AC Servo Motor DriverMINAS S-seriesOperating Manual• Thank you very much for your buying Panasonic AC Servo Motor Driver,A-series.• Before use, read through this manual to ensure proper use. Keep this manual at an easilyaccessible place so as to be referred anytime as necessary.Be sure give this instruction manual to the user.
Parts Description•••••••••••12Amplifier•••••••••••••••••••••••••••••••••••••12Motor•••••••••••••••••••••••••••••••••••••••••13Installation•••••••••••••••••14Amplifier•••••••••••••••••••••••••••••••••••••14Motor•••••••••••••••••••••••••••••••••••••••••16Trial Run•••••••••••••••••••44Inspections before Trial Run•••••••••••••••••••44Operation with CN I/F Connected••••••••••••••••••45Adjustments•••••••••••••••50Purposes of Gain Adjustments•••••••••••••••50Types of Gain Adjustments••••••••••••••50How to Adjust Gain••••••••••••••••••••••••52How to Use "Normal Auto-Gain" Tuning••••••••••53How to Use "Real TimeAuto-Gain" Tuning••••••••••••••••54How to Adjust Gain Manually•••••••••••••••55Gain Tuning UsingGain Adjustment Rotary Switch•••••••••58To reduce the mechanincalresonance•••••••••••••••••••••••••••59Table of Contents- 2 -Safety Precautions•••••4Introduction•••••••••••••8After Opening the Package••••••••••••••••8Check the Model Number of Amplifier••••••••••••••••••8Check the Model Number of Motor•••••••••••••••••••9Check the Combination of Amplifier and Motor•••••••••••••••••••••10System Configuration and Wiring•••••18General Wiring Diagram•••••••••••••••••••••••18List of Available Components••••••••••••••••••20Main Circuits•••••••••••••••••••••••••••••••22CN SIG ConnectorFor Encoder•••••••••••••••••••••••••••••23CN SER Connector•••••••••••••••••••••••24CN I/F ConnectorFor Controller••••••••••••••••••••••••••••25CN MON Connector•••••••••••••••••••35Parameter Setting•••••••••••36Overview••••••••••••••••••••••••••••••••••••36Parameter Groups and Listing•••••••••••••••36Setting the Parameters•••••••••••••••••••41Overview of PANATERM“•••••••••••••••41How to Connect••••••••••••••••••••••••••••41Before UsePreparationsand Adjustments
Troubleshooting••••••••••••••••••••••••••••••68After-Sale Service••••••••••••••••••••••Back coverDetails of Parameters•••••••••••••App. 16Optional Parts•••••••••••••••••••••••App. 38Recommended Parts••••••••••••••App. 47Dimensions••••••••••••••••••••••••••App. 48Characteristics••••••••••••••••••••••App. 53Specifications•••••••••••••••••••••••App. 54Protective Functions•••••••••••60Maintenance andInspections•••••••••••66Conformance to EC Directives and UL Standards•••••••••••App. 2Holding Brake•••••••••••••••••••••••••App. 6Dynamic Brake••••••••••••••••••••••••App. 8Timing Chart•••••••••••••••••••••••••App. 10Acceptable Loads on Output Shaft•••••••••••••••App. 14Homing Operation (Precautions)••••••••••••••App. 15AppendixesImportant Information- 3 -
-4- DANGERSafety PrecautionsObserve the following precautions in order to avoid injuries of opera-tors and other persons, and mechanical damages. The following DANGER and CAUTION symbols are used according to the level of dangers possibly occur-ring if you fail to observe the instructions or precautions indicated. The following symbols indicate what you are not allowed to do, or what youmust observe.(Important)DANGERCAUTIONIndicates a potentially hazardous situation which, if notavoided, will result in death or serious injury.Indicates a potentially hazardous situation which, if not avoided,will result in minor or moderate injury and physical damage.This symbol indicates that the operation is pro-hibited.This symbol indicates that the operation mustbe performed without fail.Don't insert your hands inthe amplifier.Failure to observe thisinstruction could result inburns and/or electric shocks.An over-current protection, earth leakagebreaker, over-temperature protection andemergency stop should be installed.Failure to observe thisinstruction could result in electricshocks, injuries and/or fire.Be sure to check safetyafter occurrence of earth-quake.Install the amplifier securely to pre-vent fire hazard and personal injuryresulting from earthquake.Failure to observe thisinstruction could result in electricshocks, injuries and/or fire.Failure to observe thisinstruction could result in electricshocks, injuries and/or fire.
-5- DANGERGround the earth terminalof the amplifier.Failure to observe thisinstruction could result inelectric shocks.Don't touch the rotatingpart of the motor in motion.Failure to observe this instruction couldresult in injuries.Rotating partDo not expose the cables tosharp edges, excessivepressing forces, heavyloads or pinching forces.Failure to observe thisinstruction could result inelectric shocks,malfunction and/ordamages.Perform the transportation,wiring and inspection atleast 10 minutes after thepower off.Failure to observe this in-struction could result inelectric shocks.Don't subject the product towater splash, corrosivegases, flammable gases andcombustible things.Failure to observe this in-struction could result infire.Before UseInstall an externalemergency stop device sothat you can shut off thepower in any emergencycases.Failure to observe thisinstruction could result ininjuries, electric shocks, fire,malfunction and/or mechanicaldamages.Always ask to an electrical engi-neer for wiring.
-6-CautionSafety PrecautionsUse the motor andamplifier in the specifiedcombination.Failure to observe this in-struction could result in fire.Execute the trial operationswith the motor fixed butwithout motor load connected.Connecting a load to themotor is possible only aftersuccessful trial operation.Failure to observe this in-struction could result in in-juries.Avoid extremeadjustment or change.Avoid an operationwhich causes unstableaction.Failure to observe thisinstruction could result ininjuries.If an error occurs,remove the causes forthe error and secure thesafety before restartingthe operation.Failure to observe thisinstruction could result ininjuries.Don't touch the motor,amplifier or itsregenerative dischargeresistor, since theybecome hot.Failure to observe thisinstruction could result inburns.Don't modify, dismantleor repair the amplifier.Failure to observe this in-struction could result in fire,electric shocks and/or inju-ries.(Important)
-7-Caution*Provide appropriate settings as a preparedness againstthe accidental restart of the machine in order to ensurethe safety of personnel.This equipment should betreated as an industrialwaste when it is disposed of.Don't block the heatdissipation hole or insertforeign matters in it.Failure to observe thisinstruction could resultin electric shocks,injuries and/or fire.Make sure that thewirings are madecorrectly.Failure to observe thisinstruction could result inelectric shocks, injuries.Don't hold the cables ormotor shaft whentransporting the motor.Failure to observe thisinstruction could resultin injuries.Before UseAfter recovery from thepower failure, theequipment may restartsuddenly. Don't approachthe equipmentFailure to observe thisinstruction could result ininjuries.Observe the voltagespecified.Failure to observe thisinstruction could result inelectric shocks,injuries and/or fire.Do not turn on/off themain power frequently.Failure to observe thisinstruction could resultin malfunctions.
-8-1~35~611~12478910IntroductionAfter Opening the Package• Make sure that the product is what you have ordered.• Check whether the product has been damaged or not during transportation.Check the Model of AmplifierName plateModel DesignationSeries symbolS: S-seriesRated motor output (seeTable 1-a)If the product is not correct, or it has been damaged, contact dealer or sales agent.MUDS3A1A1A100-115V 32V 2500P/R1ø3ø1.0A 1.0A 30W50/60Hz 0~333.3Hz00010001PowerF.L.CPhaseVoltageINPUT OUTPUT ENCODERAC SERVO DRIVER60/75 Wire OnlyUse Copper Conductors OnlyRefer to Manual for Wiring and Wire SizeRefer to Manual for Over Load ProtectionSER.NO.Model No.Freq.ModelRated input voltageRated motor outputNumber of pulses of theencoder(resolution)Rated output currentSerial NumberCustomspecificationCustom specification 2(A, B, C...)A: StandardCustom specification 1 (1,2, 3...)1: StandardRotary encoder (see Table 1-b)Power supply1: Single-phase, 100V2: Single-phase, 200V3: Three-phase, 200V5: Three-phase/Single-phase, 200V (common phase)SymbolMUDApplicable motorsMUMÅiExtra low inertiaÅj
-9-StraightABCDOil sealNoneYesBrakeNoneYesNoneYesKey wayEFGH1~35~611~12478910Check the Model of MotorName plateTypeSerial NoRevolution ratingModel DesignationRated output (see Table 1-a)Motor structure(see Table 1-c)AC SERVO MOTORRATINGS1Model No.MUMS042A1AINS. CLASSB (TÜV) A (UL)CONT. TORQUE0.64NmA1.6CONNECTIONRATED OUTPUTRATED FREQ.kW0.2SER No.00010001Hz200RATED REV.r/min3000INPUT3ØAC92IP65VMatsushitaElectric Industrial Co..Ltd.Made in JapanRated outputSeries symbolS: S-seriesVoltage1: 100V2: 200VZ: 100/200VRotary encoder (see Table 1-b)Custom specification 11: StandardCustom specification 2SymbolMUMTypeSuper low inertiaSymbolATypeIncrementalNo. of pulses2500P/rLead wire11-wireSpecificationsResolution10000Before UseSymbol3A5A01Rated output30W50W100WSymbol020408Rated output200W400W750WTable 1-aRated Motor OutputTable 1-bRotary EncoderMotor StructureTable 1-cShaft∑ Specifications with the shaftprovided with key way are standard.
-10-IntroductionCheck the Combination of Amplifier and MotorThe amplifier has been designed for use in combination with the specified motors only.Check the specifications (Series symbol, output rating, voltage rating and encoder type) ofthe motor you want to use.