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Instruction Manual
AC Servo Motor and Driver
MINAS A4P Series
•Thank you for buying and using Panasonic AC Servo Motor and Driver, MINAS A4P Series.
•Read through this Instruction Manual for proper use, especially read "Precautions for Safety" ( P.8
to 11) without fail for safety purpose.
•Keep this Manual at an easily accessible place so as to be referred anytime as necessary.
DV0P4490
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Content [Before Using the Products] page Safety Precautions .................................................................... 8 Maintenance and Inspection ................................................... 12 Introduction.............................................................................. 14 Outline .......................................................................................................................................................... 14 On Opening the Package ....
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Before Using Operation Preparation Setting Adjustment When in Trouble Supplement the Products Setting List of Servo Parameter ................................................................................................................................ 58 List of 16-bit Positioning Parameters ........................................................................................................... 73 List of 32-bit Positioning Parameters .......................................................
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Timing Chart .......................................................................... 132 Operation Timing after Power-ON .............................................................................................................. 132 When an Error (Alarm) Has Occurred (at Servo-ON Command) .............................................................. 133 When an Alarm Has Been Cleared (at Servo-ON Command) ................................................................... 134 Servo-ON/OFF
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Before Using Operation Preparation Setting Adjustment When in Trouble Supplement the Products Setting [Supplement] page Conformity to EC Directives and UL Standards .................. 176 Options ................................................................................... 180 Recommended components................................................. 191 Dimensions (Driver)............................................................... 192 Dimensions (Motor) ..................................
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[Before Using the Products] page Safety Precautions ....................................................8 Maintenance and Inspection ..................................12 Introduction .............................................................14 Outline ......................................................................................... 14 On Opening the Package ............................................................ 14 Check of the Driver Model .......................................
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Observe the Following Instructions Without Fail Safety Precautions Observe the following precautions in order to avoid damages on the machinery and injuries to the operators and other personnel during the operation. • In this document, the following symbols are used to indicate the level of damages or injuries which might be incurred by the misoperation ignoring the precautions. Indicates a potentially hazardous situation which, if not DANGER avoided, will result in death or serious injury.
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Before Using the Products [Before Using the Products] DANGER Do not place combustibles near Do not place the console close to by the motor, driver and regenera- a heating unit such as a heater or tive resistor. a large wire wound resistor. Failure to observe this in- Failure to observe this in- struction could result in fire struction could result in fire. and breakdowns. Install an overcurrent protection, Ground the earth terminal of the earth leakage breaker, over-tem- motor and driver w
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Observe the Following Instructions Without Fail Safety Precautions CAUTION Do not hold the motor cable or Do not block the heat dissipating motor shaft during the transporta- holes or put the foreign particles tion. into them. Failure to observe this Failure to observe this in- instruction could result in struction could result in injuries. electrical shocks and fire. Never run or stop the motor with Do not step on the Product nor the electro-magnetic contactor place the heavy object on them
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Before Using the Products [Before Using the Products] CAUTION Use the motor and the driver in Make a wiring correctly and the specified combination. securely. Failure to observe this Failure to observe this instruction could result in instruction could result in fire. fire and electrical shocks. Use the eye bolt of the motor for Observe the specified mounting transportation of the motor only, method and direction. and never use this for transporta- tion of the machine. Failure to observe t
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Maintenance and Inspection • 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. 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 LED display of the front panel has gone off, before performing maintenance and inspection.
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Before Using the Products [Before Using the Products] Guideline for Parts Replacement Use the table below for a reference. Parts replacement cycle varies depending on the actual operating conditions. Defective parts should be replaced or repaired when any error have occurred. Disassembling for inspection and repair should be carried out only by authorized dealers or service company. Prohibited Standard replacement Product Component Note cycles (hour) Smoothing capacitor Approx. 5
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Introduction Outline MINAS-A4P Series is a servo motor and driver of I/O command type. A4P Series is based on the high- performance servo driver MINAS-A4 Series, which achieved response frequency of 1kHz, real-time auto- gain tuning function and damping control, and contains the NC function which can perform positioning more easily. A maximum of 60 setting points can be set for (1) moving distance, (2) maximum rotation speed in a moving section, (3) acceleration time and (4) deceleration time in
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Before Using the Products [Before Using the Products] Absolute/Incremental Specifications, 17-bit Do not use in other combinations than those listed below. Applicable motor Applicable driver Power Motor Rated Rated supply Model Model Frame series rotational speed output Single phase, MAMA012S1* 100W MADDT1207P A-frame MAMA 200V MAMA022S1* 200W MBDDT2210P B-frame Ultra low 5000r/min 3-phase, MAMA042S1* 400W MCDDT3520P C-frame inertia 200V MAMA082S1* 750W
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Parts Description Driver • A and B-frame Display LED (2-digit) ID address setup rotary switch (MSD, LSD) Velocity monitor check pin (SP) Torque monitor check pin (IM) Check pin (G : GND) Communication connector, CN X4 Connector Connector, CN X4A Main power (For manufacturers' use only: Connector, CN X1 input terminals Not for individual use) (L1,L2) for power input Connector, CN X4B connection (For manufacturers' use only: Control power 04JFAT-SAXGF Not for individual use) input
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Before Using the Products [Before Using the Products] Velocity monitor check pin (SP) • E and F-frame Torque monitor check pin (IM) Check pin (G : GND) Display LED (2-digit) ID address setup Main power rotary switch (MSD, LSD) input terminals (L1,L2,L3) Communication connector, CN X4 Control power Screw for cover M3 input terminals (r, t) Connector, CN X4A (For manufacturers' use only: Not for individual use) Terminals for external Connector, CN X4B regenerative (For manufa
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Parts Description Motor • MSMD 50W to 750W • MAMA 100W to 750W • MQMA 100W to 400W Encoder cable Motor cable Rotary encoder Connector for brake cable (Only applicable to the motor Motor frame with electromagnetic brake) Flange Mounting holes (X4) e.g.) : Low inertia type (MSMD series, 50W) • MSMA 1.0kW to 5.0kW Connector for motor and brake • MDMA 1.0kW to 5.0kW Connector for encoder • MHMA 500W to 5.0kW • MFMA 400W to 4.5kW • MGMA 900W to 4.5kW Oil seal Flange Flange Mounting holes (X4) e
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Before Using the Products [Before Using the Products] Check of the Motor Model Contents of Name Plate CONT. TORQUE 0.64 Nm Model AC SERVO MOTOR RATING S1 Serial Number MODEL No. MSMD5AZS1S INS. CLASS B (TÜV) A (UL) INPUT 3ØAC 92 V IP65 Rated input voltage/current e.g.) : 0511 0001 1.6 A CONNECTION RATED OUTPUT 0.2 kW SER No. 05110001 RATED FREQ. 200 Hz Lot number RATED REV. 3000 r/min Rated output Month of production Rated rotational speed Year of production (Lower 2 digits of AD yea
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Introduction Check of the Combination of the Driver and the Motor This drive is designed to be used in a combination with the motor which are specified by us. Check the series name of the motor, rated output torque, voltage specifications and encoder specifications. Incremental Specifications, 2500P/r Do not use in other combinations than those listed below. Applicable motor Applicable driver Power Motor Rated Rated supply Model Model Frame series rotational speed output Single pha
