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 MUDS04A1

2 Features Details of Features List of Specifications Model Designation Wiring Example Table of Part Numbers and Options Conformity to CE and UL Motor Contents <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 MINAS E MINAS E Recommended components Features Contents E1 E E E6 E7 E7 E9 E11 E11 E1 E1 E16 E17 E18 E19 E0 E1 E1 E E E4 E0 MINAS E Features / Contents Remarks : Instruction manual is available as an option as Japanese version : DV0P680 and English version : DV0P700

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 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 (.%/div) 0ms/div 0ms/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) [%] s command speed (r/min) position deviaton [pulse] actual speed (r/min) with damping control 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 E, 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 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 RS / RS48 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 IEC6004- UL1004 CSA. NO.100 EN0178 UL08C EN011 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 output (kw) Rated rotational speed (Max. speed) (r/min) Rotary encoder 00P/r incremental 17bit absolute/ incremental Brake Holding Gear High precision UL/CSA Enclosure Features Applications MUMA Ultra low inertia (000) IP6 (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 U Motor rated output Rated output A Type Ultra low inertia (100W-400W) Voltage specifications 1 Z Specifications Design order 1 : Standard 100V/00V common(0w only) Motor structure 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 Format Pulse counts Resolution Wires Incremental 00P/r See page, E11 for motor specifications Motor with gear reducer UA Motor rated output Rotary encoder specifications Servo Driver Type Ultra low inertia (100W-400W) Rated output Voltage specifications Specifications Format Pulse counts Resolution Wires Incremental 00P/r Gear reduction ration, gear type Gear reduction Motor output (W) ratio / 1/ 9 4 1/ Motor structure Shaft Holding brake Key-way without with 4 Control mode P: Pulse train Special specifications Frame symbol Power device Max. current rating Supply voltage specifications Frame Power device Max. current rating Specifications MKDE E series, K-frame Single phase, 100V MLDE E series, L-frame 1 Single phase, 00V Gear type For high accuracy See page, E16 for motor with gear reducer specifications -phase, 00V Single/-phase,00V Current detector current rating Current detector, current rating 0 10 A 10 MINAS E List of Specifications / Model Designation See page, E0 for driver specifications

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- and Pin- of CN POWER. Connect an external regenerative resistor (option) between Pin- and B (Pin-) of connector, CN X, when regenerative energy is large. (Refer to page, E1 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 -phase 00V Output () P/r, Incremental Motor Note) 1 Rating/Spec. (page) Driver MUMAAZP1 E11 MKDET110P MUMA011P1 E11 MKDET1110P MUMA01P1 E11 MLDET110P MUMAAZP1 E1 MKDET10P MUMA01P1 E1 MKDET10P MUMA0P1 E1 MLDET10P MUMA04P1 E1 MLDET10P MUMAAZP1 E1 MKDET10P MUMA01P1 E1 MKDET10P MUMA0P1 E1 MKDET110P MUMA04P1 E1 MLDET10P MLDET10P 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) EK EK EL EK EK EL EL EK EK EK EL 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 output) Circuit breaker (Rated current) Noise filter Magnetic Contactor (Contact Composition) Wire diameter (L1, L, L, U, V and W) Single phase, 100V Single phase, 00V -phase 00V. Select the single and -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 0W 100W 00W 0W 100W 00W 400W 0W 100W 00W 400W Option Regenerative resistor DV0P890 DV0P891 0.kVA 0.4kVA 0.kVA 0.kVA 0.kVA 0.9kVA 0.kVA 0.kVA 0.9kVA Reactor DV0P7 DV0P8 DV0P0 BBC (A) BBC101N (10A) BBCN (A) BBC101N (10A) BBCN (A) BBC101N (10A) Noise filter DV0P4160 DV0P4160 Carrying page Instruction manual Console Setup support software, PANATERM 100V 00V Japanese English Japanese English RS communication cable (for connection with PC) Interface cable Connector kit for motor and encoder Connector kit for external equipment Connector kit for driver power supply Encoder cable Motor cable Brake cable Cable set (m) (Note ) Cable set (m) (Note ) DIN-rail unit Regenerative resistor Reactor Noise filter Surge absorber Options Noise filter for signal wire BMFT61041N (P+1a) BMFT614N (P+1a) BMFT6104N (P+1a) 0 10W W 100V 00V DV0P680 DV0P700 DV0P440 DV0P4460 DV0P1960 DV0P0800 DV0P0770 DV0P670 DV0P870 MFECA00EAM MFMCA00AEB MFMCB00GET DV0P700 DV0P900 DV0P811 Part No. DV0P890 DV0P891 DV0P7 DV0P8 DV0P0 DV0P4160 Single phase 100V,00V DV0P4190 -phase 00V 0.7mm - 0.8mm AWG18 DV0P140 DV0P1460 Note). Cable set (m)contains, 1) Interface cable: DV0P0800 ) Encoder cable (m) : MFECA000EAM ) Motor cable (m) : MFMCA000AEB 4) Connector kit for driver power supply connection : DV0P870 Cable set (m)contains, 1) Interface cable: DV0P0800 ) Encoder cable (m) : MFECA000EAM ) Motor cable (m) : MFMCA000AEB 4) Connector kit for driver power supply connection : DV0P870 Carrying page E E8 E8 E8 E7 E6 E6 E E E E E E0 E9 E9 E10 E10 E10 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 EN0178 EN011 Conformed Standard UL08C 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 IP4 protection structure.) Power supply 10% 10% 100V system : Single phase 100V -11V 1% 1% 10% 10% 00V system : Single phase 00V -40V 1% 1% 00V system : - phase 00V Power supply 10% 10% -40V 1% 1% Insulated transformer 0/60Hz 0/60Hz 0/60Hz 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 (EN6090). Surge absorber Noise filter Noise filter for signal lines CN X1 L1 L L Ground (Earth plate) Driver CN X U V W E Noise filter for signal lines CN X 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 10. M4 Option part No. Part No. Manufacturer M DV0P4160 SUP-HU10-ER-6 Okaya Electric Industries Co. 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 DV0P140 -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 ZCAT0-10 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 UL08C (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 IP4 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 0W to 00WLow inertiasmall drives AC100V Motor model MUMA AZP1 011P1 01P1 Applicable driver Model No. MKDET110P MKDET1110P MLDET110P Frame symbol Frame K Frame L Power supply capacity (kva) Rated output (W) Rated (N. m) Momentary Max. peak (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) 000 Max. rotational speed (r/min) 000 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) Smaller than 0 times Rotary encoder specifications 00P/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 IP6 (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 (Nm) Engaging time (ms) 0 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 E1, and for the diver, refer to page E.

12 MINAS E MUMA 0W 00W Model designation e.g.) M U M A A Z P 1 S MUMA Motor rated output A 01 0 Type Ultra low inertia (0W00W) Rated output 0W 100W 00W Torque characteristics MUMA series, 0W to 00W Voltage specifications 1 Z Specifications 100V 100/00V (0W only) Rotary encoder specifications P Design order 1 : Standard Format Incremental Motor structure Pulse counts 00P/r Resolution Wires at AC100V of power voltage (Dotted line represents the at 10% less supply voltage.) S T Shaft Holding brake Oil seal Round Key-way, without with without with center tap Motor with oil seal is manufactured by order. MUMAAZP1 MUMA011P1 Without oilseal [Nm] Peak-run range Continuous-run range versus rated (%) *Continuous /temperature ambient temperature [] Without oilseal [Nm] Peak-run range Continuous-run range versus rated (%) *Continuous /temperature ambient temperature [] With oilseal [Nm] Peak-run range Continuous-run range versus rated (%) *Continuous /temperature without brake with brake ambient temperature [] With oilseal [Nm] Peak-run range Continuous-run range versus rated (%) *Continuous /temperature without brake with brake ambient temperature [] MUMA01P1 Without oilseal [Nm] Peak-run range Continuous-run range versus rated (%) *Continuous /temperature ambient temperature [] With oilseal [Nm] Peak-run range Continuous-run range versus rated (%) *Continuous /temperature without brake with brake ambient temperature [] *When you lower the limit setup (PrE and F), running range at high speed might be lowered as well. Torque Running range (Torque limit setup : 00%) 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 AC11V (at 100V of the main voltage). If the supply voltage fluctuates, frequency is in inverse proportion to the square of (Running supply voltage/11) 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 is within the rated, there is no limit in generative brake.. 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 (Z1D11 by Ishizuka Electronic or equivalent). ( ) represents the actually measured value using a diode (00V, 1A or equivalent)

13 Motor Specifications and Ratings 00V MUMA 0W to 400W Low inertia Small drives AC00V Motor model Applicable driver Power supply capacity (kva) Rated output (W) Rated (Nm) Regenerative brake frequency (times/min) Note)1 MUMA Model No. Frame symbol Momentary Max. peak (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) Rotary encoder specifications AZP1 01P1 0P1 MKDET110P MKDET10P MKDET10P Frame K Frame K Frame L No limit Note) No limit Note) Smaller than 0 times 00P/r Incremental 04P1 MLDET10P MLDET10P 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 IP6 (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 (Nm) Engaging time (ms) 0 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 E1, and for the diver, refer to page E. Note) Driver for 0W and 100W has a common power supply of single phase and -phase 00V. Driver for 00W, the upper row is the power supply of -phase 00V, and lower is the power supply of single-phase 00V. Driver for 400W, the upper row is the power supply of -phase 00V, and lower is the common power supply of single-phase and -phase 00V

14 MINAS E MUMA 0W 400W Model designation MUMA series, 0W to 400W e.g.) M U M A A Z P 1 S MUMA Motor rated output A Type Ultra low inertia 0W to 400W Rated output 0W 100W 00W 400W Voltage specifications Z Specifications 00V 100/00V (0W only) Rotary encoder specifications Format Pulse counts Resolution P Design order 1 : Standard Incremental Motor structure S T Shaft Holding brake Oil seal Round Key-way, without with without with center tap Motor with oil seal is manufactured by order. 00P/r Wires Torque characteristics MUMAAZP1 at AC00V of power voltage (Dotted line represents the at 10% less supply voltage.) MUMA01P1 Without oilseal [Nm] Peak-run range Continuous-run range versus rated (%) *Continuous /temperature ambient temperature [] Without oilseal [Nm] Peak-run range Continuous-run range versus rated (%) *Continuous /temperature ambient temperature [] With oilseal MUMA0P1 Without oilseal With oilseal [Nm] Peak-run range Continuous-run range [Nm] Peak-run range Continuous-run range [Nm] Peak-run range Continuous-run range versus rated (%) versus rated (%) versus rated (%) ambient temperature [] *Continuous /temperature without brake ambient temperature [] ambient temperature [] *When you lower the limit setup (PrE and F), running range at high speed might be lowered as well. Torque with brake *Continuous /temperature Running range (Torque limit setup : 00%) Running range (Torque limit setup : 00%) *Continuous /temperature without brake with brake With oilseal MUMA04P1 Without oilseal With oilseal [Nm] Peak-run range Continuous-run range [Nm] Peak-run range Continuous-run range [Nm] Peak-run range Continuous-run range versus rated (%) versus rated (%) versus rated (%) ambient temperature [] ambient temperature [] *Continuous /temperature without brake with brake *Continuous /temperature *Continuous /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 is within the rated, there is no limit in generative brake.. 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 (Z1D11 by Ishizuka Electronic or equivalent). ( ) represents the actually measured value using a diode (00V, 1A or equivalent)

15 Motor Dimensions MUMA 0W 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 output Motor model MUMA 0W 100W 00W 400W AP1 01P1 0P1 04P1 Rotary encoder specifications 00P/r Incremental 00P/r Incremental 00P/r Incremental 00P/r Incremental LL Without brake With brake LR S LA LB 0 0 LC LE LF LH LZ LW LK Key way KW KH h9 h9 4h9 4 h9 RH TP M X 6 (depth) M X 6 (depth) M4 X 8 (depth) M 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 0W 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 output and rotational speed. Reduction ratio 1/ 1/ 9 1/ Motor output (W) Type of reducer For high precision efficiency output efficiency rotational speed Specifications of motor with gear reducer Gear reducer Environment Motor type Backlash Composition of gear Gear efficiency Rotational direction at output 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 minutes or smaller (initial value) at output shaft of the reducer Planetary gear 6% to 8% Same direction as the motor output shaft Planetary gear Flange mounting 10 times or smaller than rotor moment of inertia of the motor IP44 (at gear reducer) 0 to 40 8%RH (free from condensation) or less 49m/s or less (at motor frame) 98m/s or less MINAS E Motor with Gear Reducer Phone: Fax: Web: info@clrwtr.com

17 Ratings and Specifications of Motor with Gear Reducer Model No. designation e.g.) M U M A P 1 N MUMA Motor rated output P Type Low inertia ( W) Rated output 100W 00W 400W Rotary encoder specifications Format Incremental Voltage specifications 1 Pulse counts 00P/r Specifications 100V 00V Pulse counts Wire Motor types with gear reducer Reduction Motor output ratio N N 4N 1/ 1/ 9 1/ Motor structure Shaft Holding brake Key-way wuthout with 4 Type of reducer For High precision Table of Specifications Motor Model Output Reduction Output ratio Rated speed Max. speed Rated MUMA with gear reducer Moment of inertia (motor + reducer/converted Mass Peak max. to motor shaft) 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 / 1/ 1/ 1/ 1/ 1/ 1/ 1/ 1/ For dimensions, refer to page, E1 The Combination of the Driver and the Motor Combination with driver Encoder 00P/r Incremental Motor output 100W 00W 400W 100V 00V Single phase, 100V -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 MKDET10P MKDET10P MUMA01PN MLDET110P MUMA0PN MKDET110P MLDET10P MLDET10P MUMA04PN MLDET10P MLDET10P For dimensions, refer to page E

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/ Motor to driver output 1/9 1/ MUMA011P1N MUMA011PN MUMA011P4N 4.0 [N. m] (.7) [N. m] 8.0 (6.86) [N. m] 0.0 (19.0) 100W.0 Peak run range 4.0 Peak run range 10.0 Peak run range (1.18) (.) (6.7) Continuous run range Continuous run range Continuous run range V MUMA01P1N MUMA01PN MUMA01P4N [N. m] (8.04) 8.0 [N. m] 16.0 [N. m] 40.0 (.) 00W 4.0 Peak run range (11.) 8.0 Peak run range 0.0 Peak run range (.6) Continuous run range (.7) Continuous run range (11.1) Continuous run range MUMA01P1N MUMA01PN MUMA01P4N [N. m] 4.0 (.7) [N. m] 8.0 (6.86) [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 (.) Continuous run range (6.7) Continuous run range V 00W [N. m] (8.04) (.6) [N. m] 16.0 (11.) 8.0 (.7) MUMA0P1N MUMA0PN MUMA0P4N Peak run range Continuous run range Peak run range Continuous run range [N. m] MUMA04P1N MUMA04PN MUMA04P4N 40.0 (.) 0.0 (11.1) Peak run range Continuous run range MINAS E Motor with Gear Reducer 400W [N. m] 0.0 (16.) 10.0 Peak run range [N. m] 40.0 (8.) 0.0 Peak run range [N. m] 80.0 (79.) 40.0 Peak run range (.9) Continuous run range (9.1) Continuous run range (6.4) Continuous run range Dotted line represents the at 10% less supply voltage. Phone: Fax: Web: info@clrwtr.com

19 Dimensions of Motor with Gear Reducer MUMA series with gear reducer 00P/r encoder LZ M6 (Depth : 0) M (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% -1% +10% -1% 0/60Hz 0/60Hz -phase, 00-40V +10% -1% 0/60Hz MINAS E Motor with Gear Reducer / Driver Phone: Fax: Web: info@clrwtr.com

21 Standard Wiring Example of Main Circuit -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 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 output Positioning complete output 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 output B-phase output Z-phase output Brake release output 11 BRKOFF Warning output (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 output (open collector) PULS1 CN X R R VDC PULS SIGN1 0 SIGN GND VDC 1V 4V Spec. of R 1k1/W k1/w VDC-1. R0. =10mA. CN X 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 output Positioning complete output COM+ SRV-ON A-CLR INTSPD ZEROSPD INTSPD1 CWL CCWL ALM COIN 4.7 Divider 0 0 PULS1 PULS SIGN1 SIGN 4 GND 14 1 OA+ 16 OA- 17 OB+ 18 OB- 19 OZ+ 0 OZ A-phase output B-phase output Z-phase output MINAS E Driver Brake release output 11 BRKOFF Warning output (Select with Pr09) 1 1 WARN COM- CZ 1 Z-phase output (open collector) 6 FG CN X

23 Dimensions Frame K Connector(Driver side) Connector symbol Connector type CNX A CNX 69-10A CNX CNX 106-A11L(or equivalent) Manufacturer Molex Inc. Molex Inc. Molex Inc. Sumitomo M Frame L Connector(Driver side) Connector symbol Connector type CNX A CNX 69-10A CNX CNX 106-A11L(or equivalent) Manufacturer Molex Inc. Molex Inc. Molex Inc. Sumitomo M

24 Options Cable part No. designation MINAS E Encoder cable 1 M F E 4 C 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 P Cable length m m 10m 0m Type classification MFECAEncoder cable Motor cable 1 M F M 4 C 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 m 10m 0m 0.7mm 1.mm.0mm.mm AC servo motor cable

25 Options Cable set DV0P700 (m) Cable set DV0P900 (m) Encoder cable MFECA00EAM (0) L (9.) Connector Connector Connector Pin Cable and mm XP Molex Inc. Tyco Electronics AMP Oki Electric Cable 10 0 MFECA000EAM MFECA000EAM MFECA0100EAM MFECA000EAM (1.0) Motor cable (Robotop MFMCA00AEB (4) (10.0) (4) (0) (0) L (11) R 10600VDP) Connector Connector Pin Connector Connector Pin Cable , R-10 6T ROBO-TOP 600V 0.7mm R Tyco Electronics AMP Molex Inc. Daiden Co., Ltd MFMCA000AEB MFMCA000AEB MFMCA0100AEB MFMCA000AEB Brake cable (Robotop R 10600VDP) MFMCB00GET (10.0) (.6) (1.0) (40) (0) L (9.8) Connector Connector Pin Nylon insulated round ferminal Cable , N1.-M4 ROBO-TOP 600V 0.7mm Tyco Electronics AMP JST Daiden Co., Ltd MFMCB000GET MFMCB000GET MFMCB0100GET MFMCB000GET Console 1) Part No. : Caution) An existing console(dv0p690) cannot be used for the A4P series. ) Dimensions (6) (4) (1) (114) Name plate M length mm Tightening for the insert screw shall be 0.Nm or less (1) (100) 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) 7-10R-10 1 Molex Inc. Connector pin 6PBTL 6 Note For connector CN X1 (10 pins) ) Pin configuration 10 L1 P 9 (NC) 4 (NC) 8 L B 7 (NC) (NC) 6 L 1 E 4) Recommended manual crimping tool (to be prepared by customer) Part No Cable material UL1007 UL101 <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.. Do not connect anything to pins marked "NC". Connector kit for motor/encoder connection 1) Part No. : DV0P670 ) Parts composition Incremental 00 pulse, -wire Title Part No. Number Connector Connector (6pins) Connector pin Connector (4pins) Connector pin Connector (6 pins) 7-06R-10 1 Connector pin 6PBTL 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 X ) Pin configuration of connector CN X4 plug 1 +V +V 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 70-1 For motor power cable junction 71-1 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.. For wiring and connection, refer to page E1. Cable material UL1007 UL101

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 : 106-A0-008 by Sumitomo M 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 M 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 ) Gray (Red ) Gray (Black ) White (Red ) White (Black ) Orange (Black ) <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. 4M0 4M0 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 6PBTL or 6PBT 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 output Part No. Fig. Fig.1-1 E Single phase, 100V 0-100W DV0P7 1 D MKDE MLDE Single phase, 00V -phase, 00V Single phase, 100V Single phase, 00V -phase, 00V 0-100W 0-00W 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.). 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. : DV0P811 ) 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 Z1D11 Ishizuka Electronics Co. List of peripheral components Regenerative resistor Peripheral components Manufacturer Automation Controls Company Matsushita Electric Works, Ltd. Iwaki Musen Kenkyusho Co., Ltd. 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 M Connector Tyco Electronics AMP k.k, Cable * The avove list is for reference only. We may change the manufacturer without notice.