Panasonic LIQI User manual

Panasonic
LIQI

COM+
SER-ON
A-CLR
CL
INH
NOT
POT
ALM
S-RDY
BRK-OFF
FG
Servo-on input
1
2
3
4
5
6
7
Alarm clear input
Counter clear input
Inhibit input
CW over travel inhibition input
CCW over travel inhibition input
COM-
Servo Alarm output
Servo ready output
Brake release output
8
9
10
11
26
20
21
22
23
Command
Pulse
Input
13
14
15
16
17
18
PULS1
PULS2
SIGN1
SIGN2
OA
OA-
OB
OB-
OZ
OZ-
CZ Open collector Z-
phase output
CNX5
Output Pulses
Interface wiring diagram
GND
Signal Ground,
insulated from
COM-
12
19

Model Designation Code (Driver)
M B D J T 2 2 1 0
123456789
Size
AC servo drive
J : LIQI series
Maximum
instantaneous current
Current rating
of detector
07 : 7A
10 : 10A
20 : 20A
30 : 30A
Power supply rating
2 : Single phase 220V
T2 : 15A
T3 : 30A
Model Designation Code (Motor)
M H M J 0 4 2 P 1
123 45 6789
Motor type
Rated Output
Power supply rating
2 : Single phase 220V
A
10
MHMJ : High Inertia type
04 : 400W
08 : 750W
10 : 1.0kW
12 : 1.2kW
Rotary Encoder
Specifications
P : Incremental
(2500 PPR)
Design Order
1 : Standard
B : Size B
C : Size C

•Input power range : AC 220V (200V ~ 253V)
•Motor rating :
MHMD***J1* 󲦇 200W/1.0kW
MHMJ***P1* 󲦇 400W/750W/1.0kW / 1.2kW
•Control mode : Position command
•Response frequency : 1kHz
•Pulse command up to 500kHz
•Advanced PANATERM software
•Real time auto gain tuning
•USB interface for PANATERM software
•Gain setting through RSW or software
•Vibration filters and notch filters for smooth operation
•IP65 protection
•Ambient temperature : 0˚ to 50˚ C
Basic Features

1.Perform quick and stable machine operation
1.Perform quick and stable machine operation
2.Minimize vibration & noise
2.Minimize vibration & noise
3 Offer serviceable accessary
3 Offer serviceable accessary
MINAS-LIQI can
1󳊑󳊑󳊑󳋌󳊩󳋛󳊄
Response frequency
2500ppr
Encoder
Lower cogging torque
󰛥
󰛥
Notch Filter Adaptive Filter
500KPPS
Input/Output pulse
󳊱󳊢󳊯󳊢󳊵󳊦󳊳󳊮
New PANATERM Selection software CAD data
Real auto tuning

1. High Response
500Hz Response frequency
2500 ppr encoder
resolution
Low cogging
torque
The I/O pulses
500kHz
2. Intelligent
Highly functional
Real-time Auto-
Gain tuning
Manual/Auto
Damping filters
Manual/Auto
Notch filters
3. Compact
New Structure
Innovative Core
Innovation
Encoder
4. Easy
Set up support software
“PANATERM

Motor Selection
Software
RSW on front panel for
Stiffness setting

SR-DSV10739 -2-
!!! MotorBusinessUnit,HomeAppliancesCompany, Panasonic
3. Product Line-up
Rated Voltage Size PartᴾNumber Rated
Output Motor
50W MSMD5AZJ1*
100W MSMD012J1*
MSMD022J1*
MBDJT2207
200W MHMD022J1*
MSMD042J1*
TypeᴾB
MBDJT2210 400W MHMJ042P1*
MSMD082J1*
MCDJT3220 750W MHMJ082P1*
MHMD102J1*
1000W MHMJ102P1*
1!
AC220-240V
TypeᴾC
MCDJT3230
1200W MHMJ122P1*

SR-DSV10739 -3-
!!! MotorBusinessUnit,HomeAppliancesCompany, Panasonic
4. General Specifications % Single-phase 220 – 20 V
+%
-1%!
50/60 Hz!
Main circuit power & Single-phase 220 – 20 V
+%
-1%!
50/60 Hz!
% Single-phase 220 – 20 V
+%
-1%!
50/60 Hz!
Input
power
supply
200V line
Control circuit
power & Single-phase 220 – 20 V
+%
-1%!
50/60 Hz!
Insular resistance Endure the conditions of 1500V,1Minsensitive electric current20Ma between primary-earth
Temperature Operation temperature: 0 – 50 degrees C Storage temperature: -20 – 65 degrees C
(Max .temperature guarantee: 80!C for 72 hours)
Humidity Operation and storage humidity ~85%RH or less (no condensation)
Height above the sea Height above the sea level: 1,000 meters or less
Operation conditions
Vibration 5.88 m/s
2
or less, 10 – 60 Hz (Continuous operation at resonance point is not allowed)
Control method IGBT PWM method, sinusoidal drive
Encoder feedback 2500p/r (resolution:15-serial incremental encoder
Input Multi-function input ,
Function of each multi-function input is assigned by the parameter.
Control signal
Output Multi-function output 
Function of each multi-function output is assigned by the parameter.
Input
Opt coupler input 
Both open collector and line driver interface can be connected.
Line receiver input 
High speed line driver interface can be connected.
Pulse signal
Output
4 outputs
Line driver output for Encoder pulses (A/B/Z signal) or external feedback pulses (EXA/EXB/EXZ signal)
Open collector output also available for Z or EXZ signal
Communication USB USB interface to connect to computers for parameter setting or status monitoring.
"#$%&!'(%)* -digit 7-segment LEDˈ-digit 56:
+),)%)#(&-$% External regen resistor only
Dynamic Brake Built-in
Basic Dimensions
Control Mode position control
Digital Input Deviation counter clear, Command pulse inhibition, Command scaling switch, Anti-vibration switch
Digital Output In-position
Max. Command Pulse
Frequency 500kpps (Optocoupler interface)
Command pulse input mode Differential input. Selectable by parameter. ([1]Positive/Negative pulse [2]A/B quadrature [3]Pulse/Direction)
Command pulse scaling
(Electronic gear)
Applicable scaling ratio: 1/1000 – 1000
Any value of 1 – 20
20
can be set for both numerator (which corresponds to encoder resolution) and denominator
(which corresponds to command pulse resolution per motor revolution), but the combination has to be within the
range shown above.
Pulse Input
Smoothing Filter 1
st
order filter or FIR filter selectable for command input
Position Control
Anti-vibration Control Available
Auto-tuning Operation command from the controller, with the inner workings command of the amplifier, according to identifying
real-time load inertia, stiffness is setted automatically.
Scaling of feedback pulse Any number of pulses can be set up. (maximum setting number is encoder resolution)
Hardware error Overvoltage, undervoltage, over speed, overload, overheat, over current, encoder error, etc.
Protective Function
Software error Following error fault, command pulse scaling error, EEPROM error, etc.
Function
Common
Alarm data trace back Tracing back of alarm data is available

SR-DSV10739 -4-
!!! MotorBusinessUnit,HomeAppliancesCompany, Panasonic
5. Appearance and Part Names
220VSizeB
X!Motor Connection
Power Supply Connection
"#$%&'(&)*"("+"+,
-./01234,
X1!USB Connection
56&7869&.7:#;&;),
-<)=4,
X2: Parallel I/O Connection
#"**(&8*>*:2, ,
-?74,
X3: Encoder Connection
$2#"(&**$",1@, ,
-?74,
9ABCDE,FGHBIJ,
29.'#(K7L, ,
-2K24,
0CMN,:OCBN,
)URQW3DQHO,&DVH,
6FUHZ
(DUWK7HUPLQDO
U
V
W
0RWRUConnection Terminal
B1
B2
5HJHQHUDWLYH'LVFKDUJH5HVLVWRU&RQQHFWLRQ7HUPLQDOL1C
L2C
&RQWUROPower Supply Input Terminal
L1
L2
0DLQPower Supply Input Terminal

SR-DSV10739 -5-
!!! MotorBusinessUnit,HomeAppliancesCompany, Panasonic
220V Size C
0CMN,:OCBN,
)URQW3DQHO,
X!Motor Connection
Power Supply Connection
"#$%&'(&)*"("+"+,
-./01234,
X1!USB Connection
56&7869&.7:#;&;),
-<)=4,
X2: Parallel I/O Connection
#"**(&8*>*:2, ,
-?74,
X3: Encoder Connection
$2#"(&**$",1@, ,
-?74,
9ABCDE,FGHBIJ,
29.'#(K7L, ,
-2K24, &DVH,
6FUHZ
(DUWK7HUPLQDO
B1
B2
5HJHQHUDWLYH'LVFKDUJH5HVLVWRU&RQQHFWLRQ7HUPLQDO
L1
L2
L1C
L2C
U
V
W
0DLQPower Supply Input Terminal
0RWRUConnection Terminal
&RQWUROPower Supply Input Terminal

SR-DSV10739 -6-
!!! MotorBusinessUnit,HomeAppliancesCompany, Panasonic
6. Configuration of Connectors
6-USBConnector!X1
By connecting to a computer or a controller via USB interface, the following operations are available
!parameter reference / change
!parameter save / load
!monitoring of status
!checking alarm status or alarm history
!
Name Symbol Connector
Pin No. Description
VBUS 1
D- 2
USB signal
D+ 3
Communicate with a computer or a controller
For manufacturer use .4 Do not connect
Signal ground GND 5 Signal ground
!
!6-I/OConnector X
CommonDigitalInputs
Name Symbol Connect
or Pin Description Interface
Circuit
Multi-function input 1 SI1 
Multi-function input 2 SI2 
Multi-function input 3 SI3 
Multi-function input 4 SI4 
Multi-function input 5 SI5 
Multi-function input 6 SI6 
- The function changes according to the parameter settings. See below. i-1

SR-DSV10739 -7-
!!! MotorBusinessUnit,HomeAppliancesCompany, Panasonic
Functions allocatable to Multi-function inputs
Function Symbol &RQQHFWRU3LQ!1RDescription
Servo ON SRV-ON !-Tuning ON become the status of Servo on/Motor
energized0and
Shut off the
energization to the motor.
Positive over-travel
limit POT !
-This is Feed forward operation prohibition input
Please connect as the connection point is open, when machine’s movable part
is over the travel range for feed forward.
-In case that Input is OFF, the feed forward torque does not happen.
Negative over-travel
limit NOT !
-This is Negative Direction operation prohibits.
-Please connect as the connection point is open, when the machine’s movable
part is over the travel range for negative direction.
-In case that this input is OFF, the negative direction torque does not happen.
Deviation counter
clear CL -This is the deviation Counter and the full close deviation counter’s
Clear input (CL).
Anti-vibration
switch 1 VS-SEL1 -
Anti-vibration
switch 2 VS-SEL2 --This is vibration suppression switch input.
Gain switch GAIN - -This is gain switch input.
Alarm clear A-CLR -Alarm condition is released.
DIV1 -Command scaling
switch DIV2 -
- Switch the command pulse electric gear numerator.
12!&3)!4$56-%(&-$%!$7!89:;<!89:=<!>(?-5@5!A!BC-&43!-B!D$BB-6*)E
Command pulse
inhibition INH -This is command pulse input prohibit input(INH).
Torque command
sign input
FGHIJG! H! -Set up the torque limiting method input.
Forced alarm input JHIFK'! H! -alarm status input switch.
- initial setting use
Default setup
Input signal Applicable
parameter
Default setting
():10decimal notation Title of
signal Logic
SI1 input Pr4.00 00000003h
(3) SRV-ON a-contact
SI2 input Pr4.01 00000004h
(4) A-CLR a-contact
SI3 input Pr4.02 00000007h
(7) CL a-contact
SI4 input Pr4.03 00000088h
(136) INH b-contact
SI5 input Pr4.04 00000082h
(130) NOT b-contact
SI6 input Pr4.05 00000081h
(129) POT b-contact
*L-M: No function assigned
* Operation of a-contact and b-contact :
a-contact : Input signal disconnected from COM-function disabled (OFF state)
Input signal connected to COM-function enabled (ON state)
b-contact :Input signal disconnected from COM-function enabled (ON state)
InputsignalconnectedtoCOMfunctiondisabled(OFF state)

SR-DSV10739 -8-
!!! MotorBusinessUnit,HomeAppliancesCompany, Panasonic
-Change signal layout use
Classificat
ion No. Parameter Title Set range Unit Function
4 00 SI1 input selection 0N00FFFFFFh -
Assign function to SI1 input.
this parameter is presented in hexadecimal.
000000**h
L**Mwith the function number.
4 01 SI2 input selection 0N00FFFFFFh -
4 02 SI3 input selection 0N00FFFFFFh -
4 03 SI4 input selection 0N00FFFFFFh -
4 04 SI5 input selection 0N00FFFFFFh -
4 05 SI6 input selection 0N00FFFFFFh -
Assign functions to SI2 to SI6 inputs.
These parameters are presented in hexadecimals.
Setup procedure is the same as described for Pr.4.00.
Function number
Setup value
Title Symbol a-contact b-contact
Invalid - 00h (Do not setup.)
Positive direction over-travel
Inhibition input POT 01h 81h
Negative direction over-travel
Inhibition input NOT 02h 82h
Servo-ON input SRV-ON 03h 83h
Alarm clear input A-CLR 04h (Do not setup.)
(Do not setup.) - 05h 85h
Gain switching input GAIN 06h 86h
Deviation counter clear input CL 07h (Do not setup.)
Command pulse inhibition input INH 08h 88h
Torque limit switching input TL-SEL 09h 89h
Damping control switching input 1 VS-SEL1 0Ah 8Ah
Damping control switching input 2 VS-SEL2 0Bh 8Bh
Electronic gear switching input 1 DIV1 0Ch 8Ch
Electronic gear switching input 2 DIV2 0Dh 8Dh
(Do not setup.) - 0EhN13h 8EhN93h
Forced alarm input E-STOP 14h 94h
(Do not setup.) - 15h 95h
Attention :
ODo not setup to value other than that specified in the table.
ODo not assign specific function to 2 or more signals.
Duplicated assignment will cause Err33.0 I/F input multiple assignment error 1 or 33.1 I/F
Inputmultipleassignmenterror2.
*1 Servo-on input signal(SRV-ON)must be used to enable servo-on.
*2 When using control mode switching input(C-MODE), set the signal to all control modes.
If the signal is set to only 1 or 2 control modes, Err33.2 I/F input function number error 1 or Err33.3 I/F input function
number 2 will be generated.
OThe control input pin set to invalid state does not affect any operation.
OFunction(servo-on input, alarm clear, etc.)to be used in multiple control modes must be assigned to the same pin
with correct logical arrangement. Incorrect setting will cause Err33.0 I/F input multiple assignment
error 1 or Err33.1 I/F input multiple assignment error 2.
*3 Deviation counter clear input(CL)can be assigned only to SI7 input.
Wrong assignment will cause Err33.6 Counter clear assignment error.

SR-DSV10739 -9-
!!! MotorBusinessUnit,HomeAppliancesCompany, Panasonic
*4Commandpulseinhibitinput(INH)canbeassigned only to SI10 input.
Wrong assignment will cause Err33.7 Command pulse input inhibit input.
Inputsignals(commandpulsetrain)andtheirfunctions
Suitable interface can be chosen from two kind of interface based on the specification of command pulses.
Pulsetraininterfacewithlinedriver
Name Symbol Connector
Pin No. Description Circuit
PULSH1 
Command pulse
input 1 PULSH2 
SIGNH1 
Command
direction input 1 SIGNH2 
- Input terminal for the position command pulse. It can be selected by
setting corresponding parameters.
- Disabled in such control modes as the speed control or the torque control,
which does not require position commands.
- The maximum allowable input frequency is 500kpps.
Di-
Outputsignals(Common)andtheirfunctions
Name Symbol Connector
Pin No. Description Circuit
Multi-function output 1 SO1 
Multi-function output 2 SO2 
Multi-function output 3 SO3 
- The function changes according to the parameter settings. See below. o-1

SR-DSV10739 -10-
!!! MotorBusinessUnit,HomeAppliancesCompany, Panasonic
Functions allocatable to Multi-function outputs
- initial setting use
Default setup
Input signal Applicable
parameter
Default setting
():10decimal notation Title of
signal Logic
SO1 output Pr4.00 00000003h
(3) SRV-ON a-contact
SO2 output Pr4.01 00000004h
(4) A-CLR a-contact
SO3 output Pr4.02 00000007h
(7) CL a-contact
-Change signal layout use
Classificat
ion No. Parameter Title Set range Unit Function
4 10 SO1 output selection 0N00FFFFFFh -
Assign function to SO1 output.
this parameter is presented in hexadecimal.
000000**h
L**Mwith the function number.
4 11 SO2 output selection 0N00FFFFFFh -
4 12 SO3 output selection 0N00FFFFFFh -
Assign functions to SO2 to SO3 outputs.
These parameters are presented in hexadecimals.
Setup procedure is the same as described for Pr.4.00.
Name Symbol 3LQDescription
Servo alarm ALM - Digital output to indicate alarm status.
Servo ready S-RDY 10 - AMP turn on electricity signal
Motor holding break
release BRK-OFF - - Digital output to provide the timing signal to control the motor holding brake.
Zero speed ZSP - - Digital output to indicate the zero speed status.
Torque limited TLC - - Digital output to indicate the torque is limited.
In- INP P- Digital output to indicate the in-position status.( INP)
In-position 2 INP2 H! - Digital output to indicate the in-position status.( INP2)
Warning outputQWARN1 H! - Digital output to indicate the warning output signal status. Set by Pr4.31 "warning
output 1"
Warning outputRWARN2 H! - Digital output to indicate the warning output signal status. Set by Pr4.32 "warning
output 2"
position command
output 'HS>8! - - Digital output to indicate position command
Alarm attribute output TG>HTF1! H - Digital output to Alarm which can be cleared.
Main Power output 'HKU! H - Digital output to voltage which exceed to the *)V)* voltage of Servo on.

SR-DSV10739 -11-
!!! MotorBusinessUnit,HomeAppliancesCompany, Panasonic
Function number
Setup value
Title symbol a-contact
Invalid - 00h
Servo-Ready output ALM 01h
External brake release signal S-RDY 02h
Positioning complete output BRK-OFF 03h
At-speed output INP 04h
(Do not setup.) - 05h
Zero-speed detection output signal TLC 06h
Speed coincidence output ZSP 07h
(Do not setup.) - 08h
Alarm output 1 WARN1 09h
Alarm output 2 WARN2 0Ah
Positional command ON/OFF output P-CMD 0Bh
Positioning complete 2 INP2 0Ch
(Do not setup.) - 0Dh
Alarm attribute output ALM-ATB 0Eh
(Do not setup.) - 0Fh
Main power supply injection output P-ON 10h
Attention :
OSame function can be assigned to 2 or more output signals.
OControl output pin set to invalid always has the output transistor turned OFF.
ODo not change the setup value shown in the table.
Others
Name Symbol Connector
Pin No. Description Circuit
COM+ - Connect to the WterminalofanexternalDCpowersupply(12to24V)
- Use a 12 V (±5%) to 24 V (±5%) power supply ""
Power
supply input COM- 1
- Connect to the .terminalofanexternalDCpowersupply(12to24V)
- The capacity of power supply varies depending on the input and output
circuit configuration. 0.5A or more is recommended.
""
Frame ground FG Shell
26 - Internally connected to the earth terminal. "
Signal ground GND 12 - Signal ground
- Internally insulated from the control signal power supply (COM-). "
Reserved - 24/25 - Don’t connect, please "

SR-DSV10739 -12-
!!! MotorBusinessUnit,HomeAppliancesCompany, Panasonic
Input and output signal interface
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2,3,4,5,6,7 pin
''''' ,- 8.9.10 pin./- 11 p i n
Note0If you want to directly drivera relay,In parallel with
the relay.
Please install the diode inthe direction shown above.
'''' 'VCE sat = 1.2V
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SR-DSV10739 -13-
### MotorBusinessUnit,HomeAppliancesCompany, Panasonic
#6-3EncoderConnector X3
Description Connector
Pin No. Symbol
1 E5V
Encoder power supply output
2 E0V (*
Remark 1)
3$$
$$
4$$
5 PS
Encoder Signal input/out put
(Serial Signal) 6 /PS
Frame ground shell FG
* Remark 1) The E0V of the encoder power supply output is connected with the control circuit ground of the
connector
X3 .
6-4 Motor and Power Connector#X4
SizeB,Cof200VSystem
Terminal#
Symbol Terminal Name Description
U(red)
V(gray)
W(black)
Motor connection Connect each phase of the motor winding.
U: U phase V: V phase W: W phase
B1(gray)
B2(gray)
Regen. resistor
connection
If the drive gets over regeneration alarm, connect an external regen resistor
(prepared by customer) between B1 and B2.
L1C(red) + 5%
L2C(red)
Control power
supply input 220V Single phase 220%240&- 10% , 50/60Hz input
L1(black) + 5%
X4
L2(black)
Main power supply
input 220V Single phase 220%240&
- 10% , 50/60Hz input
Earth Earth terminal for grounding'
Please select the ferrule length between 12mm ~ 15mm. Short ferrule pins can not be fixed during the insertion.
Ferrule pin of DNH4 -112 made in DINKEL (4mm diameter) is recommended.
(Tighten the fixing screws to the case at screw torque of 0.4%0.6N)m or less.
(While not use the IHUUXOHpin, ensure that all the cables into the connector, to avoid short circuits.
#
#
#
#
#
#
#
#
#
#
#
#
#
#

SR-DSV10739 -14-
### MotorBusinessUnit,HomeAppliancesCompany, Panasonic
#
6-5#Front panel
*# Configuration of Front panel#
#
#
*# Rotary switch(RSW)
By manipulating the RSW+Pr.0.03(selection of stiffness at real-time auto-gain tuning) was corrected by setting the
RSW, and can be changed from the front panel gain control.
Example,-./0/123#
RSW setting The stiffness
correction Stiffness after
correction LED Display
Parameter Pr0.03 is
changed
-4# 5/# 3# -6# Possible#
78# 98# :# :#
7;# 9;# 8/# 8/#
71# 91# 88# 88#
7<# 9<# 8;# 8;#
7=# 9=# 81# 81#
7># 9># 8<# 8<#
7?# 9?# 8=# 8=#
@# 5/# 3# 3#
@?# "?# 8# 8#
@># "># ;# ;#
@=# "=# 1# 1#
@<# "<# <# <#
@1# "1# =# =#
@;# ";# ># >#
@8# "8# ?# ?#
Impossible#
#
*# Operation method
#
#
When power is turned on after the show check pattern, and displays the following normal.
If you operate the RSW, LED displays a real-time stiffness after adjustment for the RSW.
However, in the event that an alarm occurs, alarm codes (main and sub) display.
#
#
A During warnings occur, the display will flash slowly. #
A
When an error occurs, the display switches to cause an error with flashing numbers.
A Rotary Switches is a length of 4mm and a width of 1mm ,so flat-blade screwdriver to set the rotary switch that is
less than 4mm in width and thickness of 1mm or less.

LIQI
Page 1
Class (0)
Pr0.00 Rotational direction setup Range Default Unit
0 – 1 1 -
0 : Motor runs in CW in response to positive direction command
Pr0.02 Real-time auto tuning setup Range Default Unit
0 – 6 1 -
You can set up the action mode of the real-time auto-gain tuning.
Mode Varying degree of load inertia in motion
0Invalid Real-time auto-gain tuning function is disabled.
[1] Standard
2Positioning Main application is positioning.
3 Vertical axis
4 With additional features to the vertical axis mode
5
6 Customized
* for more detail please refer Panasonic A5 manual
Setup the relation between the direction of command and direction of motor
rotation
[1] : Motor runs in CCW in response to positive direction command
Setup
Value
Basic mode. Do not use unbalanced load, friction compensation or
gain switching.
With additional features to the positioning mode - use this mode to
positively and effectively compensate for unbalanced load to the
vertical axis or minimize variations in setting time
Friction
Compensation
Load char.
Measurement
Estimate the load characteristics without changing current
parameter setting.
Functions of real-time auto-gain tuning can be customized to meet
the requirements