Panasonic MINAS S-series User manual

AC Servo Motor Driver
MINAS S-series
Operating Manual
•Thank you very much for your buying Panasonic AC Servo Motor Driver,A-series.
Be sure give this instruction manual to the user.

•Before use, read through this manual to ensure proper use. Keep this manual at an
easilyaccessible place so as to be referred anytime as necessary.
Safety Precautions •••••4
Introduction •••••••••••••8
After Opening the Package•••••••••••••••• 8
Check the Model Number of Amplifier
•••••••••••••••••• 8
Check the Model Number of
Motor••••••••••••••••••• 9
Check the Combination of Amplifier and
Motor ••••••••••••••••••••• 10
Preparations
and
Adjustments
System Configuration and
Wiring•••••1 8
General Wiring Diagram •••••••••••••••••••••••
18 List of Available Components
•••••••••••••••••• 20 Main Circuits
••••••••••••••••••••••••••••••• 22 CN SIG
Connector
For Encoder ••••••••••••••••••••••••••••• 23
CN SER Connector ••••••••••••••••••••••• 24
CN I/F Connector
For Controller•••••••••••••••••••••••••••• 25
CN MON Connector ••••••••••••••••••• 35
Parameter
Setting•••••••••••36
Overview •••••••••••••••••••••••••••••••••••• 36
Parameter Groups and Listing •••••••••••••••
36 Setting the Parameters•••••••••••••••••••
41 Overview of PANATERM“•••••••••••••••
41 How to Connect••••••••••••••••••••••••••••
41
Parts
Description•••••••••••12
Amplifier ••••••••••••••••••••••••••••••••••••• 12
Motor ••••••••••••••••••••••••••••••••••••••••• 13
Installation•••••••••••••••••14
Amplifier ••••••••••••••••••••••••••••••••••••• 14
Motor ••••••••••••••••••••••••••••••••••••••••• 16
Trial Run
•••••••••••••••••••44
Inspections before Trial Run
••••••••••••••••••• 44 Operation with
CN I/F Connected •••••••••••••••••• 45
Table of Contents
Before Use

Adjustments•••••••••••••••50
Purposes of Gain Adjustments •••••••••••••••
50
Types of Gain Adjustments •••••••••••••• 50
How to Adjust Gain•••••••••••••••••••••••• 52
How to Use
"Normal Auto-Gain" Tuning••••••••••
53 How to Use "Real Time
Auto-Gain" Tuning •••••••••••••••• 54
How to Adjust Gain Manually •••••••••••••••
55 Gain Tuning Using
Gain Adjustment Rotary Switch ••••••••• 58
To reduce the mechanincal resonance
••••••••••••••••••••••••••• 59
Protective Functions
••••••••••• 60
Maintenance and
Inspections ••••••••••• 6 6
Troubleshooting
••••••••••••••••••••••••••••••68
After-Sale Service
Conformance to EC Directives and UL
Standards ••••••••••• App. 2
Holding Brake ••••••••••••••••••••••••• App. 6
Dynamic Brake•••••••••••••••••••••••• App. 8
Timing Chart ••••••••••••••••••••••••• App. 10
Acceptable Loads on Output Shaft
••••••••••••••• App. 14
Homing Operation (Precautions)
•••••••••••••• App. 15
Details of Parameters ••••••••••••• App. 16
Optional Parts ••••••••••••••••••••••• App. 38
Recommended Parts •••••••••••••• App. 47
Dimensions •••••••••••••••••••••••••• App. 48
Characteristics •••••••••••••••••••••• App. 53
Specifications ••••••••••••••••••••••• App. 54
- 2 -
Important
Information
••••••••••••••••••••••
Back cover
Appendixes

- 3 -

-5-
Safety Precautions (Important)
Observe the following precautions in order to avoid injuries of operators and
other persons, and mechanical damages.
The following DANGER and CAUTION symbols are used according to the
level of dangers possibly occurring if you fail to observe the instructions or
precautions indicated.
DANGER
Indicates a potentially hazardous situation which, if
not avoided, will result in death or serious injury.
CAUTION
Indicates a potentially hazardous situation which, if not
avoided, will result in minor or moderate injury and
physical damage.
The following symbols indicate what you are not allowed to do, or what you
must observe.
This symbol indicates that the operation is prohibited.
This symbol indicates that the operation must be performed
without fail.
DANGER
An over-current protection, earth leakage Don't insert your hands
in breaker, over-temperature protection and the amplifier.
emergency stop should be installed.
Failure to observe this
Failure to observe this instruction could result in instruction could
result in electric burns and/or electric shocks. shocks, injuries
and/or fire.

-6-
Install the amplifier securely to pre- Be sure to check safety vent
fire hazard and personal injury after occurrence of earthresulting
from earthquake. quake.
Failure to observe this Failure to observe this
instruction could result in electric instruction could result in electric
shocks, injuries and/or fire. shocks, injuries and/or fire.

-7-
DANGER
Ground the earth terminal
of the amplifier.
Failure to observe this
instruction could result in
electric shocks.
Don't touch the rotating
part of the motor in motion.
Failure to observe this instruction could
result in injuries.
Rotating part
Do not expose the cables to
sharp edges, excessive
pressing forces, heavy
loads or pinching forces.
Failure to observe this
instruction could result in
electric shocks,
malfunction and/or
damages.
Perform the transportation,
wiring and inspection at
least 10 minutes after the
power off.
Failure to observe this in-
struction could result in
electric shocks.
Don't subject the product to
water splash, corrosive
gases, flammable gases and
combustible things.
Failure to observe this in-
struction could result in
fire.
Install an external
emergency stop device so
that you can shut off the
power in any emergency
cases.
Failure to observe this
instruction could result in
injuries, electric shocks, fire,
malfunction and/or mechanical
damages.
Always ask to an electrical engi-
neer for wiring.

-8-
Safety Precautions (Important)
Caution
Use the motor and amplifier
in the specified
combination.
Failure to observe this
instruction could result
in fire.
If an error occurs, remove
the causes for the error and
secure the safety before
restarting the operation.
Failure to observe this
instruction could result
in injuries.
Avoid extreme adjustment
or change. Avoid an
operation which causes
unstable action.
Failure to observe this
instruction could result
in injuries.
Execute the trial operations
with the motor fixed but
without motor load
connected. Connecting a
load to the motor is possible
only after successful trial
operation.
Failure to observe this
instruction could result
in injuries.
Don't touch the motor,
amplifier or its
regenerative discharge
resistor, since they
become hot.
Failure to observe this
instruction could result
in burns.

-9-
Don't modify, dismantle or
repair the amplifier.
Failure to observe this
instruction could result
in fire, electric shocks
and/or injuries.

-10-
Caution
*Provide appropriate settings as a preparedness against
the accidental restart of the machine in order to ensure
the safety of personnel.
This equipment should be
treated as an industrial
waste when it is disposed of.
Don't block the heat
dissipation hole or insert
foreign matters in it.
Failure to observe this
instruction could result
in electric shocks,
injuries and/or fire.
Make sure that the
wirings are made
correctly.
Failure to observe this
instruction could result in
electric shocks, injuries.
Don't hold the cables or
motor shaft when
transporting the motor.
Failure to observe this
instruction could result
in injuries.
After recovery from the
power failure, the
equipment may restart
suddenly. Don't approach
the equipment
Failure to observe this
instruction could result in
injuries.
Observe the voltage
specified.
Failure to observe this
instruction could result in
electric shocks,
injuries and/or fire.
Do not turn on/off the
main power frequently.
Failure to observe this
instruction could result
in malfunctions.

-11-
Introduction
After Opening the Package
•Make sure that the product is what you have ordered.
•Check whether the product has been damaged or not during transportation.
If the product is not correct, or it has been damaged, contact dealer or sales agent.

-12-
Check the Model of Amplifier

-13-
Check the Model of Motor
Name plate
Oil seal
Brake
Shaft
Straight
Key way
None
None
A
E
Yes
B
F
Yes
None
C
G
Yes
D
H
Type
Serial No
Revolution rating
AC SERVO MOTOR
S
1
RATIN
G
Model No.MUMS042A1A
INS.
CLASS
B (TÜV) A
(UL)
CONT.
TORQUE
0.64
N
m
A
1.6
CONNECTI
ON
RATED
OUTPUT
RATED
FREQ.
k
W
0.2
SER
No.
00010001
Hz
200
RATED
REV.
r/min
3000
INPUT3ØA
C
92
IP6
5
V
MatsushitaElectric Industrial Co..Ltd.
Made in Japan
Rated output

-14-
provided with key way are standard.
Introduction
Check the Combination of Amplifier and Motor
The amplifier has been designed for use incombination with the specified motors only. Check
the specifications (Series symbol, output rating, voltage rating and encoder type) of the motor
you want to use.

-15-
With the incremental type encoder: 2500P/r

-16-
Power
supply for
amplifier
Amplifier
Amplif
ier
type
Motor
Series
symbo
l
Motor type
Volta
ge
Outp
ut
ratin
g
Revolut
ion
rating
Encode
r type
1-phase,
100V
MUDS3A1
A1A
Type1
MU
MS
Sup
er
Low
inerti
a
MUMS3AZ**
**
100V
30
W
3000r/m
in
Increme
ntal
2500P/r,
11 wires
MUDS5A1
A1A
MUMS5AZ**
**
50
W
MUDS011
A1A
MUMS011A*
***
100
W
MUDS021
A1A
Type2
MUMS021A*
***
200
W
MUDS041
A1A
Type3
MUMS041A*
***
400
W
1-phase,
200V
MUDS022
A1A
Type2
MUMS022A*
***
200V
200
W
MUDS042
A1A
Type3
MUMS042A*
***
400
W
3-
phase/1ph
ase,
200V
MUDS3A5
A1A
Type1
MUMS3AZA*
***
30
W
MUDS5A5
A1A
MUMS5AZA*
***
50
W
MUDS015
A1A
MUMS012A*
***
100
W

-17-
****
3-phase,
200V
MUDS023
A1A
MUMS022A*
***
200
W
MUDS043
A1A
Type2
MUMS042A*
***
400
W
MUDS083
A1A
Type3
MUMS082A
750
W

-18-
Parts Description
Amplifier
Example: MUDS023A1A Example: MUDS042A1A

-19-
(3-phase, 200V 200W: Type 1) (1-phase, 200V 400W: Type 3)