Panasonic MINAS A5 Series User manual

*This product image is 200W type of A5-series.
Operating Instructions (Overall)
AC Servo Motor & Driver
MINAS A5-series
Thank you for purchasing this Panasonic product.

Before operating this product, please read the instructions carefully, and save this manual for future use.
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2
Thank you for purchasing Digital AC Servo Motor & Driver, MINAS A5-series. This
instruction manual contains information necessary to correctly and safely use the MINAS
A5-series motor and driver. By reading this instruction manual, you will learn how to
identify the model of the motor and driver that will be best suitable your application, how
to wire and set up them, how to set parameters, and how to locate possible cause of
symptom and to take corrective action.
This is the original instruction.
Caution
1) Any part or whole of this document shall not be reproduced without written permis-
sion from us.
2) Contents of this document are subject to change without notice.
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3
1.Before Using the Products
Check of the Driver Model ... Installation
Describes how to identify and select the desired product and components, how to
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2.Preparation
Operating requirements and procedure
Shows the timing chart and the list of parameters, and describes how to make
wiring and to use the front panel.
3.Connection
Wiring ... I/O settings
Shows block diagrams for each control mode and connection diagrams to the host
controllor, I/O settings.
4.Setup
Describes parameters ... JOG running
Shows describes parameters and procedure of test operation.
5.Adjustment
Gain adjustment ... Auto tuning
Describes various adjusting method including auto tuning and manual gain tuning.
6.When in Trouble
Read this section when you encounter trouble or error.
7.Supplement
Contains S-T characteristic diagram, dimensional outline drawing, supplemental
description on communications and operation.
Organization of this manual 1
Before Using the Products
2
Preparation
3
Connection
4
Setup
5
Adjustment
6
When in Trouble
7
Supplement
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4
Contents
Organization of this manual ............................................................................................ 3
Safety Precautions ............................................................................................................. 6
Conformance to international standards ................................................................... 10
Maintenance and Inspections ....................................................................................... 11
1. Before Using the Products ................................................................... 1-1
1. Introduction ...............................................................................................................1-2
2. Driver ........................................................................................................................ 1-3
3. Motor .......................................................................................................................1-21
4. Check of the Combination of the Driver and the Motor ...........................................1-23
6. Installation ...............................................................................................................1-28
7. Permissible Load at Output Shaft ...........................................................................1-35
2. Preparation .........................................................................................................2-1
1. Conformance to international standards ...................................................................2-2
 6\VWHP&RQÀJXUDWLRQDQG:LULQJ ...........................................................................2-10
3. Wiring to the Connector, X1 ....................................................................................2-51
4. Wiring to the Connector, X2 ....................................................................................2-51
5. Wiring to the Connector, X3 ....................................................................................2-53
6. Wiring to the Connector, X4 ....................................................................................2-54
7. Wiring to the Connector, X5 ....................................................................................2-55
8. Wiring to the Connector, X6 ....................................................................................2-57
9. Wiring to the Connector, X7 ....................................................................................2-60
10. Timing Chart ..........................................................................................................2-61
11. Built-in Holding Brake ............................................................................................ 2-65
12. Dynamic Brake....................................................................................................... 2-67
13. Setup of Parameter and Mode ..............................................................................2-72
14. Setup of command division and multiplication ratio (electronic gear ratio) ...........2-84
15. How to Use the Front Panel ..................................................................................2-86
3. Connection .........................................................................................................3-1
1. Outline of mode .........................................................................................................3-2
2. Control Block Diagram ............................................................................................3-14
3. Wiring to the Connector, X4 ....................................................................................3-18
4. Inputs and outputs on connector X4 .......................................................................3-30
5. IF Monitor Settings ..................................................................................................3-50
page
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5
1
Before Using the Products
2
Preparation
3
Connection
4
Setup
5
Adjustment
6
When in Trouble
7
Supplement
4. Setup ........................................................................................................................4-1
1. Describes parameters ...............................................................................................4-2
2. JOG running ............................................................................................................4-59
5. Adjustment ..........................................................................................................5-1
1. Gain Adjustment ........................................................................................................5-2
2. Real-Time Auto-Gain Tuning .....................................................................................5-4
3. Adaptive Filter .........................................................................................................5-10
4. Manual Auto-Gain Tuning (Basic) ............................................................................5-13
5. Manual Auto-Gain Tuning (Application) ...................................................................5-24
6. About Homing Operation .........................................................................................5-39
6. When in Trouble .............................................................................................6-1
1. When in Trouble ........................................................................................................6-2
2. Setup of gain pre-adjustment protection .................................................................6-18
3. Troubleshooting ......................................................................................................6-21
7. Supplement ........................................................................................................7-1
1. Safety function ..........................................................................................................7-2
2. Absolute System .....................................................................................................7-10
3. Setup Support Software, PANATERM ..................................................................... 7-26
4. Communication .......................................................................................................7-27
5. Motor Characteristics (S-T Characteristics) ............................................................7-55
6. Dimensions .............................................................................................................7-73
7. Options ....................................................................................................................7-92
Warranty ...........................................................................................................................7-126
Cautions for Proper Use ...................................................................................................7-127
After-Sale Service .................................................................................................... Back cover
page
1
Before Using the Products
2
Preparation
3
Connection
4
Setup
5
Adjustment
6
When in Trouble
7
Supplement
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6
The following explanations are for things that must be observed in order to prevent harm to
people and damage to property.
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degree of potential harm or damage.
Danger Indicates great possibility of death or serious injury.
Caution Indicates the possibility of injury or property damage.
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Indicates something that must not be done.
Indicates something that must be done.
Danger
Do not subject the Product to water, corrosive or
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WLRQFRXOGUHVXOWLQÀUHHOHFWULFDO
shocks, damages and break-
downs.
Do not place combustibles near by the motor,
driverd regenerative resistor and dynamic brake
resister..
Don't use the motor in a place subject to exces-
sive vibration or shock.
Failure to observe this instruc-
tion could result in electrical
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Don't use cables soaked in water or oil.
Failure to observe this instruc-
tion could result in electrical
shocks, damages and break-
downs.
The installation area should be away from heat
generating objects such as a heater and a large
wire wound resistor. Failure to observe this instruc-
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breakdowns.
Never connect the motor directly to the commer-
cial power supply.
Don't attempt to carry out wiring or manual opera-
tion with wet hand.
Failure to observe this instruc-
tion could result in electrical
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Do not put your hands in the servo driver. Failure to observe this instruc-
tion could result in burn and
electrical shocks.
Safety Precautions Please observe safety precautions fully.
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7
In the case of the motor with shaft end keyway, do
not touch the keyway with bare hands. Failure to observe this instruc-
tion could result in personal
injury.
Do not touch the rotating portion of the motor
while it is running.
Failure to observe this instruction could result in
damages and breakdowns.
Do not touch the motor, servo driver, heat sink,
regenerative resistor and dynamic brake resister,
since they become very hot.
Failure to observe this instruc-
tion could result in burns.
Do not drive the motor with external power. Failure to observe this instruc-
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Do not subject the cables to excessive force,
heavy object, or pinching force, nor damage the
cables.
Failure to observe this instruc-
tion could result in electrical
shocks, damages and break-
downs.
Installation area should be free from excessive
dust, and from splashing water and oil.
Failure to heed this precaution
will result in electric shock, per-
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damage.
Mount the motor, driver and peripheral equip-
ments on incombustible material such as metal. ,QVWDOODWLRQRQDÁDPPDEOHPD-
WHULDOPD\FDXVHÀUH
:LULQJKDVWREHFDUULHGRXWE\WKHTXDOLÀHGDQG
authorized specialist.
Allowing a person with no ex-
pertise to carry out wiring will
result in electrical shocks.
Correctly run and arrange wiring. Incorrect wiring will result in
short circuit, electric shock, per-
sonal injury, etc.
After correctly connecting cables, insulate the live
parts with insulator.
Incorrect wiring will result short
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malfunction.
Ground the earth terminal of the motor and driver
without fail. Floating ground circuit will
cause electric shock.
Install and mount the Product and machinery
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incurred by earthquake. )DLOXUHWRKHHGWKLVUHTXLUHPHQW
will result in electric shock, per-
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damage.
Install an emergency stop circuit externally so that
you can stop the operation and shut off the power
immediately.
Install an overcurrent protection, earth leakage
breaker, over-temperature protection and emer-
gency stop apparatus without fail. )DLOXUHWRKHHGWKHVHUHTXLUH-
ments will result in electric
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&KHFNDQGFRQÀUPWKHVDIHW\RIWKHRSHUDWLRQ
after the earthquake.
Before transporting, wiring and inspecting the
driver, turn off power and wait for a time longer
WKDQWKDWVSHFLÀHGRQWKHQDPHSODWHRQWKHVLGH
panel of the product; and make sure that there is
no risk of electrical shock.
Energized circuit will cause
electric shock.
1
Before Using the Products
2
Preparation
3
Connection
4
Setup
5
Adjustment
6
When in Trouble
7
Supplement
Phone: [phone] - Fax: [phone] - Web: www.clrwtr.com - Email: [email protected]

8
Caution
Do not hold the motor cable or motor shaft during
the transportation.
Failure to observe this instruc-
tion could result in injuries.
Don't drop or cause topple over of something dur-
ing transportation or installation.
Failure to observe this instruc-
tion could result in injuries and
breakdowns.
Do not step on the Product nor place the heavy
object on them.
Failure to observe this instruc-
tion could result in electrical
shocks, injuries, breakdowns
and damages.
Don't use the equipment under direct sunshine. Failure to heed these instruc-
tions will cause personal injury
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Do not block the heat dissipating holes or put the
foreign particles into them.
Failure to observe this instruc-
tion could result in electrical
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Do not give strong impact shock to the Product. Failure to observe this instruc-
tion could result in breakdowns.
Do not give strong impact shock to the motor
shaft.
Failure to observe this instruc-
tion could result in a failure of
the detector etc.
Do not turn on and off the main power of the driv-
er repeatedly. Failure to observe this instruc-
tion could result in breakdowns.
Never run or stop the motor with the electro-mag-
netic contactor installed in the main power side.
Do not make an extreme gain adjustment or
change of the drive.
Do not keep the machine running/operating unsta-
bly.
Failure to observe this instruc-
tion could result in injuries.
Do not use the built-in brake as a "Braking" to
stop the moving load.
Failure to observe this instruc-
tion could result in injuries and
breakdowns.
Do not approach to the machine since it may sud-
denly restart after the power resumption.
Design the machine to secure the safety for the
operator even at a sudden restart.
Failure to observe this instruc-
tion could result in injuries.
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or repair.
Failure to heed this instruction
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personal injury or malfunction.
Safety Precautions Please observe safety precautions fully.
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9
Make an appropriate mounting of the Product
matching to its wight and output rating. )DLOXUHWRKHHGWKHVHUHTXLUH-
ments will result in personal
injury or malfunction.
2EVHUYHWKHVSHFLÀHGPRXQWLQJPHWKRGDQGGL-
rection.
Use the eye bolt of the motor for transportation of
the motor only, and never use this for transporta-
tion of the machine.
Using it for transportation of the
machine will cause personal
injury or malfunction.
Don't place any obstacle object around the motor
and peripheral, which blocks air passage. Temperature rise will cause
EXUQLQMXU\RUÀUH
Adjust the motor and driver ambient environmen-
tal condition to match the motor operating tem-
perature and humidity. )DLOXUHWRKHHGWKHVHUHTXLUH-
ments will result in personal
injury or malfunction.
&UHDWHWKHVSHFLÀHGFOHDUDQFHEHWZHHQWKHGULYHU
and the control panel inner surface or other de-
vices.
2EVHUYHWKHVSHFLÀHGYROWDJH
Operation from a voltage out-
side the rated voltage will cause
electric shock, personal injury
RUÀUH
Connect the brake control relay to the relay which
is to shut off at emergency stop in series.
Missing of one of these devices
will result in personal injury or
malfunction.
Provide protection device against idling of electro-
magnetic brake or gear head, or grease leakage
from gear head.
No protection will cause per-
sonal injury, damage, pollution
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8VHWKHPRWRUDQGWKHGULYHULQWKHVSHFLÀHGFRP-
bination.
Not using the motor and the
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WLRQZLOOUHVXOWLQÀUH
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to verify normal operation, and then connect it to
the mechanical system.
Operation using a wrong model
or wrong wiring connection will
result in personal injury.
When any error occurs, remove the cause and
release the error after securing the safety, then
restart.
Not removing the cause of the
error will result in personal in-
jury.
If the driver fails, shut off the power on the power
supply side of the driver. Allowing a large current to con-
WLQXHWRSDVVZLOOUHVXOWLQÀUH
Maintenance must be performed by an experi-
enced personnel. Wrong wiring will cause person-
al injury or electric shock.
Always keep power disconnected when the power
is not necessary for a long time. Improper operation will cause
personal injury.
When you dispose the batteries, observe any applicable regulations or laws after
insulating them with tape.
This Product shall be treated as Industrial Waste when you dispose.
1
Before Using the Products
2
Preparation
3
Connection
4
Setup
5
Adjustment
6
When in Trouble
7
Supplement
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10
Conformed Standards
Driver Motor
EC Direc-
tives
EMC
Directives
EN55011
EN61000-6-2
EN61800-3
–
Low-Voltage
Directives EN61800-5-1 EN60034-1
EN60034-5
Machinery
Directives
Functional
safety
(*1)
EN954-1 (Cat. 3)
ISO13849-1 (PL c,d)(Cat. 3)
EN61508 (SIL 2)
EN62061 (SIL 2)
EN61800-5-2 (STO)
IEC61326-3-1
–
UL Standards UL508C (E164620)
UL1004-1
E327868: to 750W (200V)
(
from 6.0kW
)
UL1004
E327868: 400W (400V)
600W (400V), 750W (400V)
(
0.9kW to 5.0kW
)
CSA Standards C22.2 No.14 C22.2 No.100
IEC : International Electrotechnical Commission
EN : Europaischen Normen
EMC : Electromagnetic Compatibility
UL : Underwriters Laboratories
CSA : Canadian Standards Association
Pursuant to the directive 2004/108/EC, article 9(2)
Panasonic Testing Centre
Panasonic Service Europe, a division of
Panasonic Marketing Europe GmbH
Winsbergring 15, 22525 Hamburg, F.R. Germany
*
Products shall conform to the statutory regulations applied in the place of destination.
* Only for position control type does not support functional safety(*1) standards.
Note For details on compatibility with international standard, refer to P.2-2 Conformance to
international standards.
Conformance to international standards
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11
Routine maintenance and inspection of the driver and motor are essential for the
proper and safe operation.
Notes on Maintenance and Inspection
1) Turn on and turn off should be done by operators or inspectors themselves. When es-
tablishing a system using safety functions, completely understand the applicable safety
standards and the operating instruction manual or technical documents for the product.
2) Internal circuit of the driver is kept charged with high voltage for a while even after
power-off. Turn off the power and allow 15 minutes or longer after LED display of the
front panel has gone off, before performing maintenance and inspection.
3) Disconnect all of the connection to the driver when performing megger test (Insulation
resistance measurement) to the driver, otherwise it could result in breakdown of the
driver.
4) Do not use benzine, thinner, alcohol, acidic cleaner and alkaline cleaner because they
can discolor or damage the exterior case.
5) The upper fan on H-frame driver is kept deactivated while servo is off, for the purpose
of energy saving. This is normal.
Inspection Items and Cycles
General and normal running condition
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lower, operating hours of 20 hours or less per day.
Perform the daily and periodical inspection as per the items below.
Type Cycles Items to be inspected
Daily
inspection Daily
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0DLQFLUFXLWYROWDJH
2GRU
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&OHDQQHVVDWIURQWSRUWLRQRIWKHGULYHUDQGFRQQHFWRU
'DPDJHRIWKHFDEOHV
/RRVHFRQQHFWLRQRUPLVDOLJQPHQWEHWZHHQWKHPRWRUDQG
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3LQFKLQJRIIRUHLJQREMHFWDWWKHORDG
Motor
with Gear
Reducer
Annual
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7UDFHRIRYHUKHDW
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/RRVHIDVWHQHUVRQWHUPLQDOEORFN
Note Inspection cycle may change when the running conditions of the above change.
Maintenance and Inspections 1
Before Using the Products
2
Preparation
3
Connection
4
Setup
5
Adjustment
6
When in Trouble
7
Supplement
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12
Related page
3´:DUUDQW\µ
Guideline for Parts Replacement
Use the table below for a reference. Parts replacement cycle varies depending on the ac-
tual operating conditions. Defective parts should be replaced or repaired when any error
have occurred.
Prohibited
Disassembling for inspection and repair should be
carried out only by authorized dealers or service
company.
Product Component Standard replacement
cycles (hour) Note
Driver
Smoothing condenser Approx. 5 years
These hours or cycles are
reference.
When you experience any
HUURUUHSODFHPHQWLVUHTXLUHG
even before this standard
replacement cycle.
Cooling fan 2 to 3 years
(10,000 to 30,000 hours)
Aluminum electrolytic
capacitor (on PCB) Approx. 5 years
Rush current
preventive relay
Approx. 100,000 times
(depending on working
condition)
Rush current
preventive resistor
Approx. 20,000 times
(depending on working
condition)
Motor
Bearing 3 to 5 years
(20,000 to 30,000 hours)
Oil seal 5000 hours
Encoder 3 to 5 years
(20,000 to 30,000 hours)
Battery
for absolute encoder
Life time varies depending
on working conditions.
Refer to the Operating
Instructions attached to the
battery for absolute
encoder.
Maintenance and Inspections
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1-1
1
Before Using the Products
2
Preparation
3
Connection
4
Setup
5
Adjustment
6
When in Trouble
7
Supplement
1. Before Using the Products
1. Introduction
Outline .........................................................................................................1-2
On Opening the Product Package...............................................................1-2
2. Driver
Check of the Model......................................................................................1-3
Parts Description
A to E-frame..............................................................................................1-4
F-frame .....................................................................................................1-5
G-frame.....................................................................................................1-6
H-frame.....................................................................................................1-7
D to F-frame (400 V).................................................................................1-8
G-frame (400 V)........................................................................................1-9
H-frame (400 V)......................................................................................1-10
Specifications.............................................................................................1-11
Block Diagram ...........................................................................................1-15
3. Motor
Check of the Model....................................................................................1-21
Parts Description .......................................................................................1-22
4. Check of the Combination of the Driver and the Motor
Incremental Specifications, 20-bit..............................................................1-23
Absolute Specifications, 17-bit...................................................................1-25
Junction cable for motor ...........................................................................1-27
5. Installation
Driver .........................................................................................................1-28
Motor..........................................................................................................1-32
6. Permissible Load at Output Shaft
Motor..........................................................................................................1-35
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1-2
The AC Servo Motor & Driver, MINAS A5-series is the latest servo system that meets all
GHPDQGVIURPDYDULHW\RIPDFKLQHVZKLFKUHTXLUHKLJKVSHHGKLJKSUHFLVLRQDQGKLJK
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Compared with the preceding A4-series, product of A5-series offers superior performance
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Newly designed motors have wide range of outputs from 50 W to 15.0 kW, associated
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(Only for position control type have range of outputs from 50 W to 5.0 kW.)
They are compatible with 2 closed controls (serial communication type and A-/B-phase
output type) and provided with various automatic adjusting functions such as real time
auto tuning with many automatic setting parameters to make complex tuning easy.
(Only for position control type do not conform to full-closed control.)
These motors assure higher stability with low stiffness machine and high-speed, high
accurate operation with high stiffness machine. They can be used in combination with a
wide variety of machines.
This manual is written as a complete guide for you so that you can fully and correctly
make use of all functions available from MINAS A5.
1Before Using
the Products 1. Introduction
On Opening the Product Package
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resistor connection (D-frame (400 V) and E-frame) and safety by-pass plug are includ-
ed or not.
(Neither the power connector nor motor connector are included to F-frame to H-frame.)
(Safety bypass plug is not supplied with only for position control type because it does not use
this plug.)
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1Before Using
the Products 1. Introduction
Outline
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1-3
1
Before Using the Products
2
Preparation
3
Connection
4
Setup
5
Adjustment
6
When in Trouble
7
Supplement
1Before Using
the Products 2. Driver
Check of the Model
Contents of Name Plate
Model number
Input/output voltage
Rated output of
applicable motor
Rated input/output current
Input/output frequency
Number of phase
Serial Number
e.g.) : P09040001N
Lot number
Month of production
Year of production
(Lower 2 digits of AD year)
Manufacture date
e.g.) : 200904 01
Manufacture dateManufacture year
Manufacture month
Model Designation
MADHT1505E
Special specifications
(letters and numbers)
Special specifications
(letters and numbers)
Only for position control type
Current detector rating
Power supply
Max. current rating
of power device
Frame-size symbol
Velocity, position,
torque and full-closed
FRQWUROW\SH
Only for position
control type
MADH
MBDH
MCDH
MDDH
MEDH
MFDH
MGDH
MHDH
Frame
Symbol
A5-series, A-frame
A5-series, B-frame
A5-series, C-frame
A5-series, D-frame
A5-series, E-frame
A5-series, F-frame
A5-series, G-frame
A5-series, H-frame
Current rating Symbol
Specifications Symbol
1
3
4
5
Single phase, 100V
3-phase, 200V
3-phase, 400V
Single/3-phase, 200V
Current rating
Symbol
1 to 4 7 105 to 6 11 to 128 to 9
MADHT1505
1 to 4 75 to 6 10 to 128 to 9
NOTE)
Only for position control type is
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T1
T2
T3
T4
T5
T7
TA
TB
TC
10A
15A
30A
35A
50A
70A
100A
150A
300A
05
07
10
12
20
30
40
64
90
A2
B4
5A
7.5A
10A
12A
20A
30A
40A
64A
90A
120A
240A
Related page
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1-4
A to D-frame
E-frame
LED cover
Safety by-pass prug
Charge lamp
L1C
L2C
L1
L2
L3
B1
B3
B2
V
U
W
Connector XA:
for main power connection
05JFAT-SAXGF (JST)
Connector XB:
for motor connection
06JFAT-SAXGF (JST)
Terminals for external
regenerative resistor
(Normally short-circuit
B3 to B2)
Connector X6:
for encoder
connection
Connector X4: Parallel I/O connector
Connector X3: Safety function connector
Connector X2: for Serial bus
Connector X1: USB connector
Connector X5:
for feedback scale
connection
Connector X7: Monitor connector
Front panel
Screws for earth (x2)
Main power
input terminals
Control power
input terminals
Terminals for motor
connection
1Before Using
the Products 2. Driver
Parts Description
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Only for position control type is not provided with X2, X3 and X5.
LED cover
Safety by-pass prug
Screws for earth
(x2)
Charge lamp
L1C
L2C
L1
L2
L3
B1
B3
B2
NC*
* NC is no connect.
U
V
W
Connector XA:
for main power connection
05JFAT-SAXGSA-L (JST)
Connector XB:
for motor connection
03JFAT-SAXGSA-L (JST)
Connector XC:
Connector for external
regenerative resistor
04JFAT-SAXGSA-L (JST)
Terminals for external
regenerative resistor
(Normally short-circuit
B3 to B2)
Terminals for motor
connection
Control power
input terminals
Main power
input terminals
Connector X6:
for encoder
connection
Connector X4: Parallel I/O connector
Connector X3: Safety function connector
Connector X2: for Serial bus
Connector X1: USB connector
Connector X5:
for feedback scale
connection
Connector X7: Monitor connector
Front panel
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1-5
1
Before Using the Products
2
Preparation
3
Connection
4
Setup
5
Adjustment
6
When in Trouble
7
Supplement
2. Driver
Parts Description
F-frame
Terminal cover
LED cover
Safety by-pass prug
Control power
input terminals
L1
L2
L3
L1C
L2C
B1
B3
B2
NC*
U
V
W
Main power
input terminals
Terminals for motor
connection
Screws for earth (x2)
Terminals for external
regenerative resistor
(Normally short-circuit
B3 to B2)
Charge lamp
Connector X6:
for encoder
connection
Connector X4: Parallel I/O connector
Connector X3: Safety function connector
Connector X2: for Serial bus
Connector X1: USB connector
Connector X5:
for feedback scale
connection
Connector X7: Monitor connector
Front panel
* NC is no connect.
Details of terminal block
Note
Related page
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Only for position control type is not provided with X2, X3 and X5.
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1-6
2. Driver
Parts Description
G-frame
Terminal cover
LED cover
Safety by-pass prug
NC
NC
NC
L2C
L1C
NC
NC
NC
DB3
DB2
DB1
DB4
L1
L2
L3
B1
B2
NC
U
V
W
X1
X2
X3
X4
X5
X6
CHARGE
Control power input terminals
NC*
L1C
L2C
NC*
NC*
DB1
DB2
NC*
NC*
DB3
DB4
NC*
L1
L2
L3
B1
B2
NC*
U
V
W
Control terminal for dynamic brake resister
Control terminal for dynamic brake resister
(Normally short-circuit DB3 to DB4.)
Screws for earth (x2)
Charge lamp
Connector X6: for encoder connection
Connector X4: Parallel I/O connector
Connector X3: Safety function connector
Connector X2: for Serial bus
Connector X1: USB connector
Connector X5: for feedback scale
connection
Connector X7: Monitor connector
Front panel
Details of terminal block
Main power
input terminals
Terminals for motor
connection
Terminals for external
regenerative resistor
* NC is no connect.
Terminal cover
screw
Terminal cover
screw
Terminal cover
Note
Related page
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Only for position control type is not provided with X2, X3 and X5.
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Phone: [phone] - Fax: [phone] - Web: www.clrwtr.com - Email: [email protected]

1-7
1
Before Using the Products
2
Preparation
3
Connection
4
Setup
5
Adjustment
6
When in Trouble
7
Supplement
2. Driver
Parts Description
H-frame
X1
X2
X3
X4
X5
X6
CHARGE
L1 L2 L3 B1 B2 NC
L1C L2C DB1 DB2
UVW
L1
L1C
L2C
DB1
DB2
L2 L3 B1 B2 NC* UVW
Control power
input terminals
Screws for earth (x2)
Charge lamp
Connector X6: for encoder connection
Connector X4: Parallel I/O connector
Connector X3: Safety function connector
Connector X2: for Serial bus
Connector X1: USB connector
Connector X5: for feedback scale connection
Connector X7: Monitor connector
Front panel
Control terminal for
dynamic brake resister
Main power
input terminals Terminals for motor
connection
Terminals for external
regenerative resistor
Details of terminal block
* NC is no connect.
Terminal cover Terminal
cover screw
LED cover
Safety by-pass prug
Note
Related page
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Only for position control type is not provided with X2, X3 and X5.
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Phone: [phone] - Fax: [phone] - Web: www.clrwtr.com - Email: [email protected]

1-8
2. Driver
Parts Description
D, E-frame (400 V)
F-frame (400 V)
LED cover
Safety by-pass prug
Screws for earth
(x2)
Charge lamp
24V
0V
L1
L2
L3
B1
B3
B2
U
V
W
Connector XA:
for main power connection
03JFAT-SAYGSA-L (JST)
Connector XB:
for motor connection
03JFAT-SAXGSA-L (JST)
Connector XD:
Control power input terminals
02MJFAT-SAGF (JST)
Connector XC:
Connector for external
regenerative resistor
04JFAT-SAXGSA-L(JST)
Terminals for external
regenerative resistor
(Normally short-circuit
B3 to B2)
Terminals for
motor connection
Control power
input terminals
Main power
input terminals
Connector X6:
for encoder
connection
Connector X4: Parallel I/O connector
Connector X3: Safety function connector
Connector X2: for Serial bus
Connector X1: USB connector
Connector X5:
for feedback scale
connection
Connector X7: Monitor connector
Front panel
NC*
* NC is no connect.
Control power
input terminals
L1
L2
L3
24V
0V
B1
B3
B2
NC*
U
V
W
Main power
input terminals
Terminals for motor
connection
Screws for earth (x2)
Terminals for external
regenerative resistor
(Normally short-circuit
B3 to B2)
Charge lamp
Connector X6:
for encoder
connection
Connector X4: Parallel I/O connector
Connector X3: Safety function connector
Connector X2: for Serial bus
Connector X1: USB connector
Connector X5:
for feedback scale
connection
Connector X7: Monitor connector
Front panel
Terminal cover
LED cover
Safety by-pass prug
* NC is no connect.
Details of terminal block
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Only for position control type is not provided with X2, X3 and X5.
Phone: [phone] - Fax: [phone] - Web: www.clrwtr.com - Email: [email protected]