Panasonic MINAS A5 Series User manual

Operating Instructions (Basic)
AC Servo Motor & Driver
MINAS A5-series (G, H-frame)
Make sure to forward these Operating Instructions for safety to the nal user.
•Thankyouforpurchasingthis
Panasonicproduct.
•Beforeoperatingthisproduct,
pleasereadtheinstructions
carefully,andsavethismanualfor
futureuse.
1. Introduction ................................. B2
OnOpeningtheProductPackage.................. B2
CheckoftheDriverModel.............................. B2
CheckoftheMotorModel............................... B3
2. Installation................................... B4
Driver.............................................................. B4
Motor............................................................... B6
3. System Conguration and
Wiring ........................................... B8
OverallWiring(Terminalblocktype) ................... B8
DriverandListofApplicablePeripheralEquipments .... B16
WiringoftheMainCircuit(Terminalblocktype) ... B18
WiringDiagram............................................. B22
Wiringofconnectorformotorandbrake...... B24
WiringtotheConnector,X1......................... B25
WiringtotheConnector,X2......................... B25
WiringtotheConnector,X3......................... B26
WiringtotheConnector,X4......................... B27
WiringtotheConnector,X5......................... B30
WiringtotheConnector,X6......................... B31
WiringtotheConnector,X7......................... B32
4. Parameter .................................. B33
Outline/Setup/Connection......................... B33
CompositionofParameters.......................... B35
5. Protective Functions ................ B36
ProtectiveFunction(WhatIsErrorCode?) ...... B36
6. Maintenance and Inspections .... B38
7. Conformity to EC Directives
and UL Standards ..................... B40
CompositionofPeripheralEquipments........ B42
8. Built-in Holding Brake .............. B47
9. Dynamic Brake.......................... B48
10. Check of the Combination of
the Driver and the Motor ............ B51
IncrementalSpecications,20-bit............... B51
AbsoluteSpecications,17-bit................... B52
11. Specications ......................... B53
After-Sale Service (Repair) .......... B56
page page
<Contents>
Ifyouaretherstuserofthisproduct,pleasebesuretoreadthedownloaded
OperatingInstructions(Overall)fromourWebSite.
[Web address of Panasonic Corporation]
http://industrial.panasonic.com/ww/i_e/25000/motor_fa_e/motor_fa_e.html
* Thisproductimageis7.5kWtypeofA5-series.
IME15+A
English

−B3 −− B2 −
English
1. Introduction
Check of the Driver Model
Contents of Name Plate
Model Designation
Model Designation
Power supply
Max. current rating
of power device
Frame-size symbol
Frame
Symbol
Current
rating
Symbol
Specifications Symbol
3-phase, 200V
3-phase, 400V
Current rating
Symbol
MGDH T C 3 B 4
Special specifications
(letters and numbers)
Current detector rating
MGDH
MHDH
A5-series, G-frame
A5-series, H-frame
TB
TC
150A
300A 3
4
A2
B4
120A
240A
1 to 4 75 to 6 10 to 128 to 9
Serial Number
e.g.) : 10110001N
Lot number
Month of production
Year of production
(Lower 2 digits of AD year)
e.g.) : 20101101
Manufacture dateManufacture year
Manufacture month
Model
Rated output
Rated input
voltage/current
Rated frequency
Rated rotational speed
Manufacture date
Model No.
INPUT 3φAC
RATED OUTPUT
RATED FREQ.
RATING
THERMAL CLASS
SER. No.
44.0 A
CONT. TORQUE
RATED REV.
CONNECTION
Made in China
AC SERVO MOTOR
107
7.5
125
S1
155(F)
10110001N
20101101
MDME752S1G
V
kW
Hz
47.8
1500
N .m
r/min
IP67
MDME752 S 1 G
1 to 4 5 to 6 11 to 12
78 9 10
Special specifications
Motor structure
Design order 1: Standard
Rotary encoder specifications
Voltage specifications
Specifications
Type
Symbol
Middle inertia
(7.5kW to 15kW)
Middle inertia
(6.0kW)
High inertia
(7.5kW) G
S
Incremental
Absolute
Specifications
Symbol
Format Pulse count
Output
Motor rated output
Symbol
Specifications Symbol
Resolution
5-wire
7-wire
Wire count
Motor structure
MDME, MGME, MHME
[
Products are standard stock items or manufactured by order. For details, inquire the dealer.]
C
D
G
H
Shaft
Holding brake Oil seal
Without With
Round
Key way Without With
Symbol
MDME
(1500r/min)
MGME
(1000r/min)
MHME
(1500r/min)
60
75
C1
C5
6.0kW
7.5kW
11kW
15kW
2
4
200 V
400 V
20bit
17bit
1,048,576
131,072
1. Introduction
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OperatingInstructions(safety)areincludedornot.
•Checkifthesafetyby-passplugareincludedornot.
Contents of Name Plate
1. Introduction
Check of the Motor Model
P10110001N
20101101
Model number
Input/output voltage
Rated output of
applicable motor
Rated input/output
current
Input/output frequency
Number of phase
Serial Number
e.g.) :
P10110001N
Lot number
Month of production
Year of production
(Lower 2 digits of AD year)
Manufacture date
e.g.) : 20101101
Manufacture dateManufacture year
Manufacture month

−B5 −− B4 −
English
2. Installation
Driver
Install the driver properly to avoid a breakdown or an accident.
Installation Place
1) Installthedriver in a controlpanelenclosedinnoncombustible material and placed indoor
wheretheproductisnotsubjectedtorainordirectsunlight.Theproductsarenotwaterproof.
2)Wheretheproductsarenotsubjectedtocorrosiveatmospheressuchashydrogen
sulde,sulfurousacid,chlorine,ammonia,sulfur,chloricgas,sulfuricgas,acid,al-
kalineandsaltandsoon,andarefreefromsplashofinammablegas.
3)Wherethemotorisfreefromgrindingoil,oilmist,ironpowderorchips.
4)Well-ventilatedandlowhumidityanddust-freeplace. 
5)Vibration-freeplace.
6)Donotuse benzine, thinner,alcohol,acidic cleaner andalkalinecleaner because
theycandiscolorordamagetheexteriorcase.
Environmental Conditions
Item Conditions
Ambienttemperature 0˚Cto55˚C(freefromfreezing)
Ambienthumidity 20%to85%RH(freefromcondensation)
Storagetemperature
*1–20˚Cto65˚C(Max.temperatureguarantee:80˚Cfor72hours
freefromcondensation*2)
Storagehumidity 20%to85%RH(freefromcondensation*2)
Vibration Lowerthan5.88m/s2(0.6G),10to60Hz
Altitude Lowerthan1000m
*1Extremetemperaturesarepermissibleonlyforshortperiodsuchasduringtransportation.
*2Aircontainingwatervaporwillbecomesaturatedwithwatervaporasthetemperaturefalls,causingdew.
How to Install
1)Rack-mounttype.Installinverticalposition,andreserveenoughspacearoundthe
servodriverforventilation.
2)For the dimensionsandmass oftheproduct,which arenecessarydesigndata of
themountingsection,refertothedimensionaloutlinedrawingontheOperatingIn-
structions(Overall)ortheDeliverySpecication.
3)In consideration of strengthofthescrewsandthematerialofthe mounting base,
select appropriate fastening torque for the product mounting screws, so that the
screwswillnotbeloosenedordamaged.
 Example)Totightenasteelscrewintoasteelbase
  G-frame:M52.7to3.3N·mH-frame:M64.68to5.72N·m
2. Installation
Driver
Mounting Direction and Spacing
•Reserveenoughsurroundingspaceforeffectivecooling.
•Installfanstoprovideuniformdistributionoftemperatureinthecontrolpanel.
•Gand Hframeisprovided with acoolingfanat the bottom.(OntheH-frame, the
coolingfanisalsoinstalledontheupperside.)
•
Observetheenvironmentalconditionsofthecontrolpaneldescribedinthepreviouspage.
Control panel
Fan Fan 100mm
or more
100mm
or more
Direction of air flowing from
the internal cooling fan
40mm
or
more
40mm
or
more
50mm
or
more
50mm
or
more
50mm
or
more
Note Itisrecommendedtousetheconductivepaintwhenyoumakeyourown
mountingbracket,orrepaintafterpeelingoffthepaintonthemachinefor
installingtheproducts,inordertomakenoisecountermeasure.
Caution on Installation
•Wheneverliftingtheproduct(duringtransportation/installationofHframeservodriv-
er),twoormorepersonsshouldholditbymetallicmember,notbyplastic member.
•
Wehavebeenmakingthebestefforttoensurethehighestquality,however,application
ofexceptionallylargeexternalnoisedisturbanceandstaticelectricity,orfailureininput
power,wiringandcomponentsmayresultinunexpectedaction.Itishighlyrecommend-
edthatyoumakeafail-safedesignandsecurethesafetyintheoperativerange.
•Toconnect a stranded wire cable,useroundterminals with insulation sheath. If
strandedwires areusedas theyare, unexpectedaccidentssuch asanelectric
shockandshortcircuitorinjurymayresult.
•Theremightbeachanceofsmokegenerationduetothefailureoftheseproducts.
Payanextraattentionwhenyouapplytheseproductsinacleanroomenvironment.
•Besuretogroundthedriverviathegroundterminal.
 Iftheproductisgroundedinsufciently,notonlythedrivermaynotdeliveritsperfor-
mancesufciently,butalsosafetyhazardssuchasamalfunctionduetoaelectri-
cationoradisturbancemaybecaused.
•
Ifelectricwires are bound and runthroughmetalduct,they cannot carry therated
currentduetotemperaturerise.Iftheyareforcedtocarrytheratedcurrent,theymay
burn.Whendeterminingsizeofthewire,checkthecurrentdecreasingcoefcientby
referringtotheOperatingInstructions(Overall).
G-frame H-frame
Front or rearmount [Use mounting bracket] Rearmount [Basemount]
Mounting bracket (Attachment)
Fastening torque of
ground terminal (M5)
to be 1.4 to 1.6 N•m.
Fastening torque of
ground terminal (M6)
to be 2.4 to 2.6 N•m.

−B7 −− B6 −
English
3)Forthedimensionsandmassoftheproduct,whicharenecessarydesigndataof
themountingsection,refertothedimensionaloutlinedrawingontheOperatingIn-
structions(Overall)ortheDeliverySpecication.
Oil/Water Protection
1)Don'tsubmergethemotorcabletowateroroil.
2)Installthemotorwiththecableoutletfacing
downward.
3)Avoidaplacewhere themotoris alwayssub-
jectedtooilorwater.
4)Usethemotorwithanoilsealwhenusedwith
thegearreducer,sothattheoilmaynotentertothemotorthroughshaft.
Stress to Cables
1)Avoidastressapplicationtothecableoutletandconnectingportionbybendingor
self-weight.
2)Especiallyinanapplicationwherethemotoritselftravels,xtheattachedcableand
containthe extensionjunctioncable intothebearer sothatthe stressbybending
canbeminimized.
3)Take the cable bending radius as large as possible. (When you use our optional
cable,MinimumR20mm)
Permissible Load to Output Shaft
1)Designthemechanicalsystemsothattheappliedradialloadand/orthrustloadto
the motor shaft at installation and at normal operation can meet  the permissible
valuespeciedtoeachmodel.
2)Payanextraattentionwhenyouusearigid coupling. (Excess bending load may
damagetheshaftordeterioratethebearinglife.)
3)
Useaexiblecouplingwithhighstiffnessdesignedexclusivelyforservoapplicationinorder
tomakearadialthrustcausedbymicromisalignmentsmallerthanthepermissiblevalue.
Notes on Installation
1)Donotapplydirectimpacttothe shaftbyhammer
whileattaching/detachingacouplingtoandfrom
themotorshaft. 
 (Oritmaydamagetheencodermountedonthe
othersideoftheshaft.) 
2)Makeafullalignment.(incompletealignmentmaycausevibrationanddamagethe
bearing.)
3)
Ifthe motor shaft isnotelectricallygrounded, it may causeelectrolyticcorrosionto
thebearingdependingontheconditionofthemachineanditsmountingenvironment,
andmayresultinthebearingnoise.Checkandvericationbycustomerisrequired.
2. Installation
Motor
2. Installation
Motor
Install the motor properly to avoid a breakdown or an accident.
Installation Place
Since the conditions of location affect a lot to the motor life, select a place
which meets the conditions below.
1)Indoors,wheretheproductsarenotsubjectedtorainordirectsunbeam.Theprod-
uctsarenotwaterproof.
2)Wheretheproductsarenotsubjectedtocorrosiveatmospheressuchashydrogen
sulde,sulfurousacid,chlorine,ammonia,sulfur,chloricgas,sulfuricgas,acid,al-
kalineandsaltandsoon,andarefreefromsplashofinammablegas.
3)Wherethemotorisfreefromgrindingoil,oilmist,ironpowderorchips.
4)Well-ventilatedandhumidanddust-freeplace,farapartfromtheheatsourcesuch
asafurnace.
5)Easy-to-accessplaceforinspectionandcleaning
6)Vibration-freeplace.
7)
Avoidenclosedplace.Motormaygetshotinthoseenclosureandshortenthemotorlife.
Environmental Conditions
Item Conditions
Ambienttemperature*10˚Cto40˚C(freefromfreezing)
Ambienthumidity 20%to85%RH(freefromcondensation)
Storagetemperature*2–20˚Cto65˚C(Max.temperatureguarantee:80˚Cfor72 hours
freefromcondensation*4)
Storagehumidity 20%to85%RH(freefromcondensation*4)
Vibration Motoronly Lowerthan24.5m/s2(2.5G)atrunning,24.5m/s2(2.5G)atstall
Impact Motoronly Lowerthan98m/s2(10G)
Enclosure
rating Motoronly IP67(exceptrotatingportionofoutputshaftandconnectingpin
partofconnector)*3
Altitude Lowerthan1000m
*1Ambienttemperaturetobemeasuredat5cmawayfromthemotor.
*2Permissibletemperatureforshortdurationsuchastransportation.
*3ThesemotorsconformtothetestconditionsspeciedinENstandards(EN60529,EN60034-5).Do
notusethesemotorsinapplicationwherewaterproofperformanceisrequiredsuchascontinuous
wash-downoperation.
*4
 Aircontainingwatervaporwillbecomesaturatedwithwatervaporasthetemperaturefalls,causingdew.
How to Install
Youcanmountthemotoreitherhorizontallyorverticallyaslongasyouobservethefollowings.
1)Horizontalmounting 
•Mountthemotorwithcableoutletfacingdownwardforwater/oilcountermeasure.
2)Verticalmounting 
•Usethemotorwithoilsealwhenmountingthemotorwithgearreducertoprevent
thereduceroil/greasefromenteringtothemotor.
Cable Motor
Oil/Water
Motor

−B9 −− B8 −
English
NC
NC
NC
L2C
L1C
NC
NC
NC
DB3
DB2
DB1
DB4
L1
L2
L3
B1
B2
NC
U
V
W
X1
X2
X3
X4
X5
X6
CHARGE
Note
: High voltage
• When you use an external regenerative
resistor, install an external protective
apparatus, such as thermal fuse without
fail.
• Thermal fuse and thermostat are built in to the
regenerative resistor (Option). If the thermal
fuse is activated, it will not resume.
• Mount the regenerative resistor on
incombustible material such as metal.
The wiring indicated with the broken line shall be
provided only when required.
PC (to be supplied
by customer)
Setup support software “PANATERM”
Please download from our web site.
L3
L2
L1
L2C
L1C
Ground
(earth)
Ground
terminal
Short bar (DB3-DB4)
Connection
with input
power supply
Connection to external components
Connection to motor
driving phase and ground
• Monitor output
Wiring to Connector, X7
• Connection to PC or host controller
• Connection to RS232, RS485
or host controller
Wiring to Connector, X2
• Connection to Safety by-pass plug
(Refer to P.B26)
Wiring to Connector, X3
• Connection to host controller
Wiring to Connector, X4
• Connection to feedback scale
Wiring to Connector, X5
• Connection to encoder
Wiring to Connector, X6
Motor cable (Shield wire)
• Wiring of Main Connector
Circuit Breaker (MCCB)
To protect power supply line from
overloading, install a wiring circuit
breaker rated to the capacity of the
power supply.
Noise Filter (NF)
Removes external noise from the power
lines. And reduces an effect of the noise
generated by the servo driver.
Magnetic Contactor (MC)
Turns on/off the main power of the
servo driver.
Use coil surge suppression units
together with this.
• Never start nor stop the servo
motor with this Magnetic Contactor.
Reactor (L)
Reduces harmonic current of the main
power.
Mains
Residual
current device
Remarks
• X1 to X7 are used for the
secondary circuit. To connect
these terminals to the primary
power supply (particularly, 24 VDC
power supply for brake), insulation
is required.
Do not connect these terminals to
the same power supply.
Remarks
B1
B2
Brake cable
DC Power supply
for brake DC24V
(to be supplied
by customer)
Regenerative resistor (optional)
Junction cable for encoder
U -phase
V -phase
W -phase
Pin B1 and B2
• When you connect an external regenera-
tive resistor, connect the external regen-
erative resistor between B1 and B2, set up
Pr0.16 to 1 or 2.
Pin DB1, DB2, DB3 and DB4
･Normally, leave DB3 and DB4 short-
circuited.
･ To connect the external dynamic brake
resistor, refer to “Dynamic Brake” on
P.B48. Do not use the external dynamic
brake resistor together with the built-in
resistor.
Pin NC
• Do not connect anything.
Charge lamp (LED)
Do not make displacement, wiring or
inspection while the LED is lit - cause of
electric shock.
• Apply the voltage desig-
nated on the nameplate from
the power source.
Symmetric current should be 5000
Arms or below.
If the short-circuit current on the
power source exceeds this value,
use a current-limiting device (e.g.
current-limiting fuse, current-
limiting circuit breaker or
transformer).
Wiring to Connector, X1
Connecting Example of G-frame, 200 V type
3. System Conguration and Wiring
Overall Wiring (Terminal block type)
3. System Conguration and Wiring
Overall Wiring (Terminal block type)

−B11 −− B10 −
English
• Wiring of Main Connector
Circuit Breaker (MCCB)
To protect power supply line from
overloading, install a wiring circuit breaker
rated to the capacity of the power supply.
Noise Filter (NF)
Removes external noise from the power
lines. And reduces an effect of the noise
generated by the servo driver.
Magnetic Contactor (MC)
Turns on/off the main power of the servo
driver.
Use coil surge suppression units together
with this.
• Never start nor stop the servo motor
with this Magnetic Contactor.
Reactor (L)
Reduces harmonic current of the main
power.
• Connection to PC or host controller
• Connection to RS232, RS485
or host controller
Wiring to Connector, X2
• Connection to Safety by-pass plug
(Refer to P.B26)
Wiring to Connector, X3
• Connection to host controller
Wiring to Connector, X4
• Connection to feedback scale
Wiring to Connector, X5
• Connection to encoder
Wiring to Connector, X6
Junction cable for encoder
Remarks
• When you use an external dynamic brake resistor, install an
external protective apparatus, such as thermal fuse
without fail.
• Mount the dynamic brake resistor on incombustible
material such as metal.
• For wiring of the circuit, refer to “Wiring Diagram” on P.B22.
• For an example of the recommended protective circuit, refer
to “Dynamic Brake” on P.B48.
Dynamic Brake
resistor
to be supplied by
(
customer
)
Magnetic Contactor (MC)
Turns on/off the dynamic brake resistor.
Use coil surge suppression units
together with this.
Remarks
• When you use an external
regenerative resistor, install an
external protective apparatus, such
as thermal fuse without fail.
• The regenerative resistor (optional)
incorporates a fan, thermal fuse, and
thermostat. Once the thermal fuse
blows out, it will not be restored.
• Mount the regenerative resistor on
incombustible material such as
metal.
• For wiring of the circuit, refer to
“Wiring Diagram” on P.B22.
The wiring indicated with the broken
line shall be provided only when
required.
Remarks
• X1 to X7 are used for the secondary circuit.
To connect these terminals to the primary
power supply (particularly, the 24 VDC
power supply for brake and the 24 VDC
power supply for regenerative resistor),
insulation is required.
Do not connect these terminals to the
same power supply.
Pin B1and B2
• When you connect an external regenera-
tive resistor, connect the external
regenerative resistor between B1 and B2,
set up Pr0.16 to 1 or 2.
Pin DB1 and DB2
• When installing an external dynamic brake
resistor, connect the magnetic contactor
(for controlling) for external dynamic brake
to between LIC and DB1.
• The voltage applied across DB1 and
DB2 must be 300 VAC or below or 100
VDC or below.
Pin NC
• Do not connect anything.
Remarks
U-phase
V-phase
W-phase
L1C
L2C
Connection to motor
driving phase and
ground
Motor cable (Shield wire)
Brake cable
DC Power supply
for brake DC24V
(to be supplied
by customer)
L1 L3
L2
Ground
(earth)
Ground
terminal
B1
B2
Regenerative
resistor (optional)
* Use a power
supply with
5 A or larger
capacity.
PC (to be supplied by customer)
Setup support software
“PANATERM”
Please download
from our web site.
Charge lamp (LED)
Do not make displacement,
wiring or inspection while
the LED is lit - cause of
electric shock.
X1
X2
X3
X4
X5
X6
CHARGE
L1 L2 L3 B1 B2 NC
L1C L2C DB1 DB2
U V W
Mains
Residual
current device
Connection with input
power supply
Connection to
external components
24 VDC power supply for
regenerative resistor
(to be supplied by customer)
Note
• Monitor output
Wiring to Connector, X7
: High voltage
• Apply the voltage desig-
nated on the nameplate
from the power source.
Symmetric current should be
5000 Arms or below.
If the short-circuit current on the
power source exceeds this
value, use a current-limiting
device (e.g. current-limiting fuse,
current-limiting circuit breaker or
transformer).
Wiring to Connector, X1
Connecting Example of H-frame, 200 V type
3. System Conguration and Wiring
Overall Wiring (Terminal block type)
3. System Conguration and Wiring
Overall Wiring (Terminal block type)

−B13 −− B12 −
English
NC
NC
NC
0V
24V
NC
NC
NC
DB3
DB2
DB1
DB4
L1
L2
L3
B1
B2
NC
U
V
W
X1
X2
X3
X4
X5
X6
CHARGE
400V
Connection with
control power supply
: High voltage PC (to be supplied
by customer)
Setup support software “PANATERM”
Please download from our web site.
L3
L2
L1
Ground
(earth)
Ground
terminal
Connection
with input
power supply
Short bar (DB3-DB4)
• Monitor output
Wiring to Connector, X7
• Connection to PC or host controller
Wiring to Connector, X1
• Connection to RS232, RS485
or host controller
Wiring to Connector, X2
• Connection to Safety by-pass plug
(Refer to P.B26)
Wiring to Connector, X3
• Connection to host controller
Wiring to Connector, X4
• Connection to feedback scale
Wiring to Connector, X5
• Connection to encoder
Wiring to Connector, X6
• Wiring of Main Connector
Circuit Breaker (MCCB)
To protect power supply line from
overloading, install a wiring circuit
breaker rated to the capacity of the
power supply.
Noise Filter (NF)
Removes external noise from the power
lines. And reduces an effect of the noise
generated by the servo driver.
Magnetic Contactor (MC)
Turns on/off the main power of the
servo driver.
Use coil surge suppression units
together with this.
• Never start nor stop the servo
motor with this Magnetic Contactor.
Reactor (L)
Reduces harmonic current of the main
power.
Mains
Residual
current device
Brake cable
DC Power supply
for brake DC24V
(to be supplied
by customer)
Junction cable for encoder
0V
24V
Connection to motor
driving phase and ground
Motor cable (Shield wire)
U -phase
V -phase
W -phase
Connection to external components
B1
B2
24 VDC power supply
for control
(to be supplied by customer)
* Use a power
supply with
5 A or larger
capacity.
Note
• When you use an external regenerative
resistor, install an external protective
apparatus, such as thermal fuse without
fail.
• Thermal fuse and thermostat are built in to the
regenerative resistor (Option). If the thermal
fuse is activated, it will not resume.
• Mount the regenerative resistor on
incombustible material such as metal.
The wiring indicated with the broken line shall be
provided only when required.
Remarks
Regenerative resistor (optional) Pin B1 and B2
• When you connect an external regenera-
tive resistor, connect the external regen-
erative resistor between B1 and B2, set up
Pr0.16 to 1 or 2.
Pin DB1, DB2, DB3 and DB4
･Normally, leave DB3 and DB4 short-
circuited.
･To connect the external dynamic brake
resistor, refer to “Dynamic Brake” on
P.B48. Do not use the external dynamic
brake resistor together with the built-in
resistor.
Pin NC
• Do not connect anything.
• X1 to X7 are used for the
secondary circuit. To connect
these terminals to the primary
power supply (particularly, the 24
VDC power supply for control and
the 24 VDC power supply for
brake), insulation is required.
Do not connect these terminals to
the same power supply.
Remarks
Charge lamp (LED)
Do not make displacement, wiring or
inspection while the LED is lit - cause of
electric shock.
• Apply the voltage desig-
nated on the nameplate
from the power source.
Symmetric current should be
5000 Arms or below.
If the short-circuit current on the
power source exceeds this
value, use a current-limiting
device (e.g. current-limiting fuse,
current-limiting circuit breaker or
transformer).
Connecting Example of G-frame, 400 V type
3. System Conguration and Wiring
Overall Wiring (Terminal block type)
3. System Conguration and Wiring
Overall Wiring (Terminal block type)

−B15 −− B14 −
English
Connection
with control
power supply
24V0V
Neutral point
L1C
B1
B2
X1
X2
X3
X4
X5
X6
CHARGE
L1 L2 L3 B1 B2 NC
24V 0V
DB1 DB2
U V W
• Wiring of Main Connector
Circuit Breaker (MCCB)
To protect power supply line from
overloading, install a wiring circuit breaker
rated to the capacity of the power supply.
Noise Filter (NF)
Removes external noise from the power
lines. And reduces an effect of the noise
generated by the servo driver.
Magnetic Contactor (MC)
Turns on/off the main power of the servo
driver.
Use coil surge suppression units together
with this.
• Never start nor stop the servo motor
with this Magnetic Contactor.
Reactor (L)
Reduces harmonic current of the main
power.
Remarks
• When you use an external dynamic brake resistor, install an
external protective apparatus, such as thermal fuse
without fail.
• Mount the dynamic brake resistor on incombustible
material such as metal.
• For wiring of the circuit, refer to “Wiring Diagram” on P.B23.
• For an example of the recommended protective circuit, refer
to “Dynamic Brake” on P.B48.
Dynamic Brake
resistor
to be supplied by
(
customer
)
Magnetic Contactor (MC)
Turns on/off the dynamic brake resistor.
Use coil surge suppression units
together with this.
• When you use an external
regenerative resistor, install an
external protective apparatus, such
as thermal fuse without fail.
• The regenerative resistor (optional)
incorporates a fan, thermal fuse, and
thermostat. Once the thermal fuse
blows out, it will not be restored.
• Mount the regenerative resistor on
incombustible material such as
metal.
• For wiring of the circuit, refer to
“Wiring Diagram” on P.B23.
The wiring indicated with the broken
line shall be provided only when
required.
Remarks
L1 L3L2
Regenerative
resistor (optional)
* Use a power
supply with
5 A or larger
capacity.
Mains
Residual
current device
Connection with input
power supply
Connection to
external components
24 VDC power supply for
regenerative resistor
(to be supplied by customer)
Note
24 VDC
power supply
for control
to be supplied by
(
customer
)
* Use a power
supply with
5 A or larger
capacity.
Charge lamp (LED)
Do not make displacement, wiring
or inspection while the LED is lit -
cause of electric shock.
• Connection to PC or host controller
• Connection to RS232, RS485
or host controller
Wiring to Connector, X2
• Connection to Safety by-pass plug
(Refer to P.B26)
Wiring to Connector, X3
• Connection to host controller
Wiring to Connector, X4
• Connection to feedback scale
Wiring to Connector, X5
• Connection to encoder
Wiring to Connector, X6
Junction cable for encoder
Remarks
• X1 to X7 are used for the secondary circuit. To
connect these terminals to the primary power
supply (particularly, the 24 VDC power supply
for control, the 24 VDC power supply for
brake, and the 24 VDC power supply for
regenerative resistor), insulation is required.
Do not connect these terminals to the same
power supply.
Pin B1and B2
• When you connect an external regenerative
resistor, connect the external regenerative
resistor between B1 and B2, set up Pr0.16 to
1 or 2.
Pin DB1 and DB2
• When installing an external dynamic brake
resistor, connect the magnetic contactor (for
controlling) for external dynamic brake to
between LIC and DB1.
• The voltage applied across DB1 and DB2
must be 300 VAC or below or 100 VDC or
below.
• L1C is connected after the R-phase of the
noise filter.
• L1C is not indicated on the driver body.
Pin NC
• Do not connect anything.
Remarks
U-phase
V-phase
W-phase
Connection to motor
driving phase and
ground
Motor cable (Shield wire)
Brake cable
DC Power supply
for brake DC24V
(to be supplied
by customer)
Ground
(earth)
Ground
terminal
* Use a power
supply with
5 A or larger
capacity.
PC (to be supplied by customer)
Setup support software
“PANATERM”
Please download
from our web site.
• Monitor output
Wiring to Connector, X7
: High voltage
Note
• Apply the voltage desig-
nated on the nameplate
from the power source.
Symmetric current should be
5000 Arms or below.
If the short-circuit current on the
power source exceeds this
value, use a current-limiting
device (e.g. current-limiting fuse,
current-limiting circuit breaker or
transformer).
Wiring to Connector, X1
Connecting Example of H-frame, 400 V type
3. System Conguration and Wiring
Overall Wiring (Terminal block type)
3. System Conguration and Wiring
Overall Wiring (Terminal block type)

−B17 −− B16 −
English
3. System Conguration and Wiring
Driver and List of Applicable Peripheral Equipments
3. System Conguration and Wiring
Driver and List of Applicable Peripheral Equipments
• About circuit breaker and magnetic contactor
To comply to EC Directives, install a circuit breaker between the power and
the noise filter without fail, and the circuit breaker should conform to IEC
Standards and UL recognized (Listed and marked).
Suitableforuseonacircuitcapableofdeliveringnotmorethan5,000Armssymmetri-
calamperes,belowthemaximuminputvoltageoftheproduct.
Remarks
Select a circuit breaker and noise lter which match to the capacity of
powersupply(includingaloadcondition).
• Terminal block and protective ground terminals
 Useacopperconductorcableswithtemperatureratingof75˚Corhigher.
• Fastening torque list (Terminal block screw/Terminal cover fastening screw)
Driver Terminal block
screw
Terminal cover
fastening screw
Frame Terminal name
Nominal
size
Fastening
torque
(N•m) (*1)
Nominal
size
Fastening
torque
(N•m) (*1)
GL1C,L2C,24V,0V,DB1,DB2,DB3,DB4,NC M5 1.0to1.7 M3 0.19to0.21
L1,L2,
Ｌ３ ,B1,B2,NC,U,V,W M5 2.0to2.4 M3 0.3to0.5
HL1C,L2C,24V,0V,DB1,DB2 M4 0.7to1.0 M5 2.0to2.5
L1,L2,
Ｌ３ ,B1,B2,NC,U,V,W M6 2.2to2.5
• Fastening torque list (Ground terminal screw/Connector to host controller (X4))
Driver frame
Terminal block
screw
Connector to host
controller (X4)
Nominal
size
Fastening
torque
(N•m) (*1)
Nominal
size
Fastening
torque
(N•m) (*1)
G M5 1.4to1.6 M2.6 0.3to0.35
H M6 2.4to2.6
(*1)
• Applyingfasteningtorquelargerthanthemaximumvaluemayresultindamagetotheproduct.
•Donotturnonpowerwithouttighteningallterminalblockscrewsproperly.
•Do notturnonpowerwithouttighteningallterminalblock screwsproperly,otherwise,loose
contactsmaygenerateheat(smoking,ring).
•Tocheckforlooseness,conductperiodicinspectionoffasteningtorqueonceayear.
Driver
Applicable
motor
Voltage Rated
output
Required
Power
(at the rated
load)
Circuit
breaker
(rated
current)
Noise
lter
Surge
absorber
Noise
lter for
signal
Rated
operating
current of
magnetic
contactor
Contact
(
conguration
)
*1
Diameter and
withstand
voltage of main
circuit cable
Crimp
terminal
for main
circuit
terminal
block
Diameter and
withstand voltage
of control power
supply cable
Crimp
terminal
for control
power
supply
terminal
block
Diameter and
withstand voltage
of motor cable
*3
Diameter and
withstand
voltage of
brake cable
MGDH
MDME
3-phase,
200V
7.5kW
approx.
11kVA
60A FS5559-60-34
Recommended
(
component
)
DV0P1450
DV0P1460
RJ8095
Recommended
(
component
)

T400-61D
Recommended
(
component
)
100A
（3P+1a）
5.3mm2/AWG10
600VACormore
11mm or
smaller
ø5.3
Terminal
block
M5
0.75mm2/AWG18
600VACormore
10mm or
smaller
ø5.3
Terminal
block
M5
13.3mm2/AWG6
600VACormore
0.75mm2/
AWG18
100 VACor
more
MGME 6.0kW
approx.
9.0kVA
MHME 7.5kW
approx.
11kVA
MDME
3-phase,
400V
7.5kW
approx.
11kVA
30A
FN258-42-07
or
FN258-42-33
Recommended
(
component
)
DV0PM20050
60A
（3P+1a）
0.75mm2/AWG18
100VACormore
MGME 6.0kW
approx.
9.0kVA
MHME 7.5kW
approx.
11kVA
MHDH MDME
3-phase,
200V
11kW
approx.
17kVA 100A FS5559-80-34
Recommended
(
component
)
DV0P1450 150A
（3P+1a）
13.3mm2/AWG6
600VACormore
*2
16mm or
smaller
ø6.4
Terminal
block
M6
0.75mm2/AWG18
600VACormore
10mm or
smaller
ø4.3
Terminal
block
M4
15kW
approx.
22kVA 125A
21.1mm2/AWG4
600VACormore
3-phase,
400V
11kW
approx.
17kVA 50A FN258-42-07
or
FN258-42-33
Recommended
(
component
)
DV0PM20050
100A
（3P+1a）
0.75mm2/AWG18
100VACormore
13.3mm2/AWG6
600VACormore
15kW
approx.
22kVA 60A
21.1mm2/AWG4
600VACormore
*1Fortheexternaldynamicbrakeresistor,usethemagneticcontactorwiththesameratingas
thatforthemaincircuit.
*2Whenusetheregenerativeresisterofoption(DV0PM20058,20059),usethecablewiththe
samediameterasthemaincircuitcable.
*3Thediameterofthegroundcableandtheexternaldynamicbrakeresistorcablemustbe
equalto,orlargerthanthatofthemotorcable.
 Themotorcableisashieldcable,whichconformstotheECDirectivesandULStandards.
Reference page
 Noiselter.......................P.B44“CompositionofPeripheralEquipments”
  Surgeabsorber...............P.B45“CompositionofPeripheralEquipments”
  Noiselterforsignal.......P.B45“CompositionofPeripheralEquipments”
  Motor/brakeconnector....P.B24“Wiringofconnectorformotorandbrake”
Caution Besuretoconductwiringproperlyandsecurely.Insecureorimproperwiringmay
causethemotorrunningoutofcontrolorbeingdamagedfromoverheating.Inad-
dition,payattentionnottoallowconductivematerials,suchaswirechips,entering
thedriverduringtheinstallationandwiring.

−B19 −− B18 −
English
3. System Conguration and Wiring
Wiring of the Main Circuit (Terminal block type)
3. System Conguration and Wiring
Wiring of the Main Circuit (Terminal block type)
G-frame, 200 V type
•Wiringshouldbeperformedbyaspecialistoranauthorizedpersonnel.
•Donotturnonthepoweruntilthewiringiscompleted.
•
Nevertouchtheterminaltowhichhighvoltageisapplied.Thereisariskofelectricshock.
• Tips on Wiring
1)Takeoffthecoverxingscrews,anddetachtheterminalcover.
2)Makewiring
 Useclamptypeterminalsofroundshapewithinsulationcoverforwiringtothe
terminalblock.Forcablediameterandsize,reterto"DriverandListofApplicable
PeripheralEquipments"(P.B16).Tightentheterminalblockscrewwithatorque
between2.0and2.4N•m(leftside)and1.0and1.7N•m(rightside).
3)Attachtheterminalcover,andxwithscrews.
 TightenthescrewsecuringthecoverwiththetorquewrittenonP.B17.
Motor
Varistor
DC
24V
L1
U
V
W
E
L2
L3
B1
B2
NC
U
V
W
NC
L1C
L2C
NC
NC
DB1
DB2
NC
NC
DB3
DB4
NC
• Check the name plate of the driver for power
specifications.
• Provide a residual current device. The
residual current device to be the one designed
for "Inverter" and is equipped with counter-
measures for harmonics.
• Provide a circuit breaker.
• Make sure to provide a noise filter.
• Provide coil surge suppression units to the coil
of the Magnetic Contactor recommended by
manufacturer. Never start/stop the motor with
this Magnetic Contactor.
• Provide an AC Reactor (to be supplied by customer).
• The voltage applied across DB1 and DB2 must
be 300 VAC or below or 100 VDC or below.
• Match the connector of the motor and driver “U,
V, W”.
• Avoid shorting and grounding.
Don't connect the main power.
• For normal operation, do not disconnect the
shorting bar from DB3 and DB4: remove the bar
only when the external dynamic brake resistor
is used.
• Earth-ground this.
•
To prevent electric shock, be sure to connect the
ground terminal ( ) of the driver, and the ground
terminal (ground plate) of the control panel.
The ground terminal ( ) must not be shared
with other equipment.
Two ground terminals are provided.
• Don't connect the earth cable to other
inserting slot, nor make them touch.
• Compose a duplex Brake Control Circuit so that
the brake can also be activated by an external
immediate stop signal.
• The holding brake has no polarities.
• For the holding brake power supply capacity
and how to use the brake, refer to “Specifica-
tions of Built-in Holding Brake” on P.B47.
• Provide a varistor.
• Connect a 10A fuse in series with the varistor.
* Do not connect anything to NC.
Ground resistance: 100 Ω max.
For applicable wire, refer to P.B16.
Left
side Right side
DC power
supply
for brake
Fuse (125 V 10 A)
MCCB
Power
supply NF MC
L RCD
H-frame, 200 V type
•Wiringshouldbeperformedbyaspecialistoranauthorizedpersonnel.
•Donotturnonthepoweruntilthewiringiscompleted.
•
Nevertouchtheterminaltowhichhighvoltageisapplied.Thereisariskofelectricshock.
• Tips on Wiring
1)Takeoffthecoverxingscrews,anddetachtheterminalcover.
2)Makewiring
 Useclamptypeterminalsofroundshapewithinsulationcoverforwiringtothe
terminalblock.Forcablediameterandsize,reterto"DriverandListofApplicable
PeripheralEquipments"(P.B16).Tightentheterminalblockscrewwithatorque
between0.7and1.0N•m(upperside)and2.2and2.5N•m(lowerside).
3)Attachtheterminalcover,andxwithscrews.
 TightenthescrewsecuringthecoverwiththetorquewrittenonP.B17.
Power
supply
Motor
Varistor
DC
24V
L1
U
V
W
E
L2
L3
B1
B2
NC
U
V
W
L1C
L2C
DB1
DB2
• Check the name plate of the driver for power
specifications.
• Provide a residual current device. The
residual current device to be the one
designed for "Inverter" and is equipped with
countermeasures for harmonics.
• Provide a circuit breaker.
• Make sure to provide a noise filter.
• Provide coil surge suppression units to the coil
of the Magnetic Contactor recommended by
manufacturer. Never start/stop the motor
with this Magnetic Contactor.
•
The voltage applied across DB1 and DB2 must
be 300 VAC or below or 100 VDC or below.
• Provide an AC Reactor (to be supplied by customer) .
• Do not connect anything to NC.
• Match the connector of the motor and driver
“U, V, W”.
• Avoid shorting and grounding.
Don't connect the main power.
• Earth-ground this.
• To prevent electric shock, be sure to connect
the ground terminal ( ) of the driver, and the
ground terminal (ground plate) of the control
panel.
• The ground terminal ( ) must not be shared
with other equipment.
Two ground terminals are provided.
• Don't connect the earth cable to other
inserting slot, nor make them touch.
• Compose a duplex Brake Control Circuit so
that the brake can also be activated by an
external immediate stop signal.
• The holding brake has no polarities.
• For the holding brake power supply capacity
and how to use the brake, refer to “Specifica-
tions of Built-in Holding Brake” on P.B47.
• Provide a varistor.
• Connect a 10A fuse in series with the varistor.
Ground resistance: 100 Ω max.
For applicable wire, refer to P.B16.
DC power
supply
for brake
Fuse (125 V 10 A)
MCCB NF MC L RCD
Upper
side
Lower
side
Power supply for
regenerative resistor
DC
24V

−B21 −− B20 −
English
3. System Conguration and Wiring
Wiring of the Main Circuit (Terminal block type)
G-frame, 400 V type
•Wiringshouldbeperformedbyaspecialistoranauthorizedpersonnel.
•Donotturnonthepoweruntilthewiringiscompleted.
•
Nevertouchtheterminaltowhichhighvoltageisapplied.Thereisariskofelectricshock.
• Tips on Wiring
1)Takeoffthecoverxingscrews,anddetachtheterminalcover.
2)Makewiring
 Useclamptypeterminalsofroundshapewithinsulationcoverforwiringtothe
terminalblock.Forcablediameterandsize,reterto"DriverandListofApplicable
PeripheralEquipments"(P.B16).Tightentheterminalblockscrewwithatorque
between2.0and2.4N•m(leftside)and1.0and1.7N•m(rightside).
3)Attachtheterminalcover,andxwithscrews.
 TightenthescrewsecuringthecoverwiththetorquewrittenonP.B17.
Motor
Varistor
DC
24V
L1
U
V
W
E
L2
L3
B1
B2
NC
U
V
W
NC
24V
0V
NC
NC
DB1
DB2
NC
NC
DB3
DB4
NC
• Check the name plate of the driver for power
specifications.
• Provide a residual current device. The residual
current device to be the one designed for
"Inverter" and is equipped with countermeasures
for harmonics.
• Provide a circuit breaker.
• Make sure to provide a noise filter.
• Provide coil surge suppression units to the coil of
the Magnetic Contactor recommended by
manufacturer. Never start/stop the motor with
this Magnetic Contactor.
• Direct power supply for control circuit.
• Provide an AC Reactor (to be supplied by customer).
• AC 3-phase power supply 400V for main circuit.
• The voltage applied across DB1 and DB2 must be
300 VAC or below or 100 VDC or below.
• Match the connector of the motor and driver “U, V,
W”.
• Avoid shorting and grounding.
Don't connect the main power.
•
For normal operation, do not disconnect the shorting
bar from DB3 and DB4: remove the bar only when
the external dynamic brake resistor is used.
• Earth-ground this.
• To prevent electric shock, be sure to connect the
ground terminal ( ) of the driver, and the ground
terminal (ground plate) of the control panel.
• The ground terminal ( ) must not be shared with
other equipment.
Two ground terminals are provided.
• Don't connect the earth cable to other inserting
slot, nor make them touch.
• Compose a duplex Brake Control Circuit so that
the brake can also be activated by an external
immediate stop signal.
• The holding brake has no polarities.
• For the holding brake power supply capacity and
how to use the brake, refer to “Specifications of
Built-in Holding Brake” on P.B47.
• Provide a varistor.
• Connect a 10A fuse in series with the varistor.
* Do not connect anything to NC.
Ground resistance: 10 Ω max.
For applicable wire, refer to P.B16.
Left
side Right side
DC power
supply
for brake
Fuse (125 V 10 A)
MCCB
Power
supply NF MC
L RCD
DC
24V
H-frame, 400 V type
•Wiringshouldbeperformedbyaspecialistoranauthorizedpersonnel.
•Donotturnonthepoweruntilthewiringiscompleted.
•
Nevertouchtheterminaltowhichhighvoltageisapplied.Thereisariskofelectricshock.
• Tips on Wiring
1)Takeoffthecoverxingscrews,anddetachtheterminalcover.
2)Makewiring
 Useclamptypeterminalsofroundshapewithinsulationcoverforwiringtothe
terminalblock.Forcablediameterandsize,reterto"DriverandListofApplicable
PeripheralEquipments"(P.B16).Tightentheterminalblockscrewwithatorque
between0.7and1.0N•m(upperside)and2.2and2.5N•m(lowerside).
3)Attachtheterminalcover,andxwithscrews.
 TightenthescrewsecuringthecoverwiththetorquewrittenonP.B17.
Power
supply
Motor
Varistor
DC
24V
L1
U
V
W
E
L2
L3
B1
B2
NC
U
V
W
24V
0V
DB1
DB2
• Check the name plate of the driver for
power specifications.
• Provide a residual current device. The
residual current device to be the one
designed for "Inverter" and is equipped
with countermeasures for harmonics.
• Provide a circuit breaker.
• Make sure to provide a noise filter.
• Provide coil surge suppression units to the
coil of the Magnetic Contactor recom-
mended by manufacturer. Never start/stop
the motor with this Magnetic Contactor.
• Direct power supply for control circuit.
•
The voltage applied across DB1 and DB2 must
be 300 VAC or below or 100 VDC or below.
• Provide an AC Reactor (to be supplied by customer) .
•
AC 3-phase power supply 400V for main circuit.
• Do not connect anything to NC.
• Match the connector of the motor and driver
“U, V, W”.
• Avoid shorting and grounding.
Don't connect the main power.
• Earth-ground this.
• To prevent electric shock, be sure to connect
the ground terminal ( ) of the driver, and
the ground terminal (ground plate) of the
control panel.
• The ground terminal ( ) must not be shared
with other equipment.
Two ground terminals are provided.
• Don't connect the earth cable to other
inserting slot, nor make them touch.
• Compose a duplex Brake Control Circuit so
that the brake can also be activated by an
external immediate stop signal.
• The holding brake has no polarities.
• For the holding brake power supply capacity
and how to use the brake, refer to “Specifi-
cations of Built-in Holding Brake” on P.B47.
• Provide a varistor.
• Connect a 10A fuse in series with the
varistor.
Ground resistance: 10 Ω max.
For applicable wire, refer to P.B16.
DC power
supply
for brake
Fuse (125 V 10 A)
MCCB NF MC L RCD
Upper
side
Lower
side
DC
24V
Power supply for
regenerative resistor
DC
24V
3. System Conguration and Wiring
Wiring of the Main Circuit (Terminal block type)

−B23 −− B22 −
English
3. System Conguration and Wiring
Wiring Diagram
Composethecircuitsothatthemaincircuitpowerwillbeshutoffwhenanerroroccurs.
Note Forwiringthemotorconnector,refertoP.B24.
3. System Conguration and Wiring
Wiring Diagram
Note Forwiringthemotorconnector,refertoP.B24.
Composethecircuitsothatthemaincircuitpowerwillbeshutoffwhenanerroroccurs.
In Case of 3-Phase, G-frame, 200 V type
In Case of 3-Phase, H-frame, 200 V type
Noise filter
Main power
supply
Control power
supply
Motor
37
ALM＋
L2
L3
L1C
L2C
MC1
L1
ALM−
Power supply 3-phase, 200V to 230V–15% +10%
Power supply 3-phase, 200V to 230V–15% +10%
MCCB
Motor
connection
36
L
ON
ALM
B1
B2
NC
DB1
DB2
DB3
DB4
U
V
W
ALM
OFF
Coil surge suppression units
Built-in thermostat of an external
regenerative resistor (light yellow)
External
regenerative resistor
Power supply
(3-phase)
Noise filter
Main power
supply
Control power
supply
Motor
37
ALM＋
L2
L3
L1C
L2C
MC1
L1
ALM−
MCCB
Motor
connection
36
L
ON
ALM
B1
B2
DB1
NC
DB2
U
V
W
ALM
OFF
Coil surge suppression units
Built-in thermostat of
an external regenerative resistor
(T1 and T2 terminals)
Power supply
(3-phase)
MC1
MC1
Note 1)
Magnetic contactor MC2 must be the
same as the contactor MC1 in the main
circuit.
Note 2)
Servo may be turned on in the external
sequence if the dynamic brake resistor
deposits: to protect the system, provide
the auxiliary contact.
Note 3)
Use 1.2 Ω, 400 W resistor (to be supplied
by customer).
Note 4)
To use the external dynamic brake
resistor:
Connect the R1 and R2 terminals to B1
and B2.
Connect the T1 and T2 terminals as
shown in the left diagram.
Connect the 24 V and 0 V terminals to a
24 VDC power supply.
Connect the E terminal to the ground.
Note 5)
Provide an external protective device (e.g. thermal
fuse) to monitor the temperature of the external
dynamic brake resistor.
Note 1)
Normally, do not disconnect the shorting
bar.
Note 1)
Note 1)
Note 4)
Note 5) Note 5) Note 5)
Dynamic Brake resistor
Note 3)
Note 2)
MC2
MC2
Coil surge suppression units
External
regenerative resistor
Insulated
DC12 to 24V
(±5%)
+
−
Insulated
DC12 to 24V
(±5%)
+
−
Insulated
DC24V
+
−
In Case of 3-Phase, G-frame, 400 V type
In Case of 3-Phase, H-frame, 400 V type
Noise filter
Power supply 3-phase, 380V to 480V–15% +10%
Power supply 3-phase, 380V to 480V–15% +10%
Main power
supply
Control power
supply
Motor
37
ALM＋
L2
L3
24V
0V
MC1
L1
ALM−
MCCB
Motor
connection
Power supply
(3-phase)
36
L
ON
ALM
B1
B2
NC
DB1
DB2
DB3
DB4
U
V
W
ALM
OFF
Coil surge suppression units
Built-in thermostat of
an external regenerative
resistor (light yellow)
External
regenerative resistor
Noise filter
Main power
supply
Control power
supply
Motor
37
ALM＋
L2
L3
24V
0V
MC1
MC2
L1
ALM−
MCCB
Motor
connection
Power supply
(3-phase)
Power supply
(Neutral point)
The AC voltage
across DB1 and
DB2 must be
300 V or below.
36
L
ON
ALM
B1
B2
NC
DB1
DB2
U
V
W
ALM
OFF
Coil surge suppression units
Coil surge suppression units
Built-in thermostat of
an external regenerative resistor
(T1 and T2 terminals)
Note 1)
Magnetic contactor MC2 must be the
same as the contactor MC1 in the main
circuit.
Note 2)
Servo may be turned on in the external
sequence if the dynamic brake resistor
deposits: to protect the system, provide
the auxiliary contact.
Note 3)
Use 4.8 Ω, 400 W resistor (to be supplied
by customer).
Note 4)
To use the external dynamic brake
resistor:
Connect the R1 and R2 terminals to B1
and B2.
Connect the T1 and T2 terminals as
shown in the left diagram.
Connect the 24 V and 0 V terminals to a
24 VDC power supply.
Connect the E terminal to the ground.
Dynamic Brake resistor
Note 3)
Note 2)
Note 1)
MC2
Note 1)
MC1
MC1
Note 1)
Normally, do not disconnect the shorting
bar.
Note 4)
External
regenerative resistor
Note 5) Note 5) Note 5)
Note 5)
Provide an external protective device (e.g. thermal
fuse) to monitor the temperature of the external
dynamic brake resistor.
Insulated
DC12 to 24V
(±5%)
+
−
Insulated
DC12 to 24V
(±5%)
+
−
Insulated
DC24V
+
−
Insulated
DC24V
Insulated
DC24V
+
−
+
−

−B25 −− B24 −
English
Remarks
A
B
D
C
A
B
D
C
A
B
C
D
JL04V-2E32-17PE-B-R N/MS3102A 14S-2P
U-phase
V-phase
W-phase
Ground
PIN No. Application
A
B
C
D
Brake
Brake
NC
NC
PIN No. Application
Do not connect anything to NC.
<Motor> <Brake>
3. System Conguration and Wiring
Wiring of connector for motor and brake
•Whenthemotorsof <MDME, MGME, MHME> are used,theyareconnected as
shownbelow.
 Connector:MadebyJapanAviationElectronicsIndustry,Ltd.
 (Theguresbelowshowconnectorsforthemotor.)
3. System Conguration and Wiring
Wiring to the connector, X1
ThisisusedforUSBconnectiontoapersonalcomputer.Itispossibletochangethe
parametersettingandperformmonitoring.
Application Symbol Connector
Pin No. Contents
USBsignalterminal
VBUS 1 Useforcommunicationwithpersonal
computer.
D− 2
D＋3
—4 Donotconnect.
GND 5 Connectedtogroundofcontrolcircuit.
Caution UsecommerciallyavailableUSBmini-Bconnectorforthedriver.
3. System Conguration and Wiring
Wiring to the connector, X2
This is used for connection to the host controller when two or more units are used.
RS232andRS485interfacesaresupplied.
Application Symbol Connector
Pin No. Contents
Signalground GND 1 Connectedtogroundofcontrolcircuit.
NC – 2 Donotconnect.
RS232signal TXD 3 RS232
Thetransmission/receptionmethod.
RXD 4
RS485signal
485− 5
RS485
Thetransmission/receptionmethod.
485+ 6
485− 7
485+ 8
Frameground FG Shell Connectedwithgroundterminalinthe
servodriver.
Connector(plug):2040008-1(optional,availablefromTycoElectronics)
[Connector pin assignment]
(Viewed from cable)
8642
7531
Remarks
X1toX7areusedforthesecondarycircuit.Toconnecttheseterminalstotheprimary
powersupply(particularly,the24VDCpowersupplyforcontrol,the24VDCpower
supplyforbrake,andthe24VDCpowersupplyforregenerativeresistor[forH-frame
only]),insulationisrequired.Donotconnecttheseterminalstothesamepowersupply.

−B27 −− B26 −
English
3. System Conguration and Wiring
Wiring to the connector, X3
Asafetyby-passplugissuppliedasstandardequipment.Donotdisconnectitinnor-
maltimes.
Sincethestandardconnectorcannotbeusedwhencontrollingthesafetyfunctionfrom
thehost controller,purchasetheoptional connector and makeconnectionas shown
below.
Caution Iftheconnectorisdisconnectedduringoperation,animmediatestopwill
becaused.
Application Symbol Connector
Pin No. Contents
NC
–1
Donotconnect.
–2
Safetyinput1
SF1− 3
Thesearetwoindependentcircuitsthat
turnofftheoperationsignaltothepower
moduletoshutoffthemotorcurrent.
SF1+ 4
Safetyinput2
SF2− 5
SF2+ 6
EDMoutput
EDM− 7 Thisisanoutputformonitoringthefailure
ofthesafetyfunction.
EDM+ 8
Frameground FG Shell Connectedwithgroundterminalinthe
servodriver.
Connector(plug):2013595-1(optional,availablefromTycoElectronics)
8642
7531
[Connector pin assignment]
(Viewed from cable)
Caution When establishing a system using safety functions, completely under-
standtheapplicablesafetystandardsandtheoperatinginstructionman-
ualortechnicaldocumentsfortheproduct.
3. System Conguration and Wiring
Wiring to the connector, X4
Wiring Example of Position Control Mode
2.2kΩ 2.2kΩ 2.2kΩ 2.2kΩ
14 15 16 17 43 18 42
In case of open collector I/F
7
COM+
PULS2
SIGN1 SIGN2
GND
OA+
OA
-
OB+
OB
-
OZ+
OZ
-
GND
CZ
SPR/TRQR/SPL
GND
P-ATL/TRQR
GND
N-ATL
SP
IM
4 3 1 2 5 6
13 21 22 48 24 25 19 49 23
1kΩ 1kΩ
PULS1
OPC2 OPC1
INH
CL
SRV-ON
GAIN
DIV1
VS-SEL1
C-MODE
A-CLR
POT
NOT
S-RDY
+
S-RDY
-
ALM+
INP+
BRKOFF
+
BRKOFF
-
TLC
VDC
12 to 24V
ZSP
COM
-
SIGNH1 SIGNH2
PULSH1 PULSH2
GND
FG
INP
-
ALM
-
33 30 29 27 28 32 31
9 8
35 34 37 36 39 38
11
10 40 12 41 44 45 13 50 26
Z-phase output (open collector)
3
PULS1
4
PULS2
X4
46 47
14kΩ
10kΩ
20kΩ20kΩ
14kΩ
10kΩ
20kΩ20kΩ
47kΩ 47kΩ47kΩ
47kΩ
20kΩ
20kΩ
+
–
+
–
–
The functions of the following pin can be changed using parameters. Input: 8, 9, 26, 27, 28, 29, 30, 31, 32, 33 Output: 10-11, 12, 34-35, 36-37, 38-39, 40
20kΩ
2kΩ 2kΩ20kΩ
120Ω
20kΩ
2kΩ 2kΩ20kΩ
120Ω
220Ω
VDC
R
5
SIGN1
6
SIGN2
220Ω
R
1
OPC1
4
PULS2
220Ω
24VDC
2
OPC1
6
SIGN2
220Ω
2.2kΩ 2.2kΩ
(1) When you use the external resistor with 12V and 24V power supply (2) When you do not use the external resistor with 24V power supply
Positive direction torque limit input
(0 to +10V)
Negative direction
torque limit input
(
-
10 to +10V)
Velocity monitor output Torque monitor output
Command pulse input A (Use with 500 kpps or less.)
Divider
A-phase output B-phase output Z-phase output
Command pulse input B (Use with 4Mpps or less.)
Be sure to connect.
V
DC
12V 24V
Specifications
of R
1kΩ1/2W 2kΩ1/2W
V
DC
-
1.5
R
+
220 =10mA
.
.
Servo-ON input Gain switching input
Electronic gear switching input 1
Control mode switching input Damping control switching input 1
Alarm clear input
Positive direction over-travel inhibition input Negative direction over-travel inhibition input
Servo-Ready output Servo-Alarm output Positioning complete output External brake release output Torque in-limit output Zero speed detection output
Deviation counter clear input Command pulse inhibition input
( : Twisted pair)
4.7kΩ
220Ω
2.2kΩ
2.2kΩ
220Ω
2.2kΩ
2.2kΩ
Remarks
X1toX7areusedforthesecondarycircuit.Toconnecttheseterminalstotheprimary
powersupply(particularly,the24VDCpowersupplyforcontrol,the24VDCpower
supplyforbrake,andthe24VDCpowersupplyforregenerativeresistor[forH-frame
only]),insulationisrequired.Donotconnecttheseterminalstothesamepowersupply.
Remarks
X1toX7areusedforthesecondarycircuit.Toconnecttheseterminalstotheprimary
powersupply(particularly,the24VDCpowersupplyforcontrol,the24VDCpower
supplyforbrake,andthe24VDCpowersupplyforregenerativeresistor[forH-frame
only]),insulationisrequired.Donotconnecttheseterminalstothesamepowersupply.

−B29 −− B28 −
English
Wiring Example of Velocity Control Mode
3. System Conguration and Wiring
Wiring to the connector, X4
7COM+
OA+
OA
-
OB+
OB
-
OZ+
OZ
-
GND
CZ
SPR/TRQR/SPL
GND
P-ATL/TRQR
GND
N-ATL
SP
IM
21 22 48 24 25 19 49 23
1kΩ 1kΩ
INTSPD1 INTSPD2
SRV-ON
GAIN
INTSPD3
ZEROSPD
C-MODE
A-CLR
POT
NOT
S-RDY+
S-RDY
-
ALM+
BRKOFF
+
BRKOFF
-
TLC
VDC
12 to 24V
ZSP
COM
-
FG
ALM
-
33 30 29 27 32 31
9 8
35 34 37 36 39 38
11
10 40 12 41 50 28
14 15 16 17 18 43 42
26
14kΩ
10kΩ
20kΩ20kΩ
14kΩ
10kΩ
20kΩ20kΩ
47kΩ 47kΩ47kΩ
47kΩ
20kΩ
20kΩ
X4
A-phase output B-phase output Z-phase output
Z-phase output (open collector)
Velocity command input (0 to ± 10V) Positive direction torque limit input (0 to ± 10V) Negative direction torque limit input (-10 to 0V)
Velocity monitor output Torque monitor output
Servo-ON input
Gain switching input
Alarm clear input
Speed zero clamp input Selection 1 input of internal command speed Selection 2 input of internal command speed Selection 3 input of internal command speed Control mode switching input Positive direction over-travel inhibition input Negative direction over-travel inhibition input
Servo-Ready output Servo alarm output At-speed output Torque in-limit output Zero speed detection output
Divider
The functions of the following pin can be changed using parameters. Input: 8, 9, 26, 27, 28, 29, 30, 31, 32, 33 Output: 10-11, 12, 34-35, 36-37, 38-39, 40
+
–
+
–
+
–
AT-SPEED
+
AT-SPEED
-
( : Twisted pair)
4.7kΩ
External brake release output
Wiring Example of Torque Control Mode
3. System Conguration and Wiring
Wiring to the connector, X4
7COM+
OA+
OA
-
OB+
OB
-
OZ+
OZ
-
GND
CZ
SPR/TRQR/SPL
GND
P-ATL/TRQR
GND
N-ATL
SP
IM
21 22 48 24 25 19 14 15 16 17 43 18 42 49 23
14kΩ
10kΩ
20kΩ20kΩ
14kΩ
10kΩ
20kΩ20kΩ
47kΩ 47kΩ47kΩ
47kΩ
20kΩ
20kΩ
1kΩ 1kΩ
INH
CL
SRV-ON
GAIN
DIV1
ZEROSPD
C-MODE
A-CLR
POT
NOT
S-RDY+
S-RDY
-
ALM+
AT-SPEED
+
BRKOFF
+
BRKOFF
-
TLC
VDC
12 to 24V
ZSP
COM
-
FG
AT-SPEED
-
ALM
-
33 30 29 27 28 26 32 31
9 8
35 34 37 36 39 38
11
10 40 12 41 50
Z-phase output (open collector)
X4
The functions of the following pin can be changed using parameters. Input: 8, 9, 26, 27, 28, 29, 30, 31, 32, 33 Output: 10-11, 12, 34-35, 36-37, 38-39, 40
Divider
A-phase output B-phase output Z-phase output
Torque command input or velocity limit input (0 to ±10V)
Velocity monitor output Torque monitor output
Wiring example when control mode Pr0.01=5 or Pr3.17=1
CCWTL/TRQR
GND
16 17
Negative direction torque limit input
(0 to ±10V)
Select with Pr3.17.
+
–
+
–
+
–
Servo-ON input Gain switching input
Alarm clear input
Servo-Ready output Servo-Alarm output
At-speed output External brake release output Torque in-limit output Zero speed detection output
Speed zero clamp input Control mode switching input
Positive direction over-travel inhibition input
Negative direction over-travel inhibition input
( : Twisted pair)
4.7kΩ
Remarks
X1toX7areusedforthesecondarycircuit.Toconnecttheseterminalstotheprimary
powersupply(particularly,the24VDCpowersupplyforcontrol,the24VDCpower
supplyforbrake,andthe24VDCpowersupplyforregenerativeresistor[forH-frame
only]),insulationisrequired.Donotconnecttheseterminalstothesamepowersupply.
Remarks
X1toX7areusedforthesecondarycircuit.Toconnecttheseterminalstotheprimary
powersupply(particularly,the24VDCpowersupplyforcontrol,the24VDCpower
supplyforbrake,andthe24VDCpowersupplyforregenerativeresistor[forH-frame
only]),insulationisrequired.Donotconnecttheseterminalstothesamepowersupply.

−B31 −− B30 −
English
MDME 7.5kW to 15kW
MHME 7.5kW
MGME 6.0kW
Shell (FG)
+5V
0V
1
2
3
4
5
6
4
1
3
7
Encoder cable
Connector: JN2DS10SL1-R
(by Japan Aviation Electronics Ind.)
Motor Driver
E5V
E0V
PS
PS
9
PS
PS
FG
E5V
E0V
X6
Regulator
Shell (FG)
+5V
0V
1
2
3
4
5
6
4
1
3
7
Encoder cable
Connector: JN2DS10SL1-R
(by Japan Aviation Electronics Ind.)
Motor Driver
E5V
E0V
PS
PS
9
PS
5
BAT−
6
BAT+
PS
FG
E5V
E0V
X6
battery
Regulator
MDME 7.5kW to 15kW
MHME 7.5kW
MGME 6.0kW
Twisted pair
Twisted pair
3. System Conguration and Wiring
Wiring to the connector, X5
Connect on to External Scale
Provideapowersupplyfortheexternalscaleonyourpartorusethefollowingpower
output(250mAorless).
Application Symbol Connector
Pin No. Contents
Powersupplyoutput
EX5V 1 Supplythepowerofexternal
scaleorA,B,Zphaseencoder.
EX0V 2 Connectedtogroundofcontrol
circuit.
I/Fofexternalscale
signals
EXPS 3 Serialsignal
Thetransmission/reception
method.
/EXPS 4
A,B,ZphaseEndoder
signalinput
EXA 5
Parallelsignal
reception
Correspondencespeed:
4Mpps(afterquadruple)
/EXA 6
EXB 7
/EXB 8
EXZ 9
/EXZ 10
Frameground FG Shell Connectedwithgroundterminal
intheservodriver.
Connector(plug):MUF-PK10K-X(byJ.S.T.Mfg.Co.,Ltd.)
• Caution
1)Themanufacturersapplicableexternalscalesforthisproductareasfollows.
•MitutoyoCorp.
•MagnescaleCo.,Ltd.
 Forthedetailsoftheexternalscaleproduct,contacteachcompany.
2) Recommended external scale ratio is 1/40 ≤ External scale ratio ≤ 160
 If you set up the external scale ratio to smaller value than 50/position loop gain
(Pr1.00andPr.1.05),youmaynotbeabletocontrolper1pulseunit.Setupoflarg-
erscaleratiomayresultinlargernoise.
3. System Conguration and Wiring
Wiring to the connector, X6
Connection to Encoder
•Incaseof20-bitincrementalencoder
•Incaseof17-bitabsoluteencoder
Caution Thevoltage of inputpowerto encoder sideconnectorshouldbe in the
range4.90to5.25VDC.
Remarks
X1toX7areusedforthesecondarycircuit.Toconnecttheseterminalstotheprimary
powersupply(particularly,the24VDCpowersupplyforcontrol,the24VDCpower
supplyforbrake,andthe24VDCpowersupplyforregenerativeresistor[forH-frame
only]),insulationisrequired.Donotconnecttheseterminalstothesamepowersupply.
Remarks
X1toX7areusedforthesecondarycircuit.Toconnecttheseterminalstotheprimary
powersupply(particularly,the24VDCpowersupplyforcontrol,the24VDCpower
supplyforbrake,andthe24VDCpowersupplyforregenerativeresistor[forH-frame
only]),insulationisrequired.Donotconnecttheseterminalstothesamepowersupply.

−B33 −− B32 −
English
3. System Conguration and Wiring
Wiring to the connector, X7
TheconnectorX7ofthefrontpanelisformonitoroutput.
Analogueoutput:2systems
Digitaloutput :1systems
Inbothcases,itispossibletoswitchtheoutputsignalbysettingparameters.
Application Symbol Connector
Pin No. Contents
Analoguemonitor
output1 AM1 1 • Outputtheanaloguesignalfor
monitor.
• Theamplitudeoftheoutputsignalis
±10V.
• Outputimpedanceis1kΩ.When
connectingameasuringinstrument,
checkitsinputcircuitforimpedance
matching.
Analoguemonitor
output2 AM2 2
Signalground GND 3 Connectedtogroundofcontrolcircuit.
Digitalmonitoroutput DM 4
• Outputthedigitalsignalformonitor.
• OutputvoltageisCMOSlevel
compatible.
• Outputimpedanceis2.2kΩ.When
connectingameasuringinstrument,
checkitsinputcircuitforimpedance
matching.
NC – 5 Donotconnect.
NC – 6 Donotconnect.
Connector X7
Manufacturer’s part No.:
530140610
Manufacturer:
Japan Molex Inc.
6 1
X7
Measuring
instrument
Output circuit
1
1kΩ
2.2kΩ
AM1
DM 4
GND 3
1kΩ AM2 2
4. Parameter
Outline / Setup / Connection
Outline of Parameter
Thisdriverisequippedwithvariousparameterstosetupitscharacteristicsandfunc-
tions.Thissectiondescribesthefunctionandpurposeofeachparameter.Readand
comprehendverywellsothatyoucanadjustthisdriverinoptimumconditionforyour
runningrequirements.
• You can refer and set up the parameter with either one of the following.
1)frontpanelofthedriver
2)combinationofthesetupsupportsoftware,"PANATERM"andPC.
Setup with the Front Panel
Press these to change display and data,
select parameters and execute actions.
(Change/Selection/Execution is valid to the
digit which decimal point flashes.)
Numerical value increases by pressing, ,
decreases by pressing .
Shifting of the digit for data
changing to higher digit.
X7
Output connector for monitor
Display LED (6-digit)
Switch to error display screen when error
occurs, and LED will flash (about 2Hz).
LED will flash slowly (about 1Hz) when
warning occurs.
Mode switching button
(valid at SELECTION display)
Press this to switch 4 kinds of mode.
1) Monitor Mode
2) Parameter Set up Mode
3) EEPROM Write Mode
4) Auxiliary Function Mode
SET Button (valid at any time)
Press this to switch SELECTION and
EXECUTION display.
6 1
X7
Remarks
X1toX7areusedforthesecondarycircuit.Toconnecttheseterminalstotheprimary
powersupply(particularly,the24VDCpowersupplyforcontrol,the24VDCpower
supplyforbrake,andthe24VDCpowersupplyforregenerativeresistor[forH-frame
only]),insulationisrequired.Donotconnecttheseterminalstothesamepowersupply.

−B35 −− B34 −
English
Setup with the PC
ItispossibletoconnectyourpersonalcomputertoconnectorX1ofMINASA5usinga
USBcableforpersonalcomputerconnection.Downloadingthesetupsupportsoftware
“PANATERM”fromourwebsiteandinstallingitonyourpersonalcomputerwillallow
youtoperformthefollowingeasily.
• With the PANATERM, you can execute the followings.
1)Setupandstorageofparameters,andwritingtothememory(EEPROM).
2)MonitoringofI/O,pulseinputandloadfactor.
3)Displayofthepresentalarmandreferenceoftheerrorhistory.
4)Datameasurementofthewave-formgraphicandbringingofthestoreddata.
5)Normalauto-gaintuning
6)Frequencycharacteristicmeasurementofthemachinesystem.
Note Because no production software such as CD-ROM is available, down-
loadthesetupsupportsoftwarefromourwebsiteandinstallitonyour
personalcomputer.
• How to Connect
• USB cable
Onthedriver,usecommerciallyavailableUSBmini-Bconnector.
Theconnectoron the personal computersideshouldbe in accordance with the
specicationsofthePC.
Whenthecabledoesnothavenoiselter,attachasignallinenoiselter(DV0P1460)
tobothendsofthecable.
4. Parameter
Outline / Setup / Connection
Connect to X1
(USB mini-B)
Setup support software “PANATERM”
Please download from our web site and
use after install to the PC.
4. Parameter
Composition of Parameters
• The parameter No. is displayed in the form of PrX.YY (X: Classication, YY: No.).
• For the details on the parameters, refer to the Operating Instructions (Overall).
Parametr No. Class name Group
Class No.*
0 00to Basicsetting ParameterforBasicsetting
1 00to Gainadjustment ParameterforGainadjustment
2 00to Dampingcontrol ParameterforDampingcontrol
3 00to Verocity/Torque/
Full-closedcontrol ParameterforVerocity/Torque/Full-closedcontrol
4 00to I/Fmonitorsetting ParameterforI/Fmonitorsetting
5 00to Enhancingsetting ParameterforEnhancingsetting
6 00to Specialsetting ParameterforSpecialsetting
*TheParameterNo.consistsof2digits.

−B37 −− B36 −
English
5. Protective Functions
Protective Function (What Is Error Code ?)
• Various protective functions are equipped in the driver. When these are triggered, the
motorwillstallduetoerror,thedriverwillturntheServo-Alarmoutput(ALM)tooff(open).
• Errorstatusandtheirmeasures
•During the error status, the error code No. will be displayed on the front panel
LED,andyoucannotturnServo-ON.
•YoucancleartheerrorstatusbyAlarmclearinput(A-CLR)in120msorlonger.
•When overload protection is triggered, you can clear it byAlarm clear input(A-
CLR)in10secorlongeraftertheerroroccurs.YoucancleartheOverloadprotec-
tiontimecharacteristics(refertoP.B40,41)byturningoffthecontrolpowersupply
betweenL1CandL2C(200V),24Vand0V(400V)ofthedriver.*1
•Youcancleartheaboveerrorbyoperatingthefrontpanelkeysandsetupsupport
softwear"PANATERM".
•Besuretoclearthealarmduringstopafterremovingthecauseoftheerrorand
securingsafety.
•
The error code No. is displayed in the form of ErrXX.Y (X: main, YY: sub).
<List of error code No.>
Error code Protective function Attribute
Main Sub
History Can be cleared Immediate stop
11 0 Controlpowersupplyunder-voltageprotection ○
12 0 Over-voltageprotection ○ ○
13 0
Mainpowersupplyunder-voltageprotection(betweenPtoN)
○
1
Mainpowersupplyunder-voltageprotection(ACinterceptiondetection)
○
14 0 Over-currentprotection ○
1 IPMerrorprotection ○
15 0 Over-heatprotection ○ ○
16 0 Over-loadprotection ○ ○*1
18 0 Over-regenerationloadprotection ○ ○
1 Over-regenerationTrerrorprotection ○
21 0 Encodercommunicationdisconnecterrorprotection ○
1 Encodercommunicationerrorprotection ○
23 0 Encodercommunicationdataerrorprotection ○
24 0 Positiondeviationexcessprotection ○○○
25 0 Hybriddeviationexcesserrorprotection ○ ○
26 0 Over-speedprotection ○○○
1 2ndover-speedprotection ○ ○
27 0 Commandpulseinputfrequencyerrorprotection ○○○
2 Commandpulsemultipliererrorprotection ○○○
28 0 Limitofpulsereplayerrorprotection ○○○
29 0 Deviationcounteroverowprotection ○ ○
30 0 Safetydetection ○
33
0 IFoverlapsallocationerror1protection ○
1 IFoverlapsallocationerror2protection ○
2 IFinputfunctionnumbererror1protection ○
Error code Protective function Attribute
Main Sub
History Can be cleared Immediate stop
33
3 IFinputfunctionnumbererror2protection ○
4 IFoutputfunctionnumbererror1protection ○
5 IFoutputfunctionnumbererror2protection ○
6 CLttingerrorprotection ○
7 INHttingerrorprotection ○
34 0 Softwarelimitprotection ○ ○
36
0to2 EEPROMparametererrorprotection
37
0to2 EEPROMcheckcodeerrorprotection
38 0 Over-travelinhibitinputprotection ○
39
0 Analoginput1excessprotection ○○○
1 Analoginput2excessprotection ○○○
2 Analoginput3excessprotection ○○○
40 0 Absolutesystemdownerrorprotection ○ ○
41 0 Absolutecounterovererrorprotection ○
42 0 Absoluteover-speederrorprotection ○ ○
43 0 Initializationfailure ○
44 0 Absolutesingleturncountererrorprotection ○
45 0 Absolutemulti-turncountererrorprotection ○
47 0 Absolutestatuserrorprotection ○
48 0 EncoderZ-phaseerrorprotection ○
49 0 EncoderCSsignalerrorprotection ○
50 0 Feedbackscaleconnectionerrorprotection ○
1 Feedbackscalecommunicationerrorprotection ○
51
0 Feedbackscalestatus0errorprotection ○
1 Feedbackscalestatus1errorprotection ○
2 Feedbackscalestatus2errorprotection ○
3 Feedbackscalestatus3errorprotection ○
4 Feedbackscalestatus4errorprotection ○
5 Feedbackscalestatus5errorprotection ○
55
0 A-phaseconnectionerrorprotection ○
1 B-phaseconnectionerrorprotection ○
2 Z-phaseconnectionerrorprotection ○
87 0 Compulsoryalarminputprotection ○
95 0 Motorautomaticrecognitionerrorprotection
Othernumber
Othererror ○
Note History...Theerrorwillbestoredintheerrorhistory.
Can be cleared...Tocanceltheerror,usethealarmclearinput(A-CLR).
 Ifthealarmclearinputisnoteffective,turnoffpower,removethecauseofthe
errorandthenturnonpoweragain.
Immediate stop...Instantaneouscontrolledstopuponoccurrenceofanerror.
 (Settingof“Pr.5.10Sequenceatalarm”isalsorequired.)
5. Protective Functions
Protective Function (What Is Error Code ?)

−B39 −− B38 −
English
6. Maintenance and Inspections
Maintenance and Inspections
• 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.Never
makeanapproachtothemotorandthemachine(s)drivenbythemotorwhilepow-
erisappliedbecausetheymaybecomefailureormalfunction.
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re-
sistancemeasurement)tothedriver,otherwiseitcouldresultinbreakdownofthedriver.
4)Do not usebenzine, thinner, alcohol, acidic cleaner and alkaline cleaner because
theycandiscolorordamagetheexteriorcase.
5)Forenergy-savingpurpose,theupperfanoftheH-framedriverisstoppedwhilethe
servoisOFF.Thisisnotafault.
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.
Type Cycles Items to be inspected
Daily
inspection Daily
•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connector
•Damageofthecables
•Looseconnectionormisalignmentbetweenthemotorand
machineorequipment
•Pinchingofforeignobjectattheload
Periodical
inspection Annual
•Loosetightening
•Traceofoverheat
•Damagetotheterminalblock
•Loosefastenersonterminalblock
Note Inspection cycle may change when the running conditions of the
above change.
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.
Prohibited
Disassembling for inspection and repair should be
carried out only by authorized dealers or service
company.
Product Component Standard replacement
cycles (hour) Note
Driver
Smoothingcondenser Approx.5years
Thesehoursorcycles
arereference.
Whenyouexperience
anyerror,replacement
isrequiredevenbefore
thisstandardreplace-
mentcycle.
Coolingfan 2to3years
(10,000to30,000hours)
Aluminumelectrolytic
capacitor(onPCB) Approx.5years
Rushcurrent
preventiverelay
Approx.100,000times
(dependingonworking
condition)
Rushcurrent
preventiveresistor
Approx.20,000times
(dependingonworking
condition)
Motor
Bearing 3to5years
(20,000to30,000hours)
Oilseal 5000hours
Encoder 3to5years
(20,000to30,000hours)
Battery
forabsoluteencoder
Lifetimevariesdepending
onworkingconditions.
RefertotheOperating
Instructionsattachedto
thebatteryforabsolute
encoder.
6. Maintenance and Inspections
Maintenance and Inspections