Panasonic MINAS A6N Series User manual

Operating Instructions (Overall)
AC Servo Motor & Driver
MINAS A6N series
Rev.2.00
•
Thank you for purchasing this Panasonic product.
•
Before operating this product, please read the instructions carefully.
•
Read the the Safety Operating Instructions before using the products (P.6 to 9).
•
Save this manual for future use.
•
This product is for industrial equipment. Do not use this product other than this(at general household etc.).

2Rev.2.00
Thank you for purchasing Digital AC Servo Motor & Driver, MINAS A6N series. This
instruction manual contains information necessary to correctly and safely use the MINAS
A6N 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.
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.
Caution

Rev.2.00 3
Organization of this manual
1.Before Using the Products
Check of the Driver Model ... Installation
Describes how to identify and select the desired product and components, how to
read the specications, and how to install the equipment.
2.Preparation
Setup and Wiring
Shows the setting, wiring, and describes how to make wiring and to use the front
panel.
3.Setup
Control Mode ... Parameters
Shows block diagrams for each control mode and connection diagrams to the host
controllor, I/O settings.
4.Trial Run
Trial Run and Homing Operation
Shows describes method of trial run and homing 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 Absolute systerm, S-T characteristic diagram, dimensional outline
drawing, supplemental description on communications and operation.
1
Before Using the Products
2
Preparation
3
Setup
4
Trial Run
5
Adjustment
6
When in Trouble
7
Supplement

4Rev.2.00
Contents
Organization of this Manual ............................................................................................. 3
Safety Precautions ............................................................................................................. 6
Maintenance and Inspections ....................................................................................... 10
Software Version .............................................................................................................. 12
1. Before Using the Products ...................................................................1-1
1. Introduction ...............................................................................................................1-2
2. Driver .......................................................................................................................1-4
3. Motor .......................................................................................................................1-11
4. Check of the Combination of the Driver and the Motor ...........................................1-15
2. Preparation .........................................................................................................2-1
1. Composition of Peripheral Equipments ..............................................................2-2
2. Conformance to International Standards .......................................................... 2-10
3. List of Applicable Peripheral Equipments to Driver..................................................2-18
4. Installation ...............................................................................................................2-22
5. Wiring of the Main Circuit ........................................................................................2-29
6. Wiring to the Connector, X1 ....................................................................................2-43
7. Wiring to the Connector, X2A, X2B .........................................................................2-44
8. Wiring to the Connector, X4 ...................................................................................2-47
9. Wiring to the Connector, X6 ....................................................................................2-61
10. Wiring to the Connector, X7 ..................................................................................2-64
11. Built-in Holding Brake ...........................................................................................2-65
12. Dynamic Brake ......................................................................................................2-67
13. How to Use the Front Panel ..................................................................................2-70
3. Setup .......................................................................................................................3-1
1. Outline of Command Input and Network ...................................................................3-2
2. Outline of Control Mode ............................................................................................3-6
3. Setup and List of Parameters .................................................................................3-15
4. Details of Parameter ...............................................................................................3-39
4. Trial Run ........................................................................................................................4-1
1. Trial Run ...................................................................................................................4-2
2. Homing Operation .....................................................................................................4-8
page

5Rev.2.00
1
Before Using the Products
2
Preparation
3
Setup
4
Trial Run
5
Adjustment
6
When in Trouble
7
Supplement
5. Adjustment...........................................................................................................5-1
1. Gain Adjustment .......................................................................................................5-2
2. Real-Time Auto-Gain Tuning ....................................................................................5-4
3. Adaptive Filter .........................................................................................................5-28
4. Manual Gain Tuning (Basic) ...................................................................................5-31
5. Manual Gain Tuning (Application) ...........................................................................5-43
6. Application Function ................................................................................................5-65
6. When in Trouble ..............................................................................................6-1
1. When in Trouble .......................................................................................................6-2
2. Setup of Gain Pre-adjustment Protection ...............................................................6-42
3. About the Protection Function Setting while Returning to the Origin by Using the Z Phase ........ 6-46
4. Troubleshooting ......................................................................................................6-48
7. Supplement .......................................................................................................7-1
1. Absolute System .......................................................................................................7-2
2. Outline of Setup Support Software, “PANATERM” ................................................... 7-9
3. Motor Characteristics (S-T Characteristics) ............................................................ 7-11
4. Dimensions .............................................................................................................7-32
5. Timing Chart ...........................................................................................................7-62
6. Block Diagram .........................................................................................................7-67
7. Options ....................................................................................................................7-69
Warranty ...........................................................................................................................7-109
Cautions for Proper Use.................................................................................................... 7-110
Revision ............................................................................................................................7-111
After-Sale Service ................................................................................................... Back cover
1
Before Using the Products
2
Preparation
3
Setup
4
Trial Run
5
Adjustment
6
When in Trouble
7
Supplement
page

6Rev.2.00
The following explanations are for things that must be observed in order to prevent harm to
people and damage to property.
• Misuses that could result in harm or damage are shown as follows, classied according to the
degree of potential harm or damage.
Danger Indicates great possibility of death or serious injury.
Caution Indicates the possibility of injury or property damage.
• The following indications show things that must be observed.
Indicates something that must not be done.
Indicates something that must be done.
Danger
Do not subject the Product to water, corrosive or
ammable gases, and combustibles. Failure to observe this instruc-
tion could result in re, electrical
shocks, damages and malfunc-
tion.
Do not place combustibles near by the motor,
driver regenerative resistor and dynamic brake
resister..
Do not use the motor in a place subject to exces-
sive vibration or shock.
Failure to observe this instruc-
tion could result in electrical
shock, injury or re.
Do not use cables soaked in water or oil.
Failure to observe this instruc-
tion could result in electrical
shocks, damages and malfunc-
tion.
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-
tion could result in re and
malfunction.
Do not connect the motor directly to the commer-
cial power supply.
Do not attempt to carry out wiring or manual op-
eration with wet hand.
Failure to observe this instruc-
tion could result in electrical
shock, injury or re.
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.

Rev.2.00 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.
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 and
parts damage.
Do not drive the motor with external power. Failure to observe this instruc-
tion could result in re.
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 malfunc-
tion.
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-
sonal injury, re, malfunction or
damage.
Mount the motor, driver and peripheral equip-
ments on incombustible material such as metal.
Installation on a ammable ma-
terial may cause re.
Wiring has to be carried out by the qualied and
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
circuit, electric shock, re or
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
securely to prevent any possible re or accidents
incurred by earthquake.
Failure to heed this requirement
will result in electric shock, per-
sonal injury, re, malfunction or
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.
Failure to heed these require-
ments will result in electric
shock, personal injury or re.
Check and conrm the safety of the operation
after the earthquake.
Before transporting, wiring and inspecting the
driver, turn off power and wait for a time longer
than that specied on the name plate on the side
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
Setup
4
Trial Run
5
Adjustment
6
When in Trouble
7
Supplement

8Rev.2.00
Caution
Do not hold the motor cable or motor shaft during
the transportation.
Failure to observe this instruc-
tion could result in injury.
Do not drop or cause topple over of something
during transportation or installation.
Failure to observe this instruc-
tion could result in injury and
malfunction.
Do not step on the Product nor place the heavy
object on them.
Failure to observe this instruc-
tion could result in electrical
shocks, injury, malfunction and
damages.
Do not place any obstacle object around the mo-
tor and peripheral, which blocks air passage.
Temperature rise will cause
burn injury or re.
Do not use the equipment under direct sunshine.
Failure to heed these instruc-
tions will cause personal injury
or re.
Do not block the heat dissipating holes or put the
foreign particles into them.
Failure to observe this instruc-
tion could result in electrical
shocks and re.
Do not give strong impact shock to the Product. Failure to observe this instruc-
tion could result in malfunction.
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 malfunction.
Do not 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 injury.
Do not use the built-in brake as a "Braking" to
stop the moving load.
Failure to observe this instruc-
tion could result in injury and
malfunction.
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 injury.
Do not attempt to perform modication, dismantle
or repair.
Failure to heed this instruction
will result in re, electric shock,
personal injury or malfunction.
Safety Precautions Please observe safety precautions fully.

Rev.2.00 9
Make an appropriate mounting of the Product
matching to its wight and output rating. Failure to heed these require-
ments will result in personal
injury or malfunction.
Observe the specied mounting method and di-
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.
Adjust the motor and driver ambient environmen-
tal condition to match the motor operating tem-
perature and humidity. Failure to heed these require-
ments will result in personal
injury or malfunction.
Create the specied clearance between the driver
and the control panel inner surface or other de-
vices.
Observe the specied voltage.
Operation from a voltage out-
side the rated voltage will cause
electric shock, personal injury
or re.
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
or re.
Use the motor and the driver in the specied com-
bination.
Not using the motor and the
driver in the specied combina-
tion will result in re.
Trial run the securely xed motor without loading
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-
tinue to pass will result in re.
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
Setup
4
Trial Run
5
Adjustment
6
When in Trouble
7
Supplement

10 Rev.2.00
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. While
power is veing supplied, do not approach the motor and the machine driwen by the
motor in case of malfunctioning.
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 charge lamp 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 malfunction of the
driver.
4) Do not use benzine, thinner, alcohol, acidic cleaner and alkaline cleaner because they
can discolor or damage the exterior case.
Inspection Items and Cycles
General and normal running condition
Ambient conditions : 30 ˚C (annual average), load factor of 80 % or
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
• Ambient temperature, humidity, speck, dust or foreign object
• Abnormal vibration and noise
• Main circuit voltage
• Odor
• Lint or other particles at air holes
• Cleanness at front portion of the driver and connector
• Damage of the cables
• Loose connection or misalignment between the motor and
machine or equipment
• Pinching of foreign object at the load
Periodic
inspection Annual
• Loose tightening
• Trace of overheat
• Damage to the terminal block
• Loose fasteners on terminal block
Note Periodic inspection cycle may change when the running conditions of the above
change.
Maintenance and Inspections

Rev.2.00 11
Related page
• P.7-109“Warranty”
Guideline for Parts Replacement
Parts replacement cycle varies depending on the actual 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
error, replacement is required
even before this standard
replacement cycle.
Cooling fan Approx. 2 years
Aluminum electrolytic
capacitor (on PCB) Approx. 5 years
Rush current
preventive relay
Approx. 100000 times
(depending on working
condition)
Rush current
preventive resistor
Approx. 20000 times
(depending on working
condition)
Motor
Bearing 3 to 5 years
(20000 to 30000 hours)
Oil seal 5000 hours
Encoder 3 to 5 years
(20000 to 30000 hours)
Battery
for absolute encoder
Life time of battery read
P7-6 please.
1
Before Using the Products
2
Preparation
3
Setup
4
Trial Run
5
Adjustment
6
When in Trouble
7
Supplement

12 Rev.2.00
Software Version
Software
version
Functional change contents Available
PANATERM
CPU1 Ver1.04
CPU2 Ver1.01
Initial release 6.0.0.6
or later
CPU1 Ver1.05
CPU2 Ver1.02
Function extended edition 1
6.0.0.8
or later
Additional function Related page
1) Extend the quadrant projection suppression function P.3-98, P.5-58
2) Correction function for detection delay of latch position P.3-105, P.3-109, P.3-114
CPU1 Ver1.20
or later
CPU2 Ver1.20
or later
Function extended edition 2
6.0.0.9
or later
Additional function Related page
1) Slow stop function P.3-87, P.6-34
2) Deterioration diagnosis warning function P.3-88, P.3-89, P5-80
3) Dynamic brake (DB) operation function by I/O P3-82, P3-96
4) Battery refresh function -
5) Extend the protection function of motor working
range setting P6-28
6) Support of electronic gear to single-turn absolute
function/innitely rotatable absolute function P5-71，P5-76
7) Pause function of prole operation
A6N series technical reference
RTEX communication specication
6-8-4
8) Extend the RTEX alarm command function
A6N series technical reference
RTEX communication specication
6-6, 6-6-4, 6-6-5
9) Extend the settable range of electronic gear P1-10, P3-42
10) Extend the PANATERM command function during
the establishment of RTEX communication
A6N series technical reference
RTEX communication specication
4-2-3, 4-3-3, 6-9-3
11) Extend the data of RTEX monitor command
A6N series technical reference
RTEX communication specication
6-9-1, 6-9-6
12) Extend the data of front panel display P3-104
13) Extend the prole homing function
A6N series technical reference
RTEX communication specication
7-5-11
14) Extend the data of monitor signal output function P3-68
Software Version

Rev.2.00 13
Software Version
Software
version
Functional change contents Available
PANATERM
CPU1 Ver1.21
CPU2 Ver1.21
Function extended edition 3
6.0.1.5
or later
Additional function Related page
1) Extended range of absolute data
A6N series technical reference,
RTEX communication specication
7-2-4
2) Expansion of RTEX communication setting
A6N series technical reference
functional specication 9-1
A6N series technical reference
RTEX communication specication
2-5-2
3) Addition of RTEX monitor data
A6N series technical reference
RTEX communication specication
6-7-1, 6-9-1, 6-9-7
CPU1 Ver1.22
CPU2 Ver1.22
Function extended edition 4
6.0.1.6
or later
Additional function Related page
1) Expansion of range of display function of serial number P.1-4, P.1-11
2) Latch mode with stop function P.3-114, P.5-83
3) Extended range of actual position set / command position set
A6N series technical reference
RTEX communication specication
6-5, 6-5-3
Software Version 1
Before Using the Products
2
Preparation
3
Setup
4
Trial Run
5
Adjustment
6
When in Trouble
7
Supplement

14 Rev.2.00
MEMO

1-1Rev.2.00
1
Before Using the Products
2
Preparation
3
Setup
4
Trial Run
5
Adjustment
6
When in Trouble
7
Supplement
1. Before Using the Products
1. Introduction
Outline .........................................................................................................1-2
On Opening the Product Package...............................................................1-3
2. Driver
Check of the Model......................................................................................1-4
Parts Description .........................................................................................1-6
Specifications...............................................................................................1-8
3. Motor
Check of the Model....................................................................................1-11
Parts Description .......................................................................................1-14
4. Check of the Combination of the Driver and the Motor
Absolute Specifications, 23-bit...................................................................1-15

1-2 Rev.2.00
1Before Using
the Products
1. Introduction
Outline
MINAS A6N series AC Servo Motor & Drivers are advanced network servo, which correspond
100 Mbps full duplex supper-speed motion network Realtime Express(RTEX), and fulll all re-
quirements about high speed, high precision, and high performance.
MINAS A6N series equip with upper controller corresponding to RTEX and LAN cable (CAT5e
STP over) sold in the open market for connection. They can correspond to maximum number
of shafts of 32 (communication cycle is above 0.5 ms) . Especially, quantity of wiring and the
system costs on machines with several shafts are saved a lot. Besides, depending on the ad-
vantage of synchronism between shaft, maximum cable length between nodes of 100 m, can
apply to not only large scale system, but also high-precision CP (Continuous Path) .
To meet all kinds of requirements, MINAS A6N series are designed to correspond to the mode
that can completely control place (Prole or Cyclic) , speed, and torque. The fastest commu-
nication cycle is 0.0625 ms, which decreased 25 % of what it use to be. The maximum pulse
frequency is 4 Gpps, which is 10 times larger than before. MINAS A6N series accomplish an
overwhelming performance improvement over traditional MINAS A5N series.
Moreover, the new product extends to a wide range of outputs from 50 W to 5.0 kW. Equipped
with high-resolution 23-bit Absolute encoder, it makes possible more accurate positioning and
mechanical drive.
Meanwhile, to simplify the debug settings, it comes standard equipped with the feature of
2DOF(Two-degree-of-freedom) control scheme which became popular in A5 Ⅱseries.
MINAS A6N series equip with autoadjustment function of various setting programs, and make
possible some simple adjustment of multifunction. MINAS A6N series have so far improved
stability at low-stiffness machines, and high-precision and high-speed operation at high-stiff-
ness machines.
This manual is written as a guide for you so that you can fully correctly make use of all func-
tions and advantages of MINAS A6N series.
Com. Cycle *2
2 ms
1 ms
0.5 ms
0.25 ms
0.125 ms
0.0625 ms
*3
Max. Nodes
*4
32
32
32
16
8
4
Max. 32 node *4
Devices except servo
provided by pantners*2
Provided by Partners*2 Low-cost LAN cable
（CAT5e STP）
Noise immunity 2.5 kV over
with unique error correction
（IEC61000-4-4 compliant）
Inter-node cable length
of max. 100 m
High-efficiency ring topology
Stepper
Driver
IN OUT
Pulse
Output
M
A6N
RX TX
Controller
（Master）
A6N
*1 The specification of the controller and other devices comform to partners please.
The details refer to URL.
URL：http://industrial.panasonic.com/jp/products/motors-compressors/fa-motors/ac-servo-motors/a5n_rtex.html
*2 The communication cycle and connection of slave devices depend on the controller specificaion.
*3 For communication cycle 0.0625 ms, command update cycle is 0.125 ms only.
*4 Slave nodes.
Note: The setting of parameters of 2DOF control mode in MINAS-A6N series is aviailable and it is different from previous series.
When use MINAS-A6N series , please change the setting of parameters again.

1-3Rev.2.00
1
Before Using the Products
2
Preparation
3
Setup
4
Trial Run
5
Adjustment
6
When in Trouble
7
Supplement
1Before Using
the Products
1. Introduction
On Opening the Product Package
• Make sure that the model is what you have ordered.
• Check if the product is damaged or not during transportation.
• Check if the Safety Operating Instructions are included or not.
• Check if the power connector, motor connectors, connector for external regenerative
resistor connection (E-frame) and safety by-pass plug are included or not.
• Neither the short circuit wire of motor connector are included to A, B-frame.
• Neither the plug of XC connentor is not in cluded to C-frame and D-frame.
• Neither the power connector nor motor connector are included to F-frame.
Contact to a dealer if you nd any failures.
Note

1-4 Rev.2.00
1Before Using
the Products
2. Driver
Check of the Model
Contents of Name Plate
Model No.
MADLN15NE
AC SERVO DRIVER
Serial No. P16020001N
20160201
Standard mark
Country of origin
QR code
50/60 Hz 100 W
1.6/0.9 A
1φ/3φ
200-240 V
Freq.
INPUT
Voltage
Phase
F.L.C
Power
OUTPUT
0-240 V
3φ
1.2 A
0-541.7 Hz
Serial Number
e.g.) : P16020001N
Lot number
Month of production
Year of production
(Lower 2 digits of AD year)
Model number
Input/output voltage
Rated output of
applicable motor
Rated input/output current
Input/output frequency
Number of phase
Manufacture date
e.g.) : 20160201
Manufacture dateManufacture year
Manufacture month
The range of the lot number in serial number is 1 to 33999, but on the nameplate it is written in 4
digits in the following format. In the four digits alphabet, "I" (eye) and "O" (o) are not used.
Lot number value Display on Nameplate
1 to 9999 0001 to 9999
10000 to 10999 A000 to A999
11000 to 11999 B000 to B999
... ...
17000 to 17999 H000 to H999
18000 to 18999 J000 to J999
... ...
22000 to 22999 N000 to N999
23000 to 23999 P000 to P999
... ...
33000 to 33999 Z000 to Z999

1-5Rev.2.00
1
Before Using the Products
2
Preparation
3
Setup
4
Trial Run
5
Adjustment
6
When in Trouble
7
Supplement
Model Designation
MADLN15NE
7
4 5 61~3 10~128 9
*１For details of Safety torque off and Muti-function type please refer to
Technical reference basic specification (MINAS-A6N series (RTEX communcation) standard type)).
Frame-size symbol
MAD
MBD
MCD
MDD
MED
MFD
Frame
Symbol
A-frame
B-frame
C-frame
D-frame
E-frame
F-frame
Series
L
Series name
A6 series
Symbol
Safety function
N
T*1
No functional safety
Safety torque off
Specifications Symbol
Display the difference of matching motor (or rating of output ).
Difference of Output
Power supply
Specifications Symbol
1
3
5
Single phase, 100 V
3-phase, 200 V
Single/3-phase, 200 V
N RTEX
Interface specifications
Specifications
Symbol
E
F
Standard type
Multi-function type
■Rotary specifications
Specifications
Symbol
*1
Driver type
Special specifications
(letters and numbers)
2. Driver
Check of the Model

1-6 Rev.2.00
A to B-frame (100 V/200 V)
C to D-frame (100 V/200 V)
1Before Using
the Products
2. Driver
Parts Description
Connector X6:
for encoder
connection
Front panel
Connector X2B: TX connector
Connector X2A: RX connector
Connector X1: USB connector
Connector X4:
Parallel I/O connector
P
N
B
Connector XA:
for main power connection
05JFAT-SAXGGKK-A (JST)
Connector XB:
for motor connection
06JFAT-SAXGGKK-A(JST)
Terminals for external
regenerative resistor
Main power
input terminals
Control power
input terminals
Terminals for motor
connection
Screws for earth (x2)
Connector X7: Monitor connector
Charge lamp
Connector X4: Parallel I/O connector
Connector X2B: TX connector
Connector X2A: RX connector
Connector X7: Monitor connector
Connector X1: USB connector
Front panel
P
RB
B
Charge lamp
Connector XA:
for main power connection
05JFAT-SAXGGKK-A (JST)
Connector XB:
for motor connection
06JFAT-SAXGGKK-A (JST)
Terminals for external
regenerative resistor
(Normally short-circuit
RB to B)
Screws for earth (x2)
Main power
input terminals
Control power
input terminals
Terminals for motor
connection Connector X6:
for encoder
connection
Note • Connector XA and XB are attached in A to D-frame driver.
• Connector XA, XB and XC are attached in E-frame driver.