REFERENCE SPECIFICATIONS

Transcription

1 No. SX-DSV03089 REFERENCE SPECIFICATIONS MODEL Product Name: AC servo driver Model Number: MINAS A6N Series Issued on 1 Feb Motor Business Unit, Smart Factory Solutions Business Division Automotive & Industrial Systems Company, Panasonic Corporation Morofuku, Daito-City, Osaka , Japan Phone: Fax:

2 REVISIONS No. SX-DSV03089 Date Page Rev. Description Signed 1/2/ Initial Release -

3 No. SX-DSV03089 Contents 1.Scope Model number Product Line-up Specifications Appearance and Names Dimensions Configuration of connectors and terminal blocks Power connectors XA, XB, XC, XD and terminal blocks USB connector X RTEX connectors X2A X2B I/O connector X Encoder connector X Monitor connector X Interface Circuit Wiring and system configuration Used cables and maximum cable lengths Cable Side Connector Precautions for wiring Dynamic brake Mounting direction and spacing Compliance with global standards Conforming standards European EC directive Peripheral device configuration List of peripheral devices applicable to servo driver Compliance with UL standard Radio waves act (South Korea) precautions Compliance with SEMI F47 instantaneous stop standard Safety precautions Life and warranty Life expectancy of the servo driver Typical life Warranty Others Appendix: Specification for each model Appendix: I/O connector (X4) default setting Appendix table: Default value of the parameters

4 No. SX-DSV Scope The specifications are for AC servo driver MINAS-A6N Series made by Motor Business Unit, Smart Factory Solutions Business Division, Automotive & Industrial amplifier Systems Company, Panasonic Corporation. The products specified on this document can be used for industrial purposes only. Do not use in a general household. <IMPORTANT> All rights reserved. No part of this document may be reproduced or transmitted into any form without prior permission. Motor Business Unit, Smart Factory Solutions Business Division, Automotive & Industrial Systems Company, Panasonic Corporation reserves the right to make modifications and improvements to its products and/or documentation, including specifications and software, without prior notice. 2.Model number The model number is structured as follows: M A D L N 1 5 N E * * * Classification servo driver Size A: Size A B: Size B C: Size C D: Size D E: Size E F: Size F Specific Model Functionality E: Standard AC Servo drive L: A6 family Interface N: RTEX Safety function N: Without safety I/F Maximum instantaneous output current 0 : 6 A 1: 8 A 2: 12 A 3: 22 A 4: 24 A 5: 40 A 8: 60 A A: 100 A B: 120 A Power supply voltage 1: Single phase 100 V 3: 3 phase 200 V 5: Single or 3 phase 200 V

5 No. SX-DSV Product Line-up Model No. Size Power supply input Rated output of applicable motor (Note 1) MADLN01NE Max 50 W Single-phase AC V MADLN11NE Max 100 W A MADLN05NE Max 100 W Single/3-phase AC V MADLN15NE Max 200 W MBDLN21NE Single phase AC V Max 200 W B MBDLN25NE Single/3-phase AC V Max 400 W MCDLN31NE Single phase AC V Max 400 W C MCDLN35NE Single/3-phase AC V Max 750 W MDDLN45NE Max 1000 W D Single/3-phase AC V MDDLN55NE Max 1500 W MEDLN83NE E 3-phase AC V Max 2000 W MFDLNA3NE Max 3000 W F 3-phase AC V MFDLNB3NE Max 5000 W (Note 1) Some of the combinations shown in this table cannot be used depending on motors. For the combination of a driver and a motor, refer to MINAS-A6 series catalog.

6 No. SX-DSV Specifications Basic specifications Item Description Input power supply 100 V 200 V Main circuit power Control circuit power A-D Main circuit power E-F Control circuit A-D Single phase V (+10 %/-15 %) 50/60 Hz Single phase V (+10 %/-15 %) 50/60 Hz Single/3-phase V (+10 %/-15 %) 50/60 Hz 3-phase V (+10 %/-15 %) 50/60 Hz Single phase V (+10 %/-15 %) 50/60 Hz power E-F Single phase V (+10 %/-15 %) 50/60 Hz Operation temperature: 0-55 degrees C (no freezing) Temperature Storage temperature: degrees C Operation conditions Humidity (Max.temperature guarantee : 80 degrees C for 72 hours without dew condensation *note) Operation and storage humidity: %RH or less (no dew condensation permitted *note) Elevation 1000 m or less above sea level Vibration 5.88 m/s 2 or less, Hz Insulation voltage Resistant to 1500 V AC between primary power supply and ground for a minute (Sensed current: 20 ma) Control method IGBT PWM method, sinusoidal drive Encoder feedback 23Bit(resolution: ) 7cores-serial absolute encoder 8 x multi-function input ports Input Control Function of each multi-function input is assignable by parameter. signal 3 x multi-function output ports Output Function of each multi-function output is assignable by parameter. Analog signal Output 2 x output ports for analog monitor Pulse signal Output 2 x output ports Line driver output for encoder pulses (A/B signal) Realtime Express Interface for motion control. Communication (RTEX) USB USB interface to connect to computers for parameter setting or status monitoring. Front panel 12-digit rotary switch 22-digit 7-segment LED, 2 x LED for status indication 3Monitor connector Regeneration Size A, B: External regen resistor only Size C - F: Built-in regen resistor (External regen is also available) Dynamic brake Size A - F: Built-in Control mode Position control: Profile position mode (PP), cyclic position mode (CP) Velocity control: cyclic velocity mode (CV) Torque control: cyclic torque mode (CT) PP/CP/CV/CT modes are switchable each other with commands through RTEX. (*note) Please note that condensation tend to occur when temperature fall.

7 No. SX-DSV Appearance and Names Size A, B 100 V / 200 V X7: Monitor connector (Molex) Front panel Charge lamp XA: Power supply input connection 05JFAT-SAXGGKK-A (JST) XA: Power supply input S05B-F32SK-GGXR (JST) XB: Motor output S06B-F32SK-GGXR (JST) X1: USB connection UB-M5BR-S14-4S(LF)(SN) (JST) X2A: RTEX connector (RX) MOD-WRJ88LY1G-TP+ (HTK) X2B: RTEX connector (TX) MOD-WRJ88LY1G-TP+ (HTK) XB: Motor connection 06JFAT-SAXGGKK-A (JST) X4: Parallel I/O connection DF02R026NA2 (JAE) X6: Encoder connection 3E KAV (3M) XA: Power supply input connection Earth connection screw XB: Motor connection L1 L2 L3 L1C L2C Main power supply input Control power supply input P N B U V W Regenerative resistor connection Motor output

8 No. SX-DSV Size C, D 100 V / 200 V Charge lamp Front panel X7: Monitor connector (Molex) XA: Power supply input S05B-F32SK-GGXR (JST) 相当品 XB: Motor output S06B-F32SK-GGXR (JST) X1: USB connection UB-M5BR-S14-4S(LF)(SN) (JST) X2A: RTEX connector (RX) MOD-WRJ88LY1G-TP+ (HTK) X2B: RTEX connector (TX) MOD-WRJ88LY1G-TP+ (HTK) XA: Power supply input connection 05JFAT-SAXGGKK-A (JST) XB: Motor connection 06JFAT-SAXGGKK-A (JST) Earth connection screw X4: Parallel I/O connection DF02R026NA2 (JAE) XA: Power supply input connection XB: Motor connection L1 L2 L3 L1C L2C P RB B U V W Main power supply input Control power supply input Regenerative resistor connection Motor output X6: Encoder connection 3E KAV (3M)

9 No. SX-DSV Size E 200 V Charge lamp XA: Power supply input S05B-JTSLSK-GSANXR (JST) XB: Motor output S03B-JTSLSK-GSANXR (JST) X7: Monitor connector (Molex) XC: Regenerative resistor connection S04B-JTSLSS-GSANXR (JST) Front panel X1: USB connection UB-M5BR-S14-4S(LF)(SN) (JST) X2A: RTEX connector (RX) MOD-WRJ88LY1G-TP+ (HTK) X2B: RTEX connector (TX) MOD-WRJ88LY1G-TP+ (HTK) XA: Power supply input connection 05JFAT-SAXGSA-L (JST) XC: Regenerative resistor connection 04JFAT-SAXGSA-L (JST) XB: Motor connection 03JFAT-SAXGSA-L (JST) X4: Parallel I/O connection DF02R026NA2 (JAE) X6: Encoder connection 3E KAV (3M) Main power supply input Control power supply input L1 L2 L3 L1C L2C Regenerative resistor connection P RB B N Motor output U V W XA: Power supply input connection Earth connection screw XC: Regenerative resistor connection XB: Motor output

10 No. SX-DSV Size F 200 V Front panel Charge lamp X1: USB connection UB-M5BR-S14-4S(LF)(SN) (JST) X2A: RTEX connector (RX) MOD-WRJ88LY1G-TP+ (HTK) X7: Monitor connector (Molex) X2B: RTEX connector (TX) MOD-WRJ88LY1G-TP+ (HTK) X4: Parallel I/O connection DF02R026NA2 (JAE) X6: Encoder connection 3E KAV (3M) Earth connection screw L1 Main power supply input L2 L3 Control power supply input L1C L2C P Regenerative resistor connection RB B N U Motor output V W R0.0 Motor Business Unit, Panasonic Corporation

11 No. SX-DSV Name plate Model number Serial number e.g.): P N Lot number Month of production Year of production (Lower 2 digit of AD year) QR code standard mark Input/output voltage Number of phase Rated input/output current Input/output frequency Rated output of applicable motor Manufacture date e.g.): Country of origin Manufacture date Manufacture month Manufacture year

12 No. SX-DSV Front panel 2-digit 7-segment LED COM LED (red/green) LINK LED (green) X7-1pin Analog monitor connector(x7) 2-digit rotary switch for node Address setting Setting range:0-31

13 No. SX-DSV Dimensions Size A 100 V / 200 V 2-M4 Effective screw depth 7 Name plate 2-M4 Effective screw depth 7 Unit: mm * Please do not use the screw holes of no description of the size value.

14 No. SX-DSV [Rack-mounting TYPE (Option: Mounted on the front)] Mounting bracket (Option) Name plate Mounting bracket (Option) Unit: mm *Please do not use the screw holes of no description of the size value. *Mounting bracket is optional parts. Mounting bracket does not shipped with the product.

15 No. SX-DSV Size B 100 V / 200 V 2-M4 Effective screw depth 6.5 Name plate 2-M4 Effective screw depth 7 Unit: mm *Please do not use the screw holes of no description of the size value

16 No. SX-DSV [Rack-mounting TYPE (Option: Mounted on the front)] Mounting bracket (Option) Name plate Mounting bracket (Option) Unit: mm *Please do not use the screw holes of no description of the size value. *Mounting bracket is optional parts. Mounting bracket does not shipped with the product.

17 No. SX-DSV Size C 100 V / 200 V 2-M4 Effective screw depth 6.5 Name plate 2-M4 Effective screw depth 6 Unit: mm *Please do not use the screw holes of no description of the size value.

18 No. SX-DSV [Rack-mounting TYPE (Option: Mounted on the front)] Mounting bracket (Option) Name plate Mounting bracket (Option) Unit: mm *Please do not use the screw holes of no description of the size value. *Mounting bracket is optional parts. Mounting bracket does not shipped with the product.

19 No. SX-DSV Size D 200 V 2-M4 Effective screw depth 6.5 Name plate 2-M4 Effective screw depth 6 Unit: mm *Please do not use the screw holes of no description of the size value.

20 No. SX-DSV [Rack-mounting TYPE (Option: Mounted on the front)] Mounting bracket (Option) Name plate Mounting bracket (Option) Unit: mm *Please do not use the screw holes of no description of the size value. *Mounting bracket is optional parts. Mounting bracket does not shipped with the product.

21 No. SX-DSV Size E 200 V [Rack-mounting TYPE (Standard)] 4-M4 Effective screw depth 6 Name plate 4-M4 Effective screw depth 6 Unit: mm

22 No. SX-DSV [Base-mounting TYPE (Change from standard)] Name plate Unit: mm

23 No. SX-DSV Size F 200 V [Rack-mounting TYPE (Standard)] 4-M4 Effective screw depth 9 Name plate 4-M4 Effective screw depth 9 Unit: mm

24 No. SX-DSV [Base-mounting TYPE (Change from standard)] Name plate Unit: mm

25 No. SX-DSV Configuration of connectors and terminal blocks 7-1 Power connectors XA, XB, XC, XD and terminal blocks Size A, B 100V / 200 V XA Connector pin No. Terminal symbol 5 L1 4 L2 Name Main power supply input 100 V 200 V Description Single phase + 10 % 50/60 Hz input V - 15 % Use L1 and L3 terminal for single phase input Single or 3 phase V + 10 % - 15 % 50/60 Hz input 3 L3 Use L1 and L3 terminal for single phase input 2 L1C Control power 100 V supply input 1 L2C 200 V Single phase V Single phase V + 10 % - 15 % + 10 % - 15 % 50/60 Hz input 50/60 Hz input XB 6 P 5 N 4 B Regen resistor connection When a trip happens due to a regenerative load protection error, connect an external regenerative resistor (prepared by customer) between P and B. Then, specify the external regenerative resistor for the parameter Pr0.16. Do not connect N terminal. 3 U 2 V 1 W Motor connection Connect each phase of the motor winding. U: U phase V: V phase W: W phase Earth Earth terminal for grounding * Tighten the earth screws M4 with the Nm torque respectively.

26 No. SX-DSV Size C, D 100 V / 200 V XA XC XB Connector pin No. Terminal symbol 5 L1 4 L2 Name Main power supply input 100 V 200 V Description Single phase + 10 % 50/60 Hz input V - 15 % Use L1 and L3 terminal for single phase input Single or 3 phase V + 10 % - 15 % 50/60 Hz input 3 L3 Use L1 and L3 terminal for single phase input 2 L1C Control power 100 V 1 L2C supply input 200 V N P 6 P 5 RB 4 B 3 U 2 V 1 W Regen resistor connection Single phase V - Do not connect. Motor connection Single phase V + 10 % - 15 % + 10 % - 15 % 50/60 Hz input 50/60 Hz input Normally, short out the circuit between B and RB. (Sizes C, D) When a trip happens due to a regenerative load protection error, open the circuit between B and RB and connect an external regenerative resistor (prepared by customer) between P and B. Then, specify the external regenerative resistor for the parameter Pr Connect each phase of the motor winding. U: U phase V: V phase W: W phase Earth Earth terminal for grounding * Tighten the earth screws M4 with the Nm torque respectively.

27 No. SX-DSV Size E 200 V XA Connector pin No. Terminal symbol 5 L1 4 L2 3 L3 名称内容 Main power supply input 2 L1C Control power 1 L2C supply input 200 V 3 phase V 200 V Single phase V + 10 % - 15 % + 10 % - 15 % 50/60 Hz input 50/60 Hz input XC 4 P 3 RB 2 B 1 N Regen resistor connection Normally, short out the circuit between RB and B. When a trip happens due to a regenerative load protection error, open the circuit between RB and B and connect an external regenerative resistor (prepared by customer) between P and B. Then, specify the external regenerative resistor for parameter Pr Do not connect N terminal. XB 3 U 2 V 1 W Motor connection Connect each phase of the motor winding. U: U phase V: V phase W: W phase Earth Earth terminal for grounding * Tighten the earth screws M4 with the Nm torque respectively.

28 No. SX-DSV Size F 200 V Terminal block is used instead of connector 端子台 Terminal No. (Upper to bottom) Terminal symbol Name 1 L1 Main power 2 L2 supply input 3 L3 4 L1C Control power 5 L2C supply input 6 P 7 RB 8 B 9 N Regen resistor connection 3 phase V + 10 % - 15 % Description 50/60 Hz input Single phase + 10 % 50/60 Hz input V - 15 % Normally, short out the circuit between RB and B. When a trip happens due to a regenerative load protection error, open the circuit between RB and B and connect an external regenerative resistor (prepared by customer) between P and B. Then, specify the external regenerative resistor for parameter Pr Do not connect N terminal. 10 U 11 V 12 W Motor connection Earth Connect each phase of the motor winding. U: U phase V: V phase W: W phase Earth terminal for grounding * Tighten the earth screws M5 with the Nm torques respectively. * Tighten the terminal block screws M5 with the Nm torques respectively. * Tighten the fixing screw M3 for the terminal block cover with the 0.2 Nm torque. * If the maximum value of tightening torque is exceeded, the terminal block could be damaged.

29 No. SX-DSV USB connector X1 By connecting to a computer or a controller via USB interface, the following operations are available parameter reference / change parameter save / load monitoring of status checking alarm status or alarm history Name Symbol Pin No Description VBUS 1 USB signal D- 2 Communicate with a computer or a controller D+ 3 For manufacturer use 4 Do not connect Signal ground GND 5 Signal ground

30 No. SX-DSV RTEX connectors X2A X2B For connection, use RJ45 connector [X2A] RX connector Name Symbol Connector pin no. Description Unused - 1 Connect to pin 1 on TX connector of sending side node. Unused - 2 Connect to pin 2 on TX connector of sending side node. Network input + RX+ 3 Connect to pin 3 on TX connector of sending side node. Unused - 4 Connect to pin 4 on TX connector of sending side node. Unused - 5 Connect to pin 5 on TX connector of sending side node. Network input - RX- 6 Connect to pin 6 on TX connector of sending side node. Unused - 7 Connect to pin 7 on TX connector of sending side node. Unused - 8 Connect to pin 8 on TX connector of sending side node. Frame ground FG Shell Connect to shield of cable. [X2B] TX connector Name Symbol Connector pin no. Description Unused - 1 Connect to pin 1 on RX connector of receiving side node. Unused - 2 Connect to pin 2 on RX connector of receiving side node. Network output + TX+ 3 Connect to pin 3 on RX connector of receiving side node. Unused - 4 Connect to pin 4 on RX connector of receiving side node. Unused - 5 Connect to pin 5 on RX connector of receiving side node. Network output - TX- 6 Connect to pin 6 on RX connector of receiving side node. Unused - 7 Connect to pin 7 on RX connector of receiving side node. Unused - 8 Connect to pin 8 on RX connector of receiving side node. Frame ground FG Shell Connect to shield of cable. * Be sure to use shielded twisted pair (STP) compatible with 5e of TIA/EIA-568 or higher category

31 No. SX-DSV I/O connector X4 Input signals Name Symbol Pin No. Description Circuit Power supply input I-COM 6 Connect to positive/negative polarity of the external power supply Use a 12 V (±5 %) to 24 V (±5 %) power supply Insulation is needed against the primary side power supply. Please do not connect them with the same power supply. Multi-function input 1 SI1 5 Multi-function input 2 SI2 7 Multi-function input 3 SI3 8 Multi-function input 4 SI4 9 Multi-function input 5 SI5 10 Multi-function input 6 SI6 11 Multi-function input 7 SI7 12 Multi-function input 8 SI8 13 Assign functions using parameters. For details, refer to the technical data Basic function specification SX-DSV Range of available functions is limited. For example, external latch input EXT1 can be allocated only to SI5, EXT2 to SI6 and EXT3 to SI7. For the factory default setting, refer to appendix Specification for Each Model. i-1 Output signals Name Symbol Pin No. Description Circuit Multi-function output 1 Multi-function output 2 Multi-function output 3 SO1- SO1+ SO2- SO2+ SO3- SO Assign functions using parameters For details, refer to the technical data Basic function Specification SX-DSV For the factory default setting, refer to appendix Specification for Each Model. o-1 Encoder output signal Name Symbol Pin No. Description Circuit Phase A output Phase B output Z-phase signal OA+ 17 OA- 18 OB+ 20 OB- 19 OZ+ 21 OZ- 22 Differential output of divided encoder signal or external scale signal (A B phase). (RS422 compatible) The ground of line driver of output circuit is connected to the signal ground (GND) and kept non-insulated. Maximum output frequency is 8 Mpulse/s (after multiplied by 4). Use a line receiver to receive the differential signals, and connect a termination resistor (Approx. 330 Ω) between the input terminals of the line receiver output of Z-phase signal is Position compare Z-phase signal is the position compare output only. Do-1 Signal ground GND 16 Signal ground Be sure to connect the ground of the line receiver to this terminal.

32 No. SX-DSV Encoder backup power input Name Symbol Pin No. Description Circuit Battery input to absolute encoder BTP-I 14 BTN-I 15 Connect to the absolute encoder backup battery (recommended battery: Toshiba ER6V 3.6 V) BTP-I: positive, BTN-I: negative The power necessary to store multi-turn data is supplied to the absolute encoder via BTP-0 (pin 3) and BTN-0 (pin 4) of encoder connector (CN2). Use any of the following methods to connect the battery for absolute encoder. (1) Directly connected to the motor. (2) Connected to the encoder cable. (3) Connected to this connector. Other Name Symbol Pin No. Description Circuit Reserved - 23,24 Do not connect Frame ground FG Shell Connected to the earth terminal in the servo driver.

33 No. SX-DSV Encoder connector X6 Name Symbol Pin No. Description Encoder power supply output Absolute encoder battery backup output (Note 2) E5V 1 Encoder power supply E0V 2 Ground of encoder power supply (Note 1) BTP-O 3 Battery output (+) BTN-O 4 Battery output (-) Encoder signal I/O (differential serial signal) PS 5 Encoder signal No-inverting input and output /PS 6 Encoder signal Inverting input and output Frame ground FG shell Internally connected to the earth terminal. *Note 1) The E0V of the encoder power supply output is connected with the control circuit ground of the connector X4. *Note 2) Connected to the absolute encoder battery input terminals BTP-I and BTN-I of connector X4 in the servo driver. When connecting the battery directly to the encoder connection cable, leave these pins unconnected. 7-6 Monitor connector X7 Name Symbol Pin No. Description Circuit Analog monitor output 1 AM1 1 Analog monitor output 2 AM2 2 Analog signal output for monitoring Monitoring object changes according to the parameter setting. Ao-1 Signal ground GND 3 Signal ground Reserved - 4,5 Do not connect

34 No. SX-DSV Interface Circuit i-1 o-1 V DC V P S or 4.7k 1000p 1k V DC V 50 ma or less V DC V Ao-1 S P 4.7k 1000p 1k Pins; S: (X4) 5,7,8,9,10,11,12,13 P: (X4) 6 Pins; +: (X4) 1,3,25 -: (X4) 2,4,26 *Note) To directly run the relay, attach a diode in Parallel with the relay and in the direction shown in the figure above. VCE sat = 1.2 V Do-1 + 1k Twisted Pair + Equivalent of AM26C31 GND Pins; +: (X7) 1,2 -: (X7) 3 Signal amplitude is ±10 V - GND Pins; +: (X4) 17,20 -: (X4) 18,19 Connect a terminating resistor (approx. 330 Ω) between the input terminals of the line receiver. - 16

35 No. SX-DSV Wiring and system configuration 8-1 Used cables and maximum cable lengths Name Symbol Maximum cable length Used cable Main power supply L1,L2,L3 - Refer to specification Control power supply L1C,L2C - Refer to specification Motor connection U,V,W, 20 m Refer to specification Earth cable - Refer to specification Encoder connection X6 20 m Batch twisted shielded pair I/O connection X4 3 m Core cable: 0.18mm 2 or more RTEX connection X2A, X2B 100 m (Note 1) TIA/EIA-568 CAT5e STP Note 1: Refer to Connection to connectors X2A X2B. 8-2 Cable Side Connector Connector symbol Part name Part number Manufacturer Solder plug DF02P026F22A1 (soldering type) X4 JAE Shell kit DF02D026B22A X6 Receptacle Shell kit 3E KV 3E Sumitomo 3M X7 Connector Terminal Molex Use connectors listed above or equivalents.

36 No. SX-DSV Precautions for wiring Wiring to power connector and terminal block 100/ 200 V sizes A - B Built-in thermostat of an external regenerative resistor (light yellow) ON OFF MC1 ALM Coli surge suppression units Power supply (3-phase) *When you use single phase, connect the main power between L1 and L3 terminals. MCCB Noise filter MC L L1 L2 L3 L1C L2C XA Main power supply Control power supply External regenerative resistor Red White Black P N B U V W XB Motor connection motor Green or Green/Yellow ALM X4 Insulated DC12 to 24 V (±5 %) ALM+ ALM- Connection of regenerative resistor Size A B Shorting cable (Accessories) Not attached Internal regenerative resistor Not installed Connection of the connector XB In case of using the external In case of not using the external regenerative resistor regenerative resistor Between P and B: Connect the external regenerative resistor. Between P and B: Keep open - The circuit connected to terminal X1 X6 are secondary circuits. Insulation is needed against the primary side power supply (power supply of the motor brake). Please do not connect them with the same power supply.

37 No. SX-DSV / 200 V sizes C - D Built-in thermostat of an external regenerative resistor (light yellow) ON OFF MC1 ALM Coli surge suppression units Power supply (3-phase) *When you use single phase, connect the main power between L1 and L3 terminals. MCCB Noise filter MC L L1 L2 L3 L1C L2C XA Main power supply Control power supply Short cable P N XC External regenerative resistor Red White Black P RB B U V W XB Motor connection motor Green or Green/Yellow ALM X4 Insulated DC12 to 24 V (±5 %) ALM+ ALM- Connection of regenerative resistor Size C D Shorting cable (Accessories) Supplied Internal regenerative resistor Installed In case of using the external regenerative resistor Between RB and B: Disconnect the short cable Between P and B: Connect the external regenerative resistor Connection of the connector XB In case of not using the external regenerative resistor Between RB and B: Connect the shorting cable - The circuit connected to terminal X1 X6 are secondary circuits. Insulation is needed against the primary side power supply (power supply of the motor brake). Please do not connect them with the same power supply.

38 No. SX-DSV V size E Built-in thermostat of an external regenerative resistor (light yellow) ON OFF MC1 ALM Coli surge suppression units Power supply (3-phase) MCCB Noise filter MC L L1 L2 L3 L1C L2C XA Main power supply Control power supply Short cable External regenerative resistor Red White Black P RB B N U V W XC XB Motor connection motor Green or Green/Yellow ALM X4 Insulated DC12 to 24 V (±5 %) ALM+ ALM- Connection of regenerative resistor Size Shorting cable (Accessories) Internal regenerative resistor E Supplied Installed In case of using the external regenerative resistor Between RB and B: Disconnect the short cable Between P and B: Connect the external regenerative resistor Connection of the connector XC In case of not using the external regenerative resistor Between RB and B: Connect the shorting cable - The circuit connected to terminal X1 X6 are secondary circuits. Insulation is needed against the primary side power supply (power supply of the motor brake). Please do not connect them with the same power supply.

39 No. SX-DSV V size F Built-in thermostat of an external regenerative resistor (light yellow) ON OFF MC1 ALM Coli surge suppression units Power supply (3-phase) MCCB Noise filter Short bar External regenerative resistor MC L L1 L2 L3 L1C L2C P RB B N U V W Main power supply Control power supply Motor connection Motor Red White Black Green or Green/Yellow ALM X4 Insulated DC12 to 24 V (±5 %) ALM+ ALM- Connection of regenerative resistor Size Short bar (Accessories) Internal regenerative resistor F Supplied Installed In case of using the external regenerative resistor Between RB and B: Disconnect the short bar Between P and B: Connect the external regenerative resistor Connection of the connector XC In case of not using the external regenerative resistor Between RB and B: Connect the short bar -The standard of the ability of the built-in dynamic brake resistor is up to continuousness three times in the stop from the allowance and maximum inertia and the rated speed. Resistor is damaged and the dynamic brake might not work when using it under more critical operating condition. - The circuit connected to terminal X1 X6 are secondary circuits. Insulation is needed against the primary side power supply (power supply of the motor brake). Please do not connect them with the same power supply.

40 No. SX-DSV [1] When the servo driver uses single phase power supply for sizes A - D, connect the servo driver to the terminals L1, L3 of main power supply input. Do not connect anything to the terminal L2. [2] Surely insert the connector into place until it clicks. [3] Make sure to use an insulation coated crimp terminal when connecting to each terminal on the terminal block. [4] Terminal block cover is fixed with screws. When wiring to the terminal block, unscrew these screws to uncover the cover. Tighten the cover fixing screw with the torque of 0.2 Nm or less. [5] Apply the power supply of the voltage indicated on the nameplate. [6] Do not reverse-connect the power input terminals (L1, L2, and L3) and the motor output terminals (U, V, and W). [7] Do not connect the motor output terminals (U, V, and W) to ground or short out them. [8] Because high voltage is applied to the power connectors XA, XB, XC, and XD, and the terminal block, never touch them on any account. It may cause electric shock. [9] Suitable for use on a circuit capable of delivering not more than 5000 rms symmetrical amperes, below the maximum input voltage of the product. [10] An AC servomotor, unlike an induction motor, cannot change the rotation direction by exchanging three phases. Make sure to coincide the motor output terminals (U, V, and W) of the servo driver with the colors (pin number for cannon plugs) of the motor output cables. [11] Surely connect the ground terminals of the motor and the servo driver and earth the ground terminal as well as that of the noise filter. In addition, earth the equipment unit. To earth them, use the earth type D (ground resistance: 100 ohm or less) for grounding. Please tight the earth screws by appropriate torque and use correct size earth cable decided in the specifications. In order to avoid the impact of electrolytic corrosion, do not immediately have any contact between aluminum and copper. [12] Attach the serge absorbing circuits for preventing noises to an electromagnetic contactor placed around the servo driver, a coil between relay contact points, and a brake winding of motor with a brake. [13] Attach the no fuse breaker. In case of emergency, make sure to power off outside the servo driver. To use an earth leakage circuit breaker, use that in which a high frequency wave countermeasure is taken. [14] In order to reduce the terminal noise voltage, install a noise filter. [15] Customer is responsible for the power supply of the brake attached to a motor. [16] Turn ON the power after the wiring was finished.

41 No. SX-DSV [17] About the regenerative resistor, - The regenerative resistor is not built into A, B. - The regenerative resistor is built into F frame. The regenerative resistor becomes effective when the short-circuited between the terminal RB and B. - When a trip occurs due to the regenerative load protection error (error No.18.0), externally install a regenerative resistor. To externally install a regenerative resistor, remove a connection cable or connection bar between terminals RB and B and then connect the regenerative resistor between terminals P and B. To use an external regenerative resistor, set Pr0.16 (external regenerative resistor selection) to 1 or 2. * As for external regenerative resistor, we recommend the resistors below: Input power voltage Size Single phase 100 V Single phase 100 V A DV0P4280 DV0P4281(100 W or less) DV0P4283(200 W) B DV0P4283 DV0P4283 C DV0P4282 DV0P4283 D E F - DV0P4284 DV0P4284 x 2 in parallel or DV0P4285 x 1 DV0P4285 x 2 in parallel Manufacturer by Iwaki Musen Kenkyusho Part number Manu -facturer's model Resis -tance value Specification Rated power (for reference) (Note 1) Free air Fan used (1 m/s) Built-in thermal protector operat ional temperature [Ω] [W] [W] DV0P4280 RF70M ± 5 deg. Celsius DV0P4281 RF70M Contact point B DV0P4282 RF180B Open/close capacity (resistance load) DV0P4283 RF180B A 125 VAC, 6000 times DV0P4284 RF A 250 VAC, times DV0P4285 RH450F *Note 1) Electric power available without running the built-in thermal protector. *Note 2) For safety, each regenerative resistor has a built in temperature fuse and a thermal protector. Configure the circuit so as to turn off the power supply when the thermal protector is running. The built-in temperature fuse can break according to the radiation condition, the used temperature range, the power supply voltage, and the load change. Make sure that the surface temperature of regenerative resistor is being kept 100 deg. Celsius or less under bad conditions (high power supply voltage, large load inertia, short deceleration time, etc.) subject to regeneration by embedding the regenerative resistor in equipments and running the equipments. Attach the regenerative resistor on the incombustibles such as metal. Install the regenerative resistor so that people can not directly touch it, such as the incombustible to cover it. Keep the temperature of places, which people can directly touch, below 70 deg. Celsius.

42 No. SX-DSV Method for connection to power connector Use the following procedure for connection to connectors XA, XB, XC and XD. <Method for connection> 1.Strip off the insulation of the wire. 8~9 mm 2.Insert a wire into the connector. The following 2 methods can be used to insert the wire. (a) Insert a wire using the lever attached. (b) Use a flat-head (-) screwdriver (with a tip width mm). (a) Using the lever [1] Press the lever attached above the upper slot with a finger to push down the spring. [2] While pressing down the lever, insert a wire into the insertion opening (round hole) until it stops. [3] Release the lever to connect the wire. (b) Using a screwdriver [1] Placing a dedicated screwdriver on the upper slot, press down the spring. [2] Insert a wire, with the insulation stripped off correctly, into the wire insertion opening until it stops. [3] Release the screwdriver to connect the wire. <Precautions> Strip off correct length of insulation of a wire. When connecting a wire to the connector, be sure to disconnect the connector from the servo driver in advance. Insert only 1 wire into a wire insertion opening. Connected wire can be removed in the same way as it is inserted. Be careful not to be injured when using a screwdriver.

43 No. SX-DSV Wiring to connector X4 [1] Customer is responsible for the control signal power supply at VDC for external control connected between COM+ and COM-.Insulation is needed against the primary side power supply (power supply of the motor brake). Please do not connect them with the same power supply. [2] Place the servo driver and its peripheral device as nearly as possible (up to 3 m) so as to shorten the wiring. [3] Wire the wiring as far away as possible (30 cm or more) from the power lines (L1, L2, L3, L1C, L2C, U, V, W, ). Do not put them in the same duct or bind them together. Digital input X4 I-COM 6 4.7k SI1 5 1k 4.7k SI2 7 1k 4.7k SI3 8 1k 4.7k SI4 9 1k 4.7k SI5 10 1k 4.7k DC 12~24 V SI6 11 1k 4.7k SI7 12 1k 4.7k SI8 13 1k Servo driver The functions of the pins SI1-SI8 are assigned by parameters. For the factory default setting, refer to Appendix I/O connector (X4) factory default setting.

44 No. SX-DSV Digital Output [1] Be aware of the polarity of the power supply for control signals. The polarity connection contrary to the figure shown above can damage the servo driver. [2] To directly drive the relay with each output signal, make sure to attach a diode in parallel to the relay and in the direction as shown in the figure below. The servo driver can be damaged if the diode is not attached or the diode is attached in the reverse direction. [3] When a logic circuit such as a gate receives each output signal, take care so that a noise does not impact on the circuit. [4] Apply 50 ma or less of current to each output. X4 MAX 50mA SO1+ SO1-1 2 SO1 MAX 50mA SO2+ SO SO2 DC 12~24 V MAX 50mA SO3+ SO3-3 4 SO3 Servo driver The functions of the pins S01-S03 are assigned by parameters. For factory default settings, refer to Appendix I/O connector (X4) factory default setting.

45 No. SX-DSV Feedback pulse of rotary encoder RS422 line receiver AM26C32 or equivalent OA+ OA OA- X Line driver AM26C31or equivalent A OB OB+ OB B Scaling circuit GND 16 FG Servo driver side [1] To receive the output pulse, use RS422 line receiver (AM26C32 or equivalent), with an appropriate termination resistor (approx. 330 Ω) connected across its inputs. [2] Use the pulses at less than or equal to the maximum output frequency 8 Mpps (after quad edge valuation).

46 No. SX-DSV Wiring to connector X6 [1] As for the encoder cable, use the batch shielded twisted wire pairs whose core is 0.18 mm 2 or more. [2] The cable length should be up to 20 m. When the wiring is long, we recommend you to use the double wiring for the 5 V power supply in order to reduce the impact of voltage drop. [3] Shielded cable of the encoder cable is connected to the FG terminal at the motor end, be sure to connect to the shell (FG) of X6 in the servo driver side. [4] Wire the wiring as far away as possible (30 cm or more) from the power lines (L1, L2, L3, L1C, L2C, U, V, W, ). Do not put them in the same duct or bind them together. Not using the multi-turn data *Used as an incremental encoder *Used as one revolution absolute encoder Lead wire type MSMF 50 W W MHMF 50 W W MQMF 100 W W Twisted pair White Black Red Pink E5V E0V BAT+ BAT X6 E5V E0V BTP-O BTN-O +5 V 0 V Regulator Cyan Purple Yellow/Green PS PS FG PS PS Shell(FG) Motor Tyco Electronics Tyco Electronics Motor Encoder cable Servo driver

47 No. SX-DSV Connector Type MSMF 50 W W MHMF 50 W W MQMF 100 W W Twisted pair E5V E0V BAT X6 E5V E0V BTP-O +5 V 0 V Regulator BAT- 2 4 BTN-O JN6CR07PM2 JAE PS PS FG JN6FR07SM1 JAE 5 6 PS PS Shell(FG) Motor Encoder cable Servo driver MSMF 1.0 kw kw MHMF 1.0 kw kw MDMF 1.0 kw kw MGMF 0.85 kw kw Twisted pair E5V E0V BAT X6 E5V E0V BTP-O +5 V 0 V Regulator BAT- 5 4 BTN-O JN2AS10ML3-R JAE PS PS FG JN2DS10SL1-R JAE 5 6 PS PS Shell(FG) Motor Encoder cable Servo driver

48 No. SX-DSV Cannon plug type MSMF 1.0 kw kw MHMF 1.0 kw kw MDMF 1.0 kw kw MGMF 0.85 kw kw Twisted pair E5V E0V BAT+ H G T X6 E5V E0V BTP-O +5 V 0 V Regulator BAT- S 4 BTN-O JL10-2E20-29P JAE PS PS FG K L J JL10-6A20-29S JAE 5 6 PS PS Shell(FG) Motor Encoder cable Servo driver

49 No. SX-DSV Using the multi-turn data *Case of build absolute system Lead wire type MSMF 50 W W MHMF 50 W W MQMF 100 W W Twisted pair White Black Red Pink Cyan Purple Yellow/Green E5V E0V BAT+ BAT- PS PS FG Battery X6 +5 V E5V 0 V E0V BTP-O BTN-O PS PS Shell(FG) Regulator Motor Tyco Electronics Tyco Electronics Motor Encoder cable Servo driver Connector Type MSMF 50 W W MHMF 50 W W MQMF 100 W W Twisted pair E5V E0V BAT Battery X6 E5V E0V BTP-O +5 V 0 V Regulator BAT- 2 4 BTN-O JN6CR07PM2 JAE PS PS FG JN6FR07SM1 JAE 5 6 PS PS Shell(FG) Motor Encoder cable Servo driver

50 No. SX-DSV MSMF 1.0 kw kw MHMF 1.0 kw kw MDMF 1.0 kw kw MGMF 0.85 kw kw Twisted pair E5V E0V BAT Battery X6 E5V E0V BTP-O +5 V 0 V Regulator BAT- 5 4 BTN-O JN2AS10ML3-R JAE PS PS FG JN2DS10SL1-R JAE 5 6 PS PS Shell(FG) Motor Encoder cable Servo driver Cannon plug type MSMF 1.0 kw kw MHMF 1.0 kw kw MDMF 1.0 kw kw MGMF 0.85 kw kw Twisted pair E5V E0V BAT+ H G T Battery X6 E5V E0V BTP-O +5 V 0 V Regulator BAT- S 4 BTN-O JL10-2E20-29P JAE PS PS FG K L J JL10-6A20-29S N/M A JAE 5 6 PS PS Shell(FG) Motor Encoder cable Servo driver

51 No. SX-DSV Absolute encoder battery connection Connect the absolute encoder battery directly to the BAT+ and BAT- connectors of the encoder at the motor. Or, it is also possible to connect the battery to the 14 and 15 pins of the X4, and then connect through the pins 3 and 4 of the X6. X6 BAT+ BAT- 3 4 BTP-O BTN-O X4 BTP-I BTN-I Battery FG Shell(FG) Motor Encoder cable Servo driver Note: If the battery is directly connected to the encoder connectors at the motor, do not connect any wire to the pins 3 and 4 of the X6.

52 No. SX-DSV Precautions in using a battery for absolute encoder An error arises from the absolute encoder when a battery voltage drop occurs. The voltage drop occurs due to the life span of a battery or voltage delay. (1) The life span of a battery may become short depending on ambient environment. (2) Lithium batteries have a transient minimum voltage effect (voltage delay phenomenon), in which a voltage drop may occur temporarily when discharge starts. For this reason, the batteries should be refreshed when used. <When a battery is used for the first time> Before using our optional battery unit DV0P2990, connect the connector with lead wires to the battery as shown in the right figure and leave it for about 5 minutes. And then disconnect the connector from the CN601, and install it to the servo driver. If using another battery, we recommend that you also refresh the battery. For refreshing a battery, consult with the manufacturer of the battery. <After installing battery> We recommend that control power be turned on/off once a day. CN601 If used incorrectly, batteries may cause troubles such as corrosion due to leakage and hazards such as explosion. So, observe the following rules: [1] Insert a battery correctly without confusing + and - terminals. [2] If a battery used for a long time or no longer used is left inside equipment, a trouble such as leakage may occur. Replace such a battery as soon as possible. (As a standard, we recommend replacing batteries every 2 years.) The battery electrolyte is highly corrosive. It not only corrodes surrounding parts, but it also causes hazards such as a short-circuit due to its conductivity. Replace batteries periodically. [3] Do not disassemble batteries or throw them into fire. Do not disassemble the battery because it is very dangerous if a splash of the contents comes into an eye. Also, do not throw the battery into fire or heat it because it may burst, causing hazards. [4] Do not short-circuit the battery or remove its tube. If the battery + and - terminals are connected together with a conductive material such as a metal, a large current flows, not only weakening the battery, but also generating excessive heat, resulting in a burst to cause hazards. [5] Never attempt to charge the battery because it is not rechargeable. Disposal of old batteries after replacement may be restricted by local governments. Dispose of batteries following such a restriction. Air transportation Application for approval of hazardous material air transportation is required (for both passenger and cargo airplanes). (UN packing is required.) When you ask for air transportation, you are requested to submit necessary documents (parameter sheets and MSDS etc.). In this case, make a request to us through a dealer you purchased from. UN packing Consult with your transport company.

53 No. SX-DSV Wiring to connector X2A, X2B [1] Use shielded twisted pair (STP) compatible with category 5e of SIA/EIA-568 or higher specifications. If both ends of the shield are not grounded, EMC performance will degrade. When installing connector plug on both ends of shielded cable, positively connect the shield to the metallic plug shell. For colors of wire and matching connector pins, refer to TIA/E1A568B (see figure below). Pins 3 and 6 are for signal wire. Connect wire to 3 pin pairs on the connector: 1 2, 4 5 and 7 8. When using 2-pair wire in place of 4-pair wire, use pins 1 2 and 3 6 and leave pins 4 5 and 7 8 on connector unconnected. [2] Length of communication cable a. Between 2 nodes: max. 100 m b. Total length of cables between all nodes in the communication loop: max. 200 m Both requirements should be met. If the requirement b above cannot be met, consult with us. Because specifications such as flexural characteristic, temperature range and insulation material differ from manufacturer to manufacturer, select the cable best suitable for your application. Select the cable for movable application according to your operating condition. <Communication cable used in our evaluation> Manufacturer: Sanwa Supply Inc. Part No. : KB-STP-**LBN Specification :Category 5e STP Connection to X2A MAX: 100 m Connector X2A RX+ RX RJ45 plug 3 White/Green 6 Green 1 White/Orange 2 Orange 5 White/Blue 4 Blue 7 White/Brown 8 Brown Connector X2B RJ45 plug (When servo driver is used in the preceding circuit) 3 TX+ 6 TX Shield on connector Shield on connector Servo driver Shielded twisted pair cable of 5e or higher category Higher-level device or servo driver in the preceding circuit

54 No. SX-DSV Connection to X2B MAX 100 m Connector X2B TX+ TX RJ45 plug 3 White/Green 6 Green 1 White/Orange 2 Orange 5 White/Blue 4 Blue 7 White/Brown 8 Brown Connector X2A RJ45 plug (When servo driver is used in the subsequent stage) 3 RX+ 6 RX Shield on connector Shield on connector Servo driver Shielded twisted pair cable of 5e or higher category Higher-level device or servo driver in the subsequent circuit Pin placement of the Rj45 plug 1 8

55 No. SX-DSV Dynamic brake Servo driver(size A-F) has built-in dynamic brake function to stop motor in an emergency. Dynamic brake can be operated in the following cases 1. The main power off 2. The servo off 3. Protection action 4. Connector X4 driving ban importation (POT, NOT) action On the above 1-4 cases, valid or invalid of dynamic brake can be determined by the parameters. However, when the control power off, dynamic brake of size A-F keep valid condition. Dynamic brake is what is intended for use in a short time as only emergency 1. Do not start / stop the motor by the servo signal (SRV-ON). Built-in dynamic brake circuit may be damaged. 2. Do not drive the motor with external torque. Motor generates electricity by external torque. Dynamic brake circuit will be damaged and it is possible that short-circuit current cause smoke or combustion. 3. Allow approx. 10 minutes pause when the dynamic brake is activated during high-speed running. Resistor is damaged and the dynamic brake might not work when using it under more critical operating condition. 8-5 Mounting direction and spacing -To perform effective cooling, allow sufficient ambient space. -Provide a fan so as to make uniform the temperature in the control panel. -Each of Sizes D to F is equipped with a cooling fan on the bottom. -Adhere to environmental conditions for the environment in the control panel. -Servo driver is fixed to the grounded conductive frame -In case the portion to receive servo driver coated, peeling off the coating before installing servo driver homebuilt brackets with conductive plating provides effective anti-noise measures. -Case of make mounting bracket, please conductive plating process the surface of the bracket. 40mm or more Control panel Fan Fan 100mm or more d d d 40mm or more Sizes A-F d 10 mm or more Direction of air flowing from the internal cooling fan (Sizes D F) 100mm or more

56 No. SX-DSV Compliance with global standards 9-1 Conforming standards European EC directive UL standard CSA standard KC EMC directive Low voltage directive IEC : International Electrotechnical Commission EN : Europaischen Norman EMC : Electromagnetic Compatibility UL : Under writers Laboratoris CSA : Canadian Standards Association KC : Radio Waves Act(South Korea) Standard number EN55011 EN EN EN EN EN50178 UL508C (File No.E164620) C22.2 No.14 KN11 KN ,3,4,5,6,8, European EC directive Our products, in order to make it easy for the embedded equipments and devices to be compliant with EC directive, provide the compliance with the standards associated with low voltage directive Compliance with EMC directive Our servo system determines the model (conditions) such as the installed distance and the wiring of the servo driver and the servomotor and makes the model compliant with the standards associated with EMC directive. When equipments and devices are embedded in practice, wiring and grounding conditions, etc. may be not the same as the model. Thus, it is necessary to measure how the final equipments and devices where the servo driver and the servo motor are embedded are compliant (especially unnecessary radiation noise, noise terminal voltage) with EMC directive.

57 9-3 Peripheral device configuration Installation environment Use the servo driver under the environment of pollution level 2 or 1 defined in IEC (Example: Installed in the IP54 control panel.) No. SX-DSV V/200 V type Metallic control box Power supply Residual current device (RCD) Circuit breaker Surge absorber Ferrite core <Dedicated to power supply cable> Noise filter Ferrite core XA L1 L2 L3 L1C L2C Ferrite core Driver U V W X4 Ferrite core <Dedicated to power supply cable> XB X6 X3 Ferrite core Motor M RE Insulated power supply for interface Controller Safety controller Ground (PE)

58 No. SX-DSV Power supply 100 V system: Single phase 100 V V 200 V system (Sizes A-D): Single / 3 phase 200 V V 200 V system (Sizes E-F): 3 phase 200 V V +10 % -15% +10 % -15% +10 % -15% 50/60 Hz 50/60 Hz 50/60 Hz (1) Use it under the environment of overvoltage category III defined in IEC (2) As for the parallel I/O power supply, use the CE marking conforming product or the VDC power supply of insulation type compliant with EN standard (EN60950) Circuit breaker Make sure to connect a circuit breaker compliant with IEC standard and UL certification (marked with LISTED, U L ) between the power supply and the noise filter. Integral solid state short circuit protection does not provide branch circuit protection. Branch circuit protection must be provided in accordance with the National Electrical Code and any additional local codes Noise filter To install one noise filter as a whole in the power unit when multiple servo drivers are used, consult the noise filter manufacturer Surge absorber Install the surge absorber in the primary side of the noise filter. - Please! To carry out a pressure test of equipments and devices, make sure to detach the surge absorber. Otherwise, the surge absorber can be damaged Ferrite core Install the noise filters for signal lines in all cables (power supply, motor, encoder, and interface cables) Grounding (1) In order to avoid an electric shock, make sure to connect a protection ground terminal ( ) of the servo driver and the protection ground (PE) of the control panel. (2) Do not tighten the connection to the protection ground terminal ( ) along with other parts. The servo driver has two protection ground terminals.