Panasonic MINAS A6 Series User manual

REFERENCE SPECIFICATIONS
MODEL
Product Name: AC servo driver
Part Number : MINAS-A6 series (Basic type)
Issued on Sept. 1, 2015
Revised on Sept. 14, 2016
Motor Business Unit, Electromechanical Control Business Division
Automotive & Industrial Systems Company, Panasonic Corporation
7-1-1 Morofuku , Daito-City, Osaka 574-0044 Japan
No.SX-DSV03015

No. SX-DSV03015
Motor Business Unit, Panasonic Corporation
REVISIONS
Date Page Rev. Description Signed
Spt. 1, 2015 - NEWLY ISSUED -
Nov. 1, 2015
- 1.0 DEFAULT VALUE OF THE PARAMETERS CHANGED -
Sept.14,2016
P1 2.0 UPDATE THE MODEL DESIGNATION CODE -
P1 CHANGED THE NAME OF COMPANY
P1, P3,P53, P65 ADDED THE MODEL OF MEDLN93SE
P5 ADDED THE FUNCTIONS
P56 ADDED THE HARMONIC SUPPRESSION MEASURES
P63～65 CORRECT THE INRUSH CURRENTS AT CONTROL POWER SUPPLY

No. SX-DSV03015
Motor Business Unit, Panasonic Corporation
Contents
1. Scope ·································································································································1
2. Model designation code············································································································1
3. Product line-up ······················································································································2
4. General specifications ··············································································································4
4-1 General specification ·········································································································4
4-2 Specifications by model······································································································5
5. Appearance and part names········································································································6
6. Configuration of connectors and terminal blocks···············································································11
6-1 Power connector XA , XB , XC , XD and terminal block ························································11
6-2 USB connector X1 ···········································································································15
6-3 Parallel I/O connector, X4 ··································································································16
6-4 Encoder connector X6·······································································································20
7. Dimensions ··························································································································23
8. Wiring ································································································································35
8-1 Used cables and maximum cable lengths ··················································································35
8-2 Various connectors············································································································35
8-3 Precautions for wiring ········································································································36
9. Compliance with global standards································································································49
9-1 Conforming standards ········································································································49
9-2 European EC directive········································································································49
9-3 Peripheral device configuration ·····························································································50
9-4 List of peripheral devices applicable to servo driver ·····································································53
9-5 Compliance with UL standard·······························································································55
9-6 Radio waves act (South Korea) precautions···············································································56
9-7 Compliance with SEMI F47 instantaneous stop standard ·······························································56
9-8 Harmonic suppression measures ····························································································56
10. Safety precautions ·················································································································57
11. Life and warranty··················································································································61
11-1 Life expectancy of the driver·······························································································61
11-2 Typical life···················································································································61
11-3 Warranty period··············································································································61
12. Others ·······························································································································62
13. Specification for each model·····································································································63
The maximum value of torque limit setup
Default value of the parameters

No. SX-DSV03015 - 1 -
Motor Business Unit, Panasonic Corporation
1. Scope
These specifications relate to the servo driver for the AC servo system that is comprised of the AC servo motor
manufactured and supplied by Motor Business Unit, Electromechanical Control Business Division, Automotive &
Industrial amplifier Systems Company, Panasonic Corporation.
2. Model designation code
Notation of the machine designation code is as follows:
1 2 3 4 5 6 7 8 9 10 11 12
M A D L N 1 5 S E * * *
Custom specification (Alphanumeric)
User Interface
•Rotary type
E : Basic type
Power supply voltage
1 : Single phase 100 V
3 : 3 phase 200 V
5 : Single or 3 phase 200 V
Size
A : Size A
B : Size B
C : Size C
D : Size D
E : Size E
F : Size F
AC Servo drive
L : A6 series
Safety function
N : Without functional safety
Maximum instantaneous
output current
0 : 6 A
1 : 8 A
2 : 12 A
3 : 22 A
4 : 24 A
5 : 40 A
8 : 60 A
9 : 80 A
A : 100 A
B : 120 A

No. SX-DSV03015 - 2 -
Motor Business Unit, Panasonic Corporation
3. Product line-up
Servo driver Motor used
Model Size Power supply
input Model Voltage
specification Rated output Rated speed Encoder
specification
MADLN01SE A Single MSMF5AZL1** 100 V 50 W 3000 r/min 7 cores, 23 bits
100 V MHMF5AZL1** 100 V 50 W 3000 r/min 7 cores, 23 bits
MADLN11SE A Single MSMF011L1** 100 V 100 W 3000 r/min 7 cores, 23 bits
100 V MQMF011L1** 100 V 100 W 3000 r/min 7 cores, 23 bits
MHMF011L1** 100 V 100 W 3000 r/min 7 cores, 23 bits
MADLN05SE A Single / 3 phase MSMF5AZL1** 200 V 50 W 3000 r/min 7 cores, 23 bits
200 V MHMF5AZL1** 200 V 50 W 3000 r/min 7 cores, 23 bits
MSMF012L1** 200 V 100 W 3000 r/min 7 cores, 23 bits
MQMF012L1** 200 V 100 W 3000 r/min 7 cores, 23 bits
MHMF012L1** 200 V 100 W 3000 r/min 7 cores, 23 bits
MADLN15SE A Single / 3 phase MSMF022L1** 200 V 200 W 3000 r/min 7 cores, 23 bits
200 V MQMF022L1** 200 V 200 W 3000 r/min 7 cores, 23 bits
MHMF022L1** 200 V 200 W 3000 r/min 7 cores, 23 bits
MBDLN21SE B Single MSMF021L1** 100 V 200 W 3000 r/min 7 cores, 23 bits
100 V MQMF021L1** 100 V 200 W 3000 r/min 7 cores, 23 bits
MHMF021L1** 100 V 200 W 3000 r/min 7 cores, 23 bits
MBDLN25SE B Single / 3 phase MSMF042L1** 200 V 400 W 3000 r/min 7 cores, 23 bits
200 V MQMF042L1** 200 V 400 W 3000 r/min 7 cores, 23 bits
MHMF042L1** 200 V 400 W 3000 r/min 7 cores, 23 bits
MCDLN31SE C Single MSMF041L1** 100 V 400 W 3000 r/min 7 cores, 23 bits
100 V MQMF041L1** 100 V 400 W 3000 r/min 7 cores, 23 bits
MHMF041L1** 100 V 400 W 3000 r/min 7 cores, 23 bits
MCDLN35SE C Single / 3 phase MSMF082L1** 200 V 750 W 3000 r/min 7 cores, 23 bits
200 V MHMF082L1** 200 V 750 W 3000 r/min 7 cores, 23 bits
MDDLN45SE D Single / 3 phase MGMF092L1** 200 V 850 W 1500 r/min 7 cores, 23 bits
200 V MSMF092L1** 200 V 1.0 kW 3000 r/min 7 cores, 23 bits
MDMF102L1** 200 V 1.0 kW 2000 r/min 7 cores, 23 bits
MHMF102L1** 200 V 1.0 kW 2000 r/min 7 cores, 23 bits
MDDLN55SE D Single / 3 phase MHMF092L1** 200 V 1.0 kW 3000 r/min 7 cores, 23 bits
200 V MSMF102L1** 200 V 1.0 kW 3000 r/min 7 cores, 23 bits
MGMF132L1** 200 V 1.3 kW 1500 r/min 7 cores, 23 bits
MSMF152L1** 200 V 1.5 kW 3000 r/min 7 cores, 23 bits
MDMF152L1** 200 V 1.5 kW 2000 r/min 7 cores, 23 bits
MHMF152L1** 200 V 1.5 kW 2000 r/min 7 cores, 23 bits

No. SX-DSV03015 - 3 -
Motor Business Unit, Panasonic Corporation
Servo driver Motor used
Model Size Power supply
input Model Voltage
specification Rated output Rated speed Encoder
specification
MEDLN83SE E 3 phase MGMF182L1** 200 V 1.8 kW 1500 r/min 7 cores, 23 bits
200 V MSMF202L1** 200 V 2.0 kW 3000 r/min 7 cores, 23 bits
MDMF202L1** 200 V 2.0 kW 2000 r/min 7 cores, 23 bits
MHMF202L1** 200 V 2.0 kW 2000 r/min 7 cores, 23 bits
MEDLN93SE E 3 phase 200 V MGMF242L1** 200 V 2.4 kW 1500 r/min 7 cores, 23 bits
MFDLNA3SE F 3 phase MSMF302L1** 200 V 3.0 kW 3000 r/min 7 cores, 23 bits
200 V MDMF302L1** 200 V 3.0 kW 2000 r/min 7 cores, 23 bits
MHMF302L1** 200 V 3.0 kW 2000 r/min 7 cores, 23 bits
MFDLNB3SE F 3 phase MGMF292L1** 200 V 2.9 kW 1500 r/min 7 cores, 23 bits
200 V MSMF402L1** 200 V 4.0 kW 3000 r/min 7 cores, 23 bits
MDMF402L1** 200 V 4.0 kW 2000 r/min 7 cores, 23 bits
MHMF402L1** 200 V 4.0 kW 2000 r/min 7 cores, 23 bits
MGMF442L1** 200 V 4.4 kW 1500 r/min 7 cores, 23 bits
MSMF502L1** 200 V 5.0 kW 3000 r/min 7 cores, 23 bits
MDMF502L1** 200 V 5.0 kW 2000 r/min 7 cores, 23 bits
MHMF502L1** 200 V 5.0 kW 2000 r/min 7 cores, 23 bits

No. SX-DSV03015 - 4 -
Motor Business Unit, Panasonic Corporation
4. General specifications
4-1 General specification
Basic specifications
Input
power
supply
100 V
Main circuit power Single phase 100 - 120 V
+ 10%
- 15% 50/60 Hz
Control circuit power Single phase 100 - 120 V
+ 10 %
- 15 % 50/60 Hz
200 V
Main circuit
power
A - D Single/3 phase 200 - 240 V
+ 10 %
- 15 % 50/60 Hz
E - F 3 phase 200 - 240 V
+ 10 %
- 15 % 50/60 Hz
Control circuit
power
A - D Single phase 200 - 240 V
+ 10 %
- 15 % 50/60 Hz
E - F Single phase 200 - 240 V
+ 10 %
- 15 % 50/60 Hz
Operation conditions
Temperature Operation temperature: 0 - 55 degrees C (no freezing)
Storage temperature: -20 – 65 degrees C (Max.temperature guarantee : 80 degrees C for 72 hours
no condensation*)
Humidity Operation and storage humidity 20 - 85 %RH or less (no condensation*)
Height above the sea
Height above the sea level: 1000 meters or less
Vibration
5. 88 m/s
2
or less, 10 – 60 Hz
Insulation voltage
Resistant to 1500 V AC between primary power supply and ground for a minute (Sensed current: 20 mA)
Control method
IGBT PWM method, sinusoidal drive
Encoder feedback
23Bit(resolution:8388608) 7cores-serial absolute encoder
Control signal
Input Multi-function input x 10
Function of each multi-function input is assigned by the parameter.
Output Multi-function output x 5 + dedicated output x 1 (alarm output)
Function of each multi-function output is assigned by the parameter.
Analogue signal
Output
2 outputs for analog monitor
Pulse signal
Input
2 inputs
Both open collector and line driver interface can be connected.
High speed line driver interface can be connected.
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.
Front panel
5 key switches, 6-digit 7-segment LED
Regeneration
Size A, B: External regen resistor only Size C - F: Built-in regen resistor (External regen is also available)
Dynamic brake
Size A - F: Built-in
Control mode Selectable from the following 3 modes by parameter:
[1]position control [2]velocity control [3]position/velocity control
Please note that condensation tend to occur when temperature fall.

No. SX-DSV03015 - 5 -
Motor Business Unit, Panasonic Corporation
Function
Position control
Control input
Deviation counter clear, command pulse input inhibition, command division/multiplication switching,
vibration suppression control switching, etc.
Control output Positioning completion, etc.
Pulse input
Max command pulse
frequency 500 K[pulse/s] (when using the photo coupler input)
8 M[pulse/s] (when using the line receiver input of A-phase /B-phase)
Command pulse input
mode Differential input. Differential input can be selected by parameters. ((1) Positive direction/ negative direction,
(2) A-phase/B-phase (3) Command/ direction)
Command pulse scaling
(Electronic gear)
1/1000 to 8000 times
Although electronic gear ratio of the encoder resolution (numerator) and command number of pulses per revolution of the
motor (denominator) can be arbitrarily set in the range of 1 to 223 for the numerator and in the range of 1 to 223 for the
denominator, this product should be used within the aforementioned range.
Smoothing Filter
Primary delay filter or FIR filter is selectable for command input.
Vibration suppression control Maximum of 3 may be used simultaneously
Model type vibration damping filter Maximum of 2 may be used simultaneously
2 degrees of freedom control Available
Load fluctuation suppression control Available
Position compare output function
Available
[Condition] Block operation valid setting
Return to origin completed state in increment mode (when block operat
ion origin return invalidation setting is set to
invalid)
Block operation Available
Velocity control
Control input
Internal command velocity selection 1, Internal command velocity selection 2, Internal command velocity selection 3,
speed zero clamp, etc.
Control output
Speed arrival, etc.
Internal velocity command It is possible to switch 8 speeds of internal velocity with control input.
Soft start/down function
0 to 10s/1000 r/min r/min Setting is possible for acceleration and deceleration respectively. S shaped
acceleration/deceleration is possible.
Speed zero clamp Internal velocity command can be clamped to 0 with speed zero clamp input.
Velocity command filter
Available
2 degrees of freedom control Available
Load fluctuation suppression control Available
Position compare output function Not available
Block operation
Not available
Common
Auto-tuning
This function identifies the load inertia real-time and automatically sets up the gain that meets the stiffness setting
when the motor is running with host and internal driver operation commands.
Pulse signal output division function Number of pulses can be arbitrarily set. (However, the number of encoder pulses is the maximum number.)
Protection function
Overvoltage, undervoltage, overspeed, overload, overheat, overcurrent, encoder failure, positional overdeviation,
command pulse division, EEPROM failure, etc.
Alarm data trace back function Reference of history of alarm data is available.
Infinite rotation absolute function Available
Deterioration diagnosis function Available
4-2 Specifications by model
Refer to specification for each model.

No. SX-DSV03015 - 6 -
Motor Business Unit, Panasonic Corporation
5. Appearance and part names
100 V,200 V size A, B
X1：USB connection
UB-M5BR-S14-4S(LF)(SN) (JST)
(or equivalent)
X4：Parallel I/O connection
DF02R050NA2 (JAE)
(or equivalent)
X6：Encoder connection
3E106-223AKV(3M)
(or equivalent)
XA：Power supply input connection
05JFAT-SAXGGKK-A (JST)
(or equivalent)
XB：Motor connection
06JFAT-SAXGGKK-A (JST)
(or equivalent)
XA：Power supply input
S05B-F32SK-GGXR (JST)
(or equivalent)
XB：Motor output
S06B-F32SK-GGXR (JST)
(or equivalent)
Charge lamp
Front panel
Earth connection screw
XA：Power supply input connection
XB：Motor connection
L1
L2
L3
L1C
L2C
P
N
B
U
V
W
Main power supply
input
Control power supply
input
Regenerative resistor
connection
Motor output

No. SX-DSV03015 - 7 -
Motor Business Unit, Panasonic Corporation
100 V,200 V size C, D
X1：USB connection
UB-M5BR-S14-4S(LF)(SN) (JST)
(or equivalent)
X4：Parallel I/O connection
DF02R050NA2 (JAE)
(or equivalent)
X6：Encoder connection
3E106-223AKV(3M)
(or equivalent)
XA：Power supply input connection
05JFAT-SAXGGKK-A (JST)
(or equivalent)
XB：Motor connection
06JFAT-SAXGGKK-A (JST)
(or equivalent)
XA：Power supply input
S05B-F32SK-GGXR (JST)
(or equivalent)
XB：Motor output
S06B-F32SK-GGXR (JST)
(or equivalent)
Charge lamp
Front panel
Earth connection screw
XA：Power supply input connection
XB：Motor connection
L1
L2
L3
L1C
L2C
P
RB
B
U
V
W
Main power supply
input
Control power supply
input
Regenerative resistor
connection
Motor output

No. SX-DSV03015 - 8 -
Motor Business Unit, Panasonic Corporation
200 V size E
X1：USB connection
UB-M5BR-S14-4S(LF)(SN) (JST)
(or equivalent)
X4：Parallel I/O connection
DF02R050NA2 (JAE)
(or equivalent)
X6：Encoder connection
3E106-223AKV(3M)
(or equivalent)
Charge lamp
Front panel
Earth connection screw
XA：Power supply input connection
XC：Regenerative resistor connection
XB：Motor connection
XA：Power supply input connection
05JFAT-SAXGSA-L (JST)
(or equivalent)
XC：Regenerative resistor connection
04JFAT-SAXGSA-L (JST)
(or equivalent)
XB：Motor connection
03JFAT-SAXGSA-L (JST)
(or equivalent)
XA：Power supply input
S05B-JTSLSK-GSANXR (JST)
(or equivalent)
XB：Motor output
S03B-JTSLSK-GSANXR (JST)
(or equivalent)
XC：Regenerative resistor connection
S04B-JTSLSS-GSANXR (JST)
(or equivalent)
L1
L2
L3
L1C
L2C
P
RB
B
N
U
V
W
Main power supply
input
Control power supply
input
Regenerative resistor
connection
Motor output

No. SX-DSV03015 - 9 -
Motor Business Unit, Panasonic Corporation
200 V size F
X1：USB connection
UB-M5BR-S14-4S(LF)(SN) (JST)
(or equivalent)
X4：Parallel I/O connection
DF02R050NA2 (JAE)
(or equivalent)
X6：Encoder connection
3E106-223AKV(3M)
(or equivalent)
Charge lamp
Front panel
Earth connection screw
L1
L2
L3
L1C
L2C
P
RB
B
N
U
V
W
Main power supply
input
Control power supply
input
Regenerative resistor
connection
Motor output

No. SX-DSV03015 - 10 -
Motor Business Unit, Panasonic Corporation
Name plate
Model number
Serial number
e.g.):
P 1 5 0 7 0 0 0 1 N
Lot number
Month of
production
Year of production
(Lower 2 digit of AD year)
Input/output voltage
Number of phase
Rated input/output
current
Input/output
frequency
Rated output of
applicable motor
QR code
standard mark
Country of
origin
Manufacture date
e.g.):
20150 7 0 1
Manufacture date
Manufacture month
Manufacture year

No. SX-DSV03015 - 11 -
Motor Business Unit, Panasonic Corporation
6. Configuration of connectors and terminal blocks
6-1 Power connector XA , XB , XC , XD and terminal block
[1] Size A, B of 100 V and 200 V system
Connector
pin No.
Terminal
symbol
Name Description
XA
5 L1
Main power
supply input
100 V Single phase 100-120 V
+ 10 %
50/60 Hz input
- 15 %
Use L1 and L3 terminal for single phase input
4 L2 200 V Single or 3 phase 200-240 V
+ 10 %
50/60 Hz input
- 15 %
3 L3 Use L1 and L3 terminal for single phase input
2 L1C Control power
supply input
100 V Single phase 100-120 V
+ 10 %
50/60 Hz input
- 15 %
1 L2C 200 V Single phase 200-240 V
+ 10 %
50/60 Hz input
- 15 %
XB
6 P
Regen resistor
connection

When a trip happens due to a regenerative load protection error, connect
an external regenerative resistor (prepared by customer) between P and
B.
Then, specify the external regenerative resistor for the parameter
Pr0.16.
Do not connect N terminal.
5 N
4 B
3
U
Motor connection Connect each phase of the motor winding.
U: U phase V: V phase W: W phase
2
V
1
W
Earth Earth terminal for grounding
* Tighten the earth screws M4 with the 0.7-0.8 Nm torque respectively.

No. SX-DSV03015 - 12 -
Motor Business Unit, Panasonic Corporation
[2] Size C, D of 100 V and 200 V system
Connector
pin No.
Terminal
symbol
Name Description
XA
5 L1
Main power supply
input
100 V Single phase 100-120 V
+ 10 %
50/60 Hz input
- 15 %
Use L1 and L3 terminal for single phase input
4 L2 200 V Single or 3 phase 200 – 240 V
+ 10 %
50/60 Hz input
- 15 %
3 L3 Use L1 and L3 terminal for single phase input
2 L1C Control power
supply input
100 V Single phase 100-120 V
+ 10 %
50/60 Hz input
- 15 %
1 L2C 200 V Single phase 200 – 240 V
+ 10 %
50/60 Hz input
- 15 %
XC
4 N
- Do not connect.
3
2 P
1
XB
6 P
Regen resistor
connection

Normally, short out the circuit between B and RB. (Sizes C, D)
When a trip happens due to a regenerative load protection error, open the
circuit between B and RB and connect an external regenerative resistor
(prepared by customer) between P and B.
Then, specify the external regenerative resistor for the parameter
Pr0. 16.
5 RB
4 B
3
U
Motor connection Connect each phase of the motor winding.
U: U phase V: V phase W: W phase
2
V
1
W
Earth Earth terminal for grounding
* Tighten the earth screws M4 with the 0.7-0.8 Nm torque respectively.

No. SX-DSV03015 - 13 -
Motor Business Unit, Panasonic Corporation
[3] Size E of 200 V system
Connector
pin No.
Terminal
symbol
Name Description
XA
5
L1
Main power supply
input 200 V 3 phase 200 - 240 V + 10 %
- 15 % 50/60 Hz input
4
L2
3
L3
2
L1C
Control power
supply input 200 V Single phase 200 - 240 V + 10 %
- 15 % 50/60 Hz input
1
L2C
XC
4 P
Regen resistor
connection
Normally, short out the circuit between RB and B.
When a trip happens due to a regenerative load protection error, open the
circuit between RB and B and connect an external regenerative resistor
(prepared by customer) between P and B.
Then, specify the external regenerative resistor for parameter Pr0. 16.
Do not connect N terminal.
3 RB
2 B
1 N
XB
3
U
Motor connection Connect each phase of the motor winding.
U: U phase V: V phase W: W phase
2
V
1
W
Earth Earth terminal for grounding
* Tighten the earth screws M4 with the 0.7-0.8 Nm torque respectively.

No. SX-DSV03015 - 14 -
Motor Business Unit, Panasonic Corporation
[4] Size F of 200V system
Terminal block is used instead of connector.
Terminal
No.
(Upper to
bottom)
Terminal
symbol Name Description
Terminal block
1
L1
Main power supply
input 3 phase 200 - 240 V + 10 %
- 15 % 50/60 Hz input
2
L2
3
L3
4
L1C
Control power
supply input Single phase 200 - 240 V + 10 %
- 15 %
50/60 Hz input
5
L2C
6 P
Regen resistor
connection

Normally, short out the circuit between RB and B.

When a trip happens due to a regenerative load protection error, open the
circuit between RB and B and connect an external regenerative resistor
(prepared by customer) between P and B.
Then, specify the external regenerative resistor for parameter Pr0. 16.
Do not connect N terminal.
7
RB
8
B
9 N
10 U
Motor connection Connect each phase of the motor winding.
U: U phase V: V phase W: W phase
11 V
12 W
Earth Earth terminal for grounding
* Tighten the earth screws M5 with the 1.4 -1.6 Nm torques respectively.
* Tighten the terminal block screws M5 with the 1.0-1.7 Nm torques respectively.
* Tighten the fixing screw M3 for the terminal block cover with the 0.2 Nm torque.
* If the maximum value of tightening torque is exceeded, the terminal block could be damaged.

No. SX-DSV03015 - 15 -
Motor Business Unit, Panasonic Corporation
6-2 USB connector 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
USB signal
VBUS 1
Communicate with a computer or a controllerD- 2
D+ 3
For manufacturer use −4 Do not connect
Signal ground GND 5 Signal ground

No. SX-DSV03015 - 16 -
Motor Business Unit, Panasonic Corporation
6-3 Parallel I/O connector, X4
Common digital inputs
Name Symbol Con
-
nector
pin No.
Description Circuit
Power supply input COM+ 7
・Connect to the + terminal of an external DC power supply (12 to 24 V)
・Use a 12 V (±5 %) to 24 V (±5 %) power supply
・Insulation is needed against theprimary side power supply.
Please do not connect them with the same power supply.

Multi-function input 1
SI1
8
The function changes according to the parameter settings. See below. i-1
Multi-function input 2
SI2
9
Multi-function input 3
SI3
26
Multi-function input 4
SI4
27
Multi-function input 5
SI5
28
Multi-function input 6
SI6
29
Multi-function input 7
SI7
30
Multi-function input 8
SI8
31
Multi-function input 9
SI9
32
Multi-function input 10
SI10
33
Functions allocatable to multi-function inputs
Name
Symbol
Description
Servo ON SRV-ON 
When turned ON, the servo is turned on (power is supplied to the motor).
When turned OFF, the servo is turned off and the motor power is turned off.
Control mode switch C-MODE Switches the control modes.
Positive overtravel limit POT

Positive overtravel limit.
Make sure to connect this so that the contact point will be opened when the movable
module positively exceeded the movable range.
When this input is OFF, a positive torque does not occur.
Negative overtravel limit NOT

Negative overtravel limit.
Make sure to wire this input to be activated as the work over travels the limit in the
negative direction.

When this input is OFF, a negative torque does not occur.
Deviation counter clear
CL

Clears the position deviation counter.
Command pulse inhibition
INH

Ignores the position command pulse.
Preset velocity 1
INTSPD1
Preset speed.
Allows you to set up to 8 internal velocities by combining INTSPDs 1 - 3.
Preset velocity 2
INTSPD2
Preset velocity 3
INTSPD3
Speed zero clamp
ZEROSPD 
Sets the speed command to zero.
Anti-vibration switch 1
VS-SEL1 Switches the applied frequencies for anti-vibration control.
Anti-vibration switch 2
VS-SEL2
Gain switch
GAIN

Input to switch the gains.
Torque limit switch
TL-SEL

Switches the torque limits.
Alarm clear
A-CLR

Digital input to clear the alarm.
Command scaling switch
VC-SIGN

Specifies the sign of the speed command during the speed control.
Torque command sign
TC-SIGN

Specifies the sign of the torque command during the torque control.
Command scaling switch 1
DIV1

Switches the scaling numerators of the command pulse.

Allows you to switch up to 4 numerators by combining DIVs 1, 2.
Command scaling switch 2
DIV2
Forced alarm input
E-STOP

Generates Err87. 0 "Abnormal forced alarm input."
Inertia ratio switch
J-SEL 
Switches the inertia ratios.

No. SX-DSV03015 - 17 -
Motor Business Unit, Panasonic Corporation
Input signals (command pulse train) and their functions
A suitable interface can be chosen from two kind of interface based on the specification of command pulses.
A. Pulse train interface with line driver
Name Symbol
Con
-nector
pin No.
Description Circuit
Command pulse
input 1
PULSH1 44
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 8 Mpps.
Di-2
PULSH2 45
Command direction
input 1
SIGNH1 46
SIGNH2 47
B. Pulse train interface with optocoupler
Name Symbol
Con
-nector
Pin No.
Description Circuit
Command pulse
input 2
OPC1 1
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 500
kpps for line driver input, and
200 kpps for open collector input.
Di-1
PULS1 3
PULS2 4
Command direction
input 2
OPC2 2
SIGN1 5
SIGN2 6