Panasonic MINAS-A4P Use and care manual

TECHNICAL REFERENCE
MODEL
Product name: AC Servo Amplifier
Product number: MINAS-A4P I/O Command Type
Issued on Feb.3, 2006
(Revised on )
Received by:
Date:
Motor Company., Matsushita Electric Industrial Co., Ltd.
7-1-1, Morofuku, Daito, Osaka, Japan 574-0044
Dept.
manager Checked Checked Designed
No. SR-DSV09485
MESSRS.

No. SR-DSV09485
A4P MOTOR COMPANY, MATSUSHITA ELECTRIC INDUSTRIAL CO.,LTD.
REVISIONS
Date Page Sym
REVISION Signed

No. SR-DSV09485
A4P MOTOR COMPANY, MATSUSHITA ELECTRIC INDUSTRIAL CO.,LTD
Contents
1. Model Designation Code......................................................................................................................................1
2. Outer dimensions..................................................................................................................................................1
3. Appearance and Part Names.................................................................................................................................2
4. Configuration of Connectors and Terminal Block
4-1 Power Connectors X1 , X2 , and Terminal Block..................................................................................5
4-2 Encoder Connector X6 ..........................................................................................................................5
4-3 Interface Connector X5 .........................................................................................................................6
4-4 RS232C Communication Connector X4 .............................................................................................10
4-5 RS485 Communication Connector X3 ................................................................................................10
4-6 External Scale Connector X7 ..............................................................................................................10
4-7 Analogue Monitor Pin............................................................................................................................... 11
5. Wiring
5-1 Cable Specifications and Maximum Cable Length....................................................................................12
5-2 I/O Connector, Encoder Connector and External Scale Connector............................................................12
5-3 Precautions for Wiring................................................................................................................................13
6. Parameters
6-1 Servo Parameter .........................................................................................................................................26
6-2 Positioning Parameter.................................................................................................................................38
6-3 Step Data....................................................................................................................................................43
7. Operation Specification
7-1 Operation Overview...................................................................................................................................44
7-2 Operation after Power Turn-ON.................................................................................................................45
7-3 Servo-ON/OFF Operation during Motor Stop (Servo Lock)......................................................................46
7-4 Servo-ON/OFF Operation during Motor Run ............................................................................................46
7-5 Operation at the time of errors (alarm) (with the Servo-ON command activated).....................................47
7-6 Operation at the time of clearance of an alarm (with the Servo-ON command activated).........................48
7-7 Step Operation............................................................................................................................................49
7-8 Jog Operation .............................................................................................................................................57
7-9 Homing Operation......................................................................................................................................59
7-10 Instantaneous Stop Direction/Deceleration Stop Direction........................................................................69
7-11 Temporary Stop Direction..........................................................................................................................70
7-12 S-Acceleration/Deceleration Function .......................................................................................................71
7-13 Block operation ..........................................................................................................................................72
7-14 Sequential operation...................................................................................................................................76
8. Functions
8-1 Protective Functions...................................................................................................................................77
8-2 Software limit function...............................................................................................................................84
8-3 Warning Functions .....................................................................................................................................86
9. Front panel
9-1 7-Segment LED Display ............................................................................................................................87
10. Absolute Encoder and Absolute External Scale
10-1 Absolute Encoder.......................................................................................................................................88
10-2 Absolute External scale..............................................................................................................................89

No. SR-DSV09485
A4P MOTOR COMPANY, MATSUSHITA ELECTRIC INDUSTRIAL CO.,LTD
11. Tuning
11-1 Real time Auto Gain Tuning.......................................................................................................................92
11-2 Normal Mode Auto Gain Tuning................................................................................................................96
11-3 Disabling of Auto Tuning Function............................................................................................................99
11-4 Manual Gain Tuning.................................................................................................................................100
11-5 Frequency characteristics .........................................................................................................................114
12. Control Block Diagrams................................................................................................................................... 115
13. Conformity with EC Directive / UL Standard
13-1 EC Directive............................................................................................................................................. 117
13-2 Configuration of Peripheral Equipment ...................................................................................................118
13-3 List of Servo Amplifiers and Compatible Peripheral Equipment.............................................................122
13-4 Conformity with the UL Standard............................................................................................................123
14. SEMI Compliance with F47 momentary power failure standard ..................................................................123

No. SR-DSV09485 -（117-1）-
A4P MOTOR COMPANY, MATSUSHITA ELECTRIC INDUSTRIAL CO.,LTD
1. Model Designation Code
Notation of the machine designation code is as follows:
1 2 3 4 5 6 7 8 9 10 11 12
M A D D T 1 2 0 5 P * *

2. Outer dimensions
See the delivery specification.


For the purpose of this specification, the direction of motor revolution is defined as CW for clockwise
motion and CCW for anti-clockwise motion in relation to the end of the load-side axis. The 16 bits
positioning parameter No.50(Operation direction setting) can be set which direction of motor revolution
is plus direction in step data and monitoring display.
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Attention
Type
A: A4Series Type A
B: A4Series Type B
C: A4Series Type C
D: A4Series Type D
E:
A4Series Type E
F:
A4Series Type F
Custom specification
(Alphanumeric two digits)
Current rating
of current detector
05: 5A
07: 7.5A
10: 10A
20: 20A
30: 30A
40: 40A
64: 64A
90: 90A
A2: 120A
Power supply voltage
1: Single-phase 100 V
2: Single-phase 200 V
3: 3-phase 200 V
5: Single-phase
/3-phase 200 V
AC servo amplifier
D: A4Series
Maximum instantaneous
output current
T1: 10A
T2: 15A
T3: 30A
T5: 50A
T7: 75A
TA: 100A
TB: 150A
Interfacce specification
P:Position command type

No. SR-DSV09485 -2-
A4P MOTOR COMPANY, MATSUSHITA ELECTRIC INDUSTRIAL CO.,LTD
3. Appearance and Part Names
A4Series Type A, B
MSD, LSD: Node address
SP: Velocity Monitor
IM: Torque Monitor
X1: Power Input Connection (Cable side)
X2: Motor Connection (Cable side)
Earth
Terminal
G: signal ground
(Pin 4)
(Pin 3)
(Pin 2)
(Pin 1)
Rotary Switch
(Pin 6)
(Pin 5)
(Pin 4)
(Pin 3)
(Pin 2)
(Pin 1) X6: Rotary Encoder Connection
X5: Parallel I/O Connection
X7: External scale connection
Name Label
X3A: RX Connection
X4: RS232 Interface
Connection
X3B: TX Connection
Front panel
Main power supply input terminal
Control power supply input terminal
Regenerative discharge resisto
r
connection terminal
(RB3 is unused.)
Motor connection terminal
X1 Power supply input connection
(Main body side)
X2 Motor output connection
(Main body side)
(Pin 4)
(Pin 3)
(Pin 2)
(Pin 1)
(Pin 6)
(Pin 5)
(Pin 4)
(Pin 3)
(Pin 2)
(Pin 1)

No. SR-DSV09485 -3-
A4P MOTOR COMPANY, MATSUSHITA ELECTRIC INDUSTRIAL CO.,LTD
A4Series Type C, D
MSD, LSD: Node address
SP: Velocity Monitor
IM: Torque Monitor
X1: Power Input Connection
X2: Motor Connection
Earth
Terminal
G: signal ground
(Pin 5)
(Pin 4)
(Pin 3)
(Pin 2)
(Pin 1)
Rotary Switch
(Pin 6)
(Pin 5)
(Pin 4)
(Pin 3)
(Pin 2)
(Pin 1)
X6: Rotary Encoder Connection
X5: Parallel I/O Connection
X7: External scale connector
Name Label
X3A: RX Connection
X4: RS232 Interface
Connection
X3B: TX Connection
Front panel
Main power supply input terminal
Control power supply input terminal
Regenerative discharge resisto
r
connection terminal
(RB3 is unused.)
Motor connection terminal
X1 Power supply input
connection (Main body side)
X2 Motor output connection
(Main body side)
(Pin 5)
(Pin 4)
(Pin 3)
(Pin 2)
(Pin 1)
(Pin 6)
(Pin 5)
(Pin 4)
(Pin 3)
(Pin 2)
(Pin 1)

No. SR-DSV09485 -4-
A4P MOTOR COMPANY, MATSUSHITA ELECTRIC INDUSTRIAL CO.,LTD
A4Series Type E, F
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

















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

No. SR-DSV09485 - 5 -
A4PMOTOR COMPANY, MATSUSHITA ELECTRIC INDUSTRIAL CO.,LTD
4. Configuration of Connectors and Terminal Block
4-1 Power Connectors X1 , X2 , and Terminal Block
Terminal Marking
Connectors Terminal
Block
Type A/B Type C/D Type E/F
Name Description
L1 4 L1 5 L1
100 V 100 to 115 V
%15
10%
−
+
, 50/60 Hz input for L1 and L3 terminals.
- - L2
4 L2
L3 3 L3 3 L3
Main power
supply input
terminal 200 V
Single-phase 200 to 240 V
%15
10%
−
+
, 50/60 Hz input for Type A/B.
Single-phase/3-phase 200 to 240 V
%15
10%
−
+
, 50/60 Hz input for Type C/D.
3-phase 200 to 230 V
%15
10%
−
+
, 50/60 Hz input for Type E/F.
Single-phase input should be connected to the L1 and L3 terminals.
L1C 2 L1C 2 r
100 V Single-phase 100 to 115 V
%15
10%
−
+
, 50/60 Hz input
X1
L2C 1 L2C 1
t
Control
power supply
input terminal 200 V Single-phase 200 to 240 V
%15
10%
−
+
, 50/60 Hz input
RB1 6 RB1 6 P
RB3 5 RB3 5 B1
RB2 4 RB2 4 B2
Regenerative
discharge
resistor
connection
terminal
Normally, RB3 and RB2 (B1 and B2) must be short-circuited.
If the circuit trips due to the regenerative resistor overload error No.18,
open the connection between RB3 and RB2 (B1 and B2), and connect an
external regenerative discharge resistor (supplied by customer) between
RB1 and RB2 (P and B2). However, normally RB3 and RB2 need not be
short-circuited since Type A and B are only intended to connect an
external regenerative discharge resistor, but if the circuit trips because of
the error above, connect an external regenerative resistor between RB1
and RB2 in the same way.
When an external regenerative resistor is used, set Servo parameter No.6C
(external regenerative resistor set up) to other than 0.
U 3 U 3 U
V 2 V 2 V
X2
W 1 W 1 W
M
otor connectio
n
terminal
Connect each phase of the motor winding.
U: U phase V: V phase W: W phase
Ground
terminal Connected to the motor's earth terminal for grounding.
4-2 Encoder Connector X6 (Molex 53460-0629)
Application Connector
pin No. Function
1 E5V
Encoder power supply output 2 E0V (NOTE 1)
Not yet determined 3 Do not connect
Not yet determined 4 Do not connect
5 PSEncoder signal I/O
(Serial signal) 6 PS
Frame ground Shell FG
NOTE 1) The EV0 of the encoder power supply output is connected with the control circuit ground linked to the
connector X5 .

No. SR-DSV09485 - 6 -
A4PMOTOR COMPANY, MATSUSHITA ELECTRIC INDUSTRIAL CO.,LTD
4-3 Interface Connector X5 (Molex 529863679)
Common input signals and their functions
Application Code
Connector
pin No.
Function
I/O
signal
interface
COM+ 1 - Connected to the [+] terminal of an external DC power supply (12 to 24 V)
- Use a 12 V (±5%) to 24 V (±5%) power supply. -
Control signal power
supply COM−17
- Connected to the [-] terminal of an external DC power supply
(12 to 24 V).
- The power supply capacity varies depending on the configuration of the I/O
circuits. 0.5A or higher capacity is recommended.
-
Emergency stop
input EMG- STP 2 - When connection with COM−is opened, emergency stop input error (39)
occurs, and the circuit trips.
- Tripping can be reset by inputting alarm clearing. i-1
Point specifying
input P1IN - P32IN 3,4, 5, 6, 7, 8,
- Specify an operation point number when operation command is input.
- The number at which operation point can be specified depends on the number
of points set by servo parameter No.57.
- Servo parameter No. 58 can be used for setting input logic.
When the point described below is specified, special operation isperformed.
- Specify point 0, and input a strobe signal, then alarm is cleared.
- Specify the maximum point number specified in Servo parameter No 57, and
input a strobe signal, then system returns to the home position.
- Specify the maximum point number specified in Servo parameter No 57-1,
and input a strobe signal, then high-speed normal rotation jog is performed.
- Specify the maximum point number specified in Servo parameter No 57-2,
and input a strobe signal, then high-speed reverse rotation jog is performed.
i-1
CCW over-travel
inhibit input CCWL 19
- CCW over-travel inhibit input (CCWL).
- Connect so as to open COM−connection when movable part of the
equipment exceeds the movable range in CCW direction.
- When this input is open, operation command in CCW direction is not issued.
(Torque is generated)
- Servo parameter Servo parameter No. 53, 54, and 55 enable for setting of
valid/invalid, input logic, and operation.
i-1
CW over-travel
inhibit input CWL 20
- CW over-travel inhibit input (CWL).
- Connect so as to open COM−connection when movable part of the
equipment exceeds the movable range in CW direction.
- When this input is open, operation command in CW direction is not issued.
(Torque is generated)
- Servo parameter Servo parameter No. 53, 54, and 55 enable setting of
valid/invalid, input logic, and operation.
i-1
Home sensor input Z-LS 21 - Connect so as to close the home sensor input when system is in the vicinity of
home position(Default).
Servo parameter No. 56 can be used for setting input logic. i-1
Servo-ON input SRV-
ON 23
- When servo amplifier is connected to COM−of control signal power supply,
it is set in servo-ON condition.
- When connection to COM−is opened, servo-OFF condition is set, and
energization of motor is cut off.
- Dynamic brake operation and deviation counter clearing operation in
servo-OFF condition can be chosen by Servo parameter No.69 (sequence at
servo-off).
- Servo parameter no.5D enable setting of valid/invalid.
Note. 1 When shifting from servo-OFF to servo-ON, make sure that the motor
is stopped.
Note 2 After shifting to servo-ON, allow 120ms or more before giving an
instruction.
Note 3 Frequent repeating of servo-ON/OFF may damage the dynamic brake
circuit contained in servo amplifier.Avoid such a use.
i-1
Strobe signal input STB 24
- Leave it open normally. When it is connected to COM−of control signal
power supply, the servo amplifier starts operation to a specified point.
- When 10ms or more has passed after setting specified point input, connect the
strobe signal input (STB ) to COM−. It is possible that the servo amplifier is
unable to read specified point input properly.
- Input STB signal 10ms or longer. Also, reset STB signal to opened condition
after receiving BUSY signal from the servo amplifier in order to ensure that
STB signal is received reliably.
i-1

No. SR-DSV09485 - 7 -
A4PMOTOR COMPANY, MATSUSHITA ELECTRIC INDUSTRIAL CO.,LTD
Application Code
Connector
pin No.
Function
I/O signal
interface
Multi-function input
1 EX-IN1 22 i-1
Multi-function input
2 EX-IN2 25
Function can be selected and set by Servo parameter No 5A and 5C
out of the options below.
Instantaneous stop, temporary stop, deceleration stop, high-speed
normal rotation jog, high-speed reverse rotation jog, and alarm
clearing
Input logic can be set by Servo parameter No. 59 and 5B.
i-1
Common output signals and their functions
Application Code
Connector
pin No.
Function
I/O signal
interface
Servo alarm output ALM 15 Output signal indicating that the alarm is on. Output transistor turns on in normal condition, and output transistor
turns off when alarm is on. o-1
Positioning
completion
output/Output during
deceleration
COIN
/DCLON 27
- This output signal can be used by choosing positioning completion
output (COIN) or output during deceleration (DCLON) by Servo
parameter No. 64.
COIN: When the amount of position deviation pulse is within the
range set by Servo parameter No.60 (in-position range), the transistor
turns on. However the transistor does not turn on even if in position
range while the servo amplifier is processing operation command.
DCLON: Transistor turns ON while the motor is decelerating.
When
the motor stops in deceleration time 0, the transistor does
not ON.
o-1
Motor operation
condition output BUSY 28
- Transistor turns OFF while the servo amplifier is processing
operation command.
- If motor operation is completed without strobe signal input
returned to open condition, BUSY does not return to ON
condition, but remains in OFF condition.
o-1
Present position
output P1OUT - P32OUT
29, 30,
31, 32,
33, 34
- Outputs the present motor position (point number).
All transistors turn OFF when power is turned on (before homing)
and when alarm is on. (Point 0)
- All transistors turn ON when homing command is completed.
(Maximum point number set in Servo parameter No.57)
- In the absolute mode or when 16 bit positioning parameter No.38
is setting 1(Homing is invalid), all transistors turn ON from the
time control power inputs.
(Maximum point number set in servo parameter No.57)
- In high-speed normal rotation jog operation, the maximum point
number set in Servo parameter No.57 –1 after jog operation stop is
output.
- In high-speed reverse rotation jog operation, the maximum point
number set in Servo parameter No.57 -2 after jog operation stop is
output.
- Once servo is turned off, point output of previous operation is
retained. In order to turn on servo again for operation, once move
to the reference position (home position or absolute position), and
then perform normal operation.
o-1
Brake release output BRK-OFF 36
- Defines the timing signal to activate the electromagnetic brake for
the motor.
When the electromagnetic brake is released, the output transistor
turns ON.
- Output timing of this signal can be set by Servo parameter No.6A
(mechanical brake delay at motor standstill) and pr.6B (Mechanical
brake delay at motor in motion).
For details, see the timing chart.
o-1

No. SR-DSV09485 - 8 -
A4PMOTOR COMPANY, MATSUSHITA ELECTRIC INDUSTRIAL CO.,LTD
Output signal (pulse train) and function
Application Code
Connector
pin No.
Function I/O signal
interface
OA+ 11
A-phase output OA- 12
- Division-processed encoder signal or external scale signal (A/B-phase) is
output in differential mode. (RS422)
- Servo parameter No.44 (numerator of output pulse ratio) and Servo parameter
No.45 (denominator of output pulse ratio) can be used to set the division
ratio.
OB+ 13
B-phase output OB- 14
- Servo parameter No.46 (pulse output logic inversion) can be used to select
the logic relation of phase B with regard to the pulse of phaseA, and its
output source. Do-1
OZ+ 9
Z-phase output OZ- 10
- Ground of line driver of the output circuit is connected to signal ground
(GND); not insulated.
- The maximum output frequency is 4 Mpps (after being multiplied by 4).
Z-phase output CZ 16 - Open collector output of Z-phase signal.
- Emitter side of the transistor of the output circuit is connected to signal
ground (GND); not insulated. Do-2
- Z-Phase is output in synchronization with A-phase when encoder resolution multiplied by
is in
multiples of 4, but otherwise, the width of Z-phase is narrower than that of A-phase as it is output based on
encoder resolution, and does not synchronize with A-phase.
ｴﾝｺｰﾀﾞ分解能× が4の倍数
Pr.44
Pr.45 ｴﾝｺｰﾀﾞ分解能× が4の倍数でない
Pr.44
Pr.45
A
B
Z
同期 非同期
A
B
Z

Note) In the case of 5-core 2500P/r incremental encoder, the pulse position may be displaced until the first
Z-phase is output. When using Z-phase as a control signal, use the second signal or others available
thereafter.
Note) Z-phase of external scale signal is not output.(A/B-phase only)
Others
Application Code
Connector
pin No.
Function
I/O signal
interface
Frame ground FG 18 - Internally connected to the ground terminal inside the servo
amplifier. -----
Signal ground GND 26 - Signal ground - Internally insulated from the control signal power supply (COM-)
inside the servo amplifier. -----
45.Pr 44.Pr
When encoder resolution multiplied by
45.Pr 44.Pr
is in multiples of 4
When encoder resolution multiplied by
45.P
r
44.Pr
is not in multiples of 4
Synchronized Out of synchronization

No. SR-DSV09485 - 9 -
A4PMOTOR COMPANY, MATSUSHITA ELECTRIC INDUSTRIAL CO.,LTD
I/O signal interface
i – 1
o – 1
Do – 1
AM26C31 相当品
GND
13
＋：21,48,23,46 ﾋﾟﾝ，−：22,49,24,47 ﾋﾟﾝ
+
- 
Do – 2
A
M26C31or equivalent
+: Pins 9, 11 and 13 −: Pins 10, 12 and 14
＋：37,35,39,11ﾋﾟﾝ，−：36,34,38,10 ﾋﾟﾝ
注）リレーを直接駆動する場合は、リレーと並列に
上図の方向でダイオードを装着してください。
V
CE
sat = 12V
V
DC
12-24V
50 mAor less
Ｒ＋
17
+: Pins 15, 27, 28 and 36
NOTE) To activate the relay directly, connect a diode
in parallel with the relay, in the direction shown
above.
CZ
V
DD
30V MAX
15mA MAX
GND
26
16
1
12-24V
V
DC
4.7K
12-24V
V
DC

4.7K
Or
1

No. SR-DSV09485 - 10 -
A4PMOTOR COMPANY, MATSUSHITA ELECTRIC INDUSTRIAL CO.,LTD
4-4 RS232C Communication Connector X4 (JST MD-S8000-10 or equivalent)
Parameter setting/alteration, control status monitoring, error status/record reference and
parameter saving/loading etc. are available by means of a serial communication with a PC
or console via RS232C or equivalent.
Also, setup support software PANATERM and communication cable are available.
See the console operation manual for the operation of console, and see PANATERM operation
manual for the operation of setup support software PANATERM respectively.
- PANATERM (WIN98/NT/2000/XP) DVOP4460
- PC connection cable DVOP1960
4-5 RS485 communication connector X3A X3B (modular jack RJ45)
855050013 (Molex)
Pin number Mating number Application
1 +V
2 2 GND
3 3 Signal wire A
4 +V
5 1 GND
6 3 Signal wire B
7 +V
8 4 GND
Use a terminal overlaid with gold for modular jack.
4-6 External scale connector X7 (Molex 53460-0629 )
Application Connector pin
numbe
r
Description
1 E5V
External scale power output 2 E0V (NOTE1)
Not yet determined 3 Do not connect
Not yet determined 4 Do not connect
5 PS
Input/output of external scale signal (serial
signal) 6 PS
Frame ground Shell FG
Note) The E0V of the external scale power output is connected with the control circuit ground linked to the
connector X5 .

No. SR-DSV09485 - 11 -
A4PMOTOR COMPANY, MATSUSHITA ELECTRIC INDUSTRIAL CO.,LTD
4-7 Analogue monitor pin (SP and IM)
Application Code Description
Speed monitor signal
output SP
- The meaning of output signal depends on Servo parameter No.07 (speed monitor (SP) selection).
Servo
parameter
No.07
Meaning of
signal Function
0 - 4 Motor revolution
speed
- Voltage in proportion to motor revolution speed is output
together with polarity.
+: Revolving in CCW direction
-: Revolving in CW direction
- Scaling can be set by the value of Servo parameter No.07.
5 - 9 Command
speed
- Voltage in proportion to command speed is output together
with polarity.
+: Revolving in CCW direction
-: Revolving in CW direction
- Scaling can be set by the value of Servo parameter No.07
Torque monitor
signal output IM
・The meaning of output signal depends on Servo parameter No.08 (torque monitor (IM) selection).
Servo
parameter
No.08
Meaning of
signal Function
0,
11,12 Torque command
- Voltage in proportion to torque generated by motor is output
together with polarity.
+: Torque generated in CCW direction
-: Torque generated in CW direction
- Scaling can be set by the value of Servo parameter No.08.
1 - 5 Position
deviation
- Voltage in proportion to position deviation pulse count is
output together with polarity.
+: Position command is in CCW direction of motor position.
-: Position command is in CW direction of motor position.
- Scaling can be set by the value of Servo parameter No.08.

No. SR-DSV09485 - 12 -
A4PMOTOR COMPANY, MATSUSHITA ELECTRIC INDUSTRIAL CO.,LTD
5. Wiring
5-1 Cables Specifications and Maximum Cable Length
Name Code
Maximum
cable length Specifications
Main power supply L1, L2, L3 ----- Conforms to "Specifications by Model" on
separate sheets.
Control power supply L1C, L2C/r, t ----- HVSF 0.75mm2
Motor connection cable U, V, W 20 m Conforms to "Specifications by Model" on
separate sheets. (NOTE)
Ground cable 1 m Conforms to "Specifications by Model" on
separate sheets.
Encoder connection cable X6 20 m
I/O cable X5 3 m
Shielded twisted pair cable
Core wire: 0.18 mm2or more
NOTE) To use the connector (172167-1 or 172159-1) manufactured by Tyco Electronics AMP as a motor
intermediate connector, the maximum cable size is 1.3 mm2.
5-2 I/O Connector, Encoder Connector and External scale connector
Connector code Part name Part No. Manufacturer
Solder plug
(Solder-mounting type)
54306 – 3611
or
54306 – 3619
X5
Shell kit 54331 – 0361
X6 Connector 55100 – 0600 or
55100 – 0670
X7 Connector 55100 – 0600 or
55100 – 0670
Molex
Use the above or equivalent parts.

No. SR-DSV09485 - 13 -
A4PMOTOR COMPANY, MATSUSHITA ELECTRIC INDUSTRIAL CO.,LTD
5-3 Precautions for Wiring
(1) Connecting cables to the power connectors and the terminal block
Type A to Type B
ON OFF ALM
MC
MC
NFB
ノイズ
フィルタ
主電源
制御電源
ｻｰｼ
ﾞ
ｱﾌ
ﾞ
ｿｰﾊ
ﾞ
MC
単相 100V
または
単相 200V
L1
L3
L1C
L2C
X1
外付回生抵抗
Red
White
Black
Green
1 1
2 2
3 3
4 4
172159-1
ﾀｲｺｴﾚｸﾄﾛﾆｸｽｱﾝﾌﾟ製
172167-1
ﾀｲｺｴﾚｸﾄﾛﾆｸｽｱﾝﾌﾟ製
DC12-24V(±10%)
ALM
ALM
15
17
ALM+
COM-
モータ接続
X2
X5
V
W
RB1
RB3
RB2
U

Single-phase 100 V o
r
single-phase 200 V
Noise filte
r
Main power
suppl
y
Control power
suppl
y
External regenerative
discharge resistor
Motor
connections
Manufactured by Tyco
Electronics AMP
Manufactured by Tyco
Electronics AMP
Surge absorber

No. SR-DSV09485 - 14 -
A4PMOTOR COMPANY, MATSUSHITA ELECTRIC INDUSTRIAL CO.,LTD
Type C to Type D
Ｂ
Ａ
Ｄ
Ｃ
Ａ
Ｂ
ＣＤＥ
Ｆ
ＧＨ
Ｉ
ＡＢＣ
ＤＥＦ
ＧＨＩ
JL04V-2E20-4PE-B-R
JL04HV-2E22-22PE-B-R JL04V-2E20-18PE-B-R JL04V-2E24-11PE-B-R
PIN
Ａ
Ｂ
Ｃ
Ｄ
用途
Ｕ相
Ｖ相
Ｗ相
アース
PIN 用途
Ｇ
Ｈ
Ａ
Ｆ
Ｉ
Ｂ
Ｅ
Ｄ
Ｃ
ブレーキ
ブレーキ
ＮＣ
Ｕ相
Ｖ相
Ｗ相
アース
アース
ＮＣ
ブレーキ
ブレーキ
ＮＣ
Ｕ相
Ｖ相
Ｗ相
アース
アース
ＮＣ
PIN 用途
Ａ
Ｂ
Ｃ
Ｄ
Ｅ
Ｆ
Ｇ
Ｈ
Ｉ
モータ部
 ※D 枠で MSMA082***,MAMA082***以外のﾓｰﾀを使用する場合は、
下表の接続となります。
ON OFF ALM
MC
MC
NFB
ノイズ
フィルタ
L1
L2
L3
Red
White
Black
Green
1 1
2 2
3 3
4 4
172159-1
ﾀｲｺｴﾚｸﾄﾛﾆｸｽｱﾝﾌﾟ製
172167-1
ﾀｲｺｴﾚｸﾄﾛﾆｸｽｱﾝﾌﾟ製
DC12-24V(±10%)
ALM
ALM
15
17
ALM+
COM-
主電源
制御電源
モータ接続
ｻｰｼ
ﾞ
ｱﾌ
ﾞ
ｿｰﾊ
ﾞ
MC
単相 200V
三相 200V
L1C
L2C
X1
X2
X5
＊単相電源でご使用の場合は
 必ずＬ１，Ｌ３端子間に接続
 してください。
通常接続
外付回生抵抗
U
V
W
RB1
RB3
RB2

Single-phase 200 V
- To use a single-phase power supply,
be sure to connect the power supply
between the L1 and L3 terminals.
3-phase 200 V
Noise filte
r
Surge absorber
Main power
suppl
y
Control power
suppl
y
External regenerative
discharge resistor
Motor
connections
Manufactured by Tyco
Electronics AMP
Manufactured by Tyco
Electronics AMP
Normally connected
* To use Type D with servo motor other than MSMA082*** and MAMA082*** , refer
to the table below.
Motor connectors
PIN Usage PIN Usage PIN Usage
A U-phase G Brake A Brake
B V-phase H Brake B Brake
C W-phase A NC C NC
D Ground F U-phase D U-phase
I V-phase E V-phase
B W-phase F W-phase
E Ground G Ground
D Ground H Ground
C NC I NC

No. SR-DSV09485 - 15 -
A4PMOTOR COMPANY, MATSUSHITA ELECTRIC INDUSTRIAL CO.,LTD
Type E to Type F
Ｂ
Ａ
Ｄ
Ｃ
Ａ
Ｂ
ＣＤＥ
Ｆ
ＧＨ
Ｉ
ＡＢＣ
ＤＥＦ
ＧＨＩ
JL04V-2E20-4PE-B-R
JL04HV-2E22-22PE-B-R JL04V-2E20-18PE-B-R JL04V-2E24-11PE-B-R
PIN
Ａ
Ｂ
Ｃ
Ｄ
用途
Ｕ相
Ｖ相
Ｗ相
アース
PIN 用途
Ｇ
Ｈ
Ａ
Ｆ
Ｉ
Ｂ
Ｅ
Ｄ
Ｃ
ブレーキ
ブレーキ
ＮＣ
Ｕ相
Ｖ相
Ｗ相
アース
アース
ＮＣ
ブレーキ
ブレーキ
ＮＣ
Ｕ相
Ｖ相
Ｗ相
アース
アース
ＮＣ
PIN 用途
Ａ
Ｂ
Ｃ
Ｄ
Ｅ
Ｆ
Ｇ
Ｈ
Ｉ
モータ部
通常接続
ON OFF ALM
MC
MC
NFB
ノイズ

フィルタ
L1
L2
L3
ｒ
ｔ
Ｐ
B1
B2
Ｕ
Ｖ
Ｗ
11
22
33
44
172159-1
ﾀｲｺｴﾚｸﾄﾛﾆｸｽｱﾝﾌﾟ製
172167-1
ﾀｲｺｴﾚｸﾄﾛﾆｸｽｱﾝﾌﾟ製
V
DC

12〜24V
ALM
ALM
15
17
ALM+
COM-
主電源
制御電源
モータ
接続
ｻｰｼﾞｱﾌﾞｿｰﾊﾞ
MC
三相
200V
外付回生抵抗
Red
White
Black
Green


3-phase
200 V
Noise
filter
Surge absorber
Main power
supply
Control
power
suppl
y
External regenerative
discharge resistor
Motor
connect-
ions
Manufactured by Tyco
Electronics AMP
Manufactured by Tyco
Electronics AMP
PIN Usage PIN Usage PIN Usage
A U-phase G Brake A Brake
B V-phase H Brake B Brake
C W-phase A NC C NC
D Ground F U-phase D U-phase
I V-phase E V-phase
B W-phase F W-phase
E Ground G Ground
D Ground H Ground
C NC I NC
Motor connectors
Normally connected

No. SR-DSV09485 - 16 -
A4PMOTOR COMPANY, MATSUSHITA ELECTRIC INDUSTRIAL CO.,LTD
1) When using the servo amplifier in type C and D by using a single phase power input, connect it with L1 and
L3 of the main power input terminal. Do not make any connection with L2 terminal.
2) To connect a cable to each terminal on the terminal block, be sure to use crimp terminals with insulation
shield.
3) The terminal block cover is screw-mounted. To connect cables to the terminal block, remove the screws,
and open the cover.
4) If an external regenerative discharge resistor is not used, short-circuit the RB2 (B1) and RB3 (B2) terminals.
If the circuit trips due to the regenerative discharge resistor overload protection error (Err. 18), an external
regenerative discharge resistor must be connected. To connect an external regenerative discharge resistor,
remove the cable between the RB2 (B1) and RB3 (B2) terminals, and connect an external regenerative
discharge resistor between the RB1 (P) and RB2 (B2) terminals. Normally RB2 and RB3 need not to be
short-circuited, since Type A and Type B are only intended to connect an external regenerative discharge
resistor. However, if the circuit trips due to the above error, connect an external regenerative discharge
resistor between RB1 and RB2. To use an external regenerative discharge resistor, set the Servo parameter
No.6C(External regenerative resistor set up) to other than 0.
5) A voltage indicated on the identification plate should be applied to the power supply.
6) Do not connect the power supply input terminals (L1, L2 and L3) and the motor output terminals (U, V and
W) in reverse.
7) Do not ground or short-circuit the motor output terminals (U, V and W).
8) Never touch the power connectors X1 , X2 and terminal block, because a high voltage is applied to
these connectors. Otherwise, you may get an electric shock.
9) Suitable for use on a circuit capable delivering no more than 5000A rms symmetrical amperes, 240 volts
maximum for models of 750W or more, when protected by a circuit breaker with a maximum rating of 20A.
10) The AC servo motor's rotating direction cannot be changed by exchanging its three phases like induction
motors. Be sure to match the servo amplifier's motor output terminals (U, V and W) with its cable colors
(or pin numbers, if cannon plugs are provided).
11) Connect the motor's ground terminal with the servo amplifier's ground terminal securely to provide one-point
grounding together with the noise filer's ground terminal. Also, the machine body must be grounded.
Ensure Class 3 grounding (ground resistance: 100Ωor less). (To avoid electrolytic corrosion, make sure
that aluminum and copper are not in contact with each other.)
12) To prevent noise interference, insert a surge absorber circuit into the electromagnetic contactor, relay
contacts, coils and brake wiring of the motor with brake located around the servo amplifier.
13) Be sure to provide a non-fuse breaker to interrupt the power outside the servo amplifier in emergency.
If an earth leakage breaker is used, select a breaker that withstands microwave noise.
14) To reduce a noise voltage on each terminal, provide a noise filter.
15) The brake power supply for the motor with brake should be prepared by the user.
16) After completion of the wiring, apply a voltage to the power supply.
(*) As for external regenerative resist, it is recommended to use the following resist.
Input power supply voltage
type
Single-phase
100V
Single-phase 200 V
/three-phase 200 V
A DV0P4280 DV0P4281(less than 100W),DVoP4283(200W)
B DV0P4283 DV0P4283
C DV0P4282 DV0P4283
D DV0P424
E ―― DV0P4284:2(parallel) or
DV0P4285
F DV0P4285:2(parallel)
Manufacturer: Iwaki Radio Laboratory Co., Ltd.