34N  
96  
69.5  
97  
7
34  
1/25  
1/5  
100  
34  
50 30 70 19 62 17 22  
26.5  
MUMA042P31N  
263  
89.5  
MUMA042P32N 400W  
MUMA042P34N  
1/9  
123.5  
124  
61.5  
1/25 288.5  
61 40 90 24 75 18 28  
32 20 50 12 45 10 14  
104  
5
3
5
MUMA01 P41N  
1/5  
223.5  
1/9  
67.5  
MUMA01 P42N 100W  
MUMA01 P44N  
95.5  
102.5  
130  
28.5 38.8  
25  
34  
1/25  
1/5  
266  
233.5  
268.5  
279  
50 30 70 19 62 17 22  
32 20 50 12 45 10 14  
92  
MUMA02 P41N  
72.5  
89.5  
100  
MUMA02 P42N 200W  
MUMA02 P44N  
1/9  
129  
7
34  
1/25  
1/5  
50 30 70 19 62 17 22  
26.5  
MUMA042P41N  
296  
89.5  
104  
MUMA042P42N 400W  
MUMA042P44N  
1/9  
156.5  
61.5  
1/25 321.5  
61 40 90 24 75 18 28  
200  
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[Reference]  
Detailed View of Shaft End  
(unit: mm)  
-4  
2
Moment of Inertia (×10 kg m )  
LC  
LA  
60  
LZ  
LD  
Key Dimensions (B  
×
H
×
LK)  
T
LN  
Mass (kg)  
0.072  
0.0663  
0.0645  
0.218  
0.368  
0.388  
0.533  
0.438  
0.470  
0.076  
0.0703  
0.0685  
0.248  
0.398  
0.418  
0.563  
0.468  
0.500  
52  
M5  
12  
4 × 4 × 16  
2.5  
1.05  
34  
43  
78  
52  
90  
60  
M6  
M5  
20  
12  
6 × 6 × 22  
3.5  
2.5  
2.20  
1.68  
4 × 4 × 16  
2.66  
78  
90  
M6  
6 × 6 × 22  
3.5  
20  
3.2  
3.2  
4.7  
98  
52  
115  
60  
M8  
M5  
8 × 7 × 30  
4
12  
4 × 4 × 16  
2.5  
1.25  
34  
43  
78  
52  
90  
60  
M6  
M5  
20  
12  
6 × 6 × 22  
3.5  
2.5  
2.40  
2.08  
4 × 4 × 16  
3.06  
78  
98  
90  
M6  
M8  
6 × 6 × 22  
3.5  
4
20  
3.6  
5.1  
115  
8 × 7 × 30  
A value of moment of inertia is a motor shaft converted value (of the motor + speed reducer).  
201  
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Allowable Load of Output Shaft of Servo Motor with Gear  
Radial Load (P) Direction  
Thrust Loading (A, B) Direction  
LR  
A
M
B
LR/2  
P
Unit: N  
Shaft Allowable Load  
Motor Output  
100W  
Gear Ratio  
Thrust Load  
Radial Load  
A, B directions  
1/5  
1/9  
490  
588  
245  
294  
833  
245  
588  
833  
490  
588  
1030  
1/25  
1/5  
1670  
490  
200W  
1/9  
1180  
1670  
980  
1/25  
1/5  
400W  
1/9  
1180  
2060  
1/25  
Requests Concerning Installation  
(1) Do not tap on the shaft when mounting the pulley, sprocket, etc. to the output shaft of the gear head. If you do  
tap on it, you may hear abnormal sound.  
(2) Give load to the pulley, sprocket, etc., so that force can act on the root of the output shaft, whenever possible.  
(3) If you plan to use a rigid coupling, ask us for information on the mounting precision and strength.  
(4) The motor has a built-in detector. If you inadvertently give excessive shock to the motor unit when coupling it  
with a device, the detector may be broken. Thus, assemble it carefully.  
202  
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Characteristics of Servo Motor with Gear (S-T Characteristics)  
[Reference]  
Reduction  
Driver  
Ratio  
Supply  
Voltage  
Motor  
1/5  
1/9  
1/25  
Output  
Torque  
Torque  
Torque  
Torque  
Torque  
Torque  
Torque  
Torque  
Torque  
Torque  
Torque  
Torque  
Torque  
Torque  
4.0  
8.0  
20.0  
19.0  
3.72  
6.86  
Instant  
Operation Area  
Instant  
Operation Area  
Instant  
Operation Area  
100W  
2.0  
4.0  
10.0  
6.27  
1.18  
2.25  
Continuous  
Operation Area  
Continuous  
Operation Area  
Continuous  
Operation Area  
0
500 600  
1000  
0
333 400 555  
0
100 120  
200  
Rotation Speed [r/min]  
Rotation Speed [r/min]  
Rotation Speed [r/min]  
100V  
8.04  
8.0  
16.0  
40.0  
33.3  
11.3  
8.0  
Instant  
Operation Area  
Instant  
Operation Area  
200W  
100W  
200W  
400W  
Instant  
Operation Area  
4.0  
20.0  
11.1  
2.65  
3.72  
Continuous  
Operation Area  
Continuous  
Operation Area  
Continuous  
Operation Area  
0
500 600  
1000  
0
333 400 555  
0
100 120  
200  
Rotation Speed [r/min]  
Rotation Speed [r/min]  
Rotation Speed [r/min]  
4.0  
8.0  
20.0  
19.0  
3.72  
6.86  
Instant  
Operation Area  
Instant  
Operation Area  
Instant  
Operation Area  
2.0  
4.0  
10.0  
6.27  
1.18  
2.25  
Continuous  
Operation Area  
Continuous  
Operation Area  
Continuous  
Operation Area  
0
500 600  
1000  
0
333 400 555  
0
100 120  
200  
Rotation Speed [r/min]  
Rotation Speed [r/min]  
Rotation Speed [r/min]  
8.04  
8.0  
16.0  
40.0  
33.3  
11.3  
8.0  
Instant  
Operation Area  
Instant  
Operation Area  
200V  
Instant  
Operation Area  
4.0  
20.0  
11.1  
2.65  
3.72  
Continuous  
Operation Area  
Continuous  
Operation Area  
Continuous  
Operation Area  
0
500 600  
1000  
0
333 400  
555  
0
100 120  
200  
Rotation Speed [r/min]  
Rotation Speed [r/min]  
Rotation Speed [r/min]  
80.0  
79.2  
Torque  
20.0  
40.0  
16.2  
28.5  
20.0  
Instant  
Operation Area  
Instant  
Operation Area  
Instant  
Operation Area  
10.0  
40.0  
26.4  
5.39  
9.51  
Continuous  
Operation Area  
Continuous  
Operation Area  
Continuous  
Operation Area  
0
500 600  
1000  
0
333 400 555  
0
100 120  
200  
Rotation Speed [r/min]  
Rotation Speed [r/min]  
Rotation Speed [r/min]  
203  
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Driver Internal Block Diagram  
204  
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Control Block Diagram  
[Reference]  
205  
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Specifications  
+10%  
—15%  
+10%  
—15%  
Single-phase 100V  
- 115V  
- 240V  
- 240V  
50/60Hz  
50/60Hz  
50/60Hz  
Single-phase AC100V  
Single-phase AC200V  
+10%  
—15%  
+10%  
—15%  
Power  
Supply  
Single-phase 200V  
+10%  
—15%  
+10%  
—15%  
Three-phase AC200V  
Three-phase 200V  
Allowable frequency variations  
Within –5%  
Control method  
IGBT transistor PWM control (Sine wave driving)  
Detector  
Specification of applicable rotary encoder Incremental encoder 5-wire 2500 P/r  
Regeneration  
Dynamic brake  
Externally installed regenerative resistor  
At power-off, Servo-OFF, activation of protective function, and activation  
of limit switches  
Auto gain tuning  
Electronic gear  
(Dividing/multiplier of a command pulse)  
Dividing of feedback pulse  
Normal, real time  
1 - 10000  
Built-in  
functions  
2 0 - 17  
A value resulting from the calculation of  
1 - 10000  
Two-phase pulse of 5 to 2500 P/r output at any number of pulse  
Capable of storing 14 alarms  
including a current alarm code  
No.  
Undervoltage*, overvoltage, overcurrent, overload,  
regenerative overload, encoder error, position over-deviation,  
over-speed, command pulse dividing error, position deviation  
overflow, EEPROM data error* (abnormal parameter,  
Protective  
Function  
Note, however, that alarm  
marked with * cannot be stored. abnormal check code), overtravel input error*, etc.  
Panel Display  
Communications  
Status LED (STATUS), alarm code LED (ALM CODE)  
RS232C  
Monitor  
Setting  
Maximum Input Pulse Frequency Line driver 500 kpps, open collector 200 kpps  
Position  
Control  
Form  
Type  
Line driver, open collector  
90ß phase difference two-phase pulse, CW/CCW pulse, pulse row + sign  
Four-speed setup (Capable of setting CW/CCW, up to  
20000r/min. However, use it within the use range of the motor.)  
0 to 10 s/1000r/min, possible to individually set acceleration/  
deceleration.  
Internal command speed  
Acceleration time setting  
Velocity  
Control  
Phases A B  
Rotary encoder  
feedback signal  
Line driver output  
Rotary  
Encoder  
Phases  
Z
Line driver output, Open collector output  
Refer to Section "System Configuration and Wiring".  
Base mount type, open (IPOO)  
Refer to Section "Dimensional Outline Drawing of Driver".  
Refer to Section "Installation".  
Control Input  
Structure  
Mass  
Ambient Conditions  
Rated Rotation Speed  
3000r/min  
100V  
200V  
50W - 200W: 5000r/min  
50W - 400W: 5000r/min  
Maximum Rotation Speed  
Holding Brake  
Rotary Encoder  
Structure (dust-proof/drip-proof protection)  
Mass  
Refer to Section "Holding Brake Built in the Servo Motor" for DC24V.  
Incremental encoder 5-wire 2500 P/r  
Equivalent to IP65 (excluding connector unit, shaft-through part)  
Refer to Section "Dimensional Outline Drawing".  
Refer to Section "Installation".  
Ambient Conditions  
206  
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Hit-and-stop Initialization and Load Pressing Control  
[Reference]  
Hit-and-stop Initialization  
When you find it difficult to install a sensor as the surroundings are not good, Hit-and-stop  
Initialization can be used.  
(1) When you set a point where the motor hits,  
as the origin:  
(2) When you stop the motor using phase Z  
with the hit point as a starting point, and  
make it an origin  
1st  
2nd Torque Limit  
ON  
1st  
2nd Torque Limit  
ON  
Pin 5  
Pin 5  
(ZEROSPD/TC)  
(ZEROSPD/TC)  
ON  
ON  
ON  
WARN  
WARN  
50%  
(Torque being limited)  
(Torque being limited)  
Torque  
Torque  
Hitting  
Hitting  
ON  
Counter  
clear  
command  
Counter  
clear  
command  
Motor  
Motor  
rotation  
speed  
rotation  
speed  
(3)  
(2)  
(1)  
(2)  
(1)  
Phase Z  
(1)  
(1)  
(2)  
(2)  
Initial Point  
Initial Point (3)  
Example of Settings  
Parameter No.  
Name  
70  
71  
72  
73  
1st over-speed level set-up  
2nd torque limit set-up  
6000  
50 (Set it 100% or less)  
2nd position over-deviation set-up 1875 (Same as No.1)  
2nd over-speed level set-up  
ZEROSPD/TC input selection  
Warning output selection  
6000  
2
Speed zero clamp disabled.  
06  
Torque limit switching input enabled.  
09  
0 (Torque being limited)  
<Note>  
Set pin 5 "H (OFF)" after hit-and-stop initialization completes.  
207  
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Hit-and-stop Initialization and Load Pressing Control  
Load Pressing Control  
Example of  
Settings  
Example of Application  
PrNo.  
06  
Name  
ZEROSPD/TC input  
selection  
2
0
Press-fit Machine  
Warning output selection  
Torque limit set-up  
09  
5E  
70  
200  
1st over-speed level  
set-up  
3000  
50  
2nd torque limit set-up  
71  
2nd over-position  
deviation set-up  
2nd over-speed level  
set-up  
72  
10000  
3000  
73  
(1)  
(2)  
(3)  
(4)  
(5)  
On  
On  
Pin 5 (ZEROSPD/TLC  
: Torque limit switching input)  
Pin 11 (WARN  
: Under Torque limit output)  
The value of second torque limit  
Torque  
(+)  
(–)  
B
Search Speed  
(Low Speed)  
A
(+)  
Command  
(–)  
C = A + B  
Distance for which the motor has not  
moved is held in the deviation counter  
(+)  
Motor Rotation Speed  
(–)  
(1)  
(2)  
(3)  
(4)  
(5)  
208  
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Index  
[Reference]  
A
Items  
Adjustment  
Terms  
page  
86  
Real time Auto Gain Tuning (Position Control Mode)  
Real time Auto Gain Tuning (Velocity Control Mode)  
Gain Adjustment  
114  
128  
132  
135  
136  
140  
131  
138  
142  
Normal Auto Gain Tuning  
Cancellation of the Automatic Gain Tuning  
Manual Gain Tuning  
To Reduce Mechanical Resonance  
Adaptive Filter  
Gain Switching Function  
Anti-Vibration Control  
Alarm Code  
Driver  
Protective Functions  
144  
Model Designation  
14  
14  
Name plate  
Combination of Driver and Motor  
Check the Combination of Driver and Motor with Gear  
Parts Description  
15  
199  
16  
Dimensional Outline Drawing  
Specifications (Driver/Motor)  
193  
206  
B
Items  
Terms  
page  
60  
Block Diagrams  
Control Block Diagram in Position Control Mode  
Control Block Diagram in Velocity Control Mode  
Driver Internal Block Diagram  
104  
204  
Brake  
Holding Brake  
Dynamic Brake  
35  
36  
C
Items  
Terms  
page  
158  
Communications  
Outline of Communications  
Protocol  
Communications Specification  
Interface of Communication Connector Unit  
Communications Method  
159  
159  
160  
161  
162  
162  
164  
165  
166  
Transmission Sequence  
Configuration of Data Block  
Protocol Parameter  
State Transition Diagram  
Communications Timing  
List of communications Commands  
Control Mode  
Connections and Setting in Position Control Mode  
65  
Connections and Setting in Internal Velocity Control Mode  
103  
209  
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Index  
D
Items  
Display (Monitor)  
Terms  
Monitoring Mode  
page  
51  
EEPROM Writing Mode  
Parameter Setting Mode  
Normal Auto Gain Tuning Mode  
Alarm Clear  
50  
57  
58  
59  
Dividing-Multiplier  
Description on Dividing/Multiplier Ratio  
178  
E
Items  
Encoder  
Terms  
page  
15  
Incremental specification 2500P/r  
H
Items  
Hit-and-stop  
Terms  
page  
207  
Hit-and-stop Initialization  
Homing Operation  
Homing Operation (Precautions)  
38  
I
Items  
Terms  
page  
180  
International Standards EMC Directives  
EC Directives  
180  
181  
180  
183  
Peripheral Equipment  
Applicable Standards  
List of Available Components  
L
Items  
Load Pressing  
Terms  
page  
208  
Load Pressing Control  
M
Items  
Motor  
Terms  
Model Designation  
page  
15  
Name Plate  
15  
15  
Check the Combination of Driver and Motor  
Parts Description  
16  
Allowable Load of Output Shaft  
Dimensional Outline Drawing  
Motor Characteristics (S-T Characteristics)  
196  
194  
197  
210  
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[Reference]  
O
Items  
Terms  
page  
182  
182  
183  
184  
184  
184  
184  
189  
189  
186  
188  
188  
190  
191  
189  
190  
Option  
Noise Filter  
Surge Absorber  
Noise Filter for Signal cables  
Table of Junction Cable by Model  
Junction Cable for Encoder  
Junction Cable for Motors  
Junction Cable for Brakes  
Communications Cable (Connection with Personal computer)  
[PANATERM®], Software for Communications Control  
Connector Kits for Connection of Motor and Encoder  
Connector Kit for Connection with Host Controller  
Interface Cable for Connection with Host Controller  
External Regenerative Resistor  
Reactor  
Console  
DIN Rail Mounting Unit  
Overload Time Limit  
Characteristics  
Overload Protection  
146  
P
Items  
Terms  
page  
39  
PANATERM®  
PANATERM®  
Parameters  
Parameter Groups and Listing  
Position Control Mode  
41  
88  
Velocity Control Mode  
116  
Peripheral Equipment  
List of Driver and Compatible Peripheral Equipment  
Magnetic Contactor  
26  
26  
Cable Diameter  
26  
Circuit Breaker  
26  
Surge Absorber  
182  
182  
183  
183  
183  
192  
Noise Filter  
Noise Filter for Signal Cables  
Grounding  
Leakage Breaker  
List of Manufacturers of Peripheral Equipment  
211  
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Index  
R
Items  
Terms  
page  
192  
Recommended Parts  
Surge Absorber for Motor Brake  
S
Items  
Terms  
page  
8
Safety Precautions  
Safety Precautions  
Maintenance and Inspection  
12  
Servo Motor with Gear Model Designation  
Checking the Combination of the driver and the motor with gear  
14  
199  
200  
202  
203  
Dimensional Outline Drawing of Motor with Gear  
Allowable load of Output Shaft of Servo Motor with Gear  
Characteristics of Servo Motor with Gear (S-T Characteristics)  
T
Items  
Terms  
page  
60  
Test Run  
Inspection prior to Test Run  
Test Run Procedure  
61  
Test Run in Position Control Mode  
Test Run in Internal Velocity Control Mode  
82  
110  
Timing Chart  
After Power-ON  
32  
33  
33  
34  
34  
After an Alarm event  
After an Alarm is Cleared  
Servo-ON/OFF Operation When the Motor is Stopped  
Servo-ON/OFF Operation When the Motor is Rotating  
Troubles  
Troubleshooting  
150  
U
Items  
Terms  
page  
47  
Using Console  
Structure of Operation Panel and Display  
How to Operate  
48  
212  
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[Reference]  
W
Items  
Terms  
page  
18  
Wiring  
Installation of Driver  
Installation of Motor  
20  
General Wiring Diagram  
Wiring of Main Circuits  
24  
27  
Wiring Diagrams  
28  
Connection with Encoder  
Connection with Personal Computer/Console  
Connection with Host Controller  
Wiring in Position Control Mode  
Wiring in Velocity Control Mode  
29  
31  
30  
67  
105  
213  
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Reference  
Motor Company, Matsushita Electric Industrial Co., Ltd. Marketing Group  
Tokyo: Kyobashi MID Bldg, 2-13-10 Kyobashi, Chuo-ku, Tokyo 104-0031  
TEL (03) 3538-2961  
FAX (03) 3538-2964  
Osaka: 1-1, Morofuku 7-chome, Daito, Osaka 574-0044  
TEL (072) 870-3065  
FAX (072) 870-3151  
214  
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MEMO  
215  
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After-Sale Service (Repair)  
Repair  
• Ask the seller where the product was purchased for details of repair work.  
When the product is installed in a machine or device, consult first the manufacture of the machine or device.  
Cautions for Proper Use  
• This product is intended to be used with a general industrial product, but not designed or manufactured to be  
used in a machine or system that may cause personal death when it is failed.  
• Install a safety equipments or apparatus in your application, when a serious accident or loss of property is  
expected due to the failure of this product.  
• Consult us if the application of this product is under such special conditions and environments as nuclear  
energy control, aerospace, transportation, medical equipment, various safety equipments or equipments which  
require a lesser air contamination.  
• We have been making the best effort to ensure the highest quality of the products, however, application of  
exceptionally larger external noise disturbance and static electricity, or failure in input power, wiring and com-  
ponents may result in unexpected action. It is highly recommended that you make a fail-safe design and  
secure the safety in the operative range.  
• If the motor shaft is not electrically grounded, it may cause an electrolytic corrosion to the bearing, depending  
on the condition of the machine and its mounting environment, and may result in the bearing noise. Checking  
and verification by customer is required.  
• Failure of this product depending on its content, may generate smoke of about one cigarette. Take this into  
consideration when the application of the machine is clean room related.  
• Please be careful when using in an environment with high concentrations of sulphur or sulphuric gases, as  
sulphuration can lead to disconnection from the chip resistor or a poor contact connection.  
• Take care to avoid inputting a supply voltage which significantly exceeds the rated range to the power supply  
of this product. Failure to heed this caution may result in damage to the internal parts, causing smoking and/or  
a fire and other trouble.  
Electronic data of this manual  
Electronic data of this manual can be downloaded at the following web site.  
• Web Site of Motor Company, Matsushita Electric Industrial Co., Ltd.  
<http://panasonic.co.jp/motor/>  
Memorandum (Fill in the blanks for convenience in case of inquiry or repair)  
(Driver)  
(Motor)  
Date of  
purchase  
Date:  
Model No.  
Place of  
purchase  
TEL:  
Motor Company  
Matsushita Electric Industrial Co., Ltd.  
7-1-1, Morofuku, Daito, Osaka 574-0044, Japan  
TEL: +81 -72-871 -1212  
IMC80A  
S0303-3066  
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