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