Panasonic minas a series User manual

AC Servo Motor Driver
MINAS A-series
Operating Manual
• Thank you very much for your buying Panasonic AC Servo Motor Driver,A-series.
• Before use, read through this manual to ensure proper use. Keep this manual at an easily
accessible place so as to be referred anytime as necessary.
Be sure give this instruction manual to the user.

Table of Contents
- 2 -
Safety Precautions •••••••••• 4
Introduction •••••••••••••••• 8
• After Opening the Pac age •••••••••••••• 8
• Chec the Model of Driver ••••••••••••••• 8
• Chec the Model of Motor ••••••••••••••• 9
•
Chec the Combination of Driver and Motor ••••••••••••••••••••• 10
System Configuration and Wiring •••••••••••••• 18
• System Configuration and Wiring •••••••••••••••• 18
•
General Wiring Diagram
List of Available Components
••••••••• 20
• Main Circuits •••••••••••••••••••••••••••••• 22
• CN SIG Connector
(For Encoder) ••••••••••••••••••••••••••• 24
• CN SER and
CN NET Connectors
(For PC or Controller) •••••••••••••••••••••••••••• 27
• CN I/F Connector
(For Controller) •••••••••••••••••••••••••• 28
(Circuits Available for Typical Control Modes) •••••••••• 29
(Input and Output Signals, and their Functions) •••••••••••••••••• 32
(Interface circuit) •••••••••••••••••••••••• 38
Parameter Setting •••••••••••42
Overview •••••••••••••••••••••••••••••••••••• 42
Par A meter Groups and Listing •••••••••••••••••• 42
Setting the Parameters••••••••••••••••••• 47
MODEs Structure•••••••••••••••••••••••••• 48
Before Use
Preparations
and Adjustments
Parts Description •••••••••••12
Driver •••••••••••••••••••••••••••••••••••••••• 12
Motor ••••••••••••••••••••••••••••••••••••••••• 13
Installation •••••••••••••••••14
Driver •••••••••••••••••••••••••••••••••••••••• 14
Motor ••••••••••••••••••••••••••••••••••••••••• 16
Trial Operation••••••••••••50
Inspections before Trial Operation ••••••••••••••••• 50
peration Without
Motor Load (JOG) •••••••••••••••• 51
Operation With
CN I/F Connected •••••••••••••••••• 52
Adjustments •••••••••••••••55
Purposes of Gain Adjustments •••••••••••••••••• 55
Kinds of Gain Adjustments •••••••••••••• 55
How to Adjust Gain •••••••••••••••••••••••• 57
How to Use
"NormalAuto-Gain" Tuning •••••••••• 58
How to Use "Real Time
Auto-Gain" Tuning •••••••••••••••• 59
How to Adjust Gain Manually ••••••••••••••• 60

Protective Functions ••••••••••• 64
Maintenance and
Inspections ••••••••••••••••71
Conformance to EC Directives and UL Standards ••••••••••• App. 2
List of Connectable Motors •••••••••••• App. 7
How to UseApp ••••••••••••••••••••••• App. 9
"Absolute" Driver ••••••••••••••••••• App. 20
"Full Close" Driver •••••••••••••••••• App. 28
Details of Parameters ••••••••••••• App. 30
Details of Operation •••••••••••••••• App. 57
Appendixes
Important Information
Troubleshooting
••••••••••••••••••••••••••••••73
After-Sale Service
•••••••••••••••••••••• Bac cover
Overview of a Communication Control
Software PANATERM ••••••••••• App. 67
Optional Parts ••••••••••••••••••••••• App. 69
Recommended Parts •••••••••••••• App. 84
Outer Views and Dimensions•••••••••••••• App. 86
Properties ••••••••••••••••••••••••••• App. 106
Specifications •••••••••••••••••••••• App. 107

- 3 -
Parts Description •••••••••••12
Driver •••••••••••••••••••••••••••••••••••••••• 12
Motor ••••••••••••••••••••••••••••••••••••••••• 13
Installation •••••••••••••••••14
Driver •••••••••••••••••••••••••••••••••••••••• 14
Motor ••••••••••••••••••••••••••••••••••••••••• 16
Parameter Setting •••••••••••42
Overview •••••••••••••••••••••••••••••••••••• 42
Par A meter Gro ps and Listing •••••••••••••••••• 42
Setting the Parameters••••••••••••••••••• 47
MODEs Str ct re•••••••••••••••••••••••••• 48
Trial Operation••••••••••••50
Inspections before Trial Operation ••••••••••••••••• 50
peration Witho t
Motor Load (JOG) •••••••••••••••• 51
Operation With
CN I/F Connected •••••••••••••••••• 52
Adj stments•••••••••••••••55
P rposes of Gain Adj stments •••••••••••••••••• 55
Kinds of Gain Adj stments •••••••••••••• 55
How to Adj st Gain•••••••••••••••••••••••• 57
How to Use
"NormalA to-Gain" T ning •••••••••• 58
How to Use "Real Time
A to-Gain" T ning •••••••••••••••• 59
How to Adj st Gain Man ally ••••••••••••••• 60
Tro bleshooting
••••••••••••••••••••••••••••••73
After-Sale Service
•••••••••••••••••••••• Back cover
Details of Parameters ••••••••••••• App. 30
Details of Operation •••••••••••••••• App. 57
Overview of a Comm nication Control
Software PANATERM ••••••••••• App. 67
Optional Parts ••••••••••••••••••••••• App. 69
Recommended Parts •••••••••••••• App. 84
O ter Views and Dimensions•••••••••••••• App. 86
Properties ••••••••••••••••••••••••••• App. 106
Specifications •••••••••••••••••••••• App. 107
Before Use Appendixes
Preparations and Adj stments
Important
Information

- 4 -
DANGER
Safety Preca tions
Observe the following preca tions in order to avoid inj ries of operators and
other persons, and mechanical damages.
The following DANGER and CAUTION symbols are sed according to the level of dangers possibly occ r-
ring if yo fail to observe the instr ctions or preca tions indicated.
The following symbols indicate what yo are not allowed to do, or what yo m st
observe.
(Important)
DANGER
CAUTION
Indicates a potentially hazardo s sit ation which, if not avoided,
will res lt in death or serio s inj ry.
Indicates a potentially hazardo s sit ation which, if not avoided, will res lt in
minor or moderate inj ry and physical damage.
This symbol indicates that the operation is prohibited.
This symbol indicates that the operation m st be per-
formed witho t fail.
Don't insert yo r hands in the
driver.
Fail re to observe this
instr ction co ld res lt in
b rns and/or electric shocks.
An over-c rrent protection, earth
leakage breaker, over-temperat re
protection and emergency stop
sho ld be
installed.
Fail re to observe this
instr ction co ld res lt in elec-
tric shocks, inj ries and/or
fire.

- 5 -
DANGER
Gro nd the earth terminal of
the driver.
Fail re to observe this
instr ction co ld res lt in
electric shocks.
Don't to ch the rotating part of the
motor in motion.
Fail re to observe this instr ction co ld
res lt in inj ries.
Rotating part
Do not expose the cables to
sharp edges, excessive pressing
forces, heavy loads or pinching
forces.
Fail re to observe this
instr ction co ld res lt in
electric shocks,
malf nction and/or
damages.
Perform the transportation, wiring
and inspection at least 10
min tes after the power off.
Fail re to observe this in-
str ction co ld res lt in
electric shocks.
Don't s bject the prod ct to wa-
ter splash, corrosive gases, flam-
mable gases and comb stible
things.
Fail re to observe this in-
str ction co ld res lt in
fire.
Before Use
Install an external emergency
stop device so that yo can
sh t off the power in any
emergency cases.
Fail re to observe this
instr ction co ld res lt in
inj ries, electric shocks, fire,
malf nction and/or mechanical
damages.

- 6 -
Ca tion
Safety Preca tions
Use the motor and driver in
the specified combination.
Fail re to observe this in-
str ction co ld res lt in fire.
Exec te the trialoperations with the
motor fixed b t witho t motor load
connected. Connecting a load to the
motor is possible only after
s ccessf l trial operation.
Fail re to observe this in-
str ction co ld res lt in in-
j ries.
Avoid extreme adj stment or
change. Avoid an operation
which ca ses nstable
action.
Fail re to observe this
instr ction co ld res lt in
inj ries.
If an error occ rs, remove the
ca ses for the errora and
sec re the safety before
restarting the operation.
Fail re to observe this
instr ction co ld res lt in
inj ries.
Don't to ch the motor, driver
or its regenerative discharge
resistor, since they become
hot.
Fail re to observe this
instr ction co ld res lt in
b rns.
Don't modify, dismantle or
repair the driver.
Fail re to observe this in-
str ction co ld res lt in
electric shocks and/or inj -
ries.
(Important)

- 7 -
Ca tion
*Provide appropriate settings as a preparedness against
the accidental restart of the machine in order to ens re
the safety of personnel.
After recovery from the power
fail re, the eq ipment may
restart s ddenly. Don't approach
to the eq ipment
d ring power fail re.
Observe the voltage speci-
fied.
Fail re to observe this
instr ction co ld res lt in
electric shocks,
inj ries and/or fire.
This eq ipment sho ld be treated
as an ind strial waste when it is
disposed of.
When discarding batteries,
ins late them with tapes or
other similar means and obey
the local r les.
Don't block the heat
dissipation hole or insert
foreign matters in it.
Fail re to observe this
instr ction co ld res lt
in electric shocks,
inj ries and/or fire.
Make s re that the
wirings are made
correctly.
Fail re to observe this
instr ction co ld res lt in
electric shocks, inj ries.
Don't hold the cables or
motor shaft when transpoting
the motor.
Fail re to observe this
instr ction co ld res lt
in inj ries.
Before Use

- 8 -
MSDA043A1AUU
1~3 5~6 11~12 478910
Introd ction
After Opening the Package
• After Opening the Package
• Make s re that the prod ct is what yo have ordered.
Check the Model of Driver
Name plate
Model Designation
Series symbol
A: A-series
Rated motor o tp t (see
Table 1-a)
Check whether the prod ct has been damaged or not d ring transportation.
If the prod ct is not correct, or it has been damaged, contact dealer or sales agent.
MSDA3A1D1A01
100-115V 32V 17bits
1ø 3ø
1.0A 1.0A
30W
50/60Hz 0~333.3Hz
98120001
Power
F.L .C
Phase
Voltage
INPUT OUTPUT ENCODER
AC SERVO DRIVER
60/75 Wire Only
Use Copper Cond ctors Only
Refer to Man al for Wiring and Wire Size
Refer to Man al for Over Load Protection
SER.NO.
MODEL
Freq.
Model
Rated inp t voltage
Rated motor o tp t
N mber of p lses of the
encoder(resol tion)
Rated o tp t c rrent
Serial N mber
C stom
specification
C stom specification 2
(A, B, C...)
C stom specification 1 (1,
2, 3...)
Rotary encoder
(see Table 1-b)
Power s pply
1: Single-phase, 100V
3: Three-phase, 200V
Applicable motors
Symbol
MSD
MDD
MHD
MFD
MQD
MGD
Applicable motors
MSM Low inertia
MDM Middle inertia
MHM High inertia
MFM Flat
MQM Flat & small
MGM Middle inertia

- 9 -
MSMA042A1A
UU
1~3 5~6 11~12 478910
Check the Model of Motor
Name plate
Type
Serial No
Revol tion rating
Model Designation
Rated o tp t
(see Table 1-a)
Motor str ct re
(see Table 1-c)
AC SERVO MOTOR RATING S1
MODEL MSMA022A1A INS. CLASS B (TÜV) A (UL)
CONT. TORQUE
0.64 Nm
A1.6 CONNECTION
RATED OUTPUT
RATED FREQ. kW
0.2 SER No. T98120001
Hz 200
RATED REV. r/min 3000
INPUT 3ØAC 92 IP65 V
Mats shitaElectric Ind strial Co..Ltd.
Made in Japan
Rated o tp t
Series symbol
A: A-series
Voltage
1: 100V
2: 200V
Z: 100/200V
Rotary encoder
(see Table 1-b)
C stom specification
1: Standard
C stom
specification
Symbol
MSM
MDM
MHM
MFM
MQM
MGM
Type
Low inertia
Middle inertia
High inertia
Flat
Flat & small
Middle inertia
Symbol
A
C
D
Type
Incremental
Absol te
Absol te/
incremental
No. of p lses
2500P/r
Lead wire
11-wire
7-wire
7-wire
Specifications
Resol tion
10000
17bit
17bit
Before Use
Symbol
3A
5A
01
02
03
04
05
06
08
09
Rated o tp t
30W
50W
100W
200W
300W
400W
500W
600W
750W
900W
Symbol
10
12
15
20
25
30
35
40
45
50
Rated o tp t
1kW
1.2kW
1.5kW
2kW
2.5kW
3kW
3.5kW
4kW
4.5kW
5kW
Table 1-a
Rated Motor O tp t
Table 1-b
Rotary Encoder

- 10 -
Motor Str ct re Table 1-c
Introd ction
Check the Combination of Driver and Motor
The driver has been designed for se in combination with the specified motors only. Check
the specifications (Series symbol, o tp t rating, voltage rating and encoder type) of the mo-
tor yo want to se.
Motor
Amplifier
MSDA3A1A1A
MSDA5A1A1A
MSDA011A1A
MSDA021A1A
MSDA041A1A
MSDA3A3A1A
MSDA5A3A1A
MSDA013A1A
MSDA023A1A
MSDA043A1A
MSDA083A1A
MSDA103A1A
MSDA153A1A
MSDA203A1A
MSDA253A1A
MSDA303A1A
MSDA353A1A
MSDA403A1A
MSDA453A1A
MSDA503A1A
Amplifier
type
Type1
Type2
Type2
Type1
Type2
Type2
Type4-2
Type4-3
Type5
Series
symbol
MSMA
(Small)
Low
inertia
MSMA
(Large)
Low
inertia
Motor type
MSMA3AZA**
MSMA5AZA**
MSMA011A**
MSMA021A**
MSMA041A**
MSMA3AZA**
MSMA5AZA**
MSMA012A**
MSMA022A**
MSMA042A**
MSMA082A**
MSMA102A**
MSMA152A**
MSMA202A**
MSMA252A**
MSMA302A**
MSMA352A**
MSMA402A**
MSMA452A**
MSMA502A**
Voltage
100V
200V
200V
O tp t
rating
30W
50W
100W
200W
400W
30W
50W
100W
200W
400W
750W
1.0kW
1.5kW
2.0kW
2.5kW
3.0kW
3.5kW
4.0kW
4.5kW
5.0kW
Revol tion
rating
3000r/min
3000r/min
Encoder
type
Incremental
2500P/r, 11
wires
Incremental
2500P/r, 11
wires
"D-c t" shafts are available
for MSMA30W to 750W
and MQMA100W to 400W.
Oil seal
None
Straight
A
B
C
D
Shaft
Brake
None
Yes
None
Yes
D-c t
N
P
Q
R
Key way
E
F
G
None
With the incremental type encoder: 2500P/r

- 11 -
< Notes >
1. The above table shows the possible combinations between the driver (MSDA) and low-
inertia type motors (MSMA). For middle-inertia (MDMA), high-inertia (MHMA), flat (MFMA),
flat & small (MQMA) and middle-inertia (MGMA)
motors, see the Appendix.
2. The defa lt is for "incremental" spec.
When yo se the driver with the "absol te" spec, yo need to;
1) Change the val e of the parameter "Absol te encoder set- p (PrOB)" from 1 (factory
set defa lt) to 0.
2) Install the battery (see Appendix "Optional Parts" for the batteries).
3. The absol te/incremental spec driver can be sed as "F ll Closed Driver".
With the absol te/incremental type encoder, 17 bits
Motor
Amplifier
MSDA3A1D1A
MSDA5A1D1A
MSDA011D1A
MSDA021D1A
MSDA041D1A
MSDA3A3D1A
MSDA5A3D1A
MSDA013D1A
MSDA023D1A
MSDA043D1A
MSDA083D1A
MSDA103D1A
MSDA153D1A
MSDA203D1A
MSDA253D1A
MSDA303D1A
MSDA353D1A
MSDA403D1A
MSDA453D1A
MSDA503D1A
Motor type
MSMA3AZC**
MSMA5AZC**
MSMA011C**
MSMA021C**
MSMA041C**
MSMA3AZC**
MSMA5AZC**
MSMA012C**
MSMA022C**
MSMA042C**
MSMA082C**
MSMA102D**
MSMA152D**
MSMA202D**
MSMA252D**
MSMA302D**
MSMA352D**
MSMA402D**
MSMA452D**
MSMA502D**
Voltage
100V
200V
200V
O tp t
rating
30W
50W
100W
200W
400W
30W
50W
100W
200W
400W
750W
1.0kW
1.5kW
2.0kW
2.5kW
3.0kW
3.5kW
4.0kW
4.5kW
5.0kW
Revol tion
rating
3000r/min
3000r/min
Encoder
type
With the absol te/
incremental type
encoder, 17 bits
Absol te/
incremental type,
17 bits, 7 wires
See Note 2)
Before Use
Series
symbol
MSMA
(Small)
Low
inertia
MSMA
(Large)
Low
inertia
Amplifier
type
Type1
Type2
Type2
Type1
Type2
Type2
Type4-2
Type4-3
Type5

- 12 -
Parts Description
Driver
< Notes >
For detailed information for each of driver types, see the drawings in the Appendix.
Safe separation are provided between power board and control circ it.
Example: MSDA023A1A (200V 200W: Type 1)
ÅmTerminal block cover openedÅn
200V 200W
023A1A
MSDA
W
V
U
SIG
I/F
SER
NET
W
V
U
SIG
I/F
SER
NET
SETMODE
G
SP
IM
ID
L1
L2
L3
r
t
P
B1
B2
SETMODE
G
SP
IM
ID
CAUTION
Connect the
wiring correctly
and properly,
and screw the
cover after
wire connection
Rotary switch (ID)
Mo nting bracket
LED indicator
(6 digits)
Comm nication
connector 1
(CN NET)
Comm nication
connector 2
(CN SER)
MODE
selector switch
Controller
connection
(CN I/F)
Encoder
connection
(CN SIG)
Data setting
b ttons
: SHIFT
: UP
: DOWN
Check pins
Mains power
connection
Control power
connection
External regenerative
discharge resistor
connection
Earth connections (2)
Terminal
block cover
Motor connection
(U.V.W)
Terminal
SET
b tton
Cover
sec ring screw
ÅmTerminal block cover closedÅn

- 13 -
< Notes >
For detailed information for each of motor types, see the drawings in the Appendix.
Motor
Example: Small Low-Inertia Motor (MSMA Series, 750W and below)
Mo nting bolt holes (4)
Flange
Frame
Motor cable
Encoder
Encoder cable
Before Use
Brake cable

- 14 -
Installation
The driver and motor sho ld be properly installed to avoid fail res, mechanical damages and inj ries.
Amplifier
Location
A Indoors, where the driver is not s bjected to rain water and direct s n beams. Note that
the driver is not a waterproof str ct re.
B A void the place where the driver is s bjected to corrosive gases, flammable gases,
grinding liq ids, oil mists, iron powders and c tting particles.
C Place in a well-ventilated, and h mid- and d st-free space.
D Place in a vibration-free space.
Environmental Conditions
How to Install
A his is a rack-mo nt type.
Place the driver vertically. Allow eno gh space s rro nding for ventilation.
Type 3 and smaller ( p to 750W): Back panel mo nt type (projected, se Bracket A)
Type 4 and larger (1kW and larger): Front panel mo nt type (recessed, se Bracket B)
Bracket A
MSDA 750W
and smaller
Bracket B
MSDA 1kW
and larger
B If yo want to change the mo nting config ration, se the optional bracket (see Appendix
"Optional Parts").
C Fit to noncomb stibles s ch as metal.
(Types 1 to 3)
Item
Ambient temperat re
Ambient h midity
Storage temperat re
Storage h midity
Vibration
Altit de
Conditions
0 to 55ÅãC (free from freezing)
Not greater than 90%RH (free from condensation)
-20 to 80ÅãC (free from condensation)
Not greater than 90%RH (free from condensation)
Not greater than 5.9m/s2 (0.6G) at 10 to 60 Hz
Not greater than 1000 m
(Types 4-2 - 4-3,Type 5)

- 15 -
ID MODE
IM
I/F
SIG
U
V
W
SP G
SET ID MODE
IM
I/F
SIG
U
V
W
SP G
SET ID MODE
IM
I/F
SIG
U
V
W
SP G
SET ID MODE
IM
I/F
SIG
U
V
W
SP G
SET
Mo nting Direction and Space Req irements
• Allow eno gh space to ens re eno gh cooling.
• Install fans to provide a niform distrib tion of temperat re in the control box.
• Observe the environmental req irements for the control box, mentioned in the previo s
page.
Before Use
< Notes >
Conformance to UL Standard
Observing the following instr ction makes this driver a UL508C standard a thorized and EN50178
approved prod ct.
1 Instr ctions in wiring
1)Use copper cond ctor wire with the rated temperat re of 60Åé or higher for
wiring to terminal blocks or gro nding terminals.
2)
Be s re to connect the protective gro nding of the control panel(PE) to a protective
gro nding terminal( ) of the driver to prevent electric shock. Do not do ble-connect to
the protective gro nding terminals ( ).Two protective gro nding terminals are provided.
2 Overload protection level
The overload protective f nction of the driver is activated when the effective c rrent
of the driver is 115% or more of the rated c rrent. Make s re that the effective
c rrent of the driver dose not exceed the rated c rrent. The maxim m allowable instantaneo s c rrent of
the driver is the c rrent set by the torq e limit setting(Pr06).
3 Installation environment
Use the driver in environment with the poll tion level 2 higher provided in IEC60664-1.For
example,installing in a control panel of IP54 makes the poll tion level of the environment 2. To achieve
IP54,the str ct re shall not allow water,oil,carbon or d st to enter.
min.
40mm
min.
100mm
min.
40mm
min.
100mm
min.
10mm
Fan Fan
min.
10mm
min.
10mm

- 16 -
How to Install
The motor can be installed either vertically or horizontally. Observe the following notes.
A Horizontal mo nting
•
Place the motor with the cable o tlet facing down to prevent the entry of oil and water.
B Vertical mo nting
•
If the motor is co pled with a red ction gear, make s re that the oil in the red ction gear does not
enter into the motor.
Oil and Water Protections
A This motor(IP65 rating) can be sed where it is s bjected to water and/or oil drops, b t is
not water or oilproof. Therefore, the motors sho ld not be placed or sed in s ch environ-
ment.
B If the motor is co pled with a red ction gear, se the motor sho ld with oil seals to prevent
the red ction gear oil from entering into the motor.
C Don't se the motor with the cables being immersed in oil or water.
Installation
Motor
Location
A Indoors, where the driver is not s bjected to rain water and direct s n beams.
B Avoid the place where the driver is s bjected to corrosive gases, flammable gases, grind-
ing liq ids, oil mists, iron powders and c tting particles.
C Place in a well-ventilated, and h mid- and d st-free space.
D Easy maintenance, inspections and cleaning is also important.
Environmental Conditions
Item
Ambient temperat re
Ambient h midity
Storage temperat re
Storage h midity
Vibration
Conditions
0 to 40˚C (free from freezing)
Not greater than 90%RH (free from condensation)
-20 to 80˚C (free from condensation)
Not greater than 90%RH (free from condensation)
Not greater than 49m/s2 (5G) in operation; not greater than 24.5m/s2 (2.5G) at rest

- 17 -
Cable: Stress Relieving
A Make s re that the cables are not s bjected to moments or vertical loads d e to external
bending forces or self-weight at the cable o tlets or connections.
B In case the motor is movable, sec re the cable (proper one s pplied together with the
motor) to a stationery part (e.g. floor), and it sho ld be extended with an additional cable
which sho ld be ho sed in a cable bearer so that
bending stresses can be minimized.
C Make the bending radi s of cables as large as possible.
Permissible Shaft Load
A Make s re that both of radial and thr st load to be applied to the motor shaft d ring instal-
lation and r nning, becomes within the specified val e of each model.
B
Pay extra attention at installing a rigid co pling(especially an excess bending load which may
ca se the damages and/or wear of the shaft and bearings.
C Flexible co pling is recommended in order to keep the radial load smaller than the per-
missible val e, which is designed excl sively for servo motors with high mechanical stiff-
ness.
D
For the permissible shaft load, see "Allowable Shaft Loads Listing" in Appendix.
Installation Notes
A Don't hit the shaft with a hammer directly while
attaching/detaching the co pling to the motor
shaft.(otherwise
the encoder at the opposite end of the shaft
will be damaged).
B Try perfect alignment between shafts (misalignment may ca se vibration, and damages
of the bearings).
Before Use

- 18 -
Main Circ its
Non-F se Breaker (NFB)
Used to protect the power lines:
overc rrent will sh toff the circ it.
Noise Filter (NF)
Prevents the external noise from the power
line, and red ces the effect of the noises gen-
erated by the servo motor.
Magnetic Contactor (MC)
T rns on/off the main power of the servo
motor.
Used together with a s rge absorber.
Reactor (L)
Red ces the harmonic in the main
power.
Motor cable:
• Witho t a brake
• With a brake
Terminals P, B1 and B2
• Normally keep B1 and B2 shorted.
• If the capacity of the internal regen-
erative discharge resistor is not
eno gh, disconnect between B1 and
B2, and
connect an external regenerative dis-
charge resistor to P and B2 terminals.
System Config ration and Wiring
General Wiring Diagram
Regenerative discharge resistor
Gro nd

- 19 -
Comm nication control
software PENATERM
• CN SER/CN NET
(to connect a PC or
controller)
• CN SIG
(to connect an encoder)
• CN I/F
(to connect a controller)
Personal comp ter
Motor cable
Brake power
s pply(24VDC)
Encoder cable
Preparations and Adj stments