Panasonic MDDDT5540 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.
• Before use, read through this manual to ensure proper use. Keep this manual at an easily
accessible place so as to be referred anytime as necessary.
Be sure give this instruction manual to the user.

Parts Description •••••••••••12
Amplifier ••••••••••••••••••••••••••••••••••••• 12
Motor ••••••••••••••••••••••••••••••••••••••••• 13
Installation •••••••••••••••••14
Amplifier ••••••••••••••••••••••••••••••••••••• 14
Motor ••••••••••••••••••••••••••••••••••••••••• 16
Trial un •••••••••••••••••••44
Inspections before Trial un ••••••••••••••••••• 44
Operation with
CN I/F Connected •••••••••••••••••• 45
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 " eal Time
Auto-Gain" Tuning •••••••••••••••• 54
How to Adjust Gain Manually ••••••••••••••• 55
Gain Tuning Using
Gain Adjustment otary Switch ••••••••• 58
To reduce the mechanincal
resonance
••••••••••••••••••••••••••• 59
Table of Contents
- 2 -
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
System Configuration and Wiring ••••• 18
General Wiring Diagram ••••••••••••••••••••••• 18
List of Available Components •••••••••••••••••• 20
Main Circuits ••••••••••••••••••••••••••••••• 22
CN SIG Connector
For Encoder ••••••••••••••••••••••••••••• 23
CN SE 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 PANATE M“••••••••••••••• 41
How to Connect•••••••••••••••••••••••••••• 41
Before Use
Preparations
and Adjustments

Troubleshooting
••••••••••••••••••••••••••••••68
After-Sale Service
•••••••••••••••••••••• Back cover
Details of Parameters ••••••••••••• App. 6
Optional Parts ••••••••••••••••••••••• App. 38
Recommended Parts •••••••••••••• App. 47
Dimensions •••••••••••••••••••••••••• App. 48
Characteristics •••••••••••••••••••••• App. 53
Specifications ••••••••••••••••••••••• App. 54
Protective Functions ••••••••••• 60
Maintenance and
Inspections ••••••••••• 6 6
Conformance to EC Directives and UL Standards ••••••••••• App. 2
Holding Brake ••••••••••••••••••••••••• App. 6
Dynamic Brake•••••••••••••••••••••••• App. 8
Timing Chart ••••••••••••••••••••••••• App. 0
Acceptable Loads on Output Shaft ••••••••••••••• App. 4
Homing Operation (Precautions) •••••••••••••• App. 5
Appendixes
Important Information
- 3 -

-4-
DANGER
Safety Precautions
Observe the following recautions in order to avoid injuries of o era-
tors and other ersons, and mechanical damages.
The following DANGER and CAUTION symbols are used according to the level of dangers ossibly occur-
ring if you fail to observe the instructions or recautions indicated.
The following symbols indicate what you are not allowed to do, or what you
must observe.
(Im ortant)
DANGER
CAUTION
Indicates a otentially hazardous situation which, if not
avoided, will result in death or serious injury.
Indicates a otentially hazardous situation which, if not avoided,
will result in minor or moderate injury and hysical damage.
This symbol indicates that the o eration is ro-
hibited.
This symbol indicates that the o eration must
be erformed without fail.
Don't insert your hands in
the am lifier.
Failure to observe this
instruction could result in
burns and/or electric shocks.
An over-current rotection, earth leakage
breaker, over-tem erature rotection and
emergency sto should be installed.
Failure to observe this
instruction could result in electric
shocks, injuries and/or fire.
Be sure to check safety
after occurrence of earth-
quake.
Install the am lifier securely to re-
vent fire hazard and ersonal injury
resulting from earthquake.
Failure to observe this
instruction could result in electric
shocks, injuries and/or fire.
Failure to observe this
instruction could result in electric
shocks, injuries and/or fire.

-5-
DANGER
Ground the earth terminal
of the am lifier.
Failure to observe this
instruction could result in
electric shocks.
Don't touch the rotating
art of the motor in motion.
Failure to observe this instruction could
result in injuries.
Rotating art
Do not ex ose the cables to
shar edges, excessive
ressing forces, heavy
loads or inching forces.
Failure to observe this
instruction could result in
electric shocks,
malfunction and/or
damages.
Perform the trans ortation,
wiring and ins ection at
least 10 minutes after the
ower off.
Failure to observe this in-
struction could result in
electric shocks.
Don't subject the roduct to
water s lash, corrosive
gases, flammable gases and
combustible things.
Failure to observe this in-
struction could result in
fire.
Before Use
Install an external
emergency sto device so
that you can shut off the
ower 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.

-6-
Caution
Safety Precautions
Use the motor and
am lifier in the s ecified
combination.
Failure to observe this in-
struction could result in fire.
Execute the trial o erations
with the motor fixed but
without motor load connected.
Connecting a load to the
motor is ossible only after
successful trial o eration.
Failure to observe this in-
struction could result in in-
juries.
Avoid extreme
adjustment or change.
Avoid an o eration
which causes unstable
action.
Failure to observe this
instruction could result in
injuries.
If an error occurs,
remove the causes for
the error and secure the
safety before restarting
the o eration.
Failure to observe this
instruction could result in
injuries.
Don't touch the motor,
am lifier or its
regenerative discharge
resistor, since they
become hot.
Failure to observe this
instruction could result in
burns.
Don't modify, dismantle
or re air the am lifier.
Failure to observe this in-
struction could result in fire,
electric shocks and/or inju-
ries.
(Im ortant)

-7-
Caution
*Provide a ro riate settings as a re aredness against
the accidental restart of the machine in order to ensure
the safety of ersonnel.
This equi ment should be
treated as an industrial
waste when it is dis osed of.
Don't block the heat
dissi ation 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
trans orting the motor.
Failure to observe this
instruction could result
in injuries.
Before Use
After recovery from the
ower failure, the
equi ment may restart
suddenly. Don't a roach
the equi ment
Failure to observe this
instruction could result in
injuries.
Observe the voltage
s ecified.
Failure to observe this
instruction could result in
electric shocks,
injuries and/or fire.
Do not turn on/off the
main ower frequently.
Failure to observe this
instruction could result
in malfunctions.

-8-
1~3 5~6 11~12 478910
Introduction
After O ening the Package
• Make sure that the roduct is what you have ordered.
•
Check whether the roduct has been damaged or not during trans ortation.
Check the Model of Am lifier
Name late
Model Designation
Series symbol
S: S-series
Rated motor out ut (see
Table 1-a)
If the roduct is not correct, or it has been damaged, contact dealer or sales agent.
MUDS3A1A1A
100-115V 32V 2500P/R
1ø 3ø
1.0A 1.0A
30W
50/60Hz 0~333.3Hz
00010001
Power
F.L. C
Phase
Voltage
INPUT OUTPUT ENCODER
AC SERVO DRIVER
60/75 Wire Only
Use Co er Conductors Only
Refer to Manual for Wiring and Wire Size
Refer to Manual for Over Load Protection
SER.NO.
Model No.
Freq.
Model
Rated in ut voltage
Rated motor out ut
Number of ulses of the
encoder(resolution)
Rated out ut current
Serial Number
Custom
s ecification
Custom s ecification 2
(A, B, C...)
A: Standard
Custom s ecification 1 (1,
2, 3...)
1: Standard
Rotary encoder
(see Table 1-b)
Power su ly
1: Single- hase, 100V
2: Single- hase, 200V
3: Three- hase, 200V
5: Three- hase/Single- hase, 200V
(common hase)
Symbol
MUD
A licable motors
MUMÅi
Extra low inertia Åj

-9-
Straight
A
B
C
D
Oil seal
None
Yes
Brake
None
Yes
None
Yes
Key way
E
F
G
H
1~3 5~6 11~12 478910
Check the Model of Motor
Name late
Ty e
Serial No
Revolution rating
Model Designation
Rated out ut
(see Table 1-a)
Motor structure
(see Table 1-c)
AC SERVO MOTOR RATING S1
Model No. MUMS042A1A INS. CLASS B (TÜV) A (UL)
CONT. TORQUE
0.64 Nm
A1.6 CONNECTION
RATED OUTPUT
RATED FREQ. kW
0.2 SER No. 00010001
Hz 200
RATED REV. r/min 3000
INPUT 3ØAC 92 IP65 V
MatsushitaElectric Industrial Co..Ltd.
Made in Ja an
Rated out ut
Series symbol
S: S-series
Voltage
1: 100V
2: 200V
Z: 100/200V
Rotary encoder
(see Table 1-b)
Custom s ecification 1
1: Standard
Custom s ecification 2
Symbol
MUM
Ty e
Su er low inertia
Symbol
A
Ty e
Incremental
No. of ulses
2500P/r
Lead wire
11-wire
S ecifications
Resolution
10000
Before Use
Symbol
3A
5A
01
Rated out ut
30W
50W
100W
Symbol
02
04
08
Rated out ut
200W
400W
750W
Table 1-a
Rated Motor Out ut
Table 1-b
Rotary Encoder
Motor Structure
Table 1-c
Shaft ∑ S ecifications with the shaft
rovided with key way are standard.

-10-
Introduction
Check the Combination of Am lifier and Motor
The am lifier has been designed for use in combination with the s ecified motors only.
Check the s ecifications (Series symbol, out ut rating, voltage rating and encoder ty e) of
the motor you want to use.

-11-
Before Use
With the incremental ty e encoder: 2500P/r
Motor
Am lifier
ty e
Ty e1
Ty e2
Ty e3
Ty e2
Ty e3
Ty e1
Ty e2
Ty e3
Series
symbol
MUMS
Su er
Low
inertia
Voltage
100V
200V
Out ut
rating
30W
50W
100W
200W
400W
200W
400W
30W
50W
100W
200W
400W
750W
Revolution
rating
3000r/min
Encoder
ty e
Incremental
2500P/r, 11
wires
Am lifier
MUDS3A1A1A
MUDS5A1A1A
MUDS011A1A
MUDS021A1A
MUDS041A1A
MUDS022A1A
MUDS042A1A
MUDS3A5A1A
MUDS5A5A1A
MUDS015A1A
MUDS023A1A
MUDS043A1A
MUDS083A1A
Motor ty e
MUMS3AZ
****
MUMS5AZ
****
MUMS011A
****
MUMS021A
****
MUMS041A
****
MUMS022A
****
MUMS042A
****
MUMS3AZA
****
MUMS5AZA
****
MUMS012A
****
MUMS022A
****
MUMS042A
****
MUMS082A
****
Power
su ly for
am lifier
1- hase,
100V
1- hase,
200V
3- hase/ 1-
hase,
200V
3- hase,
200V

-12-
Parts Descri tion
Am lifier
<Notes>
For detailed information for each of motor ty es, see the drawings in the A endix
(A .50 to 52).
Exam le: MUDS023A1A
(3- hase, 200V 200W: Ty e 1)
Exam le: MUDS042A1A
(1- hase, 200V 400W: Ty e 3)
Rotary switch
for gain (GAIN)
tuning
Communication
connector
CN SER
Controller
connection
(CN I/F)
Encoder
connection
(CN SIG)
Check ins
(CN MON)
Check ins
(CN MON)
Alarm code LED
Status LED
Main ower
in ut connector
(L1, L2, L3,P, B)
Earth
connections
Motor
connection
(U, V, W, E)
MON CN
MSDS
MOTOR
CN
SIG
CN
CN
POWER
CN
I/F
ALM CODE
STATUS
GAIN
CN
SER
MOTOR
SIG
POWER
I/F
CN
CN
CN
CN
MON
CN
CN
SER
GAIN
MSDS
ALM CODE
STATUS

-13-
<Notes>
For detailed information for each of motor ty es, see the drawings in the A endix
(A .48 & 49).
Motor
Exam le: Su er Low-Inertia Motor (MUMS Series, 400W)
Mounting bolt holes (4)
Flange
Frame
Motor cable
Encoder
Encoder cable
Before Use
Brake cable
(Motor with electromag-
netic brake only )

-14-
Installation
The am lifier and motor should be ro erly installed to avoid failures, mechanical damages and injuries.
Am lifier
Location
• Indoors, where the am lifier is not subjected to rain water and direct sun beams. Note
that the am lifier is not a water roof structure.
• Avoid the lace where the am lifier is subjected to corrosive gases, flammable gases,
grinding liquids, oil mists, iron owders and cutting articles.
• Place in a well-ventilated, and humid- and dust-free s ace.
• Place in a vibration-free s ace.
Environmental Conditions
How to Install
• This is a rack-mount ty e.
Place the am lifier vertically. Allow enough s ace surrounding for ventilation.
Front anel mount ty e (recessed)
Item
Ambient tem erature
Ambient humidity
Storage tem erature
Storage humidity
Vibration
Altitude
Conditions
0 to 55˚C (free from freezing)
Not greater than 90%RH (free from condensation)
-20 to 80˚C (free from condensation)
Not greater than 90%RH (free from condensation)
Not greater than 5.9m/s2 (0.6G) at 10 to 60 Hz
Not greater than 1000 m
Earth connection (M4 screw) tightening torque
shall not exceed 0.39 ~ 0.59 N·m.
MSDS
MOTOR
CN
SIG
CN
CN
POWER
CN
I/F
ALM CODE
STATUS
GAIN
CN
SER

-15-
Mounting Direction and S ace Requirements
• Allow enough s ace to ensure enough cooling.
• Install fans to rovide a uniform distribution of tem erature in the control box.
The airflow of fan is more than 0.43m3/min. And it should be located 10 cm away from the
am lifier.
• Observe the environmental requirements for the control box, mentioned in the revious
age.
Before Use
min.
40mm
min.
100mm
min.
40mm
min.
100mm
min.
10mm
Fan Fan
min.
10mm
min.
10mm
MSDS
MOTOR
CN
SIG
CN
CN
POWER
CN
I/F
ALM CODE
STATUS
GAIN
CN
SER
MSDS
MOTOR
CN
SIG
CN
CN
POWER
CN
I/F
ALM CODE
STATUS
GAIN
CN
SER
MSDS
MOTOR
CN
SIG
CN
CN
POWER
CN
I/F
ALM CODE
STATUS
GAIN
CN
SER
MSDS
MOTOR
CN
SIG
CN
CN
POWER
CN
I/F
ALM CODE
STATUS
GAIN
CN
SER

-16-
Installation
Motor
Location
• Indoors, where the am lifier is not subjected to rain water and direct sun beams.
• Avoid the lace where the am lifier is subjected to corrosive gases, flammable gases,
grinding liquids, oil mists, iron owders and cutting articles.
• Place in a well-ventilated, and humid- and dust-free s ace.
• Easy maintenance, ins ections and cleaning is also im ortant.
Environmental Conditions
How to Install
The motor can be installed either vertically or horizontally. Observe the following notes.
• Horizontal mounting
•
Place the motor with the cable outlet facing down to revent the entry of oil and water.
• Vertical mounting
• If a motor is cou led with a reduction gear, use a motor equi ed with oil seal so that oil
in the reduction gear may not enter into the motor.
Item
Ambient tem erature
Ambient humidity
Storage tem erature
Storage humidity
Vibration
Shock
Conditions
0 to 40˚C (free from freezing)
Not greater than 85%RH (free from condensation)
-20 to 80˚C (free from freezing)
Not greater than 85%RH (free from condensation)
Cable
Motor
Oil and water
Oil and Water Protections
• This motor(IP65 rating) can be used where it is subjected
to water and/or oil dro s, but is not water - or oil - roof.
Therefore, the motors should not be laced or used in
such environment.
• If the motor is cou led with a reduction gear, use the motor
with oil seals to revent the reduction gear oil from
entering into the motor.
• Don't use the motor with the cables being immersed in oil
or water.
49 m/s2 (5G) or less at rotation, 24.5 m/s2 (2.5G) or less at rest
High recision and normal ty e: 24 m/s2 (2G) or less
Standard ty e: 49 m/s2 (5G) or less
98 m/s2 (10G) or less
High recision and normal ty e: 98 m/s2 (10G) or less
Standard ty e: 24 m/s2 (2G) or less
Motor only
With gear
(At rotation)
Motor only
With gear

-17-
Cable: Stress Relieving
• Make sure that the cables are not subjected to moments or vertical loads due to external
bending forces or self-weight at the cable outlets or connections.
• In case the motor is movable, secure the cable ( ro er one su lied together with the
motor) to a stationery art (e.g. floor), and it should be extended with an additional cable
which should be housed in a cable bearer so that bending stresses can be minimized.
• Make the bending radius of cables as large as ossible.
(Minimum bend radius: 20 mm)
Permissible Shaft Load
• Make sure that both of radial and thrust load to be a lied to the motor shaft during instal-
lation and running, are within the s ecified value of each model.
•
Pay extra attention to installing a rigid cou ling (es ecially an excess bending load which may
cause the damages and/or wear of the shaft and bearings).
• Flexible cou ling is recommended in order to kee the radial load smaller than the ermis-
sible value, which is designed exclusively for servo motors with high mechanical stiffness.
•
For the ermissible shaft load, see "Allowable Shaft Loads Listing" in A endix.
Installation Notes
• Don't hit the shaft with a hammer directly while
attaching/detaching the cou ling to the motor
shaft.(otherwise the encoder at the o osite
end of the shaft will be damaged).
• Try erfect alignment between shafts (misalignment may cause vibration, and damages of
the bearings).
Before Use
Motor

-18-
• Main Circuits
Non-Fuse Breaker (NFB)
Used to rotect the ower lines:
overcurrent will shut off the circuit.
Noise Filter (NF)
Prevents the external noise from the ower
line, and reduces the effect of the noises gen-
erated by the servo motor.
Magnetic Contactor (MC)
Turns on/off the main ower of the servo
motor.
Used together with a surge absorber.
Reactor (L)
Reduces the harmonic current in the
main ower.
Terminals P and B
• In case of use under large regenerative
energy, connect an external
regenerative discharge resistor to P
and B terminals.
System Configuration and Wiring
General Wiring Diagram
Regenerative
discharge resistor
Ground
<Notes>
Where residual-current-o erated
rotective device (RCD) is used for
rotection in case of direct or indirect
contact. Only RCD of Ty e B is allowed
on su ly side of this Electronic
Equi ment (EE).

-19-
1
2
3
4
5
6
7
8
9
0
STATUS
ALM CODE
GAIN
CN
SER
CN
I/F
CN
SIG
CN
POWER
CN
MOTOR
Communication
control software
PANATERM“
CN SER
(to connect a PC or
controller)
CN SIG
(to connect an encoder)
CN I/F
(to connect a controller)
Personal com uter
Motor cable
Power su ly for motor
brake
(24VDC)
Encoder cable
Pre arations and Adjustments
1234
1
23
4
1234
Hazardous Voltage
Others; Low Voltage circuit

- 20 -
System Configuration and Wiring
List of Available Components
As these models with * are used for both 1-phase 200 and 3-phase 200 , make a choice
according to the power source.
• When these wires are used, wire length between circuit breaker and amplifier should be less than 3 m.
• The model numbers of circuit breaker and magnetic contactors shown in the above list are manufactured by
Matsushita Electric Works, Ltd.
• Use the circuit breaker as shown in App.3 to meet relevant EC Directives.
•
The model number of noise filters (options) shown in the above are manufactured by Okaya Electric Industries
Co., Ltd.
<Notes>
• CN POWER, CN MOTOR and earth terminals
Wires should be copper conductors of a temperature rating of 60˚C or above.
• Earth wire diameter should be 2.0 mm2 (AWG14) or larger.
• Please also consider the electrochemical potentials between metal conductor including closed loop terminals.
The electrochemical potentials shall be less than 0.6 .
Magnetic contactor
(contacts)
BMFT61041N
(3P+1a)
BMFT61541N
(3P+1a)
BMFT61541N
(3P+1a)
MMFT61042N
(3P+1a)
Noise
filter
D OP1441
D OP1442
D OP1441
D OP1442
D OP1441
D OP1442
Circuit
breaker
(rated current)
BK251
(5A)
BK2101
(10A)
BK351
(5A)
BK3101
(10A)
BK351
(5A)
BK3101(10A)
BK3151
(15A)
Required Power
(at the rated load)
Approx. 0.3k A
Approx. 0.4k A
Approx. 0.5k A
Approx. 1.0k A
Approx. 0.3k A
Approx. 0.5k A
Approx. 0.9k A
Approx. 0.3k A
Approx. 0.5k A
Approx. 0.9k A
Approx.
1.3k A
Output
30 ~ 50W
100W
200W
400W
30 ~ 50W
100W
200W
400W
30 ~ 50W
100W
200W
400W
750W
oltage
1-phase,
100
*1-phase,
200
1-phase,
200
*3-phase,
200
3-phase,
200
Main circuit wire diameter
(L1 , L2, L3,
U, , W, E)
0.75mm
2
~ 0.85mm
2
AWG 18
Series
MUDS
Amplifier