Panasonic Minas E Series User manual

MINAS E-series
Instruction Manual
AC Servo Motor & Driver
Thank you very much for buying Panasonic AC Servo Motor & Driver, MINAS E-series.
Before using this driver, please read this manual especially refer the safty precautions (page 8 to 11) to ensure
proper use.
Then, keep this manual for your future use.
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2
[Before Use] Page
Safety Precautions ................................................................................................8
Maintenance/Inspections....................................................................................12
Introduction .........................................................................................................14
General ....................................................................................................................................................14
After Opening the Package......................................................................................................................14
Model of Driver ........................................................................................................................................14
Model of Motor.........................................................................................................................................15
Check the Combination of Driver and Motor............................................................................................15
Parts Description.................................................................................................16
Driver .......................................................................................................................................................16
Motor........................................................................................................................................................16
Console....................................................................................................................................................17
Installation ...........................................................................................................18
Driver .......................................................................................................................................................18
Motor........................................................................................................................................................20
Console....................................................................................................................................................22
[Preparations] Page
System Configuration and Wiring......................................................................24
General Wiring Diagram ..........................................................................................................................24
List of Driver and Compatible Peripheral Equipment...............................................................................26
Wiring of Connectors CN X1 and X3 (Wiring of Main Circuits)................................................................27
Wiring of Connector CN X4 (Connection with Encoder)..........................................................................29
Wiring of Connector CN X5 (Connection with Host Controller) ...............................................................30
Wiring of Connector CN X6 (Connection with Personal Computer/Console) ..........................................31
Timing Chart ........................................................................................................32
Holding Brake ......................................................................................................35
Dynamic Brake (DB)............................................................................................36
Homing Operation (Precautions) .......................................................................38
Setting the Parameters .......................................................................................39
Overview of Parameters ..........................................................................................................................39
How to Set ...............................................................................................................................................39
Overview of Console................................................................................................................................39
Overview of PANATERM®........................................................................................................................39
How to Connect .......................................................................................................................................40
Parameter Groups and Listing.................................................................................................................41
Using the Console...............................................................................................47
Using the Console ...................................................................................................................................47
The initial State of the Display (7-segment LED).....................................................................................47
Structure of Each Mode ...........................................................................................................................48
Monitoring Mode ......................................................................................................................................51
Contents
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3
Parameter Setting Mode..........................................................................................................................57
Normal Auto Gain Tuning Mode...............................................................................................................58
Alarm Clear..............................................................................................................................................59
Test Run (JOG)........................................................................................................................................60
Test Run Procedures ...............................................................................................................................61
Copy Function..........................................................................................................................................62
[Connections and Settings in Position Control Mode] Page
Control Block Diagram in Position Control Mode............................................66
Wiring to Connector CN X5 ................................................................................67
Example of Wiring in Position Control Mode ...........................................................................................67
Interface Circuit........................................................................................................................................68
Input Signal and Pin No. of Connector CN X5.........................................................................................70
Output Signal and Pin No. of Connector CN X5......................................................................................72
Example of Connection to a Host Controller............................................................................................73
Test Run in Position Control Mode....................................................................82
Inspection prior to Test Run .....................................................................................................................82
Test Run with Connector CN X5 Connected............................................................................................82
Real time Auto Gain Tuning................................................................................86
Outline .....................................................................................................................................................86
Scope.......................................................................................................................................................86
Operating Instruction ...............................................................................................................................86
Adaptive Filter..........................................................................................................................................87
Parameters to be Set Automatically.........................................................................................................87
Cautions...................................................................................................................................................87
Parameter Setting................................................................................................88
Parameter for Selection of Functions ......................................................................................................88
Parameters for Adjustment of Time Constants of Gains/Filters ...............................................................91
Parameters for Auto Gain Tuning ............................................................................................................92
Parameters for Adjustment (Related to Second Gain Switching Function) .............................................94
Parameters for Position Control...............................................................................................................95
Parameters for Internal Velocity Control ..................................................................................................98
Parameters for Torque Limits...................................................................................................................99
Parameters for Sequences......................................................................................................................99
[Connections and Settings in Internal Velocity Control Mode] Page
Control Block Diagram in Internal Velocity Control Mode ............................104
Wiring to Connector CN X5 ..............................................................................105
Example of Wiring to Connector CN X5 ................................................................................................105
Interface Circuit......................................................................................................................................106
Input Signal and Pin No. of Connector CN X5.......................................................................................107
Output Signal and Pin No. of Connector CN X5....................................................................................109
Test Run in Internal Velocity Control Mode .................................................... 110
Before Use
Preparations
Connections and
Settings in Position
Control Mode
Connections and
Settings in Internal
Velocity Control Mode
Adjustment
Trouble Case
Reference
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4
Inspection prior to Test Run ................................................................................................................... 110
Test Run with Connector CN X5 Connected.......................................................................................... 111
Real time Auto Gain Tuning.............................................................................. 114
Outline ................................................................................................................................................... 114
Scope..................................................................................................................................................... 114
Operating Instruction ............................................................................................................................. 114
Parameters to be Set Automatically....................................................................................................... 115
Cautions................................................................................................................................................. 115
Parameter Setting.............................................................................................. 116
Parameter for Selection of Functions .................................................................................................... 116
Parameters forAdjustment of Time Constants of Gains/Filters............................................................. 119
Parameters forAuto Gain Tuning ..........................................................................................................120
Parameters for Position Control.............................................................................................................121
Parameters for Internal Velocity Control ................................................................................................122
Parameters for Torque Limits.................................................................................................................123
Parameters for Sequences....................................................................................................................123
[Adjustment] Page
Gain Adjustment................................................................................................128
Objective of Gain Adjustment ................................................................................................................128
Types of Gain Adjustment......................................................................................................................128
Procedures of Gain Adjustment.............................................................................................................129
Real time Auto Gain Tuning..............................................................................130
Normal Auto Gain Tuning .................................................................................132
Cancellation of the Automatic Gain Tuning ....................................................135
Manual Gain Tuning (Basic) .............................................................................136
Manual Gain Tuning (Application) ...................................................................138
Gain Switching Function ........................................................................................................................138
To Reduce Mechanical Resonance .......................................................................................................140
Anti-Vibration Control.............................................................................................................................142
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5
Before Use
Preparations
Connections and
Settings in Position
Control Mode
Connections and
Settings in Internal
Velocity Control Mode
Adjustment
[Trouble Case] Page
Protective Functions.........................................................................................144
What are Protective Functions?.............................................................................................................144
Details of Protective Functions ..............................................................................................................145
Software limit function............................................................................................................................148
Troubleshooting ................................................................................................150
[Reference] Page
Outline of “PANATERM®”, Setup Support Software...............................................................................156
Communications ....................................................................................................................................158
Description on Dividing/Multiplier Ratio .................................................................................................178
Conformance to EC Directives/UL Standards .......................................................................................180
Optional Parts ........................................................................................................................................184
Recommended Parts .............................................................................................................................192
Dimensional Outline Drawing (Driver) ...................................................................................................193
Dimensional Outline Drawing (Motor)....................................................................................................194
Allowable Load of Output Shaft .............................................................................................................196
Motor Characteristics (S-T Characteristics)...........................................................................................197
Servo Motor with Gear...........................................................................................................................198
Dimensional Outline Drawing of Motor with Gear..................................................................................200
Allowable Load of Output Shaft of Servo Motor with Gear ....................................................................202
Characteristics of Servo Motor with Gear (S-T Characteristics) ............................................................203
Driver Internal Block Diagram................................................................................................................204
Control Block Diagram...........................................................................................................................205
Specifications (Driver/Motor) .................................................................................................................206
Hit-and-stop Initialization and Load Pressing Control............................................................................207
Index ......................................................................................................................................................209
Reference ..............................................................................................................................................214
After-Sale Service (Repair)........................................................................................................ Back cover
Reference
Trouble Case
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6
MEMO
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7
Before Use
Safety Precautions.......................................................... 8
Maintenance/Inspections ............................................. 12
Introduction ................................................................... 14
General ...................................................................................................14
After Opening the Package.....................................................................14
Model of Driver........................................................................................14
Model of Motor ........................................................................................15
Check the Combination of Driver and Motor...........................................15
Parts Description .......................................................... 16
Driver ......................................................................................................16
Motor.......................................................................................................16
Console...................................................................................................17
Installation ..................................................................... 18
Driver ......................................................................................................18
Motor.......................................................................................................20
Console...................................................................................................22
Page
Before Use
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8
Safety Precautions Important
See the following precautions in order to avoid damages on machinery and injuries among the
operators and other people during the operation.
The following symbols are used to indicate the degrees of hazard seriousness possibly occurred when
you fail to comply with the safety precautions.
The following symbols indicate what you must do.
DANGER
CAUTION
Indicates a potentially hazardous situation, which if not avoided, will result in
death or serious injury.
Indicates a potentially hazardous situation, which if not avoided, will result in
minor injury or physical damage.
Indicates that the operation is prohibited to do.
Indicates that the operation must be done.
Do not subject the product to water,
corrosive or flammable gases, and
combustibles.
The failure could result in
fire.
Do not expose the cables to sharp
objects, excessive pressing or
pinching forces, and heavy loads.
The failure could result in
electric shocks, damages, or
malfunction.
Do not put your hands in the servo
driver.
The failure could result in
burns, or electric shocks.
Do not touch the rotating part of the
motor while operating.
The failure could result in injuries.
Rotating Part
Do not drive the motor from the
external power.
The failure could result in
fire.
Do not touch the motor, driver, and
external regenerative resistor, since
they become hot.
The failure could result in
burns.
DANGER
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9
Before Use
[Before Use]
Do not place inflammable matter
near the motor, driver, and
regenerative resistor.
The failure could result in
fire.
Do not install the console near
sources of heat like the heater, the
resistor, or etc.
The failure could result in
fire or damages.
Ground the earth of the servo motor
and servo driver.
The failure could result
in electric shocks.
An over-current protection, earth leakage
breaker, over temperature protecter and
emergency stop device must be installed.
The failure could result in
electric shocks, injuries, or
fire.
Install an external emergency stop
device to shut down the main power
source in any emergency.
The failure could result in
electric shocks, injuries, fire,
damages or malfunction.
Wait at least the time described on the
driver after switching off the power to
allow the capacitors to discharge before
beginning to conduct the transportation,
wiring, and inspection of the driver.
The failure could result in
electric shocks.
Install the product properly to avoid
personal accidents or fire in case of
an earthquake.
The failure could result in
electric shocks, injuries, or
fire.
Attach the motor, driver,
regenerative resistor to
incombustible matter such as metal.
The failure could result in
fire.
Make sure to secure the safety after
the earthquake.
The failure could result in
electric shocks, injuries, or
fire.
Arrange the phase sequense of the
motor and wiring of the encoder.
The failure could result in
injuries, damages, or
malfunction.
DANGER
Confirm that there is no danger of an
electric shock before beginning to
conduct the transportation, wiring,
and inspection of the motor.
The failure could result in
electric shocks.
Only persons who are trained and quali-
fied to work with or on electrical equip-
ment are permitted to operate or main-
tain this equipment.
The failure could result in
electric shocks.
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10
Safety Precautions Important
CAUTION
Do not hold the cables or motor
shaft when transporting the motor.
The failure could result in
injuries.
Do not block the heat dissipation
hole.
The failure could result in
electric shocks, or fire.
Never start and stop the motor by
magnet contactor which is provide on
the main line.
The failure could result in
damages.
Do not climb or stand on the servo
equipment.
The failure could result in
electric shocks, injuries,
damages, or malfunction.
Do not give hard
pressure to the shaft.
The failure
could result
in damages.
Do not turn on or off the power
frequently.
The failure could result in
damages.
Do not shock the driver and the motor.
The failure could result in
damages.
Avoid excessive gain adjustments, changes,
or unstable operation of the product.
The failure could result in
injuries.
Do not use the motor internal brake
for the purpose of controlling speed
of load.
The failure could result in
injuries, or damages.
Do not approach to the equipment
after recovery from the power failure
because they may restart suddenly.
Execute the personal safety setting
on the Equipment after the restart.
The failure could result in
injuries.
Do not modify, dismantle or repair
the product.
The failure could result in
electric shocks, injuries, or
fire.
Do not pull the motor cable by too
much power.
The failure could result in
damages.
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11
Before Use
[Before Use]
CAUTION
Use the motor and driver with the
specified combination.
The failure could result in
fire.
Make sure that the wirings are
correctly connected.
The failure could result in
electric shocks, or injuries.
Install the driver and the motor in the
specified direction.
The failure could result in
damages.
Conduct proper installation according
to product weight or rated output.
The failure could result in
injuries, or damages.
Use the specified voltage on the
product. The failure could result in
electric shocks, injuries, or
fire.
Execute the trial-operations with the
motor fixed and a load unconnected.
Connect a load to the motor after the
successful trial-operations.
The failure could result in
injuries.
Connect a relay that stops at
emergency stop in series with the
brake control relay.
The failure could result in
injuries, or damages.
If an error occurs, remove the causes
of the error and secure the safety
before restarting the operation.
The failure could result in
injuries.
Use the eye-bolt of the motor only
when you carry the motor.
Do not use it when you carry the machine.
The failure could result in
injuries, or damages.
This product should be treated as an
industrial waste when it is disposed.
Ambient temperature of installed
motor and driver should be under
permittable one.
The failure could result in
damages.
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12
Maintenance/Inspection
• Routine maintenance and inspections are essential for proper and satisfactory operation of the driver
and motor.
Notes to Maintenance/Inspections Personnel
(1) Power-on/off operations should be done by the operators themselves.
(2) For a while after power off, the internal circuits is kept charged at higher voltage. Inspections should be done a
while (about 10 minutes), after the power is turned off and the LED lamp on the panel is extinguished.
(3) When conducting meager test (to measure insulation resistance) on the servo driver, disconnect all the connec-
tions from the driver. Conducting the test as connected would cause trouble of the driver.
Inspection Items and Cycles
Normal (correct) operating conditions:
Ambient temperature: 30˚C (annual average) Load factor: max. 80%
Operating hours: max. 20 hours per day
Daily and periodical inspections should be done per the following instructions.
<Notes>
If the operating conditions (as stated above) differ, this periodic inspection interval is subject to change.
Type
Daily inspection
Periodical
inspection
Cycles
Daily
Every year
Inspection items
• Ambient temperature, humidity, dust, particles, foreign matters, etc.
• Abnormal sound and vibration
• Main circuit voltage
• Odor
• No yarn piece, etc. adhered to the air hole?
• How the driver front and connector are cleaned?
• Each wired cable is damage-free?
• The portions connected with the motors of equipment/plant are free
from loose and center deviation?
• No inclusion of foreign matter at the load side?
• Loosened screws
• Signs of overheat
We make the utmost effort to ensure the quality of our product. However, the product may
operate differently from your settings, due to unexpectedly high exogenous noise/applied
static electricity, or an unforeseen failure in the input power supply, wiring, components, etc.
Hence, we would like to request you to give adequate consideration to the fail-safe design and
assurance of safety within the operable range at the place of operation in your company.
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13
[Before Use]
Before Use
Replacement Guidance
Parts replacement cycles depend on the actual operating conditions and how the equipment has been used.
Defective parts should be replaced or repaired immediately.
Prohibited
Dismantling for inspections or repairs should be done by our
company (or our sales agents).
Equipment
Driver
Motor
Part
Smoothing condenser
Aluminum electrolytic
capacitor on the print
board
Rush current
preventive relay
Rush current
preventive resistor
Cooling fan
Bearing
Oil seal
Encoder
Standard replacement
cycles (hour)
about 5 years
about 5 years
Approx. 100,000 cycles
(The life depends on the
actual operating
conditions.)
Approx. 20,000 cycles
(The life depends on the
actual operating
conditions.)
2 to 3 years
(10,000 to 30,000 hours)
3 to 5 years
(20,000 to 30,000 hours)
5000 hours
3 to 5 years
(20,000 to 30,000 hours)
10,000 hours
Remarks
The replacement cycles shown here
are just only for reference if any part
is found defective regardless of the
standard replacement cycles,
immediately replace it with a new
one.
Motor with Gear Speed reducer
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14
MKDET1310 P
1~4 5~6 11~128~9 710
Special specifications
Control Mode
P: Position Control
Current rating of current detector
Power supply
1: Single-phase 100 V
2: Single-phase 200 V
3: Three-phase, 200 V
5: Single-phase/Three-phase, 200 V
Maximum current rating of power element
Symbol
T1
T2
Maximum current rating of power element
10A
15A
Symbol
05
10
Current rating of current detector
5A
10A
Outer frame symbolic characters
Symbol
MKDE
MLDE
Frame name
E-Series K frame
E-Series L frame
Introduction
General
MINAS-E series is a unit of an AC servo motor and driver with downsized capability and performance that are useful
for positioning of a motor whose capacity is small from 50W to 400W.
By adopting 2500 P/r incremental encoder with velocity response frequency of approximately 400 Hz and 5 wires,
we could omit wiring.
The equipment includes real-time auto tuning and enables automatic setting of complicated gain tuning. In addition,
it has a damping control function that provides for stable stop performance and contributes to miniaturization of the
equipment and reduction of tact time.
It supports a console (available as an option) capable of monitoring such as display of rotation speed, parameter
setting, test run (JOG operation), parameter copying, etc., and pursues maximum ease for use.
This document is designed for you to properly and sufficiently use functions of MINAS-E series with such excellent
features.
Cautions
(1) No part or whole of this document may be reproduced in any form or by any means.
(2) Contents of this document are subject to change without notice.
Model of Driver
Name plate
Model Designation
After Opening the Package
•Make sure that the product is what you ordered.
•Check whether the product is damaged.
• The instruction manual (Safety edition and Extracted edition) is included in a carton box.
If the product is not what you purchase, or it is, or damaged, contact dealer or sales agent.
Model
Rated input voltage
Rated motor output
Rated output current
Serial Number
Ex.: 03010001
Lot Number
Month of production
Year of production
(Lower 2 digits of AD year)
03010001
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15
[Before Use]
Before Use
MUMA5AZP1S
1~4 5~6 11~12 78910
Custom specifications
Motor structure
Design order
1: Standard
Type of encoder
Power supply
1: 100 V
2: 200 V
Z: 100/200 V common-used
(Limited to 50W only)
Rated output
Model Designation
Model of Motor
Name plate
AC SERVO MOTOR RATING S1
MODELNo. MUMA022PIS INS. CLASS B (T V) A (UL)
CONT. TORQUE
0.64 Nm
A1.6 CONNECTION
RATED OUTPUT
RATED FREQ. kW
0.2 SER No. 03010001
Hz 200
RATED REV. r/min 3000
INPUT 3flAC 102 IP65 V
Type
Rated output
Rated speed
Serial Number
Ex.: 03010001
Lot Number
Month of production
Year of production
(Lower 2 digits of AD year
)
Lead wire
5-wire
Table 1-b: Rotary encoder
Symbol
P
Table 1c: Motor structure
S
T
Type
Incremental
Specifications
No. of pulses
2500P/r Resolution
10000
Center tap on key-wayed shaft end
With Without With Without
Symbol
MUMA Type
Ultra low inertia
Symbol
5A
01
02
04
Table 1a:
Motor rated output
Rated output
50W
100W
200W
400W
Check the Combination of Driver and Motor
This driver is designed for use in combination with a motor to be specified by us.
Check a name of series, rated output, voltage specifications and encoder specifications of a motor you wish to use.
Incremental specification 2500 P/r
Single-phase
100V
Single-phase
200V
Three-phase
200V
<Remarks>
The marking " * " in Motor Type column of Applicable Motor represents a motor specifications.
MKDET1105P
MKDET1110P
MLDET2110P
MKDET1505P
MKDET1505P
MLDET2210P
MLDET2510P
MKDET1505P
MKDET1505P
MKDET1310P
MLDET2310P
MLDET2510P
Frame K
Frame L
Frame K
Frame L
Frame K
Frame L
MUMA
Ultra low inertia
MUMA5AZP1*
MUMA011P1*
MUMA021P1*
MUMA5AZP1*
MUMA012P1*
MUMA022P1*
MUMA042P1*
MUMA5AZP1*
MUMA012P1*
MUMA022P1*
MUMA042P1*
50W
100W
200W
50W
100W
200W
400W
50W
100W
200W
400W
3000r/min
Power Supply Motor Series Driver Type
Driver
Frame
Motor Type Rated Output Rated Speed
Applicable Motor Applicable Driver
<Note> You must not use any other combinations than those listed below:
Shaft Holding brake Oil seal
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16
Driver
Parts Description
<Remarks>
For detailed information on each type, refer to a dimensional outline drawing (Pages 194 to 195) of
Reference edition.
Motor
Example: Super Low Inertia Type (MUMA Series 50W)
Encoder Cable
Encoder
Flange Frame
Mounting Holes (in 4 locations)
Motor Cable
MUMA 50W - 400W
x 1
x 3
x 4
x 5
x 6
STATUS
ALM CODE
Status LED Alarm Code LED
Connector for Serial Communications
(X6)
Interface Connector (X5)
Encoder Connector (X4)
Motor Connector (X3)
Main Power Supply Connector (X1)
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17
[Before Use]
Before Use
MINAS
DIGITALAC SERVO
MODE
SHIFT
SET
S
M
Display, LED (display in 6 digits)
Display of selected Driver ID No. (2 digits)
The value set up on Pr00 (shaft name) is ID No.
Parameter No. (2 digits) is displayed under Parameter Setting
mode.
Setting Button: This is to shift each mode, which was selected by
the mode selector button, to EXECUTE display.
Mode Selector Buttons: These buttons are used to select 6 different modes.
(1) MONITOR mode
(2) PARAMETER SETTING mode
(3) EEPROM WRITE mode
(4) NORMALAUTO GAIN TUNING mode
(5) AUXI FUNCTION mode
Test run (JOG mode)
Alarm clear
(6) COPING FUNCTION mode
To copy parameters to the console from the servo driver.
To copy parameters to the servo driver from the console.
This is used to shift the digits of data.
This is used to change the data and to execute parameter selection.
The numerical value goes up and down by pressing and .
Touch panel
Console
MODE
SHIFT
SET
S
M
Cable
Touch panel
Connector Console main unit
Display
(7-segment LED)
Main body
<Remarks>
The console is optionally available. (Part No.: DV0P3690)
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18
Ancillary Screws
(M4 x Length 8 )
The driver and motor should be properly installed to avoid failures, mechanical damages and injuries.
Driver
Location
(1)Indoors, where the driver is not subjected to rain water and direct sun beams. Note that the driver is not a
waterproof structure.
(2)The place where the driver is not exposed to corrosive atmospheres such as hydrogen sulfide, sulfurous acid,
chlorine, ammonia, sulfur, chlorine gas, sulfuric gas, acid, alkali, salt, etc. and is free from splash of flammable
gas, grinding coolant, oil mist, iron powder, chips, etc.
(3)Place in a well-ventilated, and humid-and dust-free space.
(4)Place in a vibration-free space.
Environmental Conditions
How to Install
(1)Parallel type. Install in vertical position. Reserve a drafting
space around the driver for ventilation.
(2)For the mounting dimensions onto the wall face in the board,
refer to Page 193 of the dimensional outline drawing.
Installation
Item
Ambient temperature
Ambient humidity
Storage temperature
Storage humidity
Vibration
Altitude
Conditions
0 to 55°C (free from freezing)
Lower than 90%RH (free from condensation)
-20 to 80°C (free from freezing)
Lower than 90%RH (free from condensation)
Lower than 5.9 m/s2(0.6G) at 10 to 60 Hz
Lower than 1000 m
x1
x3
x4
x5
x6
STATUS
ALM CODE
Earth connection (M4 screw) tightening
torque shall not exceed 0.39 - 0.59 N•m
Base mount type
(3)Installing to DIN Rail
Install the main body of the driver by using optionally available DV0P3811 (see an “optional”DIN rail mounting unit
on page 190 of Reference edition) and screws (M4 x length 8, pan-head machine screws) supplied with the
option.
DIN rail mounting unit attached to the driver
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19
[Before Use]
Before Use
Mounting Direction and Space Requirements
•Allow enough space to ensure enough cooling.
•Install fans to provide a uniform distribution of temperature in the control box.
•Observe the environmental requirements for the control box, mentioned in the previous page.
This driver has a cooling fan in its bottom and a mounting face.
To install the driver, ensure that there is enough space around the inlet and outlet ports so as not to prevent
intake and exhaust of the fans.
x 1
x 3
x 4
x 5
x 6
STATUS
ALM CODE
x 1
x 3
x 4
x 5
x 6
STATUS
ALM CODE
x 1
x 3
x 4
x 5
x 6
STATUS
ALM CODE
x 1
x 3
x 4
x 5
x 6
STATUS
ALM CODE
Fan
Driver Exhaust
Direction
Fan
Driver Exhaust
Direction Driver Exhaust Direction
Driver Exhaust
Direction
Driver Intake
Direction Driver Intake Direction Driver Intake Direction
Driver Intake
Direction
min.
100 mm
min.
40 mm
min.
40 mm min. 10 mm min. 10 mm min. 10 mm
min.
100 mm
Part where DIN
rail is mounted
DIN rail
With rail stop
pushed in
Hook the upper side of DIN rail
mounting part on the DIN rail.
With the rail stop released, pull out the
lower part of the driver to the near side.
By lifting the driver, you can remove it
from the DIN rail.
Pull out the lower part
of the driver to the
near side.
Press lightly the lower part of
the main body of driver.
Press lightly.
Ensure that the rail stop
has been pushed in.
Driver mounted to DIN rail
(4) Removing from DIN Rail
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20
Installation
Motor
Location
(1)Indoors, where the driver is not subjected to rain water and direct sun beams.
(2)The place where the motor is not exposed to corrosive atmospheres such as hydrogen sulfide, sulfurous acid,
chlorine, ammonia, sulfur, chlorine gas, sulfuric gas, acid, alkali, salt, etc. and is free from splash of flammable
gas, grinding coolant, oil mist, iron powder, chips, etc.
(3)Place in a well-ventilated, and humid- and dust-free space.
(4)The place where the motor can be checked and cleaned easily.
Environmental Conditions
How to Install
The motor can be installed either vertically or horizontally. Observe the following notes.
(1)When installing in horizontal direction
•Mount the motor with its cable lead-out port faced downward as the countermeasure for oil and water.
(2)When installing in vertical direction
•When installing the motor with speed reducer with its output shaft upside, use the oil-sealed motor to prevent oil
inflow to the motor from the speed reducer. In this case, the oil-sealed motor is a special product.
(3)For the mounting dimensions, refer to a dimensional outline drawing (Pages 194 to 195).
Oil and Water Protections
(1)Don’t use the motor under an environment where oil and water splash over
the motor body.
(2)In combining with the speed reducer, use the oil-sealed motor to prevent oil
inflow to the motor internal through its shaft through-penetration hole. In this
case, the oil-sealed motor used is a special product.
(3)Don’t use the motor with its cable dipped in oil/water.
Oil and water
Cable Motor
Item
Ambient temperature
Ambient humidity
Storage temperature
Storage humidity
Motor only
Vibration With gear (At rotation)
Motor only
Shock With gear
Conditions
0 to 40°C (free from freezing)
Lower than 85%RH (free from condensation)
-20 to 80°C (free from freezing)
Lower than 85%RH (free from condensation)
49 m/s2(5G) or less at rotation, 24 5 m/s2(2.5G) or less
High precision: 24.5 m/s2(2.5G) max.
98 m/s2(10G) max.
High precision: 98 m/s2(10G) max.
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