Panasonic minas a series User manual

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Instra

ACServoMotorDriver
MINASA-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
Besuregivethisinstructionmanualtotheuser.
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TableofContents
−2−
SafetyPrecautions ･･･ 4
Introduction ･････････ 8
●AfterOpeningthePackage ･･･ 8
●ChecktheModelofDriver ････ 8
●ChecktheModelofMotor ････ 9
●
ChecktheCombinationofDriverandMotor･････ 10
SystemConfigurationandWiring ･･･ 18
● SystemConfigurationandWiring ･･･ 18
●
GeneralWiringDiagram
ListofAvailableComponents
･･20
●MainCircuits ･････････････････22
●CNSIGConnector
（ForEncoder）･････････････････24
●CNSERand
CNNETConnectors
（ForPCorController） ･･････････････27
●CNI/FConnector
（ForController）･･･････････････28
（CircuitsAvailableforTypicalControlModes） ･･29
（InputandOutputSignals,andtheirFunctions）･･･ 32
（Interfacecircuit）･････････････38
ProtectiveFunctions ･･･ 64
Maintenanceand
Inspections ･･･････ 71
ConformancetoECDirectivesandULStandards ･･･App.2
ListofConnectableMotors ･･･App.7
HowtoUseApp･････････････App.9
"Absolute"Driver ･････････ App.20
"FullClose"Driver ････････ App.28
Appendixes
ImportantInformation
BeforeUse
Preparations
and
Adjustments
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−3−
PartsDescription ･･･ 12
●Driver ････････････････････････12
●Motor･････････････････････････13
Installation ････････ 14
●Driver ････････････････････････14
●Motor･････････････････････････16
ParameterSetting ･･･ 42
●Overview ･････････････････････42
●
ParameterGroupsandListing ････ 42
●SettingtheParameters･･････47
●MODEsStructure ････････････48
TrialOperation ････ 50
● InspectionsbeforeTrialOperation ･･ 50
●perationWithout
MotorLoad(JOG) ････････51
●OperationWith
CNI/FConnected ････････52
Adjustments ･･････ 55
● PurposesofGainAdjustments ････ 55
●KindsofGainAdjustments･･･55
●HowtoAdjustGain ･･････････57
●HowtoUse

"NormalAuto-Gain"Tuning ･･58
●HowtoUse"RealTime
Auto-Gain"Tuning ････････59
●
HowtoAdjustGainManually ･･･60
Troubleshooting
･･･････････････････ 73
After-SaleService
･･････････････Backcover
DetailsofParameters ････ App.30
DetailsofOperation ･･････ App.57
OverviewofaCommunicationControl
 SoftwarePANATERM ･･･ App.67
OptionalParts ････････････ App.69
RecommendedParts ･････ App.84
OuterViewsandDimensions･･･ App.86
Properties ･･･････････････App.106
Specifications ･･･････････App.107
BeforeUse Appendixes
PreparationsandAdjustments
Important
Information
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−4−
DANGER
SafetyPrecautions
Observethefollowingprecautionsinordertoavoidinjuriesofopera-
tors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.
■Thefollowingsymbolsindicatewhatyouarenotallowedtodo,or
whatyoumustobserve.
(Important)
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ormoderateinjuryandphysicaldamage.
Thissymbolindicatesthattheoperationispro-
hibited.
Thissymbolindicatesthattheoperationmust
beperformedwithoutfail.
Don'tinsertyourhandsin
thedriver.
Failuretoobservethis
instructioncouldresultin
burnsand/orelectric
shocks.
Anover-currentprotection,
earthleakagebreaker,over-
temperatureprotectionand
emergencystopshouldbe
installed.
Failuretoobservethis
instructioncouldresultin
electricshocks,injuries
and/orfire.
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−5−
DANGER
Groundtheearthterminal
ofthedriver.
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
instructioncouldresult
inelectricshocks.
Don'tsubjecttheproductto
watersplash,corrosive
gases,flammablegasesand
combustiblethings.
Failuretoobserve
thisinstructioncould
resultinfire.
BeforeUse
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.
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−6−
Caution
SafetyPrecautions
Usethemotorand
driverinthespecified
combination.
Failuretoobservethis
instructioncouldresult
infire.
Executethetrialoperations
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.
Avoidextreme
adjustmentorchange.
Avoidanoperation
whichcausesunstable
action.
Failuretoobserve
thisinstructioncould
resultininjuries.
Ifanerroroccurs,
removethecausesfor
theerroraandsecure
thesafetybefore
restartingtheoperation.
Failuretoobserve
thisinstructioncould
resultininjuries.
Don'ttouchthemotor,
driverorits
regenerativedischarge
resistor,sincethey
becomehot.
Failuretoobserve
thisinstructioncould
resultinburns.
Don'tmodify,dismantle
orrepairthedriver.
Failuretoobservethis
instructioncouldresult
inelectricshocksand/
orinjuries.
(Important)
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−7−
Caution
*Provideappropriatesettingsasapreparedness
againsttheaccidentalrestartofthemachine
inordertoensurethesafetyofpersonnel.
Afterrecoveryfromthe
powerfailure,the
equipmentmayrestart
suddenly.Don'tapproach
totheequipment
duringpowerfailure.
Observethevoltage
specified.
Failuretoobservethis
instructioncouldresult
inelectricshocks,
injuriesand/orfire.
Thisequipmentshouldbe
treatedasanindustrial
wastewhenitisdisposedof.
Whendiscardingbatteries,
insulatethemwithtapes
orothersimilarmeansand
obeythelocalrules.
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
transpotingthemotor.
Failuretoobserve
thisinstruction
couldresultin
injuries.
BeforeUse
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−8−
MSDA043A1AUU
1~3 5~6 11~12 478910
Introduction
AfterOpeningthePackage
・ AfterOpeningthePackage
・ Makesurethattheproductiswhatyouhaveordered.
ChecktheModelofDriver
Nameplate
ModelDesignation
Seriessymbol
A:A-series
Ratedmotoroutput
(seeTable1-a)
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.
MSDA3A1D1A01
100-115V 32V 17bits
1ø 3ø
1.0A 1.0A
30W
50/60Hz 0~333.3Hz
98120001
Power
F.L.C
Phase
Voltage INPUT OUTPUT ENCODER
AC SERVO DRIVER
60/75Åé Wire Only
Use Copper Conductors Only
Refer to Manual for Wiring and Wire Size
Refer to Manual for Over Load Protection
SER.NO.
MODEL
Freq.
Model
Ratedinputvoltage
Ratedmotoroutput
Numberofpulsesofthe
encoder(resolution)
Ratedoutputcurrent
SerialNumber
Custom
specification
Customspecification
2(A,B,C...)
Customspecification
1(1,2,3...)
Rotaryencoder
(seeTable1-b)
Powersupply
 1:Single-phase,100V
 3:Three-phase,200V
Applicablemotors
Symbol
MSD
MDD
MHD
MFD
MQD
MGD
Applicablemotors
MSM（Lowinertia）
MDM（Middleinertia）
MHM（Highinertia）
MFM（Flat）
MQM（Flat&small）
MGM（Middleinertia）
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−9−
MSMA042A1AUU
1~3 5~6 11~12 478910
ChecktheModelofMotor
Nameplate Type
SerialNo
Revolutionrating
ModelDesignation
Ratedoutput
(seeTable1-a)
Motorstructure
(seeTable1-c)
AC SERVO MOTOR RATING S1
MODEL MSMA022A1A INS. CLASS B (TÜV) A (UL)
CONT. TORQUE
0.64 Nm
A1.6 CONNECTION
RATED OUTPUT
RATED FREQ. kW
0.2 SER No. T98120001
Hz 200
RATED REV. r/min 3000
INPUT 3ØAC 92 IP65 V
MatsushitaElectric Industrial Co..Ltd.
Made in Japan
Ratedoutput
Seriessymbol
A:A-series
Voltage
1:100V
2:200V
Z:100/200V
Rotaryencoder
(seeTable1-b)
Customspecification
1:Standard
Custom
specification
Symbol
MSM
MDM
MHM
MFM
MQM
MGM
Type
Lowinertia
Middleinertia
Highinertia
Flat
Flat&small
Middleinertia
Symbol
A
C
D
Type
Incremental
Absolute
Absolute/
incremental
No.ofpulses
2500P/r
――
――
Leadwire
11-wire
7-wire
7-wire
Specifications
Resolution
10000
17bit
17bit
BeforeUse
Symbol
3A
5A
01
02
03
04
05
06
08
09
Ratedoutput
30W
50W
100W
200W
300W
400W
500W
600W
750W
900W
Symbol
10
12
15
20
25
30
35
40
45
50
Ratedoutput
1kW
1.2kW
1.5kW
2kW
2.5kW
3kW
3.5kW
4kW
4.5kW
5kW
Table1-a
RatedMotorOutput
Table1-b RotaryEncoder
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−10−
MotorStructure Table1-c
Introduction
ChecktheCombinationofDriverandMotor
Thedriverhasbeendesignedforuseincombinationwiththespecifiedmotors
only.Checkthespecifications(Seriessymbol,outputrating,voltageratingand
encodertype)ofthemotoryouwanttouse.
Motor
Driver
MSDA3A1A1A
MSDA5A1A1A
MSDA011A1A
MSDA021A1A
MSDA041A1A
MSDA3A3A1A
MSDA5A3A1A
MSDA013A1A
MSDA023A1A
MSDA043A1A
MSDA083A1A
MSDA103A1A
MSDA153A1A
MSDA203A1A
MSDA253A1A
MSDA303A1A
MSDA353A1A
MSDA403A1A
MSDA453A1A
MSDA503A1A
Driver
type
Type1
Type2
Type2
Type1
Type2
Type2
Type4-2
Type4-3
Type5
Series
symbol
MSMA
(Small)
Low
inertia
MSMA
(Large)
Low
inertia
Motortype
MSMA3AZA＊＊
MSMA5AZA＊＊
MSMA011A＊＊
MSMA021A＊＊
MSMA041A＊＊
MSMA3AZA＊＊
MSMA5AZA＊＊
MSMA012A＊＊
MSMA022A＊＊
MSMA042A＊＊
MSMA082A＊＊
MSMA102A＊＊
MSMA152A＊＊
MSMA202A＊＊
MSMA252A＊＊
MSMA302A＊＊
MSMA352A＊＊
MSMA402A＊＊
MSMA452A＊＊
MSMA502A＊＊
Voltage
100V
200V
200V
Output
rating
30W
50W
100W
200W
400W
30W
50W
100W
200W
400W
750W
1.0kW
1.5kW
2.0kW
2.5kW
3.0kW
3.5kW
4.0kW
4.5kW
5.0kW
Revolution
rating
3000r/min
3000r/min
Encoder
type
Incremental
2500P/r,
11wires
Incremental
2500P/r,
11wires
"D-cut"shaftsare
availablefor
MSMA30Wto750W
andMQMA100Wto
400W.
Oilseal
None Straight A
B
C
D
Shaft
Brake
None
Yes
None
Yes
D-cut
N
P
Q
R
Keyway
E
F
GNone
Withtheincrementaltypeencoder:2500P/r
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−11 −
＜ Notes＞
1. Theabovetableshowsthepossiblecombinationsbetweenthedriver(MSDA)
andlow-inertiatypemotors(MSMA).Formiddle-inertia(MDMA),high-inertia
(MHMA),flat(MFMA),flat&small(MQMA)andmiddle-inertia(MGMA)
motors,seetheAppendix.
2. Thedefaultisfor"incremental"spec.
 Whenyouusethedriverwiththe"absolute"spec,youneedto;
 ① Changethevalueoftheparameter"Absoluteencoderset-up(PrOB)"
from1(factorysetdefault)to0.
 ② Installthebattery(seeAppendix"OptionalParts"forthebatteries).
3. Theabsolute/incrementalspecdrivercanbeusedas"FullClosedDriver".
Withtheabsolute/incrementaltypeencoder,17bits
Motor
Driver
MSDA3A1D1A
MSDA5A1D1A
MSDA011D1A
MSDA021D1A
MSDA041D1A
MSDA3A3D1A
MSDA5A3D1A
MSDA013D1A
MSDA023D1A
MSDA043D1A
MSDA083D1A
MSDA103D1A
MSDA153D1A
MSDA203D1A
MSDA253D1A
MSDA303D1A
MSDA353D1A
MSDA403D1A
MSDA453D1A
MSDA503D1A
Motortype
MSMA3AZC＊＊
MSMA5AZC＊＊
MSMA011C＊＊
MSMA021C＊＊
MSMA041C＊＊
MSMA3AZC＊＊
MSMA5AZC＊＊
MSMA012C＊＊
MSMA022C＊＊
MSMA042C＊＊
MSMA082C＊＊
MSMA102D＊＊
MSMA152D＊＊
MSMA202D＊＊
MSMA252D＊＊
MSMA302D＊＊
MSMA352D＊＊
MSMA402D＊＊
MSMA452D＊＊
MSMA502D＊＊
Voltage
100V
200V
200V
Output
rating
30W
50W
100W
200W
400W
30W
50W
100W
200W
400W
750W
1.0kW
1.5kW
2.0kW
2.5kW
3.0kW
3.5kW
4.0kW
4.5kW
5.0kW
Revolution
rating
3000r/min
3000r/min
Encoder
type
Withthe
absolute/
incrementaltype
encoder,17bits
Absolute/
incrementaltype,
17bits,7wires
SeeNote2)
BeforeUse
Driver
type
Type1
Type2
Type3
Type1
Type2
Type3
Type4-2
Type4-3
Type5
Series
symbol
MSMA
(Small)
Low
inertia
MSMA
(Large)
Low
inertia
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−12−
PartsDescription
Driver
＜Note＞
Fordetailedinformationforeachofdrivertypes,seethedrawingsinthe
Appendix.
Safeseparationareprovidedbetweenpowerboardandcontrolcircuit.
Example:MSDA023A1A(200V200W:Type1)
［Terminalblockcoveropened］
200V 200W
023A1A
MSDA
W
V
U
SIG
I/F
SER
NET
W
V
U
SIG
I/F
SER
NET
SETMODE
G
SP
IM
ID
L1
L2
L3
r
t
P
B1
B2
SETMODE
G
SP
IM
ID
CAUTION
Connect the
wiring correctly
and properly,
and screw the
cover after
wire connection
配線は正しく確実
に行い、配線後は
必ずカバーをネジ
止めしてください
注意
Rotaryswitch(ID)
Mountingbracke
t
LEDindicator

(6digits)
Communication
connector1
(CNNET)
Communication
connector2
(CNSER)
MODE
selectorswitch
Controller
connection
(CNI/F)
Encoder
connection
(CNSIG)
Datasetting
buttons
:SHIFT
:UP
:DOWN
Checkpins
Mainspower
connection
Controlpower
connection
Externalregenerative
dischargeresistor
connection
Earthconnections(2)
Terminal
blockcover
Motorconnection
(U.V.W)
Terminal
SET
button
Cover
securingscrew

［Terminalblockcoverclosed］
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−13 −
＜ Note＞
Fordetailedinformationforeachofmotortypes,seethedrawingsintheAppendix.
Motor
Example:SmallLow-InertiaMotor(MSMASeries,750Wandbelow)
Mountingboltholes(4)
Flange
Frame
Motorcable
Encoder
Encodercable
BeforeUse
Brakecable
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−14−
Installation
Thedriverandmotorshouldbeproperlyinstalledtoavoidfailures,mechanicaldamagesandinjuries.
Driver
Location
AIndoors,wherethedriverisnotsubjectedtorainwateranddirectsunbeams.
Notethatthedriverisnotawaterproofstructure.
BAvoidtheplacewherethedriverissubjectedtocorrosivegases,flammable
gases,grindingliquids,oilmists,ironpowdersandcuttingparticles.
CPlaceinawell-ventilated,andhumid-anddust-freespace.
DPlaceinavibration-freespace.
EnvironmentalConditions
HowtoInstall
A hisisarack-mounttype.
Placethedriververtically.Allowenoughspacesurroundingforventilation.
Type3andsmaller(upto750W):Backpanelmounttype(projected,useBracketA)
Type4andlarger(1kWandlarger):Frontpanelmounttype(recessed,useBracketB)
BracketA
MSDA750W
andsmaller
BracketB
MSDA1kW
andlarger
BIfyouwanttochangethemountingconfiguration,usetheoptionalbracket
(seeAppendix"OptionalParts").
CFittononcombustiblessuchasmetal.
(Types1to3)
Item
Ambienttemperature
Ambienthumidity
Storagetemperature
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
(Types4-2〜4-3,Type5)
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−15 −
ID MODE
IM
I/F
SIG
U
V
W
SP G
SET ID MODE
IM
I/F
SIG
U
V
W
SP G
SET ID MODE
IM
I/F
SIG
U
V
W
SP G
SET ID MODE
IM
I/F
SIG
U
V
W
SP G
SET
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.
BeforeUse
＜ Notes＞
ConformancetoULStandard
ObservingthefollowinginstructionmakesthisdriveraUL508Cstandardauthorized
andEN50178approvedproduct.
1Instructionsinwiring
(1)Usecopperconductorwirewiththeratedtemperatureof60℃orhigherfor
wiringtoterminalblocksorgroundingterminals.
(2)
Besuretoconnecttheprotectivegroundingofthecontrolpanel(PE)toaprotective
groundingterminal()ofthedrivertopreventelectricshock.Donotdouble-connectto
theprotectivegroundingterminals().Twoprotectivegroundingterminalsareprovided.
2Overloadprotectionlevel
Theoverloadprotectivefunctionofthedriverisactivatedwhentheeffectivecurrent
ofthedriveris115%ormoreoftheratedcurrent.Makesurethattheeffective
currentofthedriverdosenotexceedtheratedcurrent.Themaximumallowableinstantaneous
currentofthedriveristhecurrentsetbythetorquelimitsetting(Pr06).
3Installationenvironment
Usethedriverinenvironmentwiththepollutionlevel2higherprovidedinIEC60664-1.For
example,installinginacontrolpanelofIP54makesthepollutionleveloftheenvironment2.
ToachieveIP54,thestructureshallnotallowwater,oil,carbonordusttoenter.
min.
40mm
min.
100mm
min.
40mm
min.
100mm
min.
10mm
Fan Fan
min.
10mm min. 10mm
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−16−
Installation
Motor
Location
AIndoors,wherethedriverisnotsubjectedtorainwateranddirectsunbeams.
BAvoidtheplacewherethedriverissubjectedtocorrosivegases,flammable
gases,grindingliquids,oilmists,ironpowdersandcuttingparticles.
CPlaceinawell-ventilated,andhumid-anddust-freespace.
DEasymaintenance,inspectionsandcleaningisalsoimportant.
EnvironmentalConditions
HowtoInstall
Themotorcanbeinstalledeitherverticallyorhorizontally.Observethefollowingnotes.
AHorizontalmounting
・
Placethemotorwiththecableoutletfacingdowntopreventtheentryofoilandwater.
BVerticalmounting
・
Ifthemotoriscoupledwithareductiongear,makesurethattheoilinthereduction
geardoesnotenterintothemotor.
OilandWaterProtections
AThismotor(IP65rating)canbeusedwhereitissubjectedtowaterand/oroil
drops,butisnotwateroroilproof.Therefore,themotorsshouldnotbeplaced
orusedinsuchenvironment.
BIfthemotoriscoupledwithareductiongear,usethemotorshouldwithoil
sealstopreventthereductiongearoilfromenteringintothemotor.
CDon'tusethemotorwiththecablesbeingimmersedinoilorwater.
Item
Ambienttemperature
Ambienthumidity
Storagetemperature
Storagehumidity
Vibration
Conditions
0to40°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49m/s2(5G)inoperation;notgreaterthan24.5m/s2(2.5G)atrest
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−17 −
Cable:StressRelieving
A 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.
BIncasethemotorismovable,securethecable(properonesuppliedtogether
withthemotor)toastationerypart(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.
CMakethebendingradiusofcablesaslargeaspossible.
PermissibleShaftLoad
AMakesurethatbothofradialandthrustloadtobeappliedtothemotorshaft
duringinstallationandrunning,becomeswithinthespecifiedvalueofeach
model.
B
Payextraattentionatinstallingarigidcoupling(especiallyanexcessbending
loadwhichmaycausethedamagesand/orwearoftheshaftandbearings.
CFlexiblecouplingisrecommendedinordertokeeptheradialloadsmaller
thanthepermissiblevalue,whichisdesignedexclusivelyforservomotors
withhighmechanicalstiffness.
D
Forthepermissibleshaftload,see"AllowableShaftLoadsListing"inAppendix.
InstallationNotes
A Don'thittheshaftwithahammerdirectly
whileattaching/detachingthecoupling
tothemotorshaft.(otherwise
theencoderattheoppositeendofthe
shaftwillbedamaged).
BTryperfectalignmentbetweenshafts(misalignmentmaycausevibration,
anddamagesofthebearings).
BeforeUse
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−18−
■MainCircuits
Non-FuseBreaker(NFB)
Usedtoprotectthepowerlines:
overcurrentwillshutoffthe
circuit.
NoiseFilter(NF)
Preventstheexternalnoisefromthe
powerline,andreducestheeffectofthe
noisesgeneratedbytheservomotor.
MagneticContactor(MC)
Turnson/offthemainpowerofthe
servomotor.
Usedtogetherwithasurgeabsorber.
Reactor(L)
Reducestheharmonicinthemain
power.
Motorcable:
・Withoutabrake
・Withabrake
TerminalsP,B1andB2
・NormallykeepB1andB2
shorted.
・Ifthecapacityoftheinternal
regenerativedischargeresistor
isnotenough,disconnectbe-
tweenB1andB2,and
connectanexternalregenerative
dischargeresistortoPandB2
terminals.
SystemConfigurationandWiring
GeneralWiringDiagram
Regenerativedischargeresistor
Ground
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−19 −
Communication
controlsoftware
PENATERM
■CNSER/CNNET
（toconnectaPCor
controller）
■CNSIG
（toconnectanencoder）
■CNI/F （toconnectacontroller）
Personalcomputer
Motorcable
Brakepowersupply
(24VDC)
Encodercable
PreparationsandAdjustments
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