Further evolution in down-sizing, by 47% in size (Note) Exclusively designed for Positioning Control

Transcription

1 Ultra Compact Servo Motor & Driver MINAS E Best Fit to Small Drives Further evolution in down-sizing, by 47% in size (Note) Exclusively designed for Positioning Control Easy to Handle, Easy to Use DIN-rail mounting unit (option) improves handling/installation. User-friendly Console makes the setup easy. High functionality Real-Time Auto-Gain Tuning enables adjustment-free operation. High-Speed Positioning with Resonance Suppression Filters Built-In notch filter suppresses resonance of the machine. Built-in adaptive filter detect resonance frequency and suppress vibration. Smoother operation for Low Stiffness Machine Damping control function suppresses vibration during acceleration/deceleration (Note) Compared to MUDS043A1

2 MINAS E MINAS E Contents Features Details of Features List of Specifications Model Designation Wiring Example Table of Part Numbers and Options Conformity to CE and UL Motor <Ratings/Specifications/Torque Characteristics> MUMA <Dimensions> MUMA Motor with Gear Reducer/MUMA <General Specifications> <Ratings/Specifications> <Torque Characteristics> <Dimensions> Driver <Common Specifications> <Standard Wiring Example of Main Circuit> <Encoder Wiring Diagram> <Standard Wiring Example of Control Circuit> <Dimensions> Options Recommended components Features Contents E1 E3 E5 E6 E7 E7 E9 E11 E11 E15 E15 E16 E17 E18 E19 E0 E1 E1 E E3 E4 E30 MINAS E Features / Contents Remarks : Instruction manual is available as an option as Japanese version : DV0P3680 and English version : DV0P3700

3 Details of Features Easy to Handle, East to Use High-functionality Real-Time Auto-Gain Tuning (Note 1) Offers real automatic gain tuning to low and high stiffness machines with a combination of an adaptive filter. DIN-rail mounting unit (option) Easy to mount and easy to dismount. Supports the vertical axis application where the load torque is different in rotational direction. Further Reduction of Vibration Adaptive filter (Note1) Makes the notch filter frequency automatically follow the machine resonance frequency in real-time auto-gain tuning. Suppression of "Judder" noise of the machine can be expected which is caused by variation of the machines or resonance frequency due to aging. Notch filter (Note1) 1-channel notch filters are equipped in the driver independent from adaptive filter. Each of filters can set up frequency and notch width, and frequency in 1Hz unit. Suppression of "Judder" noise of the machine which has multiple resonance points can be expected. without notch filter Effect of notch filter with notch filter Speed (1000r/min/div) Torque (33.3%/div) 50ms/div 50ms/div Damping control (Note1) You can suppress vibration occurring at both starting and stopping in low stiffness machine, by manually setting up vibration frequency in 0.1Hz unit. Note) Only applies to manual adjustment Motor movement without damping control actual speed (r/min) torque [%] s command speed (r/min) position deviaton [pulse] with damping control actual speed (r/min) torque [%] no vibration at motor shaft s command speed (r/min) position deviaton [pulse] Machine movement least vibration and fast response (Note1) Select at positioning action mode.. At high speed positioning mode (Pr0=0) Select either one of notch filter, damping control or high-functionality real-time auto- gain tuning. Not possible to use them all at the same time. Adaptive filter cannot be used.. At high-functionality positioning mode (Pr0=1) All of notch filter, damping control, high-functionality real-time auto-gain tuning and adaptive filter can be used at the same time.

4 MINAS E Details of Features Further Flexibility and Multiplicity Console (Option) You can set up parameters, copy and make a JOG run. Convenient for maintenance at site. Refer to Page E5, Options. Command control modes Offers command modes, "Position control" and "Internal velocity control". You can make a 4-speed running at preset values with parameter at internal velocity control. Inrush current suppressing function Inrush suppressing resistor is equipped in this driver, which prevent the circuit breaker shutdown of the power supply caused by inrush current at power-on. Prevents unintentional shutdown of the power supply circuit breaker in multi axis application and does not give load to the power line. Wave-form graphic function With the setup support software, "PANATERM ", you can monitor the "Command speed","actual speed","torque","position deviation" and"positioning complete signal". Helps you to analyze the machine and shorten the setup time *Note) Refer to page "F4" for setup support software. Frequency analyzing function You can confirm the response frequency characteristics of total machine mechanism including the servo motor with the setup support software, "PANATERM ". Helps you to analyze the machine and shorten the setup time. *Note) Refer to page "F4" for setup support software. Torque limit switching function You can select preset torque limit value from external input. Use this function for tension control or press-hold control. Regeneration discharging function Discharges the regenerative energy with resistor, which energy is generated while stopping the load with large moment of inertia, or use in up-down operation, and is returned to the driver from the motor. Conformity to CE and UL Standards No regenerative resistor is installed in the driver. It is highly recommended to install an external regenerative resistor (option). Built-in dynamic brake You can select the dynamic brake action which short the servo motor windings of U, V and W, at Servo-OFF, CW/CCW overtravel inhibition, power shutdown and trip. You can select the action sequence set up depending on the machine requirement. Setup support software With the setup support software, "PANATERM " via RS3 / RS485 communication port, you can monitor the running status of the driver and set up parameters. Note) Refer to page, F4 for setup support software. Subject Motor Motor and driver Standard conformed IEC IEC UL1004 CSA. NO.100 EN50178 UL508C EN55011 Radio Disturbance Characteristics of Industrial, Scientific and Medical (ISM) Radio-Frequency EquipmentI EN Immunity for Industrial Environments EC Electrostatic Discharge Immunity Test IEC Radio Frequency Electromagnetic Field Immunity Test IEC Electric High-Speed Transition Phenomenon/Burst Immunity Test IEC Lightening Surge Immunity Test IEC High Frequency Conduction Immunity Test IEC Instantaneous Outage Immunity Test IEC : International Electrotechnical Commission EN : Europaischen Normen EMC : Electromagnetic Compatibility UL : Underwriters Laboratories CSA : Canadian Standards Association Conforms to Low- Voltage Directives Conforms to references by EMC Directives MINAS E Details of Features Key-way shaft and tapped shaft end East pulley attachment and easy maintenance Attache screw to the tapped shaft to prevent key or pulley from being pulled out.

5 List of Specifications Motor series Rated (kw) Rated rotational speed (Max. speed) (r/min) Rotary encoder 500P/r incremental 17bit absolute/ incremental Brake Holding Gear High precision UL/CSA Enclosure Features Applications MUMA Ultra low inertia (5000) IP65 (Except shaft throughhole and connector) Small capacity Ultra low inertia SMT machines Inserters High repetitive positioning application

6 Model Designation MINAS E List of Specifications Model Designation Servo Motor Symbol U Motor rated Symbol Rated 5A Type Ultra low inertia (100W-400W) Voltage specifications Symbol Specifications 1 Z Design order 1 : Standard V/00V common(50w only) Motor structure Symbol S T Special specifications Shaft Holding brake Oil seal Round Key-way, without with without with center tap Motor with oil seal is manufactured by order. Rotary encoder specifications Symbol Format Pulse counts Resolution Wires Incremental 500P/r See page, E11 for motor specifications Motor with gear reducer Symbol UA Motor rated Rotary encoder specifications Symbol Format Pulse counts Resolution Wires Incremental 500P/r Servo Driver Type Ultra low inertia (100W-400W) Symbol Rated Voltage specifications Symbol Specifications Gear reduction ration, gear type Symbol Gear reduction Motor (W) ratio / 5 1/ 9 4 1/5 Motor structure Symbol Shaft Holding brake Key-way without with 3 4 Control mode P: Pulse train Special specifications Frame symbol Power device Max. current rating Supply voltage specifications Symbol Frame Symbol Power device Max. current rating Symbol Specifications MKDE E series, K-frame Single phase, 100V MLDE E series, L-frame 15 Single phase, 00V 3 3-phase, 00V 5 Single/3-phase,00V Gear type For high accuracy See page, E16 for motor with gear reducer specifications Current detector current rating Symbol Current detector, current rating 05 5A See page, E0 for driver specifications MINAS E List of Specifications / Model Designation

7 Wiring example For details, reter to the Instruction Manual. Wiring of main circuit Console (DV0P440) Circuit Breaker (NFB) Protects the power lines. Shuts off the circuit when overcurrent passes. Noise Filter (NF) Prevents external noise from the power lines. And reduces an effect of the noise generated by the servo driver. Magnetic Contactor (MC) Turns on/off the main power of the servo driver. Surge absorber to be used together with this. Reactor (L) Reduces harmonic current of the main power. Personal Computer Setup support software "PANATERM " (DV0P4460) PC communication cable (DV0P1960) Connector for external equipment (DV0P0770) or interface connector cable (DV0P0800) Pin-5 and Pin-3 of CN POWER. Connect an external regenerative resistor (option) between Pin-5 and B (Pin-3) of connector, CN X5, when regenerative energy is large. (Refer to page, E31 for regenerative resistor.) Connector for power supply connection, (DV0P870) Controller Motor Driver Option Recommended equipments Parts customer to prepare to page E11 to page E0 to page E4 Regenerative resistor (option) Ground (Earth) Motor cable Table of Part Numbers and Options Power supply Single phase 100V Single phase 00V Note 3-phase 00V Output () P/r, Incremental Motor Note) 1 Rating/Spec. (page) Driver MUMA5AZP1 E11 MKDET1105P MUMA011P1 E11 MKDET1110P MUMA01P1 E11 MLDET110P MUMA5AZP1 E13 MKDET1505P MUMA01P1 E13 MKDET1505P MUMA0P1 E13 MLDET10P MUMA04P1 E13 MLDET510P MUMA5AZP1 E13 MKDET1505P MUMA01P1 E13 MKDET1505P MUMA0P1 E13 MKDET1310P MUMA04P1 E13 MLDET510P MLDET310P 1. Motor model number suffix S : Key way with center tap, without brake T : Kew way with center tap, with brake. ** represents cable length. For details, refer to page, E4 Dimensions (Frame symbol) E3K E3K E3L E3K E3K E3L E3L E3K E3K E3K E3L Encoder cable Brake cable Power supply for brake DC4V Encoder cable Note) MFECA00EAM Motor cable Note) MFMCA00AEB

8 MINAS E Wiring example Table of Part Number andoptions List of recommneded prripheral equipments Power supply Series Motor Output Power capacity (at rated ) Circuit breaker (Rated current) Noise filter Magnetic Contactor (Contact Composition) Wire diameter (L1, L, L3, U, V and W) Single phase, 100V Single phase, 00V 3-phase 00V 50W 100W 00W 50W 100W 00W 400W 50W 100W 00W 0.3kVA 0.4kVA 0.5kVA 0.3kVA 0.5kVA 0.9kVA 400W 0.9kVA BBC3101N (10A). Select the single and 3-phase common specifications corresponding to the power supplies.. Circuit breaker and magnetic contactor listed are manufactured by Matsushita Electric Works. To conform to EC Directives, install a circuit breaker which conforms to IEC and UL Standards (UL listed and marked) between noise filter and power supply.. For details of the noise filters, refer to page E10. <Remarks>. Use a copper conductor cables with temperature rating of 60 or higher for main power connector and ground terminal wiring. Use a cable for ground with diameter of.0mm (AWG14) or larger. Brake cable Note) MUMA MFMCB00GET Option Regenerative resistor DV0P890 DV0P kVA 0.5kVA Reactor DV0P7 DV0P8 DV0P0 BBC5 (5A) BBC101N (10A) BBC5N (5A) BBC101N (10A) BBC35N (5A) Noise filter DV0P4160 DV0P4160 Carrying page Instruction manual Console BMFT61041N (3P+1a) BMFT6154N (3P+1a) BMFT6104N (3P+1a) Options Japanese English 0.75mm mm AWG18 Part No. DV0P3680 DV0P3700 DV0P440 Carrying page E5 Setup support software, Japanese PANATERM English DV0P4460 E8 RS3 communication cable (for connection with PC) DV0P1960 E8 Interface cable Connector kit for motor and encoder Connector kit for external equipment Connector kit for driver power supply DV0P0800 DV0P0770 DV0P3670 DV0P870 E8 E7 E6 E6 Encoder cable MFECA00EAM E5 Motor cable MFMCA00AEB E5 Brake cable MFMCB00GET E5 Cable set (3m) (Note 3) DV0P37300 E5 Cable set (5m) (Note 3) DV0P3900 E5 DIN-rail unit DV0P3811 E30 Regenerative 100V 50 10W DV0P890 resistor 00V W DV0P891 E9 DV0P7 100V Reactor DV0P8 E9 00V DV0P0 Noise filter Surge absorber Noise filter for signal wire DV0P4160 DV0P1460 Single phase 100V,00V DV0P phase 00V DV0P1450 E10 E10 E10 Note) 3. Cable set (3m)contains, 1) Interface cable: DV0P0800 ) Encoder cable (3m) : MFECA0030EAM 3) Motor cable (3m) : MFMCA0030AEB 4) Connector kit for driver power supply connection : DV0P870 Cable set (3m)contains, 1) Interface cable: DV0P0800 ) Encoder cable (5m) : MFECA0050EAM 3) Motor cable (5m) : MFMCA0050AEB 4) Connector kit for driver power supply connection : DV0P870 MINAS E Wiring example / Table of Part Numbers and Options

9 Conformity to CE and UL Compliance to EC and EMC Directives EC Directives The EC Directives apply to all such electronic products as those having specific functions and have been exported to EU and directly sold to general consumers. Those products are required to conform to the EU unified standards and to furnish the CE marking on the products. MINAS AC Servos conforms to the EC Directives for Low Voltage Equipment so that the machine incorporating our servos has an easy access to the conformity to relevant EC Directives for the machine. EMC Directives MINAS Servo System conform to relevant standard under EMC Directives setting up certain model (condition) with certain locating distance and wiring of the servo motor and the driver. And actual working condition often differs from this model condition especially in wiring and grounding. Therefore, in order for the machine to conform to the EMC Directives, especially for noise emission and noise terminal voltage, it is necessary to examine the machine incorporating our servos. Conformed Standards Subject Motor IEC EN50178 EN55011 Conformed Standard UL508C Radio Disturbance Characteristics of Industrial, Scientific and Medical (ISM) Radio-Frequency Equipment Conforms to Low- Voltage Directives IEC EN EMC UL CSA : International Electrotechnical Commission : Europaischen Normen : Electromagnetic Compatibility : Underwriters Laboratories : Canadian Standards Association Motor and driver EN IEC IEC IEC Immunity for Industrial Environments Electrostatic Discharge Immunity Test Radio Frequency Electromagnetic Field Immunity Test Electric High-Speed Transition Phenomenon/Burst Immunity Test Conforms to references by EMC Directives IEC Lightening Surge Immunity Test IEC High Frequency Conduction Immunity Test IEC Instantaneous Outage Immunity Test Composition of peripheral components <Precautions in using options> Use options correctly after reading operation manuals of the options to better understand the precautions. Take care not to apply excessive stress to each optional part. Control panel Controller Installation environment Use Minas driver in environment of Pollution Degree 1 or prescribed in IEC (e.g. Install the driver in control panel with IP54 protection structure.) Power supply Power supply 10% 10% 100V system : Single phase 100V -115V 15% 15% 10% 10% 00V system : Single phase 00V -40V 15% 15% 00V system : 3- phase 00V 10% 10% -40V 15% 15% Insulated transformer 50/60Hz 50/60Hz 50/60Hz Circuit breaker Ground-fault breaker (RCD) Insulated power supply for interface (1) Use the power supply under an environment of Overvoltage Category III specified in IEC () For a interface power supply, use the insulated one with 1 to 4 VDC which conforms to CE Marking or EN Standards (EN60950). Surge absorber Noise filter Noise filter for signal lines CN X1 L1 L L3 Ground (Earth plate) Driver CN X5 Noise filter for signal lines CN X3 U V W E CN X4 Servo motor M RE Circuit breaker Connect a circuit breaker which conforms to IEC standards and is UL recognized (listed and and the noise filter. marked), between the power supply

10 MINAS E Conformity to CE and UL Noise filter When you install one noise filter in the power supply for multi axis application, consult with the manufacture of the filter Label M4 Option part No. Part No. Manufacturer M3 DV0P4160 3SUP-HU10-ER-6 Okaya Electric Industries Co. 5 Cover Main body Surge absorber Install a surge absorber at primary side of the noise filter. Option part No. Driver voltage spec Part No. Manufacturer Option part No. Driver voltage spec Part No. Manufacturer DV0P phase, 00V R. A. V-781BXZ-4 Okaya Electric DV0P4190 Single phase, 100V, 00V R. A. V-781BWZ-4 Okaya Electric Circuit diagram Circuit diagram <Remarks> Remove this surge absorber when you perform dielectric test on the machine, or serge absorber might be damaged. Noise filter for signal lines Install noise filters for signal lines to all cables (Power line, motor cable, encoder cable, interface cable) Option part No. Part No. Manufacturer Mass : 6.8g DV0P1460 ZCAT TDK Corp. <Caution> Fix the signal line noise filter in place to eliminate excessive stress to the cables MINAS E Grounding (1) Connect the protective earth terminal of the driver ( ) and protective earth terminal of the control panel (PE) without fail to prevent electrical shocks. () Do not co-clamp to the ground terminals ( ). Two ground terminals are provided. Ground-fault breaker Install a B-type ground-fault breaker (RCD) at primary side of the power supply of the driver. Conformity to UL Standards Observe the following conditions ( (1) and () ) to make the system to conform to UL508C (File No. E16460). (1) Use Minas driver in environment of Pollution Degree 1 or prescribed in IEC (e.g. Install in the control panel with IP54 protective structure) () Connect the UL recognized (UL Listed, marked) circuit breaker or UL recognized (UL Listed, marked) fuse between the power supply and noise filter.

11 Motor Specifications and Ratings 100V MUMA 50W to 00WLow inertiasmall drives AC100V Motor model MUMA 5AZP1 011P1 01P1 Applicable driver Model No. MKDET1105P MKDET1110P MLDET110P Frame symbol Frame K Frame L Power supply capacity (kva) Rated (W) Rated torque (N. m) Momentary Max. peak torque (N. m) Rated current (Arms) Max. current (Ao-p) Regenerative brake frequency (times/min) Note)1 Without option DV0P890 No limit No limit Note) Note) Rated rotational speed (r/min) 3000 Max. rotational speed (r/min) 5000 Moment of inertia of rotor ( x 10 4 kg. m ) Without brake With brake Recommended moment of inertia ratio of the load and the rotor Note)3 Smaller than 30 times Rotary encoder specifications 500P/r Incremental Resolution per single turn Protective enclosure rating Ambient temperature Ambient humidity Environment Installation location Altitude Vibration resistance Mass (kg), ( ) represents holding brake type IP65 (except shaft through hole and cable end connector) 0 to 40 (free from freezing, Storage : -0 to %RH or lower (free from condensing) Indoors (no direct sunlight), free from corrosive gas, inflammable gas, oil mist and dust 1000m or lower 49m/s or less Brake specifications (This brake will be released when it is energized. Do not use this for braking the motor in motion.) Static friction torque (Nm) Engaging time (ms) 5 50 Releasing time (ms) Note) Exciting current (DC) (A) Releasing voltage DC 1V or more Exciting voltage DC 4V10% Permissible load During assembly Radial load P-direction (N) Thrust load A-direction (N) Thrust load B-direction (N) During operation Radial load P-direction (N) Thrust load A-direction (N) Thrust load B-direction (N) For motor dimensions, refer to page E15, and for the diver, refer to page E3.

12 MINAS E MUMA 50W 00W Model designation e.g.) M U M A 5 A Z P 1 S Symbol MUMA Type Ultra low inertia (50W00W) Motor rated Symbol Rated 5A 50W W 0 00W Torque characteristics MUMA series, 50W to 00W Voltage specifications Symbol Specifications 1 100V 100/00V Z (50W only) Design order 1 : Standard Motor structure Rotary encoder specifications Symbol P Format Incremental Pulse counts 500P/r Shaft Holding brake Oil seal Symbol Round Key-way, without center tap with without with S T Motor with oil seal is manufactured by order. Resolution Wires 5 at AC100V of power voltage (Dotted line represents the torque at 10% less supply voltage.) MUMA5AZP1 MUMA011P1 Without oilseal torque [Nm] Peak-run range Continuous-run range rotational speed [r/min] versus rated torque (%) *Continuous torque/temperature ambient temperature [] Without oilseal torque [Nm] Peak-run range Continuous-run range rotational speed [r/min] versus rated torque (%) *Continuous torque/temperature ambient temperature [] With oilseal torque [Nm] Peak-run range Continuous-run range rotational speed [r/min] versus rated torque (%) *Continuous torque/temperature without brake with brake ambient temperature [] With oilseal torque [Nm] Peak-run range Continuous-run range rotational speed [r/min] versus rated torque (%) *Continuous torque/temperature without brake with brake ambient temperature [] MUMA01P1 Without oilseal torque [Nm] Peak-run range Continuous-run range rotational speed [r/min] versus rated torque (%) *Continuous torque/temperature ambient temperature [] With oilseal torque [Nm] Peak-run range Continuous-run range rotational speed [r/min] versus rated torque (%) *Continuous torque/temperature without brake with brake ambient temperature [] *When you lower the torque limit setup (Pr5E and 5F), running range at high speed might be lowered as well. Torque Running range (Torque limit setup : 300%) Running range (Torque limit setup : 00%) MINAS E Motor Running range (Torque limit setup : 100%) Continuous running range rotational speed Radial load (P) direction L Shaft L/ P Thrust load (A, B) direction A Motor B Note) 1. Regenerative brake frequency represents the frequency of the motor's stops from the rated speed with deceleration without load. If the load is connected, frequency will be defines as 1/(m+1), where m=load moment of inertia/rotor moment of inertia. When the motor speed exceeds the rated speed, regenerative brake frequency is in inverse proportion to the square of (running speed/rated speed). Power supply voltage is AC115V (at 100V of the main voltage). If the supply voltage fluctuates, frequency is in inverse proportion to the square of (Running supply voltage/115) relative to the value in the table. When regeneration occurs continuosly such cases as running speed frequently changes or vertical feeding, consult us or a dealer.. If the effective torque is within the rated torque, there is no limit in generative brake. 3. Consult us or a dealer if the load moment of inertia exceeds the specified value. 4. Specified releasing time is obtained with the use of surge absorber for brake (Z15D151 by Ishizuka Electronic or equivalent). ( ) represents the actually measured value using a diode (00V, 1A or equivalent)

13 Motor Specifications and Ratings 00V MUMA 50W to 400W Low inertia Small drives AC00V Motor model Applicable driver Regenerative brake frequency (times/min) Note)1 MUMA Model No. Frame symbol Power supply capacity (kva) Rated (W) Rated torque (Nm) Momentary Max. peak torque (N. m) Rated current (Arms) Max. current (Ao-p) Rated rotational speed (r/min) Max. rotational speed (r/min) Moment of inertia of rotor (x10-4 kgm ) Without option DV0P8911 Without brake With brake Recommended moment of inertia ratio of the load and the rotor Note)3 Rotary encoder specifications 5AZP1 01P1 0P1 MKDET1310P MKDET1505P MKDET10P Frame K Frame K Frame L No limit Note) No limit Note) Smaller than 30 times 500P/r Incremental 04P1 MLDET310P MLDET510P Frame L Resolution per single turn Protective enclosure rating Ambient temperature Ambient humidity Environment Installation location Altitude Vibration resistance Mass (kg), ( ) represents holding brake type IP65 (except shaft throughhole and cable end connector) 0 to 40 (free from freezing, Storage : -0 to %RH or lower (free from condensing) Indoors (no direct sunlight), free from corrosive gas, inflammable gas, oil mist and dust 1000m or lower 49m/s or less Brake specifications (This brake will be released when it is energized. Do not use this for braking the motor in motion.) Static friction torque (Nm) Engaging time (ms) 5 50 Releasing time (ms) Note) Exciting current (DC) (A) Releasing voltage DC 1V or more Exciting voltage DC 4V10% Permissible load Radial load P-direction (N) During assembly Thrust load A-direction (N) Thrust load B-direction (N) Radial load P-direction (N) During operation Thrust load A-direction (N) Thrust load B-direction (N) For motor dimensions, refer to page E15, and for the diver, refer to page E3. Note) Driver for 50W and 100W has a common power supply of single phase and 3-phase 00V. Driver for 00W, the upper row is the power supply of 3-phase 00V, and lower is the power supply of single-phase 00V. Driver for 400W, the upper row is the power supply of 3-phase 00V, and lower is the common power supply of single-phase and 3-phase 00V

14 MINAS E MUMA 50W 400W Model designation MUMA series, 50W to 400W e.g.) M U M A 5 A Z P 1 S Symbol MUMA Type Ultra low inertia 50W to 400W Motor rated Symbol Rated 5A 50W W 0 00W W Voltage specifications Symbol Specifications 00V 100/00V Z (50W only) Design order 1 : Standard Motor structure Shaft Holding brake Oil seal Symbol Round Key-way, without center tap with without with S T Motor with oil seal is manufactured by order. Rotary encoder specifications Symbol P Format Incremental Pulse counts 500P/r Resolution Wires 5 Torque characteristics MUMA5AZP1 at AC00V of power voltage (Dotted line represents the torque at 10% less supply voltage.) MUMA01P1 Without oilseal torque [Nm] Peak-run range Continuous-run range rotational speed [r/min] versus rated torque (%) *Continuous torque/temperature ambient temperature [] Without oilseal torque [Nm] Peak-run range Continuous-run range rotational speed [r/min] versus rated torque (%) *Continuous torque/temperature ambient temperature [] With oilseal MUMA0P1 Without oilseal With oilseal torque [Nm] Peak-run range Continuous-run range rotational speed [r/min] torque [Nm] Peak-run range Continuous-run range rotational speed [r/min] torque [Nm] Peak-run range Continuous-run range rotational speed [r/min] versus rated torque (%) versus rated torque (%) versus rated torque (%) ambient temperature [] *Continuous torque/temperature without brake ambient temperature [] ambient temperature [] *When you lower the torque limit setup (Pr5E and 5F), running range at high speed might be lowered as well. Torque with brake *Continuous torque/temperature *Continuous torque/temperature without brake with brake Running range (Torque limit setup : 300%) Running range (Torque limit setup : 00%) With oilseal MUMA04P1 Without oilseal With oilseal torque [Nm] Peak-run range Continuous-run range rotational speed [r/min] torque [Nm] Peak-run range Continuous-run range rotational speed [r/min] torque [Nm] Peak-run range Continuous-run range rotational speed [r/min] versus rated torque (%) versus rated torque (%) versus rated torque (%) ambient temperature [] ambient temperature [] *Continuous torque/temperature without brake with brake *Continuous torque/temperature *Continuous torque/temperature ambient temperature [] MINAS E Motor Running range (Torque limit setup : 100%) Continuous running range rotational speed Radial load (P) direction L Shaft L/ P Thrust load (A, B) direction A Motor B Note) 1. Regenerative brake frequency represents the frequency of the motor's stops from the rated speed with deceleration without load. If the load is connected, frequency will be defines as 1/(m+1), where m=load moment of inertia/rotor moment of inertia. When the motor speed exceeds the rated speed, regenerative brake frequency is in inverse proportion to the square of (running speed/rated speed). Power supply voltage is AC40V (at 00V of the main voltage). If the supply voltage fluctuates, frequency is in inverse proportion to the square of (Running supply voltage/40) relative to the value in the table. When regeneration occurs continuosly such cases as running speed frequently changes or vertical feeding, consult us or a dealer.. If the effective torque is within the rated torque, there is no limit in generative brake. 3. Consult us or a dealer if the load moment of inertia exceeds the specified value. 4. Specified releasing time is obtained with the use of surge absorber for brake (Z15D151 by Ishizuka Electronic or equivalent). ( ) represents the actually measured value using a diode (00V, 1A or equivalent)

15 Motor Dimensions MUMA 50W to 400W Encoder connector Motor connector LW LK KH KW LL LF LR LE Brake connector RH TP (Key way dimensions) 0 77 LC 00 4-LZ LBh7 Sh6 LH LA * Dimensions are subject to change without notice. Contact us or a dealer for the latest information MUMA series (Ultra low inertia) Motor Motor model MUMA 50W 100W 00W 400W 5AP1 01P1 0P1 04P1 Rotary encoder specifications 500P/r Incremental 500P/r Incremental 500P/r Incremental 500P/r Incremental LL Without brake With brake LR S LA LB LC LE 3 3 LF LH LZ LW LK Key way KW KH 3h9 3 3h9 3 4h9 4 5h9 5 RH TP M3 X 6 (depth) M3 X 6 (depth) M4 X 8 (depth) M5 X 10 (depth) Mass (kg) Without brake With brake Connector/Plug specifications refer to Options, pages E6, 7. * Cautions : Reduce the moment of inertia ratio if high speed response operation is required. Read the Instruction Manual carefully and understand all precautions and remarks before using the products.

16 MINAS E MUMA 50W 400W/ Motor Dimensions MINAS E Series Motors with Gear Reducer Motor types with gear reducer Efficiency of the gear reducer shows the following inclination in relation to torque and rotational speed. Reduction ratio 1/ 5 1/ 9 1/5 Motor (W) Type of reducer For high precision efficiency torque efficiency rotational speed Specifications of motor with gear reducer Gear reducer Environment Motor type Backlash Composition of gear Gear efficiency Rotational direction at shaft (of reducer) Composition of gear Mounting method Permissible moment of inertia of the load (conversion to the motor shaft) Protective structure Ambient temperature Ambient humidity Vibration resistance Impact resistance MUMA 3 minutes or smaller (initial value) at shaft of the reducer Planetary gear 65% to 85% Same direction as the motor shaft Planetary gear Flange mounting 10 times or smaller than rotor moment of inertia of the motor IP44 (at gear reducer) 0 to 40 85%RH (free from condensation) or less 49m/s or less (at motor frame) 98m/s or less MINAS E Motor with Gear Reducer

17 Ratings and Specifications of Motor with Gear Reducer Model No. designation e.g.) M U M A P 3 1 N Symbol MUMA Symbol P Type Low inertia ( W) Motor rated Symbol Rated W 0 00W W Rotary encoder specifications Format Incremental Voltage specifications Symbol Specifications 1 100V 00V Pulse counts Pulse counts 500P/r Wire 5 Motor types with gear reducer Symbol Reduction Motor ratio N N 4N 1/ 5 1/ 9 1/5 Motor structure Symbol Shaft Holding brake Key-way wuthout with 3 4 Type of reducer For High precision Table of Specifications Motor Model Output Reduction Output ratio Rated speed Max. speed MUMA with gear reducer Moment of inertia (motor + reducer/converted Mass Rated Peak max. to motor shaft) torque torque w/o brake w/ brake w/o brake w/ brake Permissible radial load Permissible thrust load (W) (W) (r/min) (r/min) (Nm) (Nm) J(10 4 kgm ) ( kg) ( N) (N) MUMA01P1N MUMA01PN MUMA01P4N MUMA0P1N MUMA0PN MUMA0P4N MUMA04P1N MUMA04PN MUMA04P4N /5 1/ 1/5 1/5 1/ 1/5 1/5 1/ 1/ For dimensions, refer to page, E1 The Combination of the Driver and the Motor Combination with driver Encoder 500P/r Incremental Motor 100W 00W 400W 100V 00V Single phase, 100V 3-phase, 00V Single phase, 00V Part No. of motor with reducer Part No. of driver Part No. of motor with reducer Part No. of driver Part No. of driver MUMA011PN MKDET1110P MUMA01PN MKDET1505P MKDET1505P MUMA01PN MLDET110P MUMA0PN MKDET1310P MLDET10P MLDET510P MUMA04PN MLDET510P MLDET310P For dimensions, refer to page E3

18 Torque Characteristics of Motor with Gear Reducer MINAS E Torque Characteristics of Motor with Gear Reducer Ratings and Specifications of Motor with Gear Reducer For high precision Reduction Supply ratio voltage 1/5 Motor to driver 1/9 1/5 MUMA011P1N MUMA011PN MUMA011P4N torque 4.0 [N. m] (3.7) torque [N. m] 8.0 (6.86) torque [N. m] 0.0 (19.0) 100W.0 Peak run range 4.0 Peak run range 10.0 Peak run range (1.18) (.5) (6.7) Continuous run range Continuous run range Continuous run range V rotational speed [r/min] rotational speed [r/min] rotational speed [r/min] MUMA01P1N MUMA01PN MUMA01P4N torque [N. m] (8.04) 8.0 torque [N. m] 16.0 torque [N. m] 40.0 (33.3) 00W 4.0 Peak run range (11.3) 8.0 Peak run range 0.0 Peak run range (.65) Continuous run range (3.7) Continuous run range (11.1) Continuous run range rotational speed [r/min] rotational speed [r/min] rotational speed [r/min] MUMA01P1N MUMA01PN MUMA01P4N torque [N. m] 4.0 (3.7) torque [N. m] 8.0 (6.86) torque [N. m] 0.0 (19.0) 100W.0 Peak run range 4.0 Peak run range 10.0 Peak run range (1.18) Continuous run range (.5) Continuous run range (6.7) Continuous run range V 00W torque [N. m] (8.04) (.65) rotational speed [r/min] rotational speed [r/min] torque [N. m] 16.0 (11.3) 8.0 rotational speed [r/min] MUMA0P1N MUMA0PN MUMA0P4N Peak run range Continuous run range Peak run range (3.7) Continuous run range rotational speed [r/min] torque [N m] (33.3) MUMA04P1N MUMA04PN MUMA04P4N 0.0 (11.1) Peak run range Continuous run range rotational speed [r/min] rotational speed [r/min] MINAS E Motor with Gear Reducer 400W torque [N. m] 0.0 (16.) 10.0 Peak run range torque [N. m] 40.0 (8.5) 0.0 Peak run range torque [N. m] 80.0 (79.) 40.0 Peak run range (5.39) Continuous run range (9.51) Continuous run range (6.4) Continuous run range rotational speed [r/min] rotational speed [r/min] rotational speed [r/min] Dotted line represents the torque at 10% less supply voltage.

19 Dimensions of Motor with Gear Reducer MUMA series with gear reducer 500P/r encoder LZ M6 (Depth : 0) M5 (Depth : 1) M6 (Depth : 0) M8 (Depth : 0)

20 Common Specifications of Driver MINAS E Dimensions of Motor with Gear Reducer Common Specifications of Driver Single phase, V Single phase, 00-40V +10% -15% +10% -15% 50/60Hz 50/60Hz 3-phase, 00-40V +10% -15% 50/60Hz MINAS E Motor with Gear Reducer / Driver

21 Standard Wiring Example of Main Circuit 3-Phase, 00V Single Phase, 100V / 00V Encorder Wiring Diagram

22 Control Circuit Standard Wiring Example MINAS E Standard Wiring Example of Main Circuit Control Circuit Standard Wiring Example CN X 5 Wiring Example at Position Control Mode VDC 1~4V Servo-ON input Alarm clear input Deviation counter clear input Gain switching/torque limit switching input Command division/multiplication switching CW over-travel inhibition input CCW over-travel inhibition input Servo alarm Positioning complete COM+ SRV-ON A-CLR CL GAIN DIV CWL CCWL ALM COIN 4.7 Divider 0 0 PULS1 PULS SIGN1 SIGN GND OA+ OA- OB+ OB- OZ+ OZ Refer to Fig. 1 in case of open collector input Command pulse input *Pay attention in case of CW, CCW pulse line. A-phase B-phase Z-phase Brake release 11 BRKOFF Warning (Select with Pr09) Fig. 1 This fig. shows when you use an external control signal power supply. You need to install an resistor R for current limit corresponding to VDC WARN COM- FG CZ 1 Z-phase (open collector) PULS1 CN X5 R R VDC PULS SIGN1 0 SIGN GND VDC 1V 4V Spec. of R 1k1/W k1/w VDC-1.5 R0. =10mA. CN X 5 Wiring Example at Internal Velocity Control Mode VDC 1~4V Servo-ON input Alarm clear input Internal command velocity selection input Speed zero clamp input/torque limit switching input/zero speed Internal command velocity selection 1 input CW over-travel inhibition input CCW over-travel inhibition input Servo alarm Positioning complete COM+ SRV-ON A-CLR INTSPD ZEROSPD INTSPD1 CWL CCWL ALM COIN 4.7 Divider 0 0 PULS1 3 PULS 4 SIGN1 SIGN 5 GND OA+ 16 OA- 17 OB+ 18 OB- 19 OZ+ 0 OZ A-phase B-phase Z-phase MINAS E Driver Brake release 11 BRKOFF Warning (Select with Pr09) 1 13 WARN COM- CZ 1 Z-phase (open collector) 6 FG CN X5

23 Dimensions Frame K Connector(Driver side) Connector symbol Connector type CNX A CNX A CNX CNX A11L(or equivalent) Manufacturer Molex Inc. Molex Inc. Molex Inc. Sumitomo 3M Frame L Connector(Driver side) Connector symbol Connector type CNX A CNX A CNX CNX A11L(or equivalent) Manufacturer Molex Inc. Molex Inc. Molex Inc. Sumitomo 3M

24 Options Cable part No. designation MINAS E Encoder cable 1 M F 3 E 4 C 5 A E 11 A 1 M Cable end treatment (Driver side) M Molex connector (MINAS A4,A4P series, E series) Cable end treatment (Encoder side) A AMP connector Cable type E PVC cable with shield by Oki Electric Cable Co., 0.0mm X 3P Cable length m 5m 10m 0m Type classification MFECAEncoder cable Motor cable 1 M F 3 M 4 C 5 A A 11 E 1 B Cable type Cable end treatment at driver side Cable end treatment at motor side A G B T ROBOTOP 4-wire (Daiden Co., Ltd.) ROBOTOP -wire (Daiden Co., Ltd.) E Molex Inc. clamp terminal 4 pole AMP Connector MINAS E Driver / Options Type classification A B Standerd Special Design Oder Cable length Cross section of cable core m 5m 10m 0m 0.75mm 1.5mm.0mm 3.5mm AC servo motor cable

25 Options Cable set DV0P37300 (3m) Cable set DV0P3900 (5m) Encoder cable MFECA00EAM (0) L (9.) Connector Connector Connector Pin Cable and mm X3P Molex Inc. Tyco Electronics AMP Oki Electric Cable MFECA0030EAM MFECA0050EAM MFECA0100EAM MFECA000EAM (1.0) Motor cable (Robotop MFMCA00AEB (4) (10.0) (4) (50) (50) L (11) R VDP) Connector Connector Pin Connector Connector Pin Cable , R T ROBO-TOP 600V 0.75mm R Tyco Electronics AMP Molex Inc. Daiden Co., Ltd MFMCA0030AEB MFMCA0050AEB MFMCA0100AEB MFMCA000AEB Brake cable (Robotop R VDP) MFMCB00GET (10.0) (5.6) (1.0) (40) (50) L (9.8) Connector Connector Pin Nylon insulated round ferminal Cable , N1.5-M4 ROBO-TOP 600V 0.75mm Tyco Electronics AMP JST Daiden Co., Ltd MFMCB0030GET MFMCB0050GET MFMCB0100GET MFMCB000GET Console 1) Part No. : Caution) An existing console(dv0p3690) cannot be used for the A4P series. ) Dimensions (6) (4) (15) (114) Name plate M3 length 5mm Tightening torque for the insert screw shall be 0.5Nm or less (15) (1500) MD connector Mini DIN-8P

26 MINAS E Connector kit for power supply connection 1) Part No. : DV0P870 ) Parts composition Title Part No. Number Manufacturer Connector (10pins) R-10 1 Molex Inc. Connector pin 5556PBTL 6 Note For connector CN X1 (10 pins) 3) Pin configuration 10 L1 5 P 9 (NC) 4 (NC) 8 L 3 B 7 (NC) (NC) 6 L3 1 E 4) Recommended manual crimping tool (to be prepared by customer) Part No Cable material UL1007 UL1015 <Cautions> 1. The above pin disposition shows when viewed from the terminal inserting direction. Make a correct wiring by checking the stamped pin numbers on the connector itself.. Refer to page E1 for wiring and connection. 3. Do not connect anything to pins marked "NC". Connector kit for motor/encoder connection 1) Part No. : DV0P3670 ) Parts composition Incremental 500 pulse, 5-wire Title Part No. Number Connector Connector (6pins) Connector pin Connector (4pins) Connector pin Connector (6 pins) R-10 1 Connector pin 5556PBTL 4 <Remarks> We may use parts equivalent to the above for shell and connector cover. This option is required when you make your own encoder cable and motor cable. (Brake cable is required for brake.) Manufacturer Molex Inc. Tyco Electronics AMP Tyco Electronics AMP Molex Inc. Note For connector, CN X4 For junction to encoder cable For junction to motor power cable For connector, CN X3 3) Pin configuration of connector CN X4 plug 1 +5V 3 +5V 5 Tx/Rx 0V 4 0V 6 Tx/Rx MINAS E Options Case FG 4) Recommended manual crimping tool (to be prepared by customer) Title Manufacturer's part No. For encoder cable junction For motor power cable junction For Connector CN X Manufacturer Tyco Electronics AMP Molex Inc. <Remarks> 1. The above pin configuration shows when viewed from the pin-soldering direction. Make a correct wiring by checking the stamped pin numbers on the connector itself.. Connect the shield of the wire to the case (FG) without fail. 3. For wiring and connection, refer to page E1. Cable material UL1007 UL1015

27 Options Connector kit for motor/encoder connection Connector kit for external peripheral equipment 1) Part No. : DV0P0770 ) Parts composition

28 MINAS E Interface cable 1) Part No. : DV0P0800 Cable of m is connected. ) Dimensions Shell kit : A0-008 by Sumitomo 3M or equivalent ) Wiring table Pin No Title of signal COM+ SRV-ON A-CLR CL/INTSPD GAIN/ZEROSPD DIV/INTSPD1 CWL CCWL ALM Color or cable Orange (Red 1) Orange (Black 1) Gray (Red 1) Gray (Black 1) White (Red 1) White (Black 1) Yellow (Red 1) Yellow (Black 1) Pink (red 1) Pin No Plug : PE by Sumitomo 3M or equivalent Title of signal COIN BRK-OFF WARN COM- GND OA+ OA- OB+ OB- 14 Color or cable Pink (Black 1) Orange (Red ) Orange (Black ) Gray (Red ) Gray (Black ) White (Red ) White (Black ) Yellow (Red ) Yellow (Black ) Pin No Title of signal OZ+ OZ- CZ PULS1 PULS SIGN1 SIGN FG Color or cable Pink (Red ) Pink (Black ) Orange (Red 3) Gray (Red 3) Gray (Black 3) White (Red 3) White (Black 3) Orange (Black 3) <Notes> e. g. of Pin No. designation : Pin No. 1 Wire color is orange, and one red dot. Pin No. wwire color is orange, and two black dot. <Remarks> The shield of this cable is not connected to a connector pin. To connect the shield to FG or GND at the driver side, use a connector kit for external device connection. Communication cable 1) Part No. : DV0P1960 ) Dimensions D-sub connector 9P 000 Mini-DIN 8P MD connector MINAS E Options Setup support software PANATERM R 1) Part No. : DV0P4460 (for Japanese / English version) ) Supply media : CD-ROM <Caution> For action environment other details, refer to the Instruction Manual of PANATERM R

29 Options External regenerative resistor Part No. DV0P890 DV0P891 Manufacturer's Part No. 45M03 45M03 Resistance Specifications Rated power 10W 10W Activation temperature of built-in fuse <Remarks> Thermal fuse is installed for safety. The thermal fuse may blow due to heat dissipating condition, working temperature, supply voltage or load fluctuation. Make it sure that the surface temperature of the resistor may not exceed 100 at the worst running conditions with the machine, which brings large regeneration (such case as high supply voltage, load inertia is large or deceleration time is short) Mating terminal 5556PBTL or 5556PBT t <Caution> Regenerative resistor gets very hot. Take preventive measures for fire and burns. Avoid the installation near inflammable objects, and easily accessible place by hand. Reactor Frame symbol of driver Power supply specifications Rated Part No. Fig. Fig.1-1 E Single phase, 100V W DV0P7 1 D MKDE MLDE Single phase, 00V 3-phase, 00V Single phase, 100V Single phase, 00V 3-phase, 00V W 50-00W 00W 00w - 400W 400W DV0P0 DV0P8 DV0P0 1 Fig. A(Mounting pitch) B X Y Z C 4-H F(Mounting pitch) G 6-1 E NP C D R S T A(Mounting pitch) B 4-H F(Mounting pitch) G Fig. 1 Part No. DV0P7 DV0P8 DV0P0 A B C D E F G H I Inductance (mh) Raged current (A) (w) X 1 (L) Harmonic restraint on general-purpose inverter and servo driver On September, 1994, Guidelines for harmonic restraint on heavy consumers who receive power through high voltage system or extra high voltage system and Guidelines for harmonic restraint on household electrical appliances and general-purpose articles established by the Agency for Natural Resources and Energy of the Ministry of Economy, Trade and Industry (the ex-ministry of International Trade and Industry). According to those guidelines, the Japan Electrical Manufacturers Association (JEMA) have prepared technical documents (procedure to execute harmonic restraint: JEM-TR 198, JEM-TR 199 and JEM-TR 01) and have been requesting the users to understand the restraint and to cooperate with us. On January, 004, it has been decided to exclude the general-purpose inverter and servo driver from the Guidelines for harmonic restraint on household electrical appliances and general-purpose articles. After that, the Guidelines for harmonic restraint on household electrical appliances and general-purpose articles was abolished on September 6, 004. We are pleased to inform you that the procedure to execute the harmonic restraint on general-purpose inverter and servo driver will be modified as follows. 1. All types of the general-purpose inverters and servo drivers used by specific users are under the control of the Guidelines for harmonic restraint on heavy consumers who receive power through high voltage system or extra high voltage system. The users who are required to apply the guidelines must calculate the equivalent capacity and harmonic current according to the guidelines and must take appropriate countermeasures if the harmonic current exceeds a limit value specified in a contract demand. (Refer to JEM-TR 10 and JEM-TR 5.). The Guidelines for harmonic restraint on household electrical appliances and general-purpose articles was abolished on September 6, 004. However, based on conventional guidelines, JEMA applies the technical documents JEM-TR 6 and JEM-TR 7 to any users who do not fit into the Guidelines for harmonic restraint on heavy consumers who receive power through high voltage system or extra high voltage system from a perspective on enlightenment on general harmonic restraint. The purpose of these guidelines is the execution of harmonic restraint at every device by a user as usual to the utmost extent. M4 M

30 MINAS E DIN rail mounting unit 1) Part No. : DV0P3811 ) Dimensions M4, bar ring (for mounting (6) Mounting plate <Notes> mounting screws (M4 X L8, Pan head) are attached. Rail stopper can be extended to max. 10mm. *(7) Rail stopper (6) <Precautions in using options> Use options correctly after reading operation manuals of the options to better understand the precautions. Take care not to apply excessive stress to each optional part. Recommended components Surge absorber for motor brake Motor Surge absorber for motor brake Z15D151 Ishizuka Electronics Co. List of peripheral components Peripheral components Non-fuse breaker, Magnetic contactor, Surge absorber Regenerative resistor Manufacturer Automation Controls Company Matsushita Electric Works, Ltd. Iwaki Musen Kenkyusho Co., Ltd Tel No./Web site MINAS E Options Surge absorber for holding brake Ishizuka Electronics Corp Noise filter for signal lines TDK Corp Surge absorber / Noise filter Okaya Electric Industries Co. Ltd Sumitomo 3M Connector Tyco Electronics AMP k.k, Japan Molex Inc Cable Daiden Co., Ltd * The avove list is for reference only. We may change the manufacturer without notice.

31 Information Index Motor capacity selection software Option selection software Setup support software Guide to the International System of Units (SI) Selecting Motor Capacity Request Sheet for Motor Selection Connection between driver and controller Index Sales Office F F3 F4 F5 F7 F13 F1 F31 F49

32 Motor capacity selection software AC servo motor capacity selection software We have prepared PC software M-SELECT for AC servo motor capacity selection. Consult our sales representative or authorized distributor. Information Motor capacity selection software Example of capacity calculation screen Information

33 Option selection software Option selection software for AC servo motor MINAS series We have prepared PC software to enable fast, easy, and correct option selection, a complicated job without the software. Option Selection Method Selection based on series and type Options are selected by motor series and type based on motor specifications such as motor and power requirements. Direct selection based on a part number of motor and driver Options can be selected directly based on a part number of motor and driver if it is already determined. Part Number Search Function One-shot search for a part number of motor and driver One-shot search is possible to search for a part number of motor and driver based on motor specifications such as motor, power used, presence of brake and gear, and encoder type. Display of All Dedicated Options Total elimination of incorrect selection Only necessary options can be selected without fail. Storage of selection results Selection results can be printed and stored with comments.

34 Setup support software Option select software Setup support software Setup support software PANATERM for MINAS series AC servo motor & Driver The PANATERM assists users in setting parameters, monitoring control conditions, setup support, and analyzing mechanical operation data on the PC screen, when installed in a commercially available personal computer, and connected to the MINAS series through the RS3 serial interface. Basic function Parameter setup After a parameter is defined on the screen, it will be sent to the driver immediately. Once you register parameters you frequently use, they can be easily set up on the screen. Monitoring control conditions Monitor Control conditions: Control mode, velocity, torque, error and warning Driver input signal Load conditions: Total count of command/feedback pulses, Load ratio, Regenerative resistor load ratio Alarm Displays the numbers and contents of the current alarm and up to 14 error events in the past. Clears the numbers and contents of the current alarm and up to 14 error events in the past. Setup Auto tuning Gain adjustment and inertia ratio measurement Graphic waveform display The graphic display shows command velocity, actual velocity, torque, and error waveforms. Absolute encoder setup Clears absolute encoder at the origin. Displays single revolution/multi-revolution data. Displays absolute encoder status. Analysis of mechanical operation data Frequency analysis Measures frequency characteristics of the machine, and displays Bode diagram. Parameter Monitor Graphic waveform display Software

35 Guide to the International System of Units (SI) Organization of the system of units SI unit Table 5 : Prefix (Multiples of 10) Table1: Basic unit Table : Auxiliary unit Derived unit Table 4 : Unit combined with SI unit Table 3 : Derived unit with proper name Other derived unit Table1: Basic unit Quantity Name of unit Symbol of unit Length Weight Time Current Thermodynamic temperature Amount of substance Luminous intensity meter kilogram second ampere kelvin mol candela m kg s A K mol cd Table 3: Major derived unit with proper name Table : Auxiliary unit Quantity Plane angle Solid angle Quantity Name Symbol of unit Frequency Force Pressure, Stress Energy, Work, Amount of heat Amount of work, Work efficiency, Power, Electric power Electric charge, Amount of electricity Electric potential, Potential difference, Voltage, Electromotive force Electrostatic capacity, Capacitance Electric resistance Electric conductance Magnetic flux Magnetic flux density, Magnetic induction Inductance Degree centigrade (Celsius) Luminous flux Illuminance Table 4: Unit combined with SI unit Quantity Time Plane angle Volume Weight Name minute hour day degree minute second liter ton Symbol of unit min h d ' " l, L t hertz newton pascal joule watt coulomb volt farad ohm siemens weber tesla henry degree centigrade (Celsius) / degree lumen lux Multiples powered to unit Hz N Pa J W C V F Ω S Wb T H C lm lx Table 5: Prefix Name of unit radian steradian Symbol of unit rad sr Derivation from basic unit, auxiliary unit or other derived unit 1Hz=1s 1 1N=1kg-m/s 1Pa=1N/m 1J=1N-m 1W=1J/s 1C=1A-s 1V=1J/C 1F=1C/V 1Ω=1V/A 1S=1Ω 1 1Wb=1V-s 1T=1Wb/m 1H=1Wb/A t C=(t+73.15)K 1lm=1cd-sr 1lx=1lm/m Name exa peta tera giga mega kilo hecto deca deci centi milli micro nano pico femto atto Prefix Symbol E P T G M k h da d c m µ n p f a

36 Guide to the Informational System of Units(SI) Major compatible unit Quantity Symbol of conventional unit Symbol of SI unit and compatible unit Conversion value Length Acceleration Frequency Revolving speed, Number of revolutions Weight Mass Weight flow rate Mass flow rate Specific weight Density Specific volume Load Force Moment of force Pressure Stress Elastic modulus Energy, Work Work efficiency, Power Viscosity Kinetic viscosity Thermodynamic temperature Temperature interval Amount of heat Heat capacity Specific heat, Specific heat capacity Entropy Specific entropy Internal energy (Enthalpy) Specific internal energy (Specific enthalpy) Heat flux Heat flux density Thermal conductivity Coefficient of thermal conductivity Intensity of magnetic field Magnetic flux Magnetic flux density µ (micron) Gal G c/s, c rpm kgf kgf/s kgf/m 3 m 3 /kgf kgf kgf dyn kgf-m kgf/cm at (Engineering atmospheric pressure) atm (Atmospheric pressure) mho, maq mmhg Torr kgf/mm kgf/cm kgf/m kgf-m erg kgf-m/s PS PP St K deg cal cal/ C cal/ (kgf C) cal/k cal/ (kgf K) cal cal/kgf cal/h cal/ (h m ) cal/ (h m C) cal/ (h m C) Oe Mx Gs,G µ m m/s m/s Hz s -1 or min 1, r/min kg kg/s kg/m 3 m 3 /kg N N N N-m Pa, bar () or kgf/cm Pa Pa Pa Pa or mmhg () Pa Pa or N/m Pa or N/m Pa or N/m J (joule) J W (watt) W Ps-s mm /s K (kelvin) Note (1) Applicable to liquid pressure. Also applicable to atmospheric pressure of meteorological data, when bar is used in international standard. () Applicable to scale or indication of blood pressure manometers. (3) C can be substituted for K. K (3) J J/K (3) cal/ (kgf K) (3) J/K J/(kg K) J J/kg W W/m W/ (m K) (3) W/ (m K) (3) A/m Wb (weber) T (tesla) 1µ=1µm (micrometer) 1Gal=10-m/s 1G= m/s 1c/s=Hz 1rpm=1min -1 Same value Same value Same value Same value 1kgf= N 1kgf= N 1dyn=10-3 N 1kgf-m=9.806 N m 1kgf/cm = x 10 4 Pa= bar 1at= x 10 4 Pa 1atm= x 10 3 Pa 1mHO= x 10 3 Pa 1mmHg=133.3Pa 1kgf/mm = x 10 4 Pa = x 10 6 N/m 1kgf/cm = x 10 4 Pa = x 10 4 N/m 1kgf/m = Pa= N/m 1kgf/cm = x 10 4 N/m 1kgf m= J 1erg=10 7 J 1kgf-m/s= W 1PS= kW 1P=0.1Pa-s 10 - St=1mm /s 1K=1K 1deg=1K 1cal= J 1cal/ C= J/K 1cal/ (kgf C)= J/ (kg K) 1cal/K= J/K 1cal/ (kgf K)= J/ (kg K) 1cal= J 1cal/kgf= J/kg 1kcal/h= W 1kcal (h m ) = W/m 1kcal (h m C)= W/ (m K) 1kcal (h m C)= W/ (m K) 1Oe=10 / (4π)A/m 1Mx=10-3 Wb 1Gs=10-4 T Information

37 Selecting Motor Capacity Flow of motor selection 1. Definition of mechanism to be driven by motor. Define details of individual mechanical components (ball screw length, lead and pulley diameters, etc.) <Typical mechanism> Ball screw mechanism Belt mechanism Rack & pinion, etc.. Definition of operating pattern. Acceleration/deceleration time, Constant-velocity time, Stop time, Cycle time, Travel distance Velocity Travel distance (slashed area) Time Acceleration time Constantvelocity time time Deceleration Cycle time Stop time Note) Selection of motor capacity significantly varies depending on the operating pattern. The motor capacity can be reduced if the acceleration/deceleration time and stop time are set as long as possible. 3. Calculation of load inertia and inertia ratio. Calculate load inertia for each mechanical component. (Refer to "General inertia calculation method" described later.) Divide the calculated load inertia by the inertia of the selected motor to check the inertia ratio. For calculation of the inertia ratio, note that the catalog value of the motor inertia is expressed as "x 10 4 kg m ". 4. Calculation of motor velocity Calculate the motor velocity from the moving distance, acceleration / deceleration time and constant-velocity time. 5. Calculation of torque Calculate the required motor torque from the load inertia, acceleration/deceleration time and constant-velocity time. 6. Calculation of motor Select a motor that meets the above 3 to 5 requirements.

38 Selecting Motor Capacity Description on the items related to motor selection 1. Torque (1) Peak torque Indicate the maximum torque that the motor requires during operation (mainly in acceleration and deceleration steps). The reference value is 80% or less of the maximum motor torque. If the torque is a negative value, a regenerative discharge resistor may be required. () Traveling torque, Stop holding torque Indicates the torque that the motor requires for a long time. The reference value is 80% or less of the rated motor torque. If the torque is a negative value, a regenerative discharge resistor may be required. Traveling torque calculation formula for each mechanism Ball screw mechanism F W P Traveling torque T f= P π (µgw+f) W : Weight [kg] : Mechanical efficiency P : Lead [m] µ : Coefficient of friction F : External force [N] g : Acceleration of gravity 9.8[m/s ] Belt mechanism Traveling torque T f= π D (µgw+f) D W F W : Weight [kg] P : Pulley diameter [m] : Mechanical efficiency µ : Coefficient of friction F : External force [N] g : Acceleration of gravity 9.8[m/s ] (3) Effective torque Indicates a root-mean-square value of the total torque required for running and stopping the motor per unit time. The reference value is approx. 80% or less of the rated motor torque. Trms = T a t a Tf tb Td td T a : Acceleration torque [N m] Tf : Traveling torque [N m] t c t a : Acceleration time [s] t b : Constant-velocity time [s] tc : Cycle time [s] (Run time + Stop time) T d : Deceleration torque [N m] t d : Deceleration time [s]. Motor velocity Maximum velocity Maximum velocity of motor in operation: The reference value is the rated velocity or lower value. When the motor runs at the maximum velocity, you must pay attention to the motor torque and temperature rise. For actual calculation of motor velocity, see "Example of motor selection" described later. Information

39 Selecting Motor Capacity 3. Inertia and inertia ratio Inertia is like the force to retain the current moving condition. Inertia ratio is calculated by dividing load inertia by rotor inertia. Generally, for motors with 750 W or lower capacity, the inertia ratio should be 0 or less. For motors with 1000 W or higher capacity, the inertia ratio should be 10 or less. If you need quicker response, a lower inertia ratio is required. For example, when the motor takes several seconds in acceleration step, the inertia ratio can be further ( increased. ) General inertia calculation method Shape J calculation formula Shape J calculation formula Disk D 1 J= WD [kg 8 m ] W : Weight [kg] D : Outer diameter [m] Hollow cylinder d D 1 J= W(D + d ) [kg 8 m ] W : Weight [kg] D : Outer diameter [m] d : Inner diameter [m] Prism J= 1 1 WD (a + b ) [kg m ] Uniform rod J= 48 1 W(3D + 4L ) [kg m ] a b c W : Weight [kg] a, b, c : Side length [m] D L/ L/ W : Weight [kg] D : Outer diameter [m] L : Length [m] Straight rod L J= 3 1 WL [kg m ] W : Weight [kg] L : Length [m] Separated rod S D J= 8 1 WD + WS [kg m ] W : Weight [kg] D : Outer diameter [m] S : Distance [m] Reduction gear Inertia on shaft "a" J 1 a n1 n n 1 J= J 1 + ( ) J [kg m ] n b J n 1 : A rotational speed of a shaft [r/min] n : A rotational speed of b shaft [r/min] Conveyor J= 4 1 WD [kg m ] Ball screw W J= J B + P [kg 4π m ] D W W : Workpiece weight on conveyor [kg] D : Drum diameter [m] * Excluding drum J P W F W : Weight [kg] P : Lead JB : J of ball screw If weight (W [kg]) is unknown, calculate it with the following formula: Weight W[kg]=Density [kg/m 3 ] x Volume V[m 3 ] Density of each material Iron =7.9 x 10 3 [kg/m 3 ] Aluminum =.8 x 10 3 [kg/m 3 ] Brass =8.5 x 10 3 [kg/m 3 ]

40 Selecting Motor Capacity To drive ball screw mechanism 1. Example of motor selection for driving ball screw mechanism Workpiece weight WA = 10 [kg] Ball screw length BL = 0.5 [m] Ball screw diameter BD = 0.0 [m] Ball screw pitch B P = 0.0 [m] Ball screw efficiency B = 0.9 Travel distance 0.3 [m] Coupling inertia Jc = [kg m ] (Use manufacturer-specified catalog value, or calculation value.). Running pattern : Acceleration time Constant-velocity time Deceleration time Cycle time Travel distance 0.3 [m] ta = 0.1 [s] tb = 0.8 [s] td = 0.1 [s] tc = [s] Velocity Acceleration time Constantvelocity time time Deceleration Cycle time Travel distance (slashed area) Stop time Time 3. Ball screw weight 4. Load inertia BW = π = 1.4 [kg] BD JL = JC JB = JC 1 8 = (1.4 x 0.0 ) / / 4π = [kg m ] 5. Provisional motor selection In case of 00 W motor : JM = [kg m ] BL = π BW BD WA BP 4π Calculation of inertia ratio JL / JM = / Therefore, the inertia ratio is "10." (less than "0") (In case of 100 W motor: JM = Therefore, the inertia ratio is "7.0".) 7. Calculation of maximum velocity (Vmax) 1 Acceleration time Vmax Constant-velocity time Vmax Vmax 0.8 Vmax 0.1 Vmax = Vmax = 0.3 = 0.3 / 0.9 = [m/s] 8. Calculation of motor velocity (N [r/min]) Ball screw lead per resolution: BP = 0.0 [m] N = / 0.0 = 16.7 [r/s] = = 100 [min 1 ] < 3000 [min 1 ] (Rated velocity of 00W motor) 1 Deceleration time Vmax = Travel distance Information 9. Calculation of torque BP Traveling torque T f = (µgwa F) = 0.0 ( ) πb π 0.9 = [N m] (JL JM) πn[r/s] Acceleration torque T a = Traveling torque Acceleration time [s] ( ) π 16.7 = = = 0.34 [N m]

41 Selecting Motor Capacity (JL JM) πn[r/s] Deceleration torque T d = Traveling torque Deceleration time [s] ( ) π 16.7 = = = [N m] 10. Verification of maximum torque Acceleration torque = Ta = 0.34 [N m] < 1.91 [N m] (Maximum torque of 00 W motor) 11. Verification of effective torque Trms = T a ta Tf tb Td td t c = = [N m] < 0.64 [N m] (Rated torque of 00 W motor) 1. Judging from the inertia ratio calculated above, selection of 00 W motor is preferable, although the torque margin is significantly large. Example of motor selection Example of motor selection for timing belt mechanism 1.Mechanism Workpiece weight WA =3[kg] (including belt) Pulley diameter PD =0.05[m] Pulley weight WP =0.5[kg] (Use manufacturer-specified catalog value, or calculation value.) Mechanical efficiency B = 0.8 Coupling inertia Jc = 0 (Direct connection to motor shaft) Belt mechanism inertia JB Pulley inertia JP. Running pattern Acceleration time Constant-velocity time Deceleration time Cycle time Travel distance 1[m] ta = 0.1[s] tb = 0.8[s] td = 0.1[s] tc = [s] Velocity Acceleration time Constantvelocity time time Deceleration Cycle time Travel distance (slashed area) Stop time Time 3. Load inertia JL = JC JB JP = 1 JC WA PD 1 WP PD = = = [kg m ] 4. Provisional motor selection In case of 750 W motor : JM = [kg m ] 5. Calculation of inertia ratio JL / JM = / Therefore, the inertia ratio is "16.7" (less than "0")

42 Selecting Motor Capacity 6. Calculation of maximum velocity (Vmax) 1 1 Acceleration time Vmax Constant-velocity time Vmax 1 Deceleration time Vmax = Travel distance 0.1 Vmax 0.8 Vmax Vmax = Vmax = 1 Vmax = 1 / 0.9 = 1.111[m/s] 7. Calculation of motor velocity (N [r/min]) A single rotation of pulley : π PD = 0.157[m] N = 1.11 / = 7.08[r/s] = = 44.8[min 1 ] < 3000[min 1 ] (Rated velocity of 750 W motor) 8. Calculation of torque Traveling torque Acceleration torque Deceleration torque PD T f = (µgwa F) = 0.05 (0.1 x 9.8 x 3 0) x 0.8 = 0.09[N m] (JL JM) πn[r/s] T a = Traveling torque Acceleration time[s] ( = ) π = = 1.14[N m] Td = (JL JM) πn[r/s] Traveling torque Deceleration time[s] ( = ) π = = 0.94[N m] 9. Verification of maximum torque Acceleration torque Ta = 1.14[N m] < 7.1[N m] (Maximum torque of 750 W motor) 10. Verification of effective torque Trms = T a ta Tf tb Td td tc Information = = [N m] <.4 [N m] (Rated torque of 750 W motor) 11. Judging from the above calculation result, selection of 750W motor is acceptable.

43 Request Sheet for Motor Selection Customer Service Technical Support Center, Motor Company, Matsushita Electric Industrial Co., Ltd. Fax No. (81) Driven mechanism and running data 1) Travel distance of the work load per one cycle d1: deg ) Cycle time t0: s (Fill in items 3) and 4) if required.) velocity Running pattern R1 3) Acceleration time ta: s 4) Deceleration time td: s ta t0 td ts time 5) Stopping time ts: s 6) Max. velocity V: mm/s F WA 7) External force F: kg 8) Positioning accuracy of the work load mm 9) Total weight of the work load and the table WA: kg 10) Power supply voltage V 11) Diameter of the ball screw mm 1) Total length of the ball mm 13) Lead of the ball screw mm 14) Traveling direction (horizontal, vertical etc.). Other data (Fill the details on specific mechanism and its configurations in the following blank.) Company name : Department/Section : Name : Address : Tel : Fax : address:

44 Request Sheet for Motor Selection Customer Service Technical Support Center, Motor Company, Matsushita Electric Industrial Co., Ltd. Fax No. (81) Driven mechanism and running data Motor side Motor side 1) Travel distance of the work load per one cycle d1: deg ) Cycle time t0: s (Fill in items 3) and 4) if required.) 3) Acceleration time ta: s 4) Deceleration time td: s 5) Stopping time ts: s 6) Max. velocity V: mm/s 15) Diameter of the pulley D1: mm D: mm 16) Weight of the pulley W1: kg W: kg (or item 17) and 18)) 17) Wedth of the pulley L1: mm 18) Material of the pulley 19) Weight of the belt WM: kg Running pattern 7) External force F: kg 8) Positioning accuracy of the work load mm velocity R1 9) Total weight of the work load andthe table WA: kg ta t0 td ts time 10) Power supply voltage V F WA 11) Diameter of the ball screw mm 1) Total length o the ball screw mm 13) Lead of the ball screw mm DW 14) Traveling L1 D1W1 WM. Other data (Fill the details on specific mechanism and its configurations in the following blank.) Information Company name : Department/Section : Name : Address : Tel : Fax : address:

45 Request Sheet for Motor Selection Customer Service Technical Support Center, Motor Company, Matsushita Electric Industrial Co., Ltd. Fax No. (81) Driven mechanism and running data 1) Travel distance of the work load per one cycle d1: deg Running pattern ) Cycle time t0: s (Fill in items 3) and 4) if required.) 3) Acceleration time ta: s 4) Deceleration time td: s velocity ta R1 t0 td ts time 5) Stopping time ts: s 6) Max. velocity V: mm/s WA F 7) External force F: kg L1 8) Positioning accuracy of the work load mm D1 9) Total weight of the work load WA: kg W1 10) Power supply voltage V (or item 14) and 15)) 11) Weight of the belt WM: kg 1) Diameter of the driving pulley D1: mm 13) Total weight of the pulley W1: kg 14)Width of the pulley L1: mm 15) Material of the pulley 16) Traveling direction (horizontal, vertical etc.). Other data (Fill the details on specific mechanism and its configurations in the following blank.) Company name : Department/Section : Name : Address : Tel : Fax : address:

46 Request Sheet for Motor Selection Customer Service Technical Support Center, Motor Company, Matsushita Electric Industrial Co., Ltd. Fax No. (81) Driven mechanism and running data Motor side Belt side 1) Travel distance of the work load per one cycle d1: deg ) Cycle time t0: s (Fill in items 3) and 4) if required.) 3) Acceleration time ta: s 4) Deceleration time td: s 5) Stopping time ts: s 6) Max. velocity V: mm/s 7) External force F: kg 16) Diameter of the pulley D3: mm D4: mm 17) Weight of the pulley W3: kg W4: kg (or item 18) and 19)) 18) Width of the pulley L: mm 19) Material of the pulley 0) Weight of the belt WL: kg 1) Traveling direction (horizontal, vertical etc.) Running pattern 8) Positioning accuracy of the work load mm 9) Total weight of the work load and the table WA: kg velocity R1 10) Power supply voltage V 11) Weight of motor site belt WM: kg ta t0 td ts WL time F L Motor side Belt side WA 1) Diameter of the pully D1: mm D: mm DW D4W4 13) Weight of the pulley W1: kg W: kg WM (or item 14) and 15)) 14) Weight of the belt L1: mm D3W3 15) Material of the pulley D1W1 L1. Other data (Fill the details on specific mechanism and its configurations in the following blank.) Information Company name : Department/Section : Name : Address : Tel : Fax : address:

47 Request Sheet for Motor Selection Customer Service Technical Support Center, Motor Company, Matsushita Electric Industrial Co., Ltd. Fax No. (81) Driven mechanism and running data Prism Cylinder 1) Travel distance of the work load per one cycle d1: deg ) Cycle time t0: s (Fill in items 3) and 4) if required.) 3) Acceleration time ta: s 14) Dimensions of the work load a: mm a: mm b: mm b: mm c: mm c: mm 15) Number of work loads pcs 4) Deceleration time td: s Running pattern 5) Stopping time ts: s 6) Max. rotational speed of the table v: deg/s (or) V: r/s velocity ta d1 t0 td ts time 7) Positioning accuracy of the work load deg R1 8) Weight of one work load WA: kg WA 9) Driving radius of the center of gravity of the R1: mm 10) Diameter of the table D1: mm 11) Mass of the table W1: kg D1 1) Diameter of the table support T1: mm 13) Power supply voltage V a b b c c. Other data (Fill the details on specific mechanism and its configurations in the following blank.) a Company name : Department/Section : Name : Address : Tel : Fax : address:

48 Request Sheet for Motor Selection Customer Service Technical Support Center, Motor Company, Matsushita Electric Industrial Co., Ltd. Fax No. (81) Driven mechanism and running data Motor side Turntable side 1) Travel distance of the work load per one cycle d1: deg ) Cycle time t0: s (Fill in items 3) and 4) if required.) 3) Acceleration time ta: s 4) Deceleration time td: s 5) Stopping time ts: s 6) Max. rotating speed of the table v: deg/s 16) Diameter of the pulley D: mm D3: mm 17) Weight of the pulley W: kg W3: kg (or item 18) and 19)) 18) Width of the pulley L1: mm 19) Material of the pulley 0) Weight of the belt WM: kg Running pattern (or) V: r/s 7) Positioning accuracy of the work load deg velocity d1 8) Weight of one work load WA: kg ta t0 td ts time 9) Driving radius of the center of gravity of the R1: mm WA R1 10) Diameter of the table D1: mm D1 11) Mass of the table W1: kg 1) Diameter of the table support T1: mm DW 13) Power supply voltage V L1 (Prism) (Cylinder) WM 14) Dimension of the work loada:mm a: mm b b:mm b: mm a a c:mm c: mm c 15) Number of work loads pcs. Other data (Fill the details on specific mechanism and its configurations in the following blank.) Company name : Department/Section : Name : Address : Tel : Fax : address: D3W3 b c Information

49 Request Sheet for Motor Selection Customer Service Technical Support Center, Motor Company, Matsushita Electric Industrial Co., Ltd. Fax No. (81) Driven mechanism and running data 1) Travel distance of the work load per one cycle R1: mm ) Cycle time t0: s Running pattern (Fill in items 3) and 4) if required.) velocity R 3) Acceleration time ta: s time 4) Deceleration time td: s 5) Stopping time ts: s 6) Max. velocity v: mm/s 7) External pulling force F: kg 8) Positioning accuracy of the work load mm 9) Total weight of the work load pcs 10) Power supply voltage V (or item 13) and 14)) 11) Diameter of the roller D1: mm 1) Mass of the roller W1: kg 13) Width of the roller L1: mm 14) Material of the roller. Other data (Fill the details on specific mechanism and its configurations in the following blank.) Company name : Department/Section : Name : Address : Tel : Fax : address:

50 Request Sheet for Motor Selection Customer Service Technical Support Center, Motor Company, Matsushita Electric Industrial Co., Ltd. Fax No. (81) Driven mechanism and running data 1) Travel distance of the work load per one cycle R1: mm ) Cycle time t0: s Running pattern (Fill in items 3) and 4) if required.) 3) Acceleration time ta: s 4) Deceleration time td: s velocity ta R t0 td ts time 5) Stopping time ts: s WA 6) Max. velocity V: mm/s F 7) External force F: kg 8) Positioning accuracy of the work load mm 9) Total weight of the work load WA: kg 10) Power supply voltage V D3 W3 11) Diameter of the pinion D3: mm 1) Mass of the pinion W3: kg 13) Traveling direction (horizontal, vertical, etc). Other data (Fill the details on specific mechanism and its configurations in the following blank.) Information Company name : Department/Section : Name : Address : Tel : Fax : address:

51 Connection between Driver and Controller Connection between MINAS A4 and FP-PP AFP434 (Matsushita Electric Works) Controller FP-PP AFP434(by Matsushita Electric Works) A1 CW pulse command B1 CCW pulse command Origin input Deviation counter clear Origin proximity input Limit over + Limit over External power supply input Origin proximity sensor CW limit sensor CCW limit sensor k 6.8k +4VDC GND A B A4 B3 A7 B7 B4 A5 A6 B6 A0 B0 GND +4V DC4V Power supply From To input 3 (44)* 4 (45)* 5 (46)* 6 (47)* PULS1 PULS SIGN1 SIGN OZ+ GND COM+ CL SRV-ON GAIN/TC A-CLR CCWL CWL S-RDY+ 41 COM- S-RDY- ALM+ COIN+ OZ- ALM- COIN- Driver MINAS A4 Series k 4.7k 4.7k 4.7k 4.7k 4.7k CW pulse CCW pulse Z-phase input Counter clear input Servo-ON input Gain switching/torque limit switching input Alarm clear input CCW over-travel prohibit input CW over-travel prohibit input Servo-Ready Servo-alarm Positioning complete Pulse train interface exclusive for line driver. Use this interface when you use pulse command frequency between 500kpps and Mpps PULSH1 PULSH SIGNH1 SIGNH CW pulse CCW pulse Connection between MINAS E and FP-PP AFP434 (Matsushita Electric Works) Controller FP-PP AFP434(by Matsushita Electric Works) Driver MINAS E Series CW pulse command A1 B1 3 PULS1 PULS 0 CW pulse CCW pulse command Origin input 390 A B A4 B SIGN1 SIGN OZ+ OZ- 0 CCW pulse Z-phase input 14 GND Deviation counter clear Origin proximity input Limit over + Limit over External power supply input Origin proximity sensor 3.6k 6.8k +4VDC GND A7 B7 B4 A5 A6 B6 A0 B0 From To input COM+ CL SRV-ON GAIN/TC A-CLR CCWL CWL ALM COIN BRKOFF 4.7k 4.7k 4.7k 4.7k 4.7k 4.7k Counter clear input Servo-ON input Gain switching/torque limit switching input Alarm clear input CCW over-travel prohibit input CW over-travel prohibit input Servo-Alarm Positioning complete Brake release CW limit sensor CCW limit sensor 1 WARN Warning GND +4V DC4V Power supply 13 COM-

52 Connection between Driver and Controller Connection between Driver and Controller Connection between MINAS A4 and FPG-PP1 AFPG43 (Matsushita Electric Works) Controller FPG-PP1 AFPG43 (by Matsushita Electric Works) A1 CW pulse command B1 A CCW pulse command B 560 A4 Origin input B3 3 (44)* 4 (45)* 5 (46)* 6 (47)* PULS1 PULS SIGN1 SIGN OZ+ OZ- GND Driver MINAS A4 Series 0 0 CW pulse CCW pulse Z-phase input Deviation counter clear Origin proximity input External power supply input 6.8k FG FG +4VDC GND A7 B7 B4 A5 A19 B19 A0 B0 From To input COM+ CL SRV-ON GAIN/TC A-CLR CCWL CWL S-RDY+ S-RDY- ALM+ ALM- 4.7k 4.7k 4.7k 4.7k 4.7k 4.7k Counter clear input Servo-ON input Gain switching/torque limit switching input Alarm clear input CCW over-travel prohibit input CW over-travel prohibit input Servo-Ready Servo-alarm Origin proximity sensor CW limit sensor CCW limit sensor To input GND +4V DC4V Power supply COIN+ COIN- COM- PULSH1 PULSH Positioning complete Pulse train interface exclusive for line driver. Use this interface when you use pulse command frequency between 500kpps and Mpps CW pulse SIGNH1 SIGNH CCW pulse Connection between MINAS E and FPG-PP1 AFPG43 (Matsushita Electric Works) Controller FPG-PP1 AFPG43 (by Matsushita Electric Works) Driver MINAS E Series CW pulse command A1 B1 3 PULS1 PULS 0 CW pulse CCW pulse command Origin input 560 A B A4 B SIGN1 SIGN OZ+ OZ- 0 CCW pulse Z-phase input Deviation counter clear Origin proximity input External power supply input 6.8k FG FG +4VDC GND A7 B7 B4 A5 A19 B19 A0 B0 From To input GND COM+ CL SRV-ON GAIN/TC A-CLR CCWL CWL ALM COIN 4.7k 4.7k 4.7k 4.7k 4.7k 4.7k Counter clear input Servo-ON input Gain switching/torque limit switching input Alarm clear input CCW over-travel prohibit input CW over-travel prohibit input Servo-Alarm Positioning complete Information Origin proximity sensor 11 BRKOFF Brake release CW limit sensor CCW limit sensor To input 1 WARN Warning GND +4V DC4V Power supply 13 COM-

53 Connection between Driver and Controller Connection between MINAS A4 and FP-PP AFP430 (Matsushita Electric Works) Controller FP-PP AFP430 (by Matsushita Electric Works) A1 CW pulse command B1 A CCW pulse command B 0 A5 Origin input B5 3 (44)* 4 (45)* 5 (46)* 6 (47)* PULS1 PULS SIGN1 SIGN OZ+ OZ- GND Driver MINAS A4 Series 0 0 CW pulse CCW pulse Z-phase input Deviation counter clear Origin proximity input 1.6k FG FG A6 B6 A7 B7 A19 B19 From COM+ CL SRV-ON GAIN/TC A-CLR CCWL CWL S-RDY+ 4.7k 4.7k 4.7k 4.7k 4.7k 4.7k Counter clear input Servo-ON input Gain switching/torque limit switching input Alarm clear input CCW over-travel prohibit input CW over-travel prohibit input Servo-Ready External power supply input +4VDC GND A0 B0 To input S-RDY- ALM+ ALM- Servo-alarm Origin proximity sensor CW limit sensor CCW limit sensor To input GND +4V DC4V Power supply COIN+ COIN- COM- PULSH1 PULSH Positioning complete Pulse train interface exclusive for line driver. Use this interface when you use pulse command frequency between 500kpps and Mpps CW pulse SIGNH1 SIGNH CCW pulse Connection between MINAS E and FP-PP AFP430 (Matsushita Electric Works) Controller Driver CW pulse command CW pulse CCW pulse command Origin input CCW pulse Z-phase input Deviation counter clear Origin proximity input External power supply input Origin proximity sensor From To input Counter clear input Servo-ON input Gain switching/torque limit switching input Alarm clear input CCW over-travel prohibit input CW over-travel prohibit input Servo-Alarm Positioning complete Brake release CW limit sensor CCW limit sensor To input Warning DC4V Power supply

54 Connection between Driver and Controller Connection between MINAS A4 and FPG-C3T (FP, Matsushita Electric Works) Connection between Driver and Controller Controller FPG-C3T (FP by Matsushita Electric Works) Y0 CW pulse command Y1 CCW pulse command K K PULS1 PULS SIGN1 SIGN Driver MINAS A4 Series 0 0 CW pulse CCW pulse Origin input Deviation counter clear Origin proximity input 5.6K 3k X COM + Y COM X3 From CZ GND GND COM+ CL SRV-ON GAIN/TC A-CLR CCWL CWL S-RDY+ 4.7k 4.7k 4.7k 4.7k 4.7k 4.7k Z-phase input Counter clear input Servo-ON input Gain switching/torque limit switching input Alarm clear input CCW over-travel prohibit input CW over-travel prohibit input Servo-Ready CCW limit over input CW limit over input 5.6k 5.6k X5 X6 To input S-RDY- ALM+ COIN+ ALM- COIN- Servo-alarm Positioning complete Origin proximity sensor 41 COM- CW limit sensor CCW limit sensor GND +4V DC4V Power supply Connection between MINAS E and FPG-C3T (FP, Matsushita Electric Works) Controller Driver FPG-C3T (FP by Matsushita Electric Works) Y0 CW pulse command K 3 PULS1 PULS MINAS E Series 0 CW pulse CCW pulse command Origin input Deviation counter clear Origin proximity input CCW limit over input 5.6K 3k 5.6k Y1 X COM + Y COM X3 X5 K From SIGN1 SIGN CZ GND COM+ CL SRV-ON GAIN/TC A-CLR CCWL CWL ALM 0 4.7k 4.7k 4.7k 4.7k 4.7k 4.7k CCW pulse Z-phase input Counter clear input Servo-ON input Gain switching/torque limit switching input Alarm clear input CCW over-travel prohibit input CW over-travel prohibit input Servo-Alarm Information CW limit over input Origin proximity sensor 5.6k X6 To input COIN BRKOFF Positioning complete Brake release CW limit sensor CCW limit sensor 1 WARN Warning GND +4V DC4V Power supply 13 COM-

55 Connection between Driver and Controller Connection between MINAS A4 and F3YP14-0N/F3YP18-0N (Yokogawa Electric Corp.) Controller F3YP14-0N/F3YP-18-0N (by Yokogawa Electric Corp.) CW pulse command CCW pulse command Origin line driver input Deviation counter clear 5V power supply for pulse CW limit input CCW limit input Origin proximity input V GND 7.4k 7.4k 7.4k 40 14a 13a 1a 11a 15a 16a 10a 9a 8b 8a 1a 3a a 4a From To input 3 (44)* 4 (45)* 5 (46)* 6 (47)* PULS1 PULS SIGN1 SIGN OZ+ GND COM+ CL SRV-ON GAIN/TC A-CLR CCWL CWL S-RDY+ 41 COM- S-RDY- ALM+ COIN+ OZ- ALM- COIN- Driver MINAS A4 Series k 4.7k 4.7k 4.7k 4.7k 4.7k CW pulse CCW pulse Z-phase input Counter clear input Servo-ON input Gain switching/torque limit switching input Alarm clear input CCW over-travel prohibit input CW over-travel prohibit input Servo-Ready Positioning complete Origin proximity sensor CCW limit sensor CW limit sensor GND +5V DC5V Power supply GND +4V DC4V Power supply Pulse train interface exclusive for line driver. Use this interface when you use pulse command frequency between 500kpps and Mpps PULSH1 PULSH SIGNH1 SIGNH CW pulse CCW pulse Connection between MINAS E and F3YP14-0N/F3YP18-0N (Yokogawa Electric Corp.) Controller F3YP14-0N/F3YP-18-0N (by Matsushita Electric Works) Driver MINAS E Series CW pulse command 14a 13a 3 PULS1 PULS 0 CW pulse CCW pulse command Origin input 40 1a 11a 15a 16a SIGN1 SIGN OZ+ OZ- 0 CCW pulse Z-phase input 14 GND Deviation counter clear 5V power supply for pulse V GND 10a 9a 8b 8a From COM+ CL SRV-ON GAIN/TC A-CLR CCWL CWL 4.7k 4.7k 4.7k 4.7k 4.7k 4.7k Counter clear input Servo-ON input Gain switching/torque limit switching input Alarm clear input CCW over-travel prohibit input CW over-travel prohibit input CW limit input 7.4k 1a 3a 9 ALM Servo-Alarm CCW limit input Origin proximity input 7.4k 7.4k a 4a To input COIN BRKOFF Positioning complete Brake release Origin proximity sensor 1 WARN Warning CW limit sensor CCW limit sensor 13 COM- GND +5V DC5V Power supply GND +4V DC4V Power supply

56 Connection between Driver and Controller Connection between Driver and Controller Connection between MINAS A4 and F3NC3-ON/ F3NC34-ON (Yokogawa Electric Corp.) Controller F3NC3-ON/F3NC34-ON (by Yokogawa Electric Corp.) Pulse command A Pulse command B Encoder Z-phase input + Encoder Z-phase input - Diviation pulse clear External power supply 4VDC input External power supply 4VDC input(gnd) Contact point input COM CW limit input CCW limit input Origin input Origin proximity sensor CCW limit sensor CW limit sensor GND +4V DC4V Power supply From To input Driver MINAS A4 Series CW pulse CCW pulse Z-phase input Counter clear input Servo-ON input Gain switching/torque limit switching input Alarm clear input CCW over-travel prohibit input CW over-travel prohibit input Servo-Ready Servo-alarm Positioning complete Pulse train interface exclusive for line driver. Use this interface when you use pulse command frequency between 500kpps and Mpps 44 PULSH1 CW pulse 45 PULSH 46 SIGNH1 CCW pulse 47 SIGNH Connection between MINAS E and F3NC3-ON/F3NC34-ON (Yokogawa Electric Corp.) Controller F3NC3-ON/F3NC34-ON (by Yokogawa Electric Corp.) Driver MINAS E Series Pulse command A CW pulse Pulse command B Encoder Z-phase input + Encoder Z-phase input - CCW pulse Z-phase input Diviation pulse clear External power supply 4VDC input External power supply 4VDC input(gnd) Contact point input COM CW limit input From Counter clear input Servo-ON input Gain switching/torque limit switching input Alarm clear input CCW over-travel prohibit input CW over-travel prohibit input Servo-alarm Information CCW limit input Origin input To input Positioning complete Brake release Origin proximity sensor Warning CCW limit sensor CW limit sensor GND +4V DC4V Power supply

57 Connection between Driver and Controller Connection between MINAS A4 and CS1W-NC113(Omron Corp.) Controller Driver CS1W-NC113 (by Omron Corp.) MINAS A4 Series CW pulse command 1.6k A6 3 4 PULS1 PULS 0 CW pulse CCW pulse command 1.6k A8 5 6 SIGN1 SIGN 0 CCW pulse Origin line driver input Power supply for Deviation counter reset Emergency stop input Origin proximity input V+ GND k 4.7k A16 A14 A1 A A10 A4 A0 A1 From OZ+ OZ- GND COM+ CL SRV-ON GAIN/TC A-CLR CCWL CWL S-RDY+ 4.7k 4.7k 4.7k 4.7k 4.7k 4.7k Z-phase input Counter clear input Servo-ON input Gain switching/torque limit switching input Alarm clear input CCW over-travel prohibit input CW over-travel prohibit input Servo-Ready CCW limit over input CW limit over input 4.7k 4.7k A3 A To input S-RDY- ALM+ ALM- COIN+ COIN- Positioning complete Origin proximity sensor CW limit sensor 41 COM- CCW limit sensor GND +4V DC4V Power supply Connection between MINAS E and CS1W-NC113(Omron Corp.) Controller Driver CS1W-NC113 (by Omron Corp.) MINAS E Series CW pulse command 1.6k A6 3 PULS1 PULS 0 CW pulse CCW pulse command 1.6k A8 4 5 SIGN1 SIGN 0 CCW pulse Origin line driver input 150 A16 A OZ+ OZ- Z-phase input Power supply for V+ GND A1 A 14 1 GND COM+ Deviation counter reset A10 4 CL SRV-ON 4.7k 4.7k Counter clear input Servo-ON input Emergency stop input Origin proximity input 4.7k 4.7k A4 A0 A1 From GAIN/TC A-CLR CCWL CWL 4.7k 4.7k 4.7k 4.7k Gain switching/torque limit switching input Alarm clear input CCW over-travel prohibit input CW over-travel prohibit input CCW limit over input CW limit over input 4.7k 4.7k A3 A To input 9 10 ALM COIN Servo-Alarm Servo-Ready Origin proximity sensor 11 BRKOFF Brake release CW limit sensor CCW limit sensor 1 WARN Warning GND +4V DC4V Power supply 13 COM-

58 Connection between Driver and Controller Connection between MINAS A4 and C00H-NC11 (Omron Corp.) Connection between Driver and Controller Controller C00H-NC11 (by Omron Corp.) 1.6k Pulse (CW + CCW) Direction Origin line driver input Power supply for Deviation counter reset Emergency stop input Origin proximity input CCW limit over input CW limit over input V+ GND 1.6k 150 k k k k From To input PULS1 PULS SIGN1 SIGN OZ+ GND COM+ CL SRV-ON GAIN/TC A-CLR CCWL CWL S-RDY+ S-RDY- ALM+ COIN+ OZ- ALM- COIN- Driver MINAS A4 Series k 4.7k 4.7k 4.7k 4.7k 4.7k CW pulse CCW pulse Z-phase input Counter clear input Servo-ON input Gain switching/torque limit switching input Alarm clear input CCW over-travel prohibit input CW over-travel prohibit input Servo-Ready Servo-alarm Positioning complete Origin proximity sensor 41 COM- CW limit sensor CCW limit sensor GND +4V DC4V Power supply Connection between MINAS E and C00H-NC11 (Omron Corp.) Controller Driver C00H-NC11 (by Omron Corp.) MINAS E Series Pulse (CW + CCW) Direction Origin line driver input 1.6k 1.6k PULS1 PULS SIGN1 SIGN OZ+ OZ- 0 0 Pulse Directional command input Z-phase input Power supply for Deviation counter reset Emergency stop input Origin proximity input V+ GND k k From GND COM+ CL SRV-ON GAIN/TC A-CLR CCWL CWL 4.7k 4.7k 4.7k 4.7k 4.7k 4.7k Counter clear input Servo-ON input Gain switching/torque limit switching input Alarm clear input CCW over-travel prohibit input CW over-travel prohibit input Information CCW limit over input k 17 9 ALM Servo-alarm CW limit over input Origin proximity sensor k 18 To input COIN BRKOFF Positioning complete Brake release CW limit sensor CCW limit sensor 1 WARN Warning GND +4V DC4V Power supply 13 COM-

59 Connection between Driver and Controller Connection between MINAS A4 and CS1W-NC133(Omron Corp.) Controller CS1W-NC133 (by Omron Corp.) Driver MINAS A4 Series CW pulse command A5 A6 3 4 PULS1 PULS 0 CW pulse CCW pulse command Origin line driver input 150 A7 A8 A16 A SIGN1 SIGN OZ+ OZ- 0 CCW pulse Z-phase input 4V power supply for Deviation counter reset Prompt stop input Origin proximity input V+ GND 4.7k 4.7k A1 A A10 A4 A0 A1 From GND COM+ CL SRV-ON GAIN/TC A-CLR CCWL CWL 4.7k 4.7k 4.7k 4.7k 4.7k 4.7k Counter clear input Servo-ON input Gain switching/torque limit switching input Alarm clear input CCW over-travel prohibit input CW over-travel prohibit input CW limit over input CCW limit over input 4.7k 4.7k A3 A To input S-RDY+ S-RDY- ALM+ ALM- Servo-Ready Servo-alarm 5V power supply for pulse GND +V A3 A COIN+ COIN- Positioning complete 41 COM- Origin proximity sensor CW limit sensor CCW limit sensor GND +5V DC5V Power supply GND +4V DC4V Power supply Connection between MINAS E and CS1W-NC133(Omron Corp.) Driver Controller CS1W-NC133 (by Omron Corp.) MINAS E Series CW pulse command A5 A6 3 PULS1 PULS 0 CW pulse CCW pulse command Origin line driver input 150 A7 A8 A16 A SIGN1 SIGN OZ+ OZ- 0 CCW pulse Z-phase input 4V power supply for Deviation counter reset Prompt stop input Origin proximity input CW limit over input V+ GND 4.7k 4.7k 4.7k A1 A A10 A4 A0 A1 A3 From GND COM+ CL SRV-ON GAIN/TC A-CLR CCWL CWL ALM 4.7k 4.7k 4.7k 4.7k 4.7k 4.7k Counter clear input Servo-ON input Gain switching/torque limit switching input Alarm clear input CCW over-travel prohibit input CW over-travel prohibit input Servo-alarm CCW limit over input 5V power supply for pulse GND +V 4.7k A A3 A4 To input COIN BRKOFF Positioning complete Brake release Origin proximity sensor CW limit sensor 1 WARN Warning CCW limit sensor 13 COM- GND +5V DC5V Power supply GND +4V DC4V Power supply

60 Connection between Driver and Controller Connection between MINAS A4 and QD75D1(Mitsubishi Electric Corp.) Controller Driver QD75D1(by Mitsubishi Electric Corp.) MINAS A4 Series CW pulse command CW pulse CCW pulse command Origin signal CCW pulse Z-phase input Deviation counter clear Drive unit ready Common Proximity signal Upper limit Lower limit From To input Counter clear input Servo-ON input Gain switching/torque limit switching input Alarm clear input CCW over-travel prohibit input CW over-travel prohibit input Servo-Ready Servo-alarm Positioning complete Origin proximity sensor CW limit sensor CCW limit sensor GND +4V DC4V Power supply Pulse train interface exclusive for line driver. Use this interface when you use pulse command frequency between 500kpps and Mpps PULSH1 PULSH CW pulse SIGNH1 SIGNH CCW pulse Connection between MINAS E and QD75D1(Mitsubishi Electric Corp.) Controller Driver QD75D1(by Mitsubishi Electric Corp.) MINAS E Series CW pulse command CW pulse CCW pulse command Origin signal CCW pulse Z-phase input Deviation counter clear From Counter clear input Servo-ON input Gain switching/torque limit switching input Alarm clear input CCW over-travel prohibit input CW over-travel prohibit input Information Proximity signal Upper limit Lower limit Origin proximity sensor CW limit sensor CCW limit sensor To input Servo-alarm Positioning complete Brake release Warning GND +4V DC4V Power supply

61 Index (Alphabetical order) DV0P : Standard stock item : Build order item Carrying page Part No. A4 A4P E Delivery Specifications Dimension Specifications Dimension Specifications Dimension

62 Index : Standard stock item : Build order item DV0P Carrying page Part No. A4 A4P E Delivery Specifications Dimension Specifications Dimension Specifications Dimension MADDT : Standard stock item : Build order item Carrying page Part No. A4 A4P E Delivery Specifications Dimension Specifications Dimension Specifications Dimension MAMA : Standard stock item : Build order item Carrying page Part No. A4 A4P E Delivery Specifications Dimension Specifications Dimension Specifications Dimension Infomation

63 Index (Alphabetical order) : Standard stock item : Build order item MAMA Carrying page Part No. A4 A4P E Delivery Specifications Dimension Specifications Dimension Specifications Dimension MBDDT : Standard stock item : Build order item Carrying page Part No. A4 A4P E Delivery Specifications Dimension Specifications Dimension Specifications Dimension MCDDT : Standard stock item : Build order item Carrying page Part No. A4 A4P E Delivery Specifications Dimension Specifications Dimension Specifications Dimension MDDDT : Standard stock item : Build order item Carrying page Part No. A4 A4P E Delivery Specifications Dimension Specifications Dimension Specifications Dimension

64 Index : Standard stock item : Build order item MDMA Carrying page Part No. A4 A4P E Delivery Specifications Dimension Specifications Dimension Specifications Dimension Infomation

65 Index (Alphabetical order) MDMA : Standard stock item : Build order item Carrying page Part No. A4 A4P E Delivery Specifications Dimension Specifications Dimension Specifications Dimension MEDDT : Standard stock item : Build order item Carrying page Part No. A4 A4P E Delivery Specifications Dimension Specifications Dimension Specifications Dimension MFDDT : Standard stock item : Build order item Carrying page Part No. A4 A4P E Delivery Specifications Dimension Specifications Dimension Specifications Dimension MFECA : Standard stock item : Build order item Carrying page Part No. A4 A4P E Delivery Specifications Dimension Specifications Dimension Specifications Dimension

66 Index : Standard stock item : Build order item MFECA Carrying page Part No. A4 A4P E Delivery Specifications Dimension Specifications Dimension Specifications Dimension MFMA : Standard stock item : Build order item Carrying page Part No. A4 A4P E Delivery Specifications Dimension Specifications Dimension Specifications Dimension Infomation

67 Index (Alphabetical order) MFMCA : Standard stock item : Build order item Carrying page Part No. A4 A4P E Delivery Specifications Dimension Specifications Dimension Specifications Dimension MFMCB : Standard stock item : Build order item Carrying page Part No. A4 A4P E Delivery Specifications Dimension Specifications Dimension Specifications Dimension MFMCD : Standard stock item : Build order item Carrying page Part No. A4 A4P E Delivery Specifications Dimension Specifications Dimension Specifications Dimension

68 Index : Standard stock item : Build order item MFMCD Carrying page Part No. A4 A4P E Delivery Specifications Dimension Specifications Dimension Specifications Dimension MGDDT Carrying page Part No. A4 A4P E Delivery Specifications Dimension Specifications Dimension Specifications Dimension : Standard stock item : Build order item MGMA : Standard stock item : Build order item Carrying page Part No. A4 A4P E Delivery Specifications Dimension Specifications Dimension Specifications Dimension Infomation

69 Index (Alphabetical order) MGMA : Standard stock item : Build order item Carrying page Part No. A4 A4P E Delivery Specifications Dimension Specifications Dimension Specifications Dimension MHMA : Standard stock item : Build order item Carrying page Part No. A4 A4P E Delivery Specifications Dimension Specifications Dimension Specifications Dimension

70 Index MHMA : Standard stock item : Build order item Carrying page Part No. A4 A4P E Delivery Specifications Dimension Specifications Dimension Specifications Dimension : Standard stock item : Build order item MKDET Carrying page Part No. A4 A4P E Delivery Specifications Dimension Specifications Dimension Specifications Dimension Infomation

71 Index (Alphabetical order) MLDET : Standard stock item : Build order item Carrying page Part No. A4 A4P E Delivery Specifications Dimension Specifications Dimension Specifications Dimension MQMA : Standard stock item : Build order item Carrying page Part No. A4 A4P E Delivery Specifications Dimension Specifications Dimension Specifications Dimension

72 Index MQMA : Standard stock item : Build order item Carrying page Part No. A4 A4P E Delivery Specifications Dimension Specifications Dimension Specifications Dimension : Standard stock item : Build order item MSMA Carrying page Part No. A4 A4P E Delivery Specifications Dimension Specifications Dimension Specifications Dimension Infomation

73 Index (Alphabetical order) MSMA : Standard stock item : Build order item Carrying page Part No. A4 A4P E Delivery Specifications Dimension Specifications Dimension Specifications Dimension : Standard stock item : Build order item MSMD Carrying page Part No. A4 A4P E Delivery Specifications Dimension Specifications Dimension Specifications Dimension

74 Index MSMD : Standard stock item : Build order item Carrying page Part No. A4 A4P E Delivery Specifications Dimension Specifications Dimension Specifications Dimension Infomation

75 Index (Alphabetical order) MSMD : Standard stock item : Build order item Carrying page Part No. A4 A4P E Delivery Specifications Dimension Specifications Dimension Specifications Dimension

76 Index MSMD : Standard stock item : Build order item Carrying page Part No. A4 A4P E Delivery Specifications Dimension Specifications Dimension Specifications Dimension Infomation

77 Index (Alphabetical order) MSMD : Standard stock item : Build order item Carrying page Part No. A4 A4P E Delivery Specifications Dimension Specifications Dimension Specifications Dimension MUMA : Standard stock item : Build order item Carrying page Part No. A4 A4P E Delivery Specifications Dimension Specifications Dimension Specifications Dimension

78 MUMA : Standard stock item : Build order item Carrying page Part No. A4 A4P E Delivery Specifications Dimension Specifications Dimension Specifications Dimension Infomation

79 Sales Office [Panasonic Sales Office of Motors] Country Company Name City Address U.S.A. Europe Taiwan Singapore China India Panasonic Industrial Company(PIC) Panasonic Industrial Europe Ltd.(PIEL) Panasonic Industrial Europe GmbH(PIEG) Panasonic Industrial Sales (Taiwan) Co., Ltd.(PIST) Panasonic Industrial Singapore(PICS) Panasonic Shun Hing Industrial Sales (Hong kong) Co., Ltd. Panasonic Industrial (China) Co.,Ltd. (PICH) Panasonic Industrial Asia Pte Ltd. (PIAI) New Jersey California Bracknell Munich Milano Barcelona Taipei Singapore Hong kong Shanghai New Delhi Two Panasonic Way Secaucus, New Jersey U.S.A. 033 Gateway Place, Suite 00 San Jose, CA 95110, U.S.A. Panasonic House,Willoughby Road Brecknell, Berks, RG1 8FP,U.K. Hans-Pinsel-Str., Haar, Gemany Via Lucini 19, 015 Milano, ITALY Avda. Josep Tarradellas Reception 5 Plantas4,5Y Barcelona, SPAIN 6F, 550, Sec.4, Chung Hsiao E.RD. Taipei, 110, TAIWAN, R.O.C 300 Beach Road #16-01 The Concourse Singapore Level 33, Office Tower, Langham Place, 8 Argyle Street, Mongkok, Kin.,Hong Kong Floor 5, China Insurance Building, 166 East Road LuJiaZui PuDong New District, Shanghai, China, , E-Block, International Trade Tower, Nehru Place, New Delhi (Jun ) TEL FAX [Distributor] Country Company Name City Address Korea YOUNG IL Electric Co.,Ltd. Soonhan Engineering Co.,Ltd. Zeus Co.,Ltd. Seoul Sungnam Osan 98-4, 3 Dong, Shiheung, Keumcheon-Ku, Seoul , Sangdaewon-Dong, Jungwon-Ku, Sungnam-Si, Gyunggi-Do, Korea 163-1, Busan-Dong, Osan-City, Kyunggi-Do, Korea TEL FAX

80

81 Cautions for Proper Use This product is intended to be used with a general industrial product, but not designed or manufactured to be used in a machine or system that may cause personal death when it is failed. Install a safety equipments or apparatus in your application, when a serious accident or loss of property is expected due to the failure of this product. Consult us if the application of this product is under such special conditions and environments as nuclear energy control, aerospace, transportation, medical equipment, various safety equipments or equipments which require a least air contamination. We have been making the best effort to ensure the highest quality of the products, however, application of exceptionally larger external noise disturbance and static electricity, or failure in input power, wiring and components may result in unexpected action. It is highly recommended that you make a fail-safe design and secure the safety in the operative range. If the motor shaft is not electrically grounded, it may cause an electrolytic corrosion to the bearing, depending on the condition of the machine and its mounting environment, and may result in the bearing noise. Checking and verification by customer is required. Failure of this product depending on its content, may generate smoke of about one cigarette. Take this into consideration when the application of the machine is clean room related. Please be careful when using in an environment with high concentrations of sulphur or sulphuric gases, as sulphuration can lead to disconnection from the chip resistor or a poor contact connection. Take care to avoid inputting a supply voltage which significantly exceeds the rated range to the power supply of this product. Failure to heed this caution may result in damage to the internal parts, causing smoking and/or a fire and other trouble. Read and observe the instruction manual without fail for proper usage of the products. Repair Consult to the dealer from whom you have purchased this product for details of repair work. When the product is incorporated to the machine you have purchased, consult to the machine manufacturer or its dealer. URL Electric data of this product (Instruction Manual, CAD data) can be download from the following web site; < Motor Company Matsushita Electric Industrial Co., Ltd. 1-1 Morofuku 7-chome, Daito, Osaka , Japan Tel : Fax: ISO14001 Certificate division CERTIFICATE OF APPROVAL ISO14001 ISO9001 Certificate division CERTIFICATE OF APPROVAL ISO9001 The contents of this catalog apply to the products as of Jun. 1, 006. Printed colors may be slightly different from the actual products. Specifications and design of the products are subject to change without notice for the product improvement. For environmental protection, this document is made of recycled paper, and printed with soybean oil ink.