Panasonic Minas A4 Series User manual

RGB ELEKTRONIKA AGACIAK CIACIEK
SPÓŁKA JAWNA
Jana Dlugosza 2-6 Street
51-162 Wrocław
Poland
[e-mail]
[phone]
www.rgbautomatyka.pl
www.rgbelektronika.pl
DATASHEET
www.rgbautomatyka.pl
www.rgbelektronika.pl
OTHER SYMBOLS:
MCDDT3520
PANASONIC

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Instruction Manual
AC Servo Motor and Driver


MINAS A4 Series
•Thank you for buying and using Panasonic AC Servo Motor and Driver, MINAS A4 Series.
•Read through this Instruction Manual for proper use, especially read "Precautions for
Safety" ( P.8 to 11) without fail for safety purpose.
•Keep this Manual at an easily accessible place so as to be referred anytime as necessary.

2
[Before Using the Products] page
Safety Precautions .................................................................... 8
Maintenance and Inspection................................................... 12
Introduction.............................................................................. 14
Outline ..........................................................................................................................................................14
On Opening the Package .............................................................................................................................14
Check of the Driver Model............................................................................................................................14
Check of the Motor Model ............................................................................................................................15
Check of the Combination of the Driver and the Motor................................................................................16
Parts Description..................................................................... 18
Driver ............................................................................................................................................................18
Motor.............................................................................................................................................................20
Console.........................................................................................................................................................21
Installation................................................................................ 22
Driver ............................................................................................................................................................22
Motor.............................................................................................................................................................24
Console.........................................................................................................................................................26
[Preparation] page
System Configuration andWiring .......................................... 28
Overall Wiring (Connecting Example of C-frame, 3-phase).........................................................................28
Overall Wiring (Connecting Example of E-frame) ........................................................................................30
Driver and List of Peripheral Equipments.....................................................................................................32
Wiring of the Main Circuit (A to D-frame) .....................................................................................................34
Wiring of the Main Circuit (E and F-frame)...................................................................................................35
Wiring to the Connector, CN X6 (Connection to Encoder)...........................................................................38
Wiring to the Connector, CN X3 and 4 (Connection to PC, Host Controller or Console) ............................40
Wiring to the Connector, CN X5 (Connection to Host Controller) ................................................................41
Timing Chart ............................................................................ 42
Built-in Holding Brake ............................................................. 46
Dynamic Brake......................................................................... 48
Caution on Homing.................................................................. 50
Setup of Parameter and Mode ................................................ 51
Outline of Parameter ....................................................................................................................................51
How to Set ....................................................................................................................................................51
How to Connect ............................................................................................................................................51
Composition and List of Parameters ............................................................................................................52
Setup of Torque Limit....................................................................................................................................57
How to Use the Front Panel and Console.............................. 58
Setup with the Front Panel ...........................................................................................................................58
Setup with the Console ................................................................................................................................58
Initial Status of the Front Panel Display (7 Segment LED) ..........................................................................59
Initial Status of the Console Display (7 Segment LED)................................................................................59
Structure of Each Mode................................................................................................................................60
Monitor Mode................................................................................................................................................63
Parameter Setup Mode ................................................................................................................................69
Content

3
EEPROM Writing Mode................................................................................................................................70
Auto-Gain Tuning Mode ...............................................................................................................................71
Auxiliary Function Mode ...............................................................................................................................73
Copying Function (Console Only) ................................................................................................................79
[Connection and Setup of Position Control Mode] page
Control Block Diagram of Position Control Mode................. 82
Wiring to the Connector, CN X5.............................................. 83
Wiring Example to the Connector, CN X5 ....................................................................................................83
Interface Circuit ............................................................................................................................................84
Input Signal and Pin No. of the Connector, CN X5 ......................................................................................86
Output Signal and Pin No. of the Connector, CN X5 ...................................................................................92
Connecting Example to Host Controller .......................................................................................................96
Trial Run (JOG Run) at Position Control Mode.................... 104
Inspection Before Trial Run ........................................................................................................................104
Trial Run by Connecting the Connector, CN X5.........................................................................................104
Real-Time Auto-GainTuning................................................. 106
Outline ........................................................................................................................................................106
Applicable Range .......................................................................................................................................106
How to Operate ..........................................................................................................................................106
Adaptive Filter.............................................................................................................................................107
Parameters Which are Automatically Set...................................................................................................107
Parameter Setup .................................................................... 108
Parameters for Functional Selection ..........................................................................................................108
Parameters for Adjustment ofTime Constant of Gains and Filters............................................................ 111
Parameters for Auto-Gain Tuning............................................................................................................... 112
Parameters for Adjustment (2nd Gain Switching Function) ....................................................................... 115
Parameters for Position Control ................................................................................................................. 116
Parameters for Velocity/Torque Control .....................................................................................................120
Parameters for Sequence ..........................................................................................................................120
[Connection and Setup ofVelocity Control Mode] page
Control Block Diagram ofVelocity Control Mode ............... 126
Wiring to the Connector, CN X5............................................ 127
Wiring Example to the Connector, CN X5 ..................................................................................................127
Interface Circuit ..........................................................................................................................................128
Input Signal and Pin No. of the Connector, CN X5 ....................................................................................130
Output Signal and Pin No. of the Connector, CN X5 .................................................................................135
Trial Run (JOG Run) atVelocity Control Mode .................... 138
Inspection Before Trial Run ........................................................................................................................138
Trial Run by Connecting the Connector, CN X5.........................................................................................139
Real-Time Auto-GainTuning................................................. 140
Outline ........................................................................................................................................................140
Applicable Range .......................................................................................................................................140
How to Operate ..........................................................................................................................................140
Adaptive Filter.............................................................................................................................................141
Parameters Which are Automatically Set up..............................................................................................141
Before Using
the Products
Preparation
Connection and Setup of
Position Control Mode
Connection and Setup of
Velocity Control Mode
Connection and Setup of
Torque Control Mode
Full-Closed
Control Mode
Adjustment
When in Trouble
Supplement

4
Parameter Setup .................................................................... 142
Parameters for Functional Selection ..........................................................................................................142
Parameters for Adjustment of Time Constant of Gains and Filters............................................................146
Parameters for Auto-Gain Tuning...............................................................................................................147
Parameters for Adjustment (2nd Gain Switching Function) .......................................................................149
Parameters for Position Control .................................................................................................................151
Parameters for Velocity/Torque Control .....................................................................................................152
Parameters for Sequence ..........................................................................................................................155
[Connection and Setup ofTorque Control Mode] page
Control Block Diagram ofTorque Control Mode ................. 160
Wiring to the Connector, CN X5............................................ 161
Wiring Example to the Connector, CN X5 ..................................................................................................161
Interface Circuit ..........................................................................................................................................162
Input Signal and Pin No. of the Connector, CN X5 ....................................................................................164
Output Signal and Pin No. of the Connector, CN X5 .................................................................................168
Trial Run (JOG Run) atTorque Control Mode...................... 171
Inspection Before Trial Run ........................................................................................................................171
Trial Run by Connecting the Connector, CN X5.........................................................................................171
Real-Time Auto-GainTuning................................................. 172
Outline ........................................................................................................................................................172
Applicable Range .......................................................................................................................................172
How to Operate ..........................................................................................................................................172
Parameters Which are Automatically Set up..............................................................................................173
Parameter Setup .................................................................... 174
Parameters for Functional Selection ..........................................................................................................174
Parameters for Adjustment of Time Constant of Gains and Filters............................................................177
Parameters for Auto-Gain Tuning...............................................................................................................178
Parameters for Adjustment (2nd Gain Switching Function) .......................................................................179
Parameters for Position Control .................................................................................................................181
Parameters for Velocity/Torque Control .....................................................................................................183
Parameters for Sequence ..........................................................................................................................185
[Full-Closed Control Mode] page
Outline of Full-Closed Control.............................................. 190
What is Full-Closed Control ?.....................................................................................................................190
Control Block Diagram of Full-Closed Control Mode.......... 191
Wiring to the Connector, CN X5............................................ 192
Wiring Example to the Connector, CN X5 ..................................................................................................192
Interface Circuit ..........................................................................................................................................193
Input Signal and Pin No. of the Connector, CN X5 ...................................................................................195
Output Signal and Pin No. of the Connector, CN X5 .................................................................................201
Connection to the Connector, CN X7 .................................. 204
Connector, CN X7.......................................................................................................................................204
Wiring to the External Scale, Connector, CN X7........................................................................................205
Real-Time Auto-GainTuning................................................. 206
Outline ........................................................................................................................................................206
Applicable Range .......................................................................................................................................206

How to Operate ..........................................................................................................................................206
Adaptive Filter.............................................................................................................................................207
Parameters Which are Automatically Set up..............................................................................................207
Parameter Setup .................................................................... 208
Parameters for Functional Selection ..........................................................................................................208
Parameters for Adjustment ofTime Constant of Gains and Filters............................................................ 211
Parameters for Auto-Gain Tuning...............................................................................................................212
Parameters for Adjustment (2nd Gain Switching Function) .......................................................................214
Parameters for Position Control .................................................................................................................216
Parameters for Velocity/Torque Control .....................................................................................................220
Parameters for Sequence ..........................................................................................................................220
Parameters for Full-Closed ........................................................................................................................224
[Adjustment] page
Gain Adjustment .................................................................... 226
Real-Time Auto-GainTuning................................................. 228
Fit-Gain Function ........................................................................................................................................231
Adaptive Filter........................................................................ 234
Normal Auto-GainTuning...................................................... 236
Release of Automatic Gain Adjusting Function .................. 239
Manual Auto-GainTuning (Basic)......................................... 240
Adjustment in Position Control Mode .........................................................................................................241
Adjustment in Velocity Control Mode .........................................................................................................241
Adjustment in Torque Control Mode...........................................................................................................242
Adjustment in Full-Closed Control Mode....................................................................................................242
Gain Switching Function.............................................................................................................................243
Suppression of Machine Resonance .........................................................................................................246
Automatic Gain Setup Function..................................................................................................................248
Manual Auto-GainTuning (Application)............................... 249
Instantaneous Speed Observer..................................................................................................................249
Damping Control.........................................................................................................................................250
[When inTrouble] page
When in Trouble..................................................................... 252
What to Check ? .........................................................................................................................................252
Protective Function (What is Error Code ?) ...............................................................................................252
Protective Function (Details of Error Code) ...............................................................................................253
Troubleshooting .................................................................... 260
Motor Does Not Run...................................................................................................................................260
Unstable Rotation (Not Smooth)/Motor Runs Slowly Even with Speed Zero atVelocity Control Mode....261
Positioning Accuracy Is Poor......................................................................................................................262
Origin Point Slips ........................................................................................................................................263
Abnormal Noise or Vibration ......................................................................................................................263
Overshoot/Undershoot, Overheating of the Motor (Motor Burn-Out).........................................................264
Motor Speed Does Not Reach to the Setup/Motor Revolution (Travel) Is Too Large or Small .................264
Parameter Returns to Previous Setup .......................................................................................................264
Display of "Communication port or driver cannot be detected" Appears on the ScreenWhile using the
PANATERM®..............................................................................................................................................264
5
Before Using
the Products
Preparation
Connection and Setup of
Position Control Mode
Connection and Setup of
Velocity Control Mode
Connection and Setup of
Torque Control Mode
Full-Closed
Control Mode
Adjustment
When in Trouble
Supplement

6
[Supplement] page
Absolute System ................................................................... 266
Outline of the Setup Support Software, PANATERM®......... 276
Communication ..................................................................... 278
Division Ratio for Parameters............................................... 306
Conformity to EC Directives and UL Standards .................. 308
Options................................................................................... 312
Recommended components................................................. 323
Dimensions (Driver)............................................................... 324
Dimensions (Motor) ............................................................... 327
Permissible Load at Output Shaft ........................................ 342
Motor Characteristics (S-T Characteristics) ........................ 343
Motor with Gear Reducer ...................................................... 349
Dimensions (Motor with Gear Reducer)............................... 350
Permissible Load at Output Shaft (Motor with Gear Reducer)...... 352
Motor Characteristics (S-T Characteristics)/Motor with Gear Reducer .... 353
Block Diagram of Driver........................................................ 354
Block Diagram of Driver by Control Mode ........................... 356
Specifications (Driver)........................................................... 358
Homing with "Hit & Stop" and "Press & Hold" Control ...... 360

7
[Before Using the Products]
page
Safety Precautions....................................................8
Maintenance and Inspection ..................................12
Introduction .............................................................14
Outline ......................................................................................... 14
On Opening the Package............................................................ 14
Check of the Driver Model........................................................... 14
Check of the Motor Model ........................................................... 15
Check of the Combination of the Driver and the Motor............... 16
Parts Description ....................................................18
Driver........................................................................................... 18
Motor ........................................................................................... 20
Console ....................................................................................... 21
Installation ...............................................................22
Driver........................................................................................... 22
Motor ........................................................................................... 24
Console ....................................................................................... 26

8
Safety Precautions Observe the Following Instructions Without Fail
Observe the following precautions in order to avoid damages on the machinery
and injuries to the operators and other personnel during the operation.
• In this document, the following symbols are used to indicate the level of damages or
injuries which might be incurred by the misoperation ignoring the precautions.
Indicates a potentially hazardous situation which, if not
avoided, will result in death or serious injury.
DANGER
Indicates a potentially hazardous situation which, if not
avoided, will result in minor injury or property damage.
CAUTION
• The following symbols represent "MUST NOT" or "MUST" operations which you have to
observe.
(Note that there are other symbols as well.)
Represents "MUST NOT" operation which is inhibited.
Represents "MUST" operation which has to be executed.
DANGER
Do not subject the Product to wa-
ter, corrosive or flammable gases,
and combustibles.
Failure to observe this in-
struction could result in fire.
Do not subject the cables to exces-
sive force, heavy object, or pinch-
ing force, nor damage the cables.
Failure to observe this in-
struction could result in
electrical shocks, damages
and breakdowns.
Do not put your hands in the ser-
vo driver.
Failure to observe this in-
struction could result in
burn and electrical shocks.
Do not touch the rotat-
ing portion of the mo-
tor while it is running.
Failure to observe this instruc-
tion could result in injuries.
Do not drive the motor with exter-
nal power.
Failure to observe this in-
struction could result in fire.
Do not touch the motor, servo driver
and external regenerative resistor of
the driver, since they become very hot.
Failure to observe this in-
struction could result in
burns.
Rotating portion

9
[Before Using the Products]
Failure to observe this in-
struction could result in fire.
Do not place the console close to
a heating unit such as a heater or
a large wire wound resistor.
Do not place combustibles near
by the motor, driver and regenera-
tive resistor. Failure to observe this in-
struction could result in fire
and breakdowns.
Ground the earth terminal of the
motor and driver without fail.
Failure to observe this in-
struction could result in
electrical shocks.
Install an over-current protection,
earth leakage breaker, over-tem-
perature protection and emergen-
cy stop apparatus without fail.

Failure to observe this instruc-
tion could result in electrical
shocks, injuries and fire.
Install an emergency stop circuit
externally so that you can stop
the operation and shut off the
power immediately.

Failure to observe this instruction could
result in injuries, electrical shocks, fire,
breakdowns and damages.
Install and mount the Product and
machinery securely to prevent
any possible fire or accidents in-
curred by earthquake.
Failure to observe this instruc-
tion could result in electrical
shocks, injuries and fire.
Mount the motor, driver and re-
generative resistor on incombust-
ible material such as metal.
Failure to observe this in-
struction could result in fire.
Check and confirm the safety of
the operation after the earthquake.
Failure to observe this instruc-
tion could result in electrical
shocks, injuries and fire.
Make the correct phase sequence
of the motor and correct wiring of
the encoder.
Failure to observe this instruction
could result in injuries breakdowns
and damages.
Turn off the power and wait for a
longer time than the specified
time, before transporting, wiring
and inspecting the driver.
Failure to observe this in-
struction could result in
electrical shocks.
Turn off the power and make it
sure that there is no risk of elec-
trical shocks before transporting,
wiring and inspecting the motor.
Failure to observe this in-
struction could result in
electrical shocks.
Wiring has to be carried out by the
qualified and authorized specialist.
Failure to observe this in-
struction could result in
electrical shocks.
DANGER

10
Safety Precautions
Do not hold the motor cable or
motor shaft during the transporta-
tion. Failure to observe this
instruction could result in
injuries.
Do not block the heat dissipating
holes or put the foreign particles
into them.
Failure to observe this in-
struction could result in
electrical shocks and fire.
Never run or stop the motor with
the electro-magnetic contactor
installed in the main power side.
Failure to observe this
instruction could result in
breakdowns.
Do not step on the Product nor
place the heavy object on them.
Failure to observe this
instruction could result in
electrical shocks, injuries,
breakdowns and damages.
Do not turn on and off the main
power of the driver repeatedly.
Failure to observe this
instruction could result in
breakdowns.
Do not give strong impact shock
to the Product.
Failure to observe this
instruction could result in
breakdowns.
Do not make an extreme gain ad-
justment or change of the drive.
Do not keep the machine run-
ning/operating unstably.
Failure to observe this
instruction could result in
injuries.
Do not use the built-in brake as a
"Braking" to stop the moving
load. Failure to observe this
instruction could result in
injuries and breakdowns.
Do not approach to the machine
since it may suddenly restart after
the power resumption. 
Design the machine to secure the
safety for the operator even at a
sudden restart.
Failure to observe this
instruction could result in
injuries.
Do not modify, disassemble nor
repair the Product.
Failure to observe this in-
struction could result in fire,
electrical shocks and injuries.
Do not pull the cables with exces-
sive force.
Failure to observe this
instruction could result in
breakdowns.
Do not give strong
impact shockto
the motor shaft.
CAUTION
Failure to observe this
instruction could result
in breakdowns.
Observe the Following Instructions Without Fail

11
[Before Using the Products]
Use the motor and the driver in
the specified combination.
Failure to observe this
instruction could result in
fire.
Make a wiring correctly and
securely.
Failure to observe this
instruction could result in
fire and electrical shocks.
Use the eye bolt of the motor for
transportation of the motor only,
and never use this for transporta-
tion of the machine.
Failure to observe this
instruction could result in
injuries and breakdowns.
Observe the specified mounting
method and direction.
Failure to observe this
instruction could result in
breakdowns.
Make an appropriate mounting of
the Product matching to its weight
and output rating.
When you dispose the batter-
ies, observe any applicable reg-
ulations or laws after insulating
them with tape.
This Product shall be treated as
Industrial Waste when you
dispose.
Failure to observe this
instruction could result in
injuries and breakdowns.
Observe the specified voltage.
Failure to observe this in-
struction could result in
electrical shocks, injuries
and fire.
Keep the ambient temperature be-
low the permissible temperature
for the motor and driver.
Failure to observe this
instruction could result in
breakdowns.
Execute the trial run without connecting
the motor to the machine system and fix
the motor. After checking the operation,
connect to the machine system again.
Failure to observe this
instruction could result in
injuries.
Connect the brake control relay to
the relay which is to shut off at
emergency stop in series.
Failure to observe this
instructioncould result in
injuries and breakdowns.
When any error occurs, remove
the cause and release the error
after securing the safety, then
restart. Failure to observe this
instruction could result in
injuries.
CAUTION

12
Maintenance and Inspection
• Routine maintenance and inspection of the driver and motor are essential for the proper and safe operation.
Notes on Maintenance and Inspection
1) Turn on and turn off should be done by operators or inspectors themselves.
2) Internal circuit of the driver is kept charged with high voltage for a while even after power-off.Turn off the
power and allow 15 minutes or longer after LED display of the front panel has gone off, before performing
maintenance and inspection.
3) Disconnect all of the connection to the driver when performing megger test (Insulation resistance mea-
surement) to the driver, otherwise it could result in breakdown of the driver.
Inspection Items and Cycles
General and normal running condition
Ambient conditions : 30˚C (annual average), load factor of 80% or lower, operating
hours of 20 hours or less per day.
Perform the daily and periodical inspection as per the items below.
<Note> Inspection cycle may change when the running conditions of the above change.




Daily







Annual
• Ambient temperature, humidity, speck, dust or foreign object
• Abnormal vibration and noise
• Main circuit voltage
• Odor
• Lint or other particles at air holes
• Cleanness at front portion of the driver and connecter
• Damage of the cables
• Loose connection or misalignment between the motor and 
machine or equipment 
• Pinching of foreign object at the load

• Loose tightening
• Trace of overheat
• Damage of the terminals
Type Cycles Items to be inspected
Daily 
inspection
Periodical 
inspection

13
[Before Using the Products]
Before Using
the Products
Guideline for Parts Replacement
Use the table below for a reference. Parts replacement cycle varies depending on the actual operating
conditions. Defective parts should be replaced or repaired when any error have occurred.






Driver










Motor





Motor with
gear reducer
Smoothing capacitor 
Cooling fan 

Aluminum electrolytic 
capacitor (on PCB) 

Rush current 
preventive relay 


Rush current preventive 
resistor
Bearing 

Oil seal 
Encoder 



Battery 
for absolute encoder


Gear reducer
Product Component Standard replacement
cycles (hour) Note
These hours or cycles are
reference.
When you experience any
error, replacement is required
even before this standard
replacement cycle.
Approx. 5 years 
2 to 3 years
(10,000 to 30,000 hours)

Approx. 5 years

Approx. 100,000 times
(depending on working
condition)
Approx. 20,000 times
(depending on working
condition)
3 to 5 years
(20
,000 to 30 ,000 hours)
5000 hours
3 to 5 years
(20
,000 to 30 ,000 hours)
Life time varies depending
on working conditions.
Refer to the instruction
manual attached to the
battery for absolute
encoder.
10,000 hours
Prohibited
Disassembling for inspection and repair should be carried
out only by authorized dealers or service company.

14
Model number
Rated input/output voltage
Rated output of applicable motor
Rated input/output current
Serial Number
MADDT1205
e.g.) : P04110001Z
Lot number
Month of production
Year of production
(Lower 2 digits of AD year)
50/60Hz 100W
1.3A
1ø
200-240V
Freq.
Model No.
AC SERVO
Serial No.P04110001Z
INPUT
Voltage
Phase
F.L.C
Power
OUTPUT
69V
3ø
1.2A
0~333.3Hz
Introduction
Outline
MINAS-A4 Series with wide output range from 50W to 5kW, are the high speed, high functionality AC servo
drivers and motors.Thanks to the adoption of a new powerful CPU, A4 Series now realize velocity response
frequency of 1kHz, and contribute to the development of a high-speed machine and drastic shortening of
tact-time.
Standard line-up includes full-closed control and auto-gain tuning function and the motors with 2500P/r
incremental encoder and 17-bit absolute/incremental encoder.
A4 Series have also improved the user-friendliness by offering a console (option) which enables you to
monitor the rotational speed display, set up parameters, trial run (JOG running) and copy parameters.
A4 Series can support various applications and their requirement by featuring automated gain tuning func-
tion, damping control which achieves a stable "Stop Performance" even in low-stiffness machine and high
speed motor.
This document is designed for the customer to exploit the versatile functions of A4 Series to full extent.
Cautions
1) Any part or whole of this document shall not be reproduced without written permission from us.
2) Contents of this document are subject to change without notice.
On Opening the Product Package
• Make sure that the model is what you have ordered.
• Check if the product is damaged or not during transportation.
• Check if the instruction manual is attached or not.
• Check if the power connector and motor connecters (CN X1 and CN X2 connectors) are attached or not (A
to D-frame). Contact to a dealer if you find any failures.
Check of the Driver Model
Contents of Name Plate
MADDT1205 Special specifications
(letters and numbers)
Current detector rating
Power supply
Max. current rating of 
power device
Frame-size symbol
MADD
MBDD
MCDD
MDDD
MEDD
MFDD
Frame
Symbol
A4-series, A-frame
A4-series, B-frame
A4-series, C-frame
A4-series, D-frame
A4-series, E-frame
A4-series, F-frame
T1
T2
T3
T5
T7
TA
TB
Current rating Symbol
Specifications
10A
15A
30A
50A
70A
100A
150A
Symbol
1
2
3
5
Single phase, 100V
Single phase, 200V
3-phase, 200V
Single/3-phase, 
200V
05
07
10
15
20
30
40
64
90
A2
Current rating
Symbol
5A
7.5A
10A
15A
20A
30A
40A
64A
90A
120A
1 to 4 75 to 6 10 to 128 to 9
Model Designation

15
[Before Using the Products]
Before Using
the Products
Model Designation
Check of the Motor Model
Contents of Name Plate
AC SERVO MOTOR RATING S1
MODELNo. MSMD5AZS1S INS. CLASS B (TÜV) A (UL)
CONT. TORQUE
0.64 Nm
A1.6 CONNECTION
RATED OUTPUT
RATED FREQ. kW
0.2 SER No. 04110001
Hz 200
RATED REV. r/min 3000
INPUT 3ØAC 92 IP65 V
Model
Rated output
Rated input voltage/current
Rated rotational speed
Serial Number
e.g.) :
04110001
Lot number
Month of production
Year of production
(Lower 2 digits of AD year)
MSMD5AZS1S
1 to 4 5 to 6 11 to 12 7 8 9 10
Special specifications
(letters and numbers)
Motor structure
Design order
1: Standard
Rotary encoder specifications
Voltage specifications
MAMA

MQMA

MSMD

MSMA

MDMA

MHMA

MFMA

MGMA
Type
Symbol
Ultra low inertia
(100W to 750W)
Low inertia
(100W to 400W)
Low inertia
(50W to 750W)
Low inertia
(1.0kW to 5.0kW)
Middle inertia
(1.0kW to 5.0kW)
High inertia
(500W to 5.0kW)
Middle inertia
(400W to 4.5kW)
Middle inertia
(900W to 4.5kW)
P
SIncremental Absolute/Incremental common
Specifications
Symbol
Format 2500P/r
17bit
Pulse count
5A
01
02
04
05
08
09
10
Output
Motor rated output
Symbol
50W
100W
200W
400W
500W
750W
900W
1.0kW
15
20
25
30
40
45
50
Output Symbol
1.5kW
2.0kW
2.5kW
3.0kW
4.0kW
4.5kW
5.0kW
1
2
Z
Specifications
Symbol
100 V
200 V
100/200 common
(50W only)
10,000
131,072
Resolution 5-wire
7-wire
Wire count
Motor structure
MSMD, MQMA  MAMA
A
B
E
F
Shaft
Holding brake Oil seal
Without With
Round
Key way Without With
Symbol

MSMA, MDMA, MFMA, MGMA, MHMA
A
B
S
T
Shaft
Holding brake Oil seal
Without With
Round
Key way Without With
Symbol
*1 The product with oil seal is a special order product.
*2 Key way with center tap.
C
D
G
H
Shaft
Holding brake Oil seal
Without With
Round
Key way Without With
Symbol
*1
*2
*2
Products are standard stock items or build to order 
items. For details, inquire of the dealer.

16
Introduction
Check of the Combination of the Driver and the Motor
This drive is designed to be used in a combination with the motor which are specified by us.
Check the series name of the motor, rated output torque, voltage specifications and encoder specifications.
Incremental Specifications, 2500P/r
<Remarks> Do not use in other combinations than those listed below.
Single phase,
200V
3-phase,
200V
Single phase,
100V

Single phase,
200V


Single phase,
100V


Single phase,
200V

Single/3-phase,
200V


3-phase,
200V

Single/3-phase,
200V

3-phase,
200V

Single/3-phase,
200V


3-phase,
200V

Single/3-phase,
200V
3-phase,
200V
Single/3-phase, 200V

3-phase, 200V
MAMA
Ultra low
inertia



MAMA
Low
inertia




MSMD
Low
inertia





MSMA
Low
inertia



MDMA
Middle
inertia



MHMA
High
inertia



MFMA
Middle
inertia

MGMA
Middle
inertia
Power
supply Motor
series
Applicable motor Applicable driver


5000r/min



3000r/min







3000r/min






3000r/min





2000r/min






2000r/min




2000r/min



1000r/min
Rated
rotational speed 100W
200W
400W
750W
100W
200W
400W
100W
200W
400W
50W
100W
200W
400W
50W
100W
200W
400W
750W
1.0kW
1.5kW
2.0kW
3.0kW
4.0kW
5.0kW
1.0kW
1.5kW
2.0kW
3.0kW
4.0kW
5.0kW
500W
1.0kW
1.5kW
2.0kW
3.0kW
4.0kW
5.0kW
400W
1.5kW
2.5kW
4.5kW
900W
2.0kW
3.0kW
4.5kW
Rated
output
MAMA012P1*
MAMA022P1*
MAMA042P1*
MAMA082P1*
MQMA011P1*
MQMA021P1*
MQMA041P1*
MQMA012P1*
MQMA022P1*
MQMA042P1*
MSMD5AZP1*
MSMD011P1*
MSMD021P1*
MSMD041P1*
MSMD5AZP1*
MSMD012P1*
MSMD022P1*
MSMD042P1*
MSMD082P1*
MSMA102P1*
MSMA152P1*
MSMA202P1*
MSMA302P1*
MSMA402P1*
MSMA502P1*
MDMA102P1*
MDMA152P1*
MDMA202P1*
MDMA302P1*
MDMA402P1*
MDMA502P1*
MHMA052P1*
MHMA102P1*
MHMA152P1*
MHMA202P1*
MHMA302P1*
MHMA402P1*
MHMA502P1*
MFMA042P1*
MFMA152P1*
MFMA252P1*
MFMA452P1*
MGMA092P1*
MGMA202P1*
MGMA302P1*
MGMA452P1*
Model
A-frame
B-frame
C-frame
D-frame
A-frame
B-frame
C-frame
A-frame
A-frame
B-frame
A-frame

B-frame
C-frame

A-frame

B-frame
C-frame
D-frame

E-frame

F-frame

D-frame

E-frame

F-frame

C-frame
D-frame

E-frame

F-frame

C-frame
D-frame
E-frame
F-frame
D-frame

F-frame
Frame
MADDT1207
MBDDT2210
MCDDT3520
MDDDT5540
MADDT1107
MBDDT2110
MCDDT3120
MADDT1205
MADDT1207
MBDDT2210
MADDT1105
MADDT1107
MBDDT2110
MCDDT3120
MADDT1205

MADDT1207
MBDDT2210
MCDDT3520
MDDDT5540

MEDDT7364
MFDDTA390
MFDDTB3A2

MDDDT3530
MDDDT5540
MEDDT7364
MFDDTA390
MFDDTB3A2

MCDDT3520
MDDDT3530
MDDDT5540
MEDDT7364
MFDDTA390
MFDDTB3A2

MCDDT3520
MDDDT5540
MEDDT7364
MFDDTB3A2
MDDDT5540
MFDDTA390
MFDDTB3A2
Model
<Note>
Suffix of " * " in the applicable motor model represents the motor structure.

17
[Before Using the Products]
Before Using
the Products
Absolute/Incremental Specifications, 17-bit
<Remarks> Do not use in other combinations than those listed below.
Single phase,
200V
3-phase,
200V
Single phase,
100V

Single phase,
200V


Single phase,
100V


Single phase,
200V

Single/3-phase,
200V


3-phase,
200V

Single/3-phase,
200V

3-phase,
200V

Single/3-phase,
200V


3-phase,
200V

Single/3-phase,
200V
3-phase,
200V
Single/3-phase, 200V

3-phase, 200V
MAMA
Ultra low
inertia



MAMA
Low
inertia




MSMD
Low
inertia





MSMA
Low
inertia



MDMA
Middle
inertia



MHMA
High
inertia



MFMA
Middle
inertia

MGMA
Middle
inertia
Power
supply Motor
series
Applicable motor Applicable driver


5000r/min



3000r/min







3000r/min






3000r/min





2000r/min






2000r/min




2000r/min



1000r/min
Rated
rotational speed 100W
200W
400W
750W
100W
200W
400W
100W
200W
400W
50W
100W
200W
400W
50W
100W
200W
400W
750W
1.0kW
1.5kW
2.0kW
3.0kW
4.0kW
5.0kW
1.0kW
1.5kW
2.0kW
3.0kW
4.0kW
5.0kW
500W
1.0kW
1.5kW
2.0kW
3.0kW
4.0kW
5.0kW
400W
1.5kW
2.5kW
4.5kW
900W
2.0kW
3.0kW
4.5kW
Rated
output
MAMA012S1*
MAMA022S1*
MAMA042S1*
MAMA082S1*
MQMA011S1*
MQMA021S1*
MQMA041S1*
MQMA012S1*
MQMA022S1*
MQMA042S1*
MSMD5AZS1*
MSMD011S1*
MSMD021S1*
MSMD041S1*
MSMD5AZS1*
MSMD012S1*
MSMD022S1*
MSMD042S1*
MSMD082S1*
MSMA102S1*
MSMA152S1*
MSMA202S1*
MSMA302S1*
MSMA402S1*
MSMA502S1*
MDMA102S1*
MDMA152S1*
MDMA202S1*
MDMA302S1*
MDMA402S1*
MDMA502S1*
MHMA052S1*
MHMA102S1*
MHMA152S1*
MHMA202S1*
MHMA302S1*
MHMA402S1*
MHMA502S1*
MFMA042S1*
MFMA152S1*
MFMA252S1*
MFMA452S1*
MGMA092S1*
MGMA202S1*
MGMA302S1*
MGMA452S1*
Model
A-frame
B-frame
C-frame
D-frame
A-frame
B-frame
C-frame
A-frame
A-frame
B-frame
A-frame

B-frame
C-frame

A-frame

B-frame
C-frame
D-frame

E-frame

F-frame

D-frame

E-frame

F-frame

C-frame
D-frame

E-frame

F-frame

C-frame
D-frame
E-frame
F-frame
D-frame

F-frame
Frame
MADDT1207
MBDDT2210
MCDDT3520
MDDDT5540
MADDT1107
MBDDT2110
MCDDT3120
MADDT1205
MADDT1207
MBDDT2210
MADDT1105
MADDT1107
MBDDT2110
MCDDT3120
MADDT1205

MADDT1207
MBDDT2210
MCDDT3520
MDDDT5540

MEDDT7364
MFDDTA390
MFDDTB3A2

MDDDT3530
MDDDT5540
MEDDT7364
MFDDTA390
MFDDTB3A2

MCDDT3520
MDDDT3530
MDDDT5540
MEDDT7364
MFDDTA390
MFDDTB3A2

MCDDT3520
MDDDT5540
MEDDT7364
MFDDTB3A2
MDDDT5540
MFDDTA390
MFDDTB3A2
Model
<Notes>
1) Suffix of " * " in the applicable motor model represents the motor structure.
2) Default of the driver is set for the incremental encoder specifications.
When you use in absolute, make the following operations.
a) Install a battery for absolute encoder. (refer to P.314, "Options" of Supplement.)
b) Switch the parameter Pr0B (Absolute encoder setup) from "1 (default)" to "0".
3) No wiring for back up battery is required when you use the absolute 17-bit encoder in incremental.

18
Driver
<Note>
X1 and X2 are attached in A to D-frame driver.
e.g.) : MADDT1207 (Single phase, 200V, 200W : A-frame)
Parts Description
e.g.) : MCDDT1207 (Single/3-phase, 200V, 750W : C-frame)
• A and B-frame
• C and D-frame
X3
X4
X5
X6
X7
Display LED (6-digit)
Mode switching button
MODE
Set button
SET
Check pin (G : GND)
Data setup button
: SHIFT
: UP
: DOWN
Connector, CN X5
for host connection
Connector,CN X6
for encoder connection
Connector, CN X7
for external scale connection
Communication
connector 2, CN X4
Communication
connector 1, CN X3
Screws for earth (x2)
Rotary switch (ID)
Torque monitor check pin (IM)
Velocity monitor check pin (SP)
Connector
Main power 
input terminals 
(L1,L2,L3)
Control power
input terminals
(L1C, L2C)
Connector, CN X1
for main power connection
05JFAT-SAXGF
(JST)
Connector, CN X2
for motor connection
06JFAT-SAXGF
(JST)
Terminals
for external
regenerative resistor
(RB1,RB2,RB3)
Terminals
for motor connection
(U,V,W)
X6
X3
X4
X7
Display LED (6-digit)
Mode switching button
MODE Set button SET
Check pin (G : GND)
Data setup button
: SHIFT
: UP
: DOWN
Connector, CN X5
for host connection
Connector,CN X6
for encoder connection
Connector, CN X7
for external scale connection
Communication
connector 2, CN X4
Communication
connector 1, CN X3
Screws for earth (x2)
Rotary switch (ID)
Torque monitor check pin (IM)
Velocity monitor check pin (SP)
Connector
Main power
input terminals
(L1,L2)
Control power
input terminals
(L1C, L2C)
Connector, CN X1
for power input connection
04JFAT-SAXGF
(JST)
Connector, CN X2
for motor connection
06JFAT-SAXGF
(JST)
Terminals
for external
regenerative resistor
(RB1,RB2,RB3)
Terminals
for motor connection
(U,V,W)