Panasonic A4P Series manuals
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Panasonic A4P Series Instruction Manual
232 pages 4.74 Mb
2 Content11 CAUTION12 Maintenance and InspectionNotes on Maintenance and Inspection Inspection Items and Cycles 13 Guideline for Parts ReplacementProhibited Model number Rated input/output voltage Rated output of applicable motor Serial Number e.g.) : Rated input/output current P05110001ZLot number Month of production Year of production (Lower 2 digits of AD year) 14 IntroductionMADDT1205P Outline On Opening the Product Package Contact to a dealer if you find any failures. Check of the Driver ModelContents of Name PlateModel Rated output Rated input voltage/current Rated rotational speed Serial Number e.g.) : 0511 0001Lot number Month of production Year of production (Lower 2 digits of AD year) 15 MSMD5AZS1S16 IntroductionCheck of the Combination of the Driver and the MotorSuffix of " * " in the applicable motor model represents the motor structure. Incremental Specifications, 2500P/r<Remarks> Do not use in other combinations than those listed below. 17 Absolute/Incremental Specifications, 17-bit<Remarks> Do not use in other combinations than those listed below. Drivere.g.) : MADDT1207P (Single phase, 200V, 200W : A-frame) e.g.) : MCDDT3520P (Single/3-phase, 200V, 750W : C-frame) X1 and X2 are attached in A to D-frame driver. 18 Parts Description A and B-frame C and D-frameBefore Using the Products 19 E and F-framee.g.) : MEDDT7364P (3-phase, 200V, 2.0kW : E-frame) e.g.) : MFDDTB3A2P (3-phase, 200V, 5.0kW : F-frame) For details of each model, refer to "Dimensions " (P.192 to 194) of Supplement. 20 Parts Description27 [Preparation] 28 Wiring of the Main Circuit Overall Wiring (Connecting Example of C-frame, 3-phase) Overall Wiring (Connecting Example of E-frame) 30 Wiring of the Main Circuit 32 Driver and List of Applicable Peripheral Equipments34 Wiring of the Main Circuit (A to D-frame)Fuse (5A) CN X2 L2 L3 L1C Surge absorber 3) Connect the wired connector to the driver. DC 24VDC power supply for brake U V W EL1 L2C RB1 RB3 RB2 U V W CN X1 In Case of Single Phase, 100V (A and B-frame) In Case of Single Phase, 200V (A and B-frame) Compose the circuit so that the main circuit power will be shut off when an error occurs. 35 *NC D Power supply Single phase, 100V to 115V *Power supply 3-phase, 200V to 240V Power supply Single phase, 200V to 240V15% Power supply Single phase, 200V to 240V In Case of Single Phase, 200V (C and D-frame) In Case of 3-Phase, 200V (C and D-frame)JL04V-2E20-4PE-B-R JL04HV-2E22-22PE-B-R JL04V-2E20-18PE-B-R JL04V-2E24-11PE-B-R 15%Use a reactor for 3-phase <Remarks> When you use single phase, connect the main power between L1 and L3 terminals. <Remarks> When you use single phase, connect the main power between L1 and L3 terminals.A U-phase W-phase Ground B G H A F I B E D NC U-phase W-phase A Brake NC U-phase W-phase B D E F G H I <Remark> Do not connect anything to NC. Use a reactor for 3-phase +10% 15% +10% 15% 36 Wiring of the Main Circuit (E and F-frame)Fuse (5A) NF MC NFB DC 24VDC power supply for brake L1 U V W E L2 L3 r t P B1 B2 U V WLIn Case of 3-Phase, 200V (E and F-frame)Compose the circuit so that the main circuit power will be shut off when an error occurs.[Motor portion] Connector : by Japan Aviation Electronics Ind. * You can pull out the cable by pushing down the spring as the above. Release the lever. Power supply 3-phase, 200V to 230V<Remark> Do not connect anything to NC. 37 How to connect Follow the procedures below for the wiring connection to the Connector CN X1 and X2 . Wiring method to connector (A to D-frame)Press the screw driver to the handling slot on the upper portion to push down the spring. Release the screw driver. * You can pull out the cable by pushing down the spring as the above. <CAUTION> Peel off the cable with exact length (8 to 9 mm). Take off the connector from the Servo Driver before making connection. Insert one cable into each one of cable insertion slot. Pay attention to injury by screw driver. (a) Using handle lever (b) Using screw driver Wiring Diagram 38 Wiring to the Connector, CN X6 (Connection to Encoder)39 Wiring Diagram MSMD 50W to 750W MAMA100W to 750W MQMA100W to 400W Cautions Wiring to the External Scale, Connector, CN X7 40 Wiring to the Connector, CN X7 (Connection to External Scale)41 Wiring to the Connector, CN X5 (Connection to Host Controller)42 Wiring for Connector CN X5CN X5( represents twisted pair.) V 12 to 24V 43 Interface CircuitInput CircuitOpen collector outputPO2 or Output CircuitConnection to sequence input signals SI Sequence output circuitSO1 Line driver (Differential output) outputPO1 44 List of Signal for Connector CN X548 Setup with the Front Panel50 Built-in Holding Brake52 Dynamic Brake55 [Setting] Parameter Setup...................................................... 56 How to Use the Console .........................................80 Outline of Setup Support Software, "PANATERM ".... 103 56 Outline of ParameterHow to Set Outline of PANA TERM How to Connect 57 Composition of Parameters Servo parameter 16-bit positioning parameter 32-bit positioning parameter Step parameter In this document, following symbols represent each mode. 58 **Servo PrNo. Setup Title Function/Content range List of Servo ParameterParameters for Functional Selection 59 *64 *Servo PrNo. Setup Title Function/Content range 65 * * 66 *Title Function/Content range *4C 0 to 7 <1> Time constant large 7 Setup value 0 <1> Time constant No filter function Time constant small Standard default : < > Parameters for Input Signals 67 *77 *List of Step ParametersStep PrNo. Setup range PANATERM display Console display UnitTitle Function/Content 78 Setup of Torque Limit80 Setup with the ConsoleComposition of Display/Touch panel Initial Status of the Console Display (7 Segment LED) 81 Mode Change(Mode switch button) EXECUTION displaySELECTION display 82 () 100 () 158 ( ) ( ) ( )Notch filter characteristics Machine characteristics at resonance Suppression of Machine Resonance 160 Manual Gain Tuning (Application)163 [When in T rouble] When in Trouble .................................................... 164 Troubleshooting .................................................... 172 164 What to Check ?Protective Function (What is Error Code ?) 165 Protective Function (Detail of Error Code)Protective function Causes Measures Error code No. Control power supply under- voltage 11 Over- voltage Main power supply under- voltage Overload protection time characteristics (Motor type M*MA) Overload protection time characteristics (Motor type M*MD)This function works under the following conditions. 170 Time characteristics of Err16 (Overload protection) Software Limit Function1)Outline 2)Applicable range 171 3)Cautions4) Example of movement 5) Condition under which the position command input range is cleared 172 Troubleshooting174 TroubleshootingClassification .Causes Countermeasures Classification Wiring Adjustment Installation Causes CountermeasuresParameter Causes Countermeasures Overshoot/Undershoot Overheating of the Motor (Motor Burn-Out) 175 [Supplement] 176 Conformity to EC Directives and UL StandardsEC Directives EMC Directives Conformed Standards Composition of Peripheral EquipmentsInstallation Environment 177 Power SupplyCircuit Breaker Noise Filter Surge AbsorberProvide a surge absorber for the primary side of noise filter. 178 Conformity to EC Directives and UL StandardsNoise Filter for Signal Lines * Grounding Ground-Fault Breaker 179 Driver and List of Applicable Peripheral Equipments (EC Directives)Conformity to UL Standards 180 Specifications of for Motor Connector Pin disposition for encoder connector Pin disposition for motor/brake connector (without brake) Do not connect anything to NC pins. Pin disposition for motor/brake connector (with brake) 181 Table for junction cable by model of MINAS A4P series182 Junction Cable for EncoderMFECA0**0EAE Fig. 2-1 Fig. 2-4 MFECA0**0ESD Fig. 2-5 Fig. 2-2 MFECA0**0EAM MFECA0**0ESE Fig. 2-3 MFECA0**0EADMFECA0**3ECT MFMCA0**0EED MFMCA0**2ECD MFMCD0**3ECT MFMCD0**2ECD MFMCD0**2ECTFig. 3-1 Fig. 3-2 Fig. 3-3 Fig. 3-4 Fig. 3-5 183 Junction Cable for Motor (ROBO-TOP 105C 600VDP)MFMCA0**2FCD MFMCA0**2FCT MFMCB0**0GET MFMCA0**3FCTMFMCA0033FCT MFMCA0053FCT MFMCA0103FCT MFMCA0203FCT Fig. 4-1 Fig. 4-2 184 Junction Cable for Brake (ROBO-TOP 105C 600VDP)Junction Cable for Motor with Brake (ROBO-TOP 105C 600VDP)3) Pin disposition (36 pins) (viewed from the soldering side)3) Table for wiring Connector Connector cover Molex Inc. (36-pins) Title 54331-0361 QuantityPart No. Manufacturer Note 1) Par No. DV0P4510 2) Dimensions 1) Par No. DV0P1960 (DOS/V machine) 1 1 54306-3611 or 54306-3619 (lead-free) 1) Par No. DV0P4350 2) ComponentsD-sub connector 9P Mini-DIN 8P MD connector 185 Connector Kit for External Peripheral EquipmentsInterface Cable Setup Support Software PANA TERM Communication Cable (for connection to PC)1) Part No. DV0P4290 2) Components 3) Tyco Electronics AMP Connector Applicable motor models : ( )Pin disposition of connector, CN X6 ( )3) 170366-1 4 12500P/r incremental encoder Title NumberPart No. Manufacturer For CN X6 (6-pins) 172160-1 170365-1 1 6 For junction cable to encoder (6-pins) 172159-1 1 For junction cable to encoder (4-pins)For brake, purchase our optional brake cable. 4) Pin disposition of junction cablefor encoder 5) Pin disposition of junction cable for motor powerPin disposition of connector, CN X6 4) Pin disposition of junction cable for encoder 5) Pin disposition of junction cable55100-0600 or 55100-0670 (lead-free) 1) Part No. DV0P4380 2) Components For brake, purchase our optional brake cable. 17-bit absolute Applicable motor models :Connector pin Connector pin For DVOP2490, DV0P3480, recommended manual crimp tool (to be prepared by customer)Tyco Electronics AMP Molex Inc. MSMD 50W to 750W MQMA 100W to 400W MAMA 100W to 750W 186 Connector Kit for Motor/Encoder ConnectionThese are required when you make your own encoder and motor cables. 187 1) Part No. DV0P4310 2) Components Applicable motor models : MSMA 1.0kW to 2.0kW MDMA 1.0kW to 2.0kW MHMA 500W to 1.5kW MGMA 900W 1) Part No. DV0P4320 2) Components 1) Part No. DV0P4330 2) Components 1) Part No. DV0P4340 2) Components Frame symbol of applicable driver m or less. shall be 0.5N M3 L5(15) 4271 4272 4273 part No. Mounting screw Dimensions Upper side Bottom side A-frame B-frame C-frame D-frame DV0P 4274 Part No. DV0P4420(62) (24) (1500) MD connector Mini DIN-8P Tightening torque for the insert screw 188 Mounting Bracket189 ReactorDV0P4280, DV0P4281 DV0P4282,DV0P4283 DV0P4284 DV0P4285 Battery(1) Part No. DV0P2990 (2) Lithium battery by Toshiba Battery Co. ER6V, 3.6V 2000mAh Regenerative resistor gets very hot. 190 External Regenerative ResistorBattery For Absolute Encoder 191 Recommended componentsSurge Absorber for Motor Brake List of Peripheral Equipments (reference only) 192 Dimensions (Driver)194 Dimensions (Driver)E-frame F-frame 195 (Key way dimensions) MAMA series MAMA 100W to 750W 196 MSMD 50W to 100WMSMD series 197 MSMD 200W to 750W 198 MQMA 100W to 400WMQMA series 199 MSMA 1.0kW to 2.0kW 200 MSMA 3.0kW to 5.0kW 201 MDMA 1.0kW to 1.5kW 202 MDMA 2.0kW to 3.0kWMDMA series 203 MDMA 4.0kW to 5.0kW 204 MGMA 900W to 2.0kW 205 MGMA 3.0kW to 4.5kWMGMA 4.5kW MGMA series 206 MFMA 400W to 1.5kW 207 MFMA 2.5kW to 4.5kWMFMA series 208 MHMA 500W to 1.5kW 209 MHMA 2.0kW to 5.0kW 210 Permissible Load at Output ShaftRadial load (P) direction Thrust load (A and B) direction L P L L/2 P A M B With and without oil seal MQMA041 * 1 * MQMA042 * 1 * without oil seal 211 MQMA series MAMA series MAMA012 * 1 * MAMA022 * 1 * MAMA042 * 1 * MAMA082 * 1 * MQMA011 * 1 * MQMA021 * 1 * MQMA012 * 1 * MQMA022 * 1 * 212 MSMD series (50W to 100W)(0.16) Input voltage to driver: AC200V Input voltage to driver: AC200V MSMD012 * 1 * without oil seal with oil seal MSMD5AZ * 1 * Input voltage to driver: AC100V/200V MSMD5AZ * 1 * Input voltage to driver: AC100V/200V MSMD011 * 1 * Input voltage to driver: AC100V MSMD011 * 1 * Input voltage to driver: AC100V MSMD012 * 1 * torque speed 213 MSMD series MSMD021 * 1 * (Dotted line represents torque at 10% less voltage.) MSMD022 * 1 * (Dotted line represents torque at 10% less voltage.) MSMD041 * 1 * (Dotted line represents torque at 10% less voltage.) MSMD042 * 1 * (Dotted line represents torque at 10% less voltage.) MSMD082 * 1 * MSMD022 * 1 * MSMD021 * 1 * without oil seal With oil seal MSMA202 * 1 * MSMA402 * 1 * MSMA502 * 1 * MSMA102 * 1 * MSMA152 * 1 * 214 MSMA series MSMA302 * 1 * MDMA102 * 1 * MDMA152 * 1 * MDMA202 * 1 * MDMA series (9.5) (14.3) (4.77) (3.18) (19.1) (6.36) (28.6) (9.54) (47.6) (15.8) (37.9) (12.6) (14.4) (4.8) (21.5) (7.15) (28.5) (9.54) MDMA302 * 1 * MDMA402 * 1 * MDMA502 * 1 * MFMA042 * 1 * 215 MFMA series MFMA152 * 1 * MFMA252 * 1 * MFMA452 * 1 * MGMA202 * 1 * MGMA092 * 1 * MGMA452 * 1 * MGMA302 * 1 * 216 MHMA series MGMA series MHMA102 * 1 * MHMA502 * 1 * MHMA152 * 1 * MHMA202 * 1 * MHMA302 * 1 * MHMA402 * 1 * 217 Motor with Gear ReducerModel No. of Motor with Gear Reduce Combination of Driver and Motor with Gear ReducerIncremental Specifications, 2500P/r MSMD011P31N Incremental specifications, 2500P/r Absolute/Incremental specifications, 17bit <Note> "*" of the model No. represents the structure of the motor. 218 Dimensions/Motor with Gear Reducer220 Permissible Load at Output ShaftRadial load (P) direction Thrust load (A and B) direction Remarks on installation 221 Characteristics of Motor with Gear ReducerSupply voltage to driver Dotted line represents the torque at 10% less supply voltage.750W 100W 200V MSMD082 * * 1N MSMD082 * * 2N MSMD082 * * 3N MSMD082 * * 4N Reduction ratio 1/5 MSMD011 * * 1N MSMD011 * * 2N MSMD011 * * 3N MSMD011 * * 4N MSMD021 * * 1N MSMD021 * * 2N MSMD021 * * 3N MSMD021 * * 4N MSMD041 * * 1N MSMD041 * * 2N MSMD041 * * 3N MSMD041 * * 4N MSMD012 * * 1N MSMD012 * * 2N MSMD012 * * 3N MSMD012 * * 4N MSMD022 * * 1N MSMD022 * * 2N MSMD022 * * 3N MSMD022 * * 4N MSMD042 * * 1N MSMD042 * * 2N MSMD042 * * 3N MSMD042 * * 4N 1/9 1/251/15 Motor output 100W 100V 200W 400W 222 Block Diagram of Driver224 Block Diagram by Control Mode226 Specifications (Driver)228 Default Parameters232 After-Sale Service (Repair)Repair Cautions for Proper Use Technical information Motor Company Matsushita Electric Industrial Co., Ltd.
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