AC Servo Motor and Driver
DV0P4490
 Content
Driver Motor Console
 Example of Rotary Axis Operation Setting
Example of Incremental Operation Setting
Example of Absolute Operation Setting
Example of Dwell Timer Operation Setting
 When an Alarm Has Been Cleared at Servo-ON Command
Operation Timing after Power-ON
When an Error Alarm Has Occurred at Servo-ON Command
Configuration of Absolute System
 Supplement
Page
 Before Using the Products
Driver Motor Console
 Do not put your hands in the ser- vo driver
 Before Using the Products
 Do not give strong impact shock to the Product
 Observe the specified voltage
 Type Cycles Items to be inspected
Maintenance and Inspection
Inspection Items and Cycles
 Smoothing capacitor Approx years Cooling fan To 3 years
Guideline for Parts Replacement
Product Component Standard replacement Cycles hour
 On Opening the Product Package
Introduction
Outline
Check of the Driver Model
 Pulse count
Specifications
Check of the Motor Model
Round
 Incremental Specifications, 2500P/r
Check of the Combination of the Driver and the Motor
 Absolute/Incremental Specifications, 17-bit
 Driver
MADDT1207P Single phase, 200V, 200W A-frame
Parts Description
B-frame
 MEDDT7364P 3-phase, 200V, 2.0kW E-frame
F-frame
 Motor
Low inertia type Msmd series, 50W
 Display/Touch panel
Console
Main Body
 How to Install
How to Install
Installation Place
Environmental Conditions
 Or more
Mounting Direction and Spacing
Fan
40mm or more 100mm or more
 Oil/Water Protection
 Stress to Cables
Permissible Load to Output Shaft
 Remarks
How to Connect
Connect to CN
 Wiring to the Connector, CN X3
Preparation
 Pin RB1 6-pin, RB2 4-pin, RB3 5-pin
System Configuration and Wiring
Overall Wiring Connecting Example of C-frame, 3-phase
 Connection to encoder
Wiring to Connector, CN
Connection to host controller
 Pin P, B1 and B2
Overall Wiring Connecting Example of E-frame
Connection with input power supply Remarks
Connection to external components
 Connection to motor driving phase and ground
 Noise Surge
Filter Absorber For signal Contactor
Driver and List of Applicable Peripheral Equipments
Cable Driver
 Filter
For signal contactor
Noise
Cable
 Connect L1 and L1C, and L3 and L2C at single phase
Wiring of the Main Circuit a to D-frame
Tips on Wiring
Connect pin 3 of the connector on the driver side with pin
 Case of Single Phase, 200V a and B-frame
Wiring Diagram
Case of Single Phase, 100V a and B-frame
Case of Single Phase, 200V C and D-frame
 Wiring of the Main Circuit E and F-frame
24V DC power supply for brake Surge absorber Fuse 5A
 Using Handle Lever
Case of 3-Phase, 200V E and F-frame
Wiring method to connector a to D-frame
Using Screw Driver
 Wiring to the Connector, CN X6 Connection to Encoder
Msmd 50W to 750W MAMA100W to 750W MQMA100W to 400W
 Msmd 50W to 750W Mama 100W to 750W MQMA100W to 400W
 Application Connector Content PinNo
Wiring to the Connector, CN X7 Connection to External Scale
Wiring to the External Scale, Connector, CN
Remark
 Manufacturer
Specifications of the Connector, CN
For detailed information, refer to P.42 to
Part name
 Wiring for Connector CN
12 to
 Output Circuit
Interface Circuit
Input Circuit
 Application Code
List of Signal for Connector CN
Common input signals
Function
 Point No P32INP16INP8IN
Emergency stop input must be installed before using
Ex When SV.Pr57 = 3 6 bits is set
Description
 Common output signals and their functions
Output signal pulse train and function
 Not-synchronized
Others
Synchronized
 Initial Status of the Front Panel Display 7-Segment LED
Setup with the Front Panel
Composition of Touch Panel and Display
 SV.Pr08
Output Signals Analog and Their Functions
Application Code Function
 12 to 24V V DC COM Power supply Fuse For brake
Connecting Example
Output Timing of BRK-OFF Signal
Built-in Holding Brake
 Series Output Torque X10-4 Time
Specifications of Built-in Holding Brake
Engaging Releasing
Voltage
 Contents of deviation counter Clear Hold
Sequence at main Driving condition Power-off SV.Pr67
After stalling Setup value of SV.Pr67
Dynamic Brake
 Contents of deviation counter Hold
After stalling
 Memo
 Auto-Gain Tuning Mode
Setting
Outline of Setup Support Software, Panaterm
Outline of Panaterm 103 How to Connect
 How to Connect
Parameter Setup
How to Set
Outline of Parameter
 Servo parameter
This document, following symbols represent each mode
Composition of Parameters
Bit positioning parameter
 List of Servo Parameter
Power -ON
Function/Content PrNo Range
Parameters for Functional Selection
 Setup value Signal of IM
Function/Content PrNo
Unit Function/Content PrNo
Baud rate Setup value
 Caused by distortion resonance Velocity feed
Title Setup Unit Function/Content PrNo
Setup value Instantaneous speed observer setup
Set the second loop gain for position control
 Unit Function/Content PrNo Range
Parameters for Auto-Gain Tuning
Servo Title Setup Unit Function/Content PrNo Range
Inertia ratio
 Setup value Content
Title Setup Unit Function/Content PrNo Range
Varying degree Auto-gain tuning Load inertia in motion
Rotational direction
 Gain selection/switching
Parameters for Adjustment 2nd Gain Switching Function
Filter mode Setup value
Gain switching condition
 Servo Title Setup Function/Content PrNo
Parameters for Position Control
 Servo Title
Pulse output resolution=
SV.Pr46 Phase logic Output source
Numerator SV.Pr44 Output pulse ratio 10000
 Smoothing filter You can set the time constant
Parameters for Input Signals
Title Setup Function/Content PrNo Range
Time constant
 Input logic setting
Point specifying
 Parameters for Velocity and Torque Limit
Parameters for Sequence
 After stalling Content
Action of main power low voltage protection
Setup Action Deviation counter Value
 After setting up SV.Pr6a = tb
Sequence at You can set up Servo-OFF
Action delay time tb of the brake
Setup time, or time lapse till
 Remarks
Parameters for Protective function
External resistor but no
 Parameters for Full-Closed Control
 Parameters for Motor speed
Unit Function/Content
List of 16-bit Positioning Parameters
Parameters for Acceleration and Deceleration
 Title Setup Unit Function/Content
Parameters for Homing
 Parameters for Jog operation
 CCW is a positive direction and CW is a negative direction
Other Parameters
Deceleration in jog
 List of Step Parameters
Step Title Setup range Unit Function/Content PrNo
List of 32-bit Positioning Parameters
Console display
 SV.Pr5E,5F
Setup of Torque Limit
Model No
Applicable motor Max. value
 When the motor torque is limited
When you want to obtain the max. motor torque
 Initial Status of the Console Display 7 Segment LED
How to Use the Console
Setup with the Console
Composition of Display/Touch panel
 Mode Change
 Selection display
Monitor Mode
Mode switch button
Execution display
 Position control mode Full-closed control mode
Display of Control Mode
Display of I/O Signal Status
 Signal No. and its title
Point Number Conversion Table
 Over-load alarm
Reference of Error Factor and History
Alarm Display
Over-regeneration alarm
 Display of Regenerative Load Factor
Display of Feedback Pulse Sum, Command Pulse Sum
Switching of the Driver to be Communicated
Display of Over-load Factor
 Teaching Mode Setup
Teaching Mode
Overview of Teaching Mode
Operation at Selection display
 Target position setting
Step parameter setting
 Test Mode Step operation
 Jog operation
Homing
 Parameter setup mode
Structure of Parameter Setup Mode
 Step Parameter
 Bit Positioning Parameter
 How to Use the Console
 Digit next to the blinking decimal point can be modified
Servo Parameter
Movement to a high order position is limited per parameter
 Eeprom Write Mode
Eeprom Writing Operation at Selection display
 Remarks Dont disconnect the console from the driver between
Auto-Gain Tuning Mode
Normal Mode Auto-Gain Tuning Screen
 Alarm Clear Screen
Auxiliary Function Mode
Alarm Clear
Absolute encoder clear
 Alarm Clear Screen
Then press to make a display to
 Clearing of Absolute Encoder
 Copying Function Console Only
101
 102
 Connecting cable DV0P1960
Install the Panaterm to Hard Disc
Procedure of install
103
 104
Procedure of log on
Log on of the Panaterm
 Operation Settin g
 Overview of Operation Setting
 Step Operation
Procedure Description
Step Operation
107
 Operation mode Description
Example of Incremental Operation Setting
Step Operation Mode
 Setting of step parameter
Example of Absolute Operation Setting
Setting of 16-bit positioning parameter
Wrap around
 Control mode
Example of Rotary Axis Operation Setting
Setting of 32-bit positioning parameter
Coordinate is set to
 Servo off
Example of Dwell Timer Operation Setting
Setting of step data
 Jog Operation
Jog Operation
 16.Pr Description
Set the parameters below when performing the jog operation
Parameters related to jog operation
 Homing Operation
Homing Mode List
Homing is completed when the power supply turns on
Homing Operation
 115
 Positive direction Home sensor
Home Sensor + Z Phase based on the front end
Parameters related to this operation
116
 117
Home Sensor based on the front end
Positive direction
 118
Home sensor + Z phase based on the rear end
Direction of homing
 119
 Limit Sensor + Z phase
120
 Direction of homing Positive direction
Limit Sensor
Example An operation in a positive direction
121
 Stopper etc
Phase Homing
Bumping Homing
122
 Direction of homing Home position = current position
Data Set
Example
123
 Example of homing offset Homing offset is set to +5000
Timing chart
Homing Offset Operation
124
 And-stop
Emergency Stop Operation/Deceleration-and-Stop Operation
Positioning completion output
An operation stop in the deceleration time
 Temporary Stop Operation
Restart of operation Same procedure as a step operation
Temporary Stop Operation
126
 Block Operation
Continuous block operation procedure example
16.Pr54 Description Block operation type setting
Overview of Block Operation
 ST.Pr Operation mode
Combined Block Operation
 Combined block operation procedure example
 Example of Operation
Sequential Operation
Sequential Operation
Homing operation at sequential operation
 Example Linear acceleration t2 =
Shaped Acceleration/Deceleration Function
Example of calculation 2500 p/r encoder
Shaped % t2 =
 Strobe signal STB
Timing Chart
Operation Timing after Power-ON
 T1 *1
When an Error Alarm Has Occurred at Servo-ON Command
To 5 ms
 Point input P1IN to P32IN CN X5 Pin 3, 4, 5, 6, 7
When an Alarm Has Been Cleared at Servo-ON Command
Alarm Clear can be input in the two ways below
Multi function input EX-IN1/EX-IN2 CN X5 Pin 22/25
 Servo-ON input
Servo-ON/OFF Action While the Motor Is at Stall Servo-Lock
Servo-ON/OFF Action While the Motor Is in Motion
Brake release output
 Absolute System
Configuration of Absolute System
Battery for Backup Installation
Overview of Absolute System
 Cycles/day
Close the cover of the battery box
Reference
Cycle/day
 Installation Place
Setup Initialization of Absolute Encoder
When you make your own cable for 17-bit absolute encoder
Normal homing
 139
Clearing Absolute Encoder Using a console
Using the setup support software Panaterm
 Preparation for full-closed control
What Is Full-Closed Control ?
Outline of Full-Closed Control
140
 Instantaneous Speed Observer 160 Damping Control 161
Adjustment
Adaptive Filter 147
141
 Purpose
Gain Adjustment
Procedures
Ball screw
 Type
Explanation
 Outline
Real-Time Auto-Gain Tuning Mode
How to Operate
Applicable Range
 Writing to Eeprom
Setup of parameter, Pr21
Setup of parameter, Pr22
 1st position loop gain Velocity feed forward
Parameters Which Are Automatically Set
SV.PrNo Title
1st velocity loop gain Feed forward filter time constant
 Adaptive Filter
Invalidation of Adaptive Filter
 This function works under the following condition
Normal Mode Auto-Gain Tuning
Conditions which obstruct normal auto-gain tuning
Too small or too big compared to the rotor inertia
 Title Stiffness value
Auto-Gain Tuning Action
Table of auto-gain tuning
90108135162 206251305377449
 Changes toward the reversed direction
How to Operate from the Console
An arrow shows by pressing
By pressing
 Invalidation of Real-Time Auto-Gain Tuning
SV.Pr2F 1st notch frequency Hz
 Analog monitor output
Manual Gain Tuning Basic
Before Making a Manual Adjustment
Waveform graphic function of the Panaterm
 Title of parameter
Adjustment in Position Control Mode
Title of parameter Value How to adjust SV.Pr
SV.Pr
 Setup of hybrid deviation excess
Adjustment in Full-Closed Control Mode
Setup of external scale ratio
154
 Ing the gain in motion
Gain Switching Function
You want to increase the response by increas
Example
 Setup of Gain Switching Condition
156
 Fig.A
Fig. C
 1st and 2nd notch filter SV.Pr1D, 2E, 28, 29 and 2A
Suppression of Machine Resonance
Adaptive filter SV.Pr23, SV.Pr2F
Adaptive filter
 159
How to Check the Resonance Frequency of the Machine
Relation of Gain Adjustment and Machine Stiffness
 Adjustment at normal position control
Manual Gain Tuning Application
How to Use
Setup of instantaneous velocity observer SV.Pr27
 Damping Control
Setup of damping filter 1st SV.Pr2C, 2nd SV.Pr2E
Setup of damping filter switching selection
SV.Pr24
 162
 When in Trouble
163
 Host controller
Protective Function What is Error Code ?
What to Check ?
Machine Motor
 Protective Function Detail of Error Code
 Over-load
Protective Error Causes Measures Function
Over-heat
166
 Communi
Cation error
Data error
Cation
 Over error
Error Causes Measures Function
Down error
Status error
 Scale auto Recognition Error pro Tection Motor auto
Limit error
ID setting
Recognition Error Protection Other error
 This function works under the following conditions
Time characteristics of Err16 Overload protection
Software Limit Function
Conditions under which the software limit works
 When the load moves to the left at Servo-ON
When no position command is entered Servo-ON status
When the load moves to the right at Servo-ON
 Motor Does Not Run Motor Stops During an Operation
Troubleshooting
Wiring
Causes Countermeasures
 Home Position Slips
Installation
Point Deviates Positioning Accuracy is Poor
Abnormal Motor Noise or Vibration
 174
Parameter Returns to Previous Setup
Causes Countermeasures Wiring
 Permissible Load at Output Shaft/Motor with Gear Reducer
Supplement
Conformity to EC Directives and UL Standards
175
 Conformity to EC Directives and UL Standards
Composition of Peripheral Equipments
 Noise Filter
Power Supply
Circuit Breaker
Option part No
 Surge Absorber
 Grounding
Noise Filter for Signal Lines
Ground-Fault Breaker
Conformity to UL Standards
 Pin disposition for motor/brake connector with brake
Specifications of for Motor Connector
Pin disposition for encoder connector
Pin disposition for motor/brake connector without brake
 Table for junction cable by model of Minas A4P series
Motor type Type of junction cable
 Junction Cable for Encoder
Title Manufacturer
 Junction Cable for Motor ROBO-TOP105˚C 600V DP
 Junction Cable for Motor with Brake ROBO-TOP105˚C 600V DP
Junction Cable for Brake ROBO-TOP105˚C 600V DP
 Interface Cable
Connector Kit for External Peripheral Equipments
Setup Support Software Panaterm
Communication Cable for connection to PC
 Connector Kit for Motor/Encoder Connection
For DVOP2490, DV0P3480 Recommended manual crimp tool
 Mgma 2.0kW to 4.5kW
500W to 1.5kW
Mhma 2.0kW to 5.0kW
 Part No. DV0P4420
Mounting Dimensions
Mounting Bracket
Upper side Bottom side
 Harmonic restraint
Motor Power Rated Series Supply Output
Reactor
 Options
 List of Peripheral Equipments Reference only
Recommended components
Surge Absorber for Motor Brake
Motor Surge absorber for motor brake
 192
Dimensions Driver
Mass 0.8kg
 193
Mass 1.5kg
Mass 1.7kg
 Mass 3.2kg
194
 Dimensions Motor
Mama 100W to 750W
 3h9
Motor output Motor model
100W 5A * P1 5A * S1 01 * P1 01 * S1
 Msmd 200W to 750W
 04 * S1
Mqma 100W to 400W
01 * P1 01 * S1 02 * P1 02 * S1
126.5
 Msma 1.0kW to 2.0kW
 Msma 3.0kW to 5.0kW
 Mdma 1.0kW to 1.5kW
 0kW 20 * P1 20 * S1 30 * P1 30 * S1 2500P/r Incremental
Rotary encoder Specifications Without brake With brake
Mdma 2.0kW to 3.0kW
 Mdma 4.0kW to 5.0kW
 207
Mgma 900W to 2.0kW
2500P/r Incremental 17-bit Absolute/Incremental
13.5
 Mgma 3.0kW to 4.5kW
 Mfma 400W to 1.5kW
04 * P1 04 * S1 15 * P1 15 * S1 2500P/r Incremental
 25 * P1
Mfma 2.5kW to 4.5kW
Motor output 5kW Motor model
Without brake 139
 Mhma 500W to 1.5kW
500W 0kW 5kW 05 * P1 05 * S1 10 * P1 10 * S1 15 * P1 15 * S1
 Mhma 2.0kW to 5.0kW
 Radial load P direction Thrust load a and B direction
Motor At assembly During running Motor output Thrust load
Permissible Load at Output Shaft
Series Radial thrust Direction
 MQMA041 MQMA042
With and without oil seal MQMA011 MQMA012
MQMA021 MQMA022
Without oil seal MAMA012 MAMA022
 MSMD011
Motor Characteristics S-T Characteristics
Without oil seal With oil seal MSMD5AZ
MSMD012
 MSMD041
Without oil seal With oil seal MSMD021
MSMD022
MSMD042
 MSMA302
MSMA102 MSMA152
MSMA202
MSMA402
 With oil seal MFMA042 MFMA152
With oil seal MDMA302 MDMA402
MDMA502
MFMA252 MFMA452
 MHMA302 MHMA402
MHMA052 MHMA102
MHMA152 MHMA202
MHMA502
 Model No. of Motor with Gear Reduce
Absolute/Incremental specifications, 17bit
Motor with Gear Reducer
Combination of Driver and Motor with Gear Reducer
 Without brake With brake
Dimensions/Motor with Gear Reducer
Motor with Gear Reducer
 Brake
 LR/2
Remarks on installation
Permissible load at shaft Motor output Radial thrust
220
 100W
Supply Reduction Ratio
To driver Output MSMD011 * * 1N MSMD011 * * 2N
MSMD021 * * 1N MSMD021 * * 2N
 Block Diagram of Driver
Gate drive
 Internal Block Diagram of MINAS-A4P Driver E and F-frame
223
 When Pr02 Setup of control mode is
Block Diagram by Control Mode
Position Control Mode
+ +
 Full-closed Control Mode
225
 Specifications Driver
 Encoder feedback pulse Protection Hardware error
Setting range Number of points
Unnecessary wiring
Function Software error
 Default Parameters for all the models of A4P Series
Servo parameter SV.Pr
 229
Bit positioning parameter 16.Pr
Bit positioning parameter 32.Pr
 230
 231
 Technical information
After-Sale Service Repair
Repair
Date Model No Purchase Dealer Tel