Panasonic MINAS-A4N Manuel utilisateur

Reference Specifications

Model

AC Servo Drive

MINAS-A4N (High-speed network type)

Issued on April 1, 2005

Revised on October 28, 2005

Motor Company

Matsushita Electric Industrial Co., Ltd．

7-1-1 Morofuku, Daito-City, Osaka 74-0044, Japan

Phone:+81-72-871-1212

Fax :+81-72-870-3151

No.SX-DSV01676

Phone: 800.894.0412 - Fax: 888.723.4773 - Web: www.clrwtr.com - Email: [email protected]

No.SX-DSV01676

R2 Motor Company, Matsushita Electric Industrial Co., Ltd.

REVISIONS

Date Page Rev. Description

2005.4.1 - - NEWLY ISSUED

2005.10.1 28 1 Corrected external regenerative resistor

All Changed parameter name

16 Corrected regenerative resistor description

17 Corrected the tolerance of I-COM power to 5%

13 to 16, 22 Changed part No. of X3A, X3B, X6 and X7

2005.10.28 7 to 10 2 Added dimension of the mounting bracket.

13 to 16, 22 Corrected part No. of X6 and X7

16 Added size of screw

27 Deleted note 17

Phone: 800.894.0412 - Fax: 888.723.4773 - Web: www.clrwtr.com - Email: [email protected]

No.SX-DSV01676

R2 Motor Company, Matsushita Electric Industrial Co., Ltd.

Contents

1. Scope ····································································································································· 1

2. Model No.······························································································································· 1

3. Applicable motor ··················································································································· 2

4. Specifications························································································································· 5

4-1 General specifications····································································································5

4-2 Specifications by model································································································· 6

5. Dimensions····························································································································· 7

6. Appearance···························································································································· 13

7. Configuration of connectors ··································································································· 16

7-1 Power connectors X1 , X2 or terminal block··················································· 16

7-2 Encoder connector X6 ···························································································· 16

7-3 Interface connector X5 ·························································································· 17

7-4 RS232 communication connector X4 ····································································· 21

7-5 Network connectors X3A X3B ·········································································· 21

7-6 External scale connector X7 ················································································· 22

8. Wiring ····································································································································· 23

8-1 Cable material and max. length····················································································· 23

8-2 I/O, Encoder and External scale connection ································································· 23

8-3 Cautions on wiring········································································································· 24

9. Safety precautions on installation ··························································································38

10. Safety precautions on using the drive·················································································· 39

11. Life and Warranty················································································································· 40

11-1 Expected life time of the drive·················································································· 40

11-2 Typical life················································································································ 40

11-3 Warranty period ······································································································· 40

12. Conformity to EC Directive and UL Standards····································································· 41

12-1 EC Directives ··········································································································· 41

12-2 Configuration of peripheral equipments··································································· 42

12-3 Servo drive and list of applicable peripheral equipments ········································ 44

12-4 Conformity to UL Standards ···················································································· 45

13. Compliance with SEMI F47 standard··················································································· 45

14. Others··································································································································· 46

Appendix

Specifications by model

Phone: 800.894.0412 - Fax: 888.723.4773 - Web: www.clrwtr.com - Email: [email protected]

No.SX-DSV01676 (46-1)

R2 Motor Company, Matsushita Electric Industrial Co., Ltd.

1. Scope

This document specifies the servo drive for the AC servo system

manufactured and supplied by Motor Company, Matsushita Electric Industrial Co., Ltd.

2. Model No.

Notation of the model No. is as follows:

1 2 3 4 5 6 7 8 9 10 11 12

M A D D T 1 2 0 5 N

(Note) It means 100Mbps real-time communication.

Custom specifications

(Alphanumeric)

Interface

N: High-speed network type

(note)

Ratings of current detector

05: 5A

07: 7.5A

10: 10A

20: 20A

30: 30A

40: 40A

64: 64A

90: 90A

A2: 120A

Power supply voltage

1: Single phase, 100V

2: Single phase, 200V

3: 3-phase, 200V

5: Single-phase/3-phase, 200V

Frame

A: Type A

B: Type B

C: Type C

D: Type D

E: Type E

F: Type F

AC servo drive

A4 family

Max. current ratings of power

element

T1: 10A

T2: 15A

T3: 30A

T5: 50A

T7: 75A

TA: 100A

TB: 150A

Phone: 800.894.0412 - Fax: 888.723.4773 - Web: www.clrwtr.com - Email: [email protected]

No.SX-DSV01676 - 2 -

R2 Motor Company, Matsushita Electric Industrial Co., Ltd.

3. Applicable motor

Servo Drive Applicable Motor

Model No. Frame

Type Power supply

input Model No. Voltage Rated output Rated speed Encoder spec.

MADDT1105N A Single phase MSMD5AZP1* 100V 50W 3000r/min 5-wire 2500 p/r

100V MSMD5AZS1* 100V 50W 3000r/min 7-wire, 17-bit

MADDT1107N A Single-phase MSMD011P1* 100V 100W 3000r/min 5-wire 2500 p/r

100V MSMD011S1* 100V 100W 3000r/min 7-wire, 17-bit

MQMA011P1* 100V 100W 3000r/min 5-wire 2500 p/r

MQMA011S1* 100V 100W 3000r/min 7-wire, 17-bit

MADDT1205N A Single-phase MSMD5AZP1* 200V 50W 3000r/min 5-wire 2500 p/r

200V MSMD5AZS1* 200V 50W 3000r/min 7-wire, 17-bit

MSMD012P1* 200V 100W 3000r/min 5-wire 2500 p/r

MSMD012S1* 200V 100W 3000r/min 7-wire, 17-bit

MQMA012P1* 200V 100W 3000r/min 5-wire 2500 p/r

MQMA012S1* 200V 100W 3000r/min 7-wire, 17-bit

MADDT1207N A Single-phase MSMD022P1* 200V 200W 3000r/min 5-wire 2500 p/r

200V MSMD022S1* 200V 200W 3000r/min 7-wire, 17-bit

MAMA012P1* 200V 100W 5000r/min 5-wire 2500 p/r

MAMA012S1* 200V 100W 5000r/min 7-wire, 17-bit

MQMA022P1* 200V 200W 3000r/min 5-wire 2500 p/r

MQMA022S1* 200V 200W 3000r/min 7-wire, 17-bit

MBDDT2110N B Single-phase MSMD021P1* 100V 200W 3000r/min 5-wire 2500 p/r

100V MSMD021S1* 100V 200W 3000r/min 7-wire, 17-bit

MQMA021P1* 100V 200W 3000r/min 5-wire 2500 p/r

MQMA021S1* 100V 200W 3000r/min 7-wire, 17-bit

MBDDT2210N B Single-phase MSMD042P1* 200V 400W 3000r/min 5-wire 2500 p/r

200V MSMD042S1* 200V 400W 3000r/min 7-wire, 17-bit

MAMA022P1* 200V 200W 5000r/min 5-wire 2500 p/r

MAMA022S1* 200V 200W 5000r/min 7-wire, 17-bit

MQMA042P1* 200V 400W 3000r/min 5-wire 2500 p/r

MQMA042S1* 200V 400W 3000r/min 7-wire, 17-bit

MCDDT3120N C Single-phase MSMD041P1* 100V 400W 3000r/min 5-wire 2500 p/r

100V MSMD041S1* 100V 400W 3000r/min 7-wire, 17-bit

MQMA041P1* 100V 400W 3000r/min 5-wire 2500 p/r

MQMA041S1* 100V 400W 3000r/min 7-wire, 17-bit

MCDDT3520N C Single/3- MSMD082P1* 200V 750W 3000r/min 5-wire 2500 p/r

phase, MSMD082S1* 200V 750W 3000r/min 7-wire, 17-bit

200V MAMA042P1* 200V 400W 5000r/min 5-wire 2500 p/r

MAMA042S1* 200V 400W 5000r/min 7-wire, 17-bit

MFMA042P1* 200V 400W 2000r/min 5-wire 2500 p/r

MFMA042S1* 200V 400W 2000r/min 7-wire, 17-bit

MHMA052P1* 200V 500W 2000r/min 5-wire 2500 p/r

MHMA052S1* 200V 500W 2000r/min 7-wire, 17-bit

Phone: 800.894.0412 - Fax: 888.723.4773 - Web: www.clrwtr.com - Email: [email protected]

No.SX-DSV01676 - 3 -

R2 Motor Company, Matsushita Electric Industrial Co., Ltd.

Servo Drive Applicable Motor

Model No. Frame

Type Power supply

input Model No. Voltage Rated output Rated speed Encoder spec.

MDDDT3530N D Single/3- MDMA102P1* 200V 1.0kW 2000r/min 5-wire 2500 p/r

phase, MDMA102S1* 200V 1.0kW 2000r/min 7-wire, 17-bit

200V MHMA102P1* 200V 1.0kW 2000r/min 5-wire 2500 p/r

MHMA102S1* 200V 1.0kW 2000r/min 7-wire, 17-bit

MDDDT5540N D Single/3- MGMA092P1* 200V 900W 1000r/min 5-wire 2500 p/r

phase, MGMA092S1* 200V 900W 1000r/min 7-wire, 17-bit

200V MSMA102P1* 200V 1.0kW 3000r/min 5-wire 2500 p/r

MSMA102S1* 200V 1.0kW 3000r/min 7-wire, 17-bit

MHMA152P1* 200V 1.5kW 2000r/min 5-wire 2500 p/r

MHMA152S1* 200V 1.5kW 2000r/min 7-wire, 17-bit

MDMA152P1* 200V 1.5kW 2000r/min 5-wire 2500 p/r

MDMA152S1* 200V 1.5kW 2000r/min 7-wire, 17-bit

MSMA152P1* 200V 1.5kW 3000r/min 5-wire 2500 p/r

MSMA152S1* 200V 1.5kW 3000r/min 7-wire, 17-bit

MFMA152P1* 200V 1.5kW 2000r/min 5-wire 2500 p/r

MFMA152S1* 200V 1.5kW 2000r/min 7-wire, 17-bit

MAMA082P1* 200V 750W 5000r/min 5-wire 2500 p/r

MAMA082S1* 200V 750W 5000r/min 7-wire, 17-bit

Phone: 800.894.0412 - Fax: 888.723.4773 - Web: www.clrwtr.com - Email: [email protected]

No.SX-DSV01676 - 4 -

R2 Motor Company, Matsushita Electric Industrial Co., Ltd.

Servo Drive Applicable Motor

Model No. Frame

Type Power supply

input Model No. Voltage Rated output Rated speed Encoder spec.

MEDDT7364N E 3-phase, MDMA202P1* 200V 2.0kW 2000r/min 5-wire 2500 p/r

200V MDMA202S1* 200V 2.0kW 2000r/min 7-wire, 17-bit

MSMA202P1* 200V 2.0kW 3000r/min 5-wire 2500 p/r

MSMA202S1* 200V 2.0kW 3000r/min 7-wire, 17-bit

MHMA202P1* 200V 2.0kW 2000r/min 5-wire 2500 p/r

MHMA202S1* 200V 2.0kW 2000r/min 7-wire, 17-bit

MFMA252P1* 200V 2.5kW 2000r/min 5-wire 2500 p/r

MFMA252S1* 200V 2.5kW 2000r/min 7-wire, 17-bit

MFDDTA390N F 3-phase, MGMA202P1* 200V 2.0kW 1000r/min 5-wire 2500 p/r

200V MGMA202S1* 200V 2.0kW 1000r/min 7-wire, 17-bit

MDMA302P1* 200V 3.0kW 2000r/min 5-wire 2500 p/r

MDMA302S1* 200V 3.0kW 2000r/min 7-wire, 17-bit

MHMA302P1* 200V 3.0kW 2000r/min 5-wire 2500 p/r

MHMA302S1* 200V 3.0kW 2000r/min 7-wire, 17-bit

MSMA302P1* 200V 3.0kW 3000r/min 5-wire 2500 p/r

MSMA302S1* 200V 3.0kW 3000r/min 7-wire, 17-bit

MFDDTB3A2N F 3-phase, MGMA302P1* 200V 3.0kW 1000r/min 5-wire 2500 p/r

200V MGMA302S1* 200V 3.0kW 1000r/min 7-wire, 17-bit

MDMA402P1* 200V 4.0kW 2000r/min 5-wire 2500 p/r

MDMA402S1* 200V 4.0kW 2000r/min 7-wire, 17-bit

MHMA402P1* 200V 4.0kW 2000r/min 5-wire 2500 p/r

MHMA402S1* 200V 4.0kW 2000r/min 7-wire, 17-bit

MSMA402P1* 200V 4.0kW 3000r/min 5-wire 2500 p/r

MSMA402S1* 200V 4.0kW 3000r/min 7-wire, 17-bit

MFMA452P1* 200V 4.5kW 2000r/min 5-wire 2500 p/r

MFMA452S1* 200V 4.5kW 2000r/min 7-wire, 17-bit

MGMA452P1* 200V 4.5kW 1000r/min 5-wire 2500 p/r

MGMA452S1* 200V 4.5kW 1000r/min 7-wire, 17-bit

MDMA502P1* 200V 5.0kW 2000r/min 5-wire 2500 p/r

MDMA502S1* 200V 5.0kW 2000r/min 7-wire, 17-bit

MHMA502P1* 200V 5.0kW 2000r/min 5-wire 2500 p/r

MHMA502S1* 200V 5.0kW 2000r/min 7-wire, 17-bit

MSMA502P1* 200V 5.0kW 3000r/min 5-wire 2500 p/r

MSMA502S1* 200V 5.0kW 3000r/min 7-wire, 17-bit

Phone: 800.894.0412 - Fax: 888.723.4773 - Web: www.clrwtr.com - Email: [email protected]

No.SX-DSV01676 - 5 -

R2 Motor Company, Matsushita Electric Industrial Co., Ltd.

4. Specifications

4-1 General specifications

Main circuit Single-phase 100 to 115V +10%

-15% 50/60Hz

100V

type Control circuit Single-phase 100 to 115V +10%

-15% 50/60Hz

Type

A and B Single-phase 200 to 240V +10%

-15% 50/60Hz

Type

C and D Single-phase/3- phase 200 to 240V +10%

-15% 50/60Hz

Main circuit

Type

E and F 3 phase 200 to 230V +10%

-15% 50/60Hz

Type

A to D Single phase 200 to 240V +10%

-15% 50/60Hz

Input

power

supply 200V

type

Control

circuit Type

E and F Single phase 200 to 230V +10%

-15% 50/60Hz

Temperature Operating: 0 to 55degrees C Storage: -20 to 80degrees C

Humidity Operating and storage: 90%RH or less (free from dew)

Altitude 1000m or lower

Ambient

Condition

Vibration 5.88m/s２or less，10 to 60Hz（no continuous run at resonance point）

Control method IGBT PWM control, sinusoidal wave drive

Encoder feedback 17Bit(131072 resolutions) 7-wire serial absolute encoder

2500p/r(10000 resolutions) 5-wire serial incremental encoder

External scale feedback AT500 or ST771 senies by Mitutoyo Corporation.

Motion command input Motion command input via network enabled

Input

8 inputs

1) CCW over-travel, 2) CW over-travel, 3) HOME, 4) Emergency stop, 5)External Servo-ON/ External

input4, 6) External input 1, 7) External input 2, 8) External input 3

Control signal

Output 4 outputs

1) Servo alarm, 2) External brake release signal, 3) External output 1, 4) External output 2

Pulse signal Out put 3 outputs

Output Encoder or External Scale A/B/Z-phase pulse in differential mode

Communication RS232 For the personal computer or the console

Front panel

1) Rotary switch (Setup of node address(MAC-ID))

2) 7-segment LED (2-digit)

3) Network status LED (COM , LINK）

4) Analog monitor pin (Velocity monitor and Torque monitor)

Regeneration Type A and B: No built-in regenerative resistor (External resistor only)

Type C to F: Built-in regenerative resistor (External resistor connectable)

Dynamic brake Built in

Basic specifications

Control mode 1) Position control, 2) Full-closed control

Phone: 800.894.0412 - Fax: 888.723.4773 - Web: www.clrwtr.com - Email: [email protected]

No.SX-DSV01676 - 6 -

R2 Motor Company, Matsushita Electric Industrial Co., Ltd.

Smoothing filter Select the primary delay filter or the FIR filter for position command

Setup range of Multiple Ratio for External

scale

Ratio between the encoder pulse (numerator) and the external scale pulse(denominator) can be set

within thesetting range : (1-10000 *2(0-17))/(1-10000)

Position control with

17bit encoder Enabled

Instantaneous

velocity observer Excluding the above Disabled

Vibration suppression control Enabled

Real-time Drive estimates the load inertia at actual running condition in real time, and the sets up the gain

automatically, corresponding to the stiffness setup.

Auto-gain

tuning Normal mode Drive estimates the load inertia by driving the machine with the internal action command of the drive and sets the

gain corresponding to the stiffness setup.

Masking function of unnecessary input The Following control inputsignals can be masked

1) Over-travel input, 2) Emergency stop, 3) External Servo-ON

Multiple Ratio for Encoder feedback pulse

output Max. Output pulses a rotation: Encoder Resolntion.

Hard error Over-voltage, Under-voltage, Over-load, Over-heat, Over-current, and Encoder error etc.

Protective function Soft error Continuous communication error, Communication time out, Excess position deviation, Motion Command

error, EEPROM error, etc.

Function

Tracebackfunctionofalarmdata Trace up to 14 latest data including the present enable

4-2 Specifications by model

See the appendix placed at the and of this document.

Phone: 800.894.0412 - Fax: 888.723.4773 - Web: www.clrwtr.com - Email: [email protected]

No.SX-DSV01676 - 7 -

R2 Motor Company, Matsushita Electric Industrial Co., Ltd.

5. Dimensions

Dimensions: Type A

Unit : mm

Phone: 800.894.0412 - Fax: 888.723.4773 - Web: www.clrwtr.com - Email: [email protected]

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