No.SX-DSV03025 REFERENCE SPECIFICATIONS MODEL Product Name: AC servo driver Part Number : MINAS-A6 series (Multifunction type) Issued on Sept. 1, 2015 Revised on Sept.
No. SX-DSV03025 REVISIONS Date Page Rev. Spt. 1, 2015 - - Nov. 1, 2015 - Sept.14,2016 P1 Description NEWLY ISSUED - 1.0 DEFAULT VALUE OF THE PARAMETERS CHANGED - 2.0 UPDATE THE MODEL DESIGNATION CODE - P1 CHANGED THE NAME OF COMPANY P1, P3,P63, P75 ADDED THE MODEL OF MEDLT93SF P4～6 ADDED THE FUNCTIONS P16 CORRECT THE CONNECTOR PIN NO.
No. SX-DSV03025 Contents 1. Scope ································································································································· 1 2. Model designation code ············································································································ 1 3. Product line-up ······················································································································ 2 4.
No. SX-DSV03025 - 1 - 1. Scope These specifications relate to the servo driver for the AC servo system that is comprised of the AC servo motor manufactured and supplied by Motor Business Unit, Electromechanical Control Business Division, Automotive & Industrial amplifier Systems Company, Panasonic Corporation. 2.
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No. SX-DSV03025 - 3 - Servo driver Motor used Model Size Power supply input Model Voltage specification Rated output Rated speed Encoder specification MEDLT83SF E 3 phase MGMF182L1** 200 V 1.8 kW 1500 r/min 7 cores, 23 bits 200 V MSMF202L1** 200 V 2.0 kW 3000 r/min 7 cores, 23 bits MDMF202L1** 200 V 2.0 kW 2000 r/min 7 cores, 23 bits MHMF202L1** 200 V 2.0 kW 2000 r/min 7 cores, 23 bits MEDLT93SF E 3 phase 200 V MGMF242L1** 200 V 2.
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No. SX-DSV03025 - 5 Deviation counter clear, command pulse input inhibition, command division/multiplication switching, vibration suppression control switching, etc. Positioning completion, etc. Control input Control output Max command pulse frequency 500 K[pulse/s] (when using the photo coupler input) 8 M[pulse/s] (when using the line receiver input of A-phase /B-phase) Command pulse input mode Differential input. Differential input can be selected by parameters.
No. SX-DSV03025 - 6 Deviation counter clear, command pulse input inhibition, command division/multiplication switching, vibration suppression control switching, etc. Control input Function Full-closed Control Control output Positioning complete, etc. Pulse input Maximum command pulse 500 K[pulse/s] (when using the photo coupler input) frequency 8 M[pulse/s] (when using the line receiver input of A-phase /B-phase) Differential input. Differential input can be selected by parameters.
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No. SX-DSV03025 - 11 Name plate Model number Serial Number e.g.): P15070001N 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 Country of origin Manufacture date e.g.
No. SX-DSV03025 - 12 - 6. Configuration of connectors and terminal blocks 6-1 Power connector XA , XB , XC , XD and terminal block [1] Size A, B of 100 V and 200 V system XA XB Connector pin No.
No. SX-DSV03025 - 13 [2] Size C, D of 100 V and 200 V system Connector pin No.
No. SX-DSV03025 - 14 [3] Size E of 200 V system 5 Terminal symbol L1 4 3 L2 L3 2 L1C 1 L2C 4 P 3 RB 2 B 1 N 3 2 U V 1 W Connector pin No. XA XC XB Name Description Main power supply input 200 V 3 phase 200 - 240 V + 10 % - 15 % 50/60 Hz input Control power supply input 200 V Single phase 200 - 240 V + 10 % - 15 % 50/60 Hz input Normally, short out the circuit between RB and B.
No. SX-DSV03025 - 15 - Terminal Block [4] Size F of 200V system Terminal block is used instead of connector. Terminal No. (Upper to bottom) Terminal symbol 1 2 L1 L2 3 4 L3 L1C 5 L2C 6 P 7 8 RB B 9 N 10 U 11 V 12 W Name Main power supply input Control power supply input Description 3 phase Regen resistor connection Motor connection Earth + 10 % - 15 % 50/60 Hz input + 10 % 50/60 Hz input - 15 % Normally, short out the circuit between RB and B.
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No. SX-DSV03025 - 17 - 6-4 Safety function connector X3 This connection is for functional safety. Name Reserved Symbol Connector pin No − 1 − 2 SF1- 3 SF1+ 4 SF2- 5 SF2+ 6 EDM- 7 EDM+ FG Circuit - ・ Do not connect Safety input 1 - 2 channel inputs with independent circuit to cut off the drive signal to the power module in the servo driver. i-1 o-1 8 External Device Monitoring (EDM) output to diagnose the functional safety function in the servo driver.
No. SX-DSV03025 - 18 6-5 Parallel I/O connector, X4 Common digital inputs Name Con Symbol -nector pin No.
No. SX-DSV03025 - 19 Input signals (command pulse train) and their functions A suitable interface can be chosen from two kind of interface based on the specification of command pulses. A. Pulse train interface with line driver Name Symbol Con -nector pin No. PULSH1 44 PULSH2 45 SIGNH1 46 SIGNH2 47 Command pulse input 1 Command direction input 1 Description Input terminal for the position command pulse. It can be selected by setting corresponding parameters.
No. SX-DSV03025 - 20 Input signals (analog command) and their functions Symbol Con -nector pin No. Analog input 1 AI1 14 Analog input 2 AI2 16 Analog input 3 AI3 18 Name Description Circuit Analog input with 16 bit resolution. The function changes according to the control mode. Analog input with 12 bit resolution. The function changes according to the control mode. Ai-1 Ai-2 Analog input with 12 bit resolution.
No. SX-DSV03025 - 21 Output signals (common) and their functions Name Multi-function output 1 Multi-function output 2 Multi-function output 4 Servo alarm Multi-function output 5 Multi-function output 6 Symbol SO1SO1+ SO2SO2+ SO4SO4+ ALMALM+ SO5 SO6 Con Description -nector pin No. 10 11 34 The function changes according to the parameter settings. See below. 35 38 39 36 Digital output to indicate alarm status. 37 12 The function changes according to the parameter settings. See below.
No. SX-DSV03025 - 22 Output signals (pulse output) and its function Name Symbol Connector pin No. OA+ 21 OA- 22 OB+ 48 Description Circuit A phase output B phase output OB- 49 OZ+ 23 OZ- 24 CZ 19 Scaling processed encoder signal or external scale signal (A/B/Z-phase) is output in differential mode. (RS422 equivalent) Scaling ratio can be set by parameters. The ground pin of the line driver on the output circuit is not insulated and is connected to signal ground (GND).
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No. SX-DSV03025 - 24 - 6-7 Encoder connector X6 Name Encoder power supply output － Encoder signal I/O (serial signal) Frame ground Connector pin No. 1 2 3 4 5 6 shell Description E5V E0V (*Note 1) Do not connect. Do not connect. PS /PS FG *Note 1) The E0V of the encoder power supply output is connected with the control circuit ground of the connector X4 .
No. SX-DSV03025 - 25 Input and output interface i-1 o-1 4.7 k VDC 50 mA or less VDC 1k 1000 p 12 to 24 V 12 to 24 V － S or Pins; ＋：(X3)8 (X4)11,35,37,39 S VDC 1000 p －：(X3)7 (X4)10,34,36,38 1k 12 to 24 V 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 P 4.7 k Pins; S：(X3) (X4) P：(X3) (X4) 10 ＋ Ｒ P 3,5 8,9,26,27,28,29,30,31,32,33 4,6 7 Ai - 1 Ai - 2 470 P 33 K 33.2 K 18.
No. SX-DSV03025 - 26 - Di - 2 Equivalent of AM26C32 20 k H/L 2k 44 46 H/L 120 Twisted pair 2k 47 45 PULS 20 k 13 SIGN GND ｏ－2 10 Ｒ VDC 12 to 24 V ＋ 50 mA or less 41 Pins; ＋：40,12 Note) To directly run the relay, attach a diode in Parallel with the relay and in the direction shown in the figure above.
No. SX-DSV03025 - 27 - 7. Dimensions External dimension size A [Base-mounting TYPE (Standard: Mounting on the back)] 2-M4 Effective screw depth 7 NMme plMte 2-M4 Effective screw depth 7 *Please do not use the screw holes of no description of the size value.
No. SX-DSV03025 - 28 - [Rack-mounting TYPE (Option: Mounted on the front)] Mounting bracket (Option) NMme plMte Mounting bracket (Option) *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.
No. SX-DSV03025 - 29 - External dimension size B [Base-mounting TYPE (Standard: Mounting on the back)] 2-M4 Effective screw depth 6.5 NMme plMte 2-M4 Effective screw depth 7 *Please do not use the screw holes of no description of the size value.
No. SX-DSV03025 - 30 [Rack-mounting TYPE (Option: Mounted on the front)] Mounting bracket (Option) NMme plMte Mounting bracket (Option) *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.
No. SX-DSV03025 - 31 - External dimension size C [Base-mounting TYPE (Standard: Mounting on the back)] 2-M4 Effective screw depth 6.5 NMme plMte 2-M4 Effective screw depth 6 *Please do not use the screw holes of no description of the size value.
No. SX-DSV03025 - 32 [Rack-mounting TYPE (Option: Mounted on the front)] Mounting bracket (Option) NMme plMte Mounting bracket (Option) *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.
No. SX-DSV03025 - 33 - External dimension size D 200V [Base-mounting TYPE (Standard: Mounting on the back)] 2-M4 Effective screw depth 6.5 NMme plMte 2-M4 Effective screw depth 6 *Please do not use the screw holes of no description of the size value.
No. SX-DSV03025 - 34 [Rack-mounting TYPE (Option: Mounted on the front)] Mounting bracket (Option) NMme plMte Mounting bracket (Option) *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.
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No. SX-DSV03025 - 39 - 8. Wiring 8-1 Used cables and maximum cable lengths Name Symbol Maximum cable length Used cable Main power supply Control power supply Motor connection L1, L2, L3 L1C, L2C U, V, W, 20m Refer to specification Refer to specification Refer to specification Refer to specification X6 20m X5 20m X4 3m X3 3m Earth cable Encoder connection External feedback scale connection I/O connection Functional safety connection Batch twisted shielded pair Core cable: 0.
No. SX-DSV03025 - 40 - 8-3 Precautions for wiring (1) Wiring to power connector and terminal block 100/ 200 V sizes A - B Built-in thermostat of an external regenerative resistor (light yellow) MC1 ON ALM Coli surge suppression units L Noise filter MCCB Power supply (3-phase) OFF L1 L2 L3 L1C L2C *When you use single phase, connect the main power between L1 and L3 terminals.
No. SX-DSV03025 - 41 100/ 200 V sizes C - D Built-in thermostat of an external regenerative resistor (light yellow) MC1 ON ALM Coli surge suppression units L Noise filter MCCB Power supply (3-phase) OFF L1 L2 L3 L1C L2C *When you use single phase, connect the main power between L1 and L3 terminals.
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No. SX-DSV03025 - 44 - [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.
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No. SX-DSV03025 - 46 - *) 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.
No. SX-DSV03025 - 47 (2) Wiring to connector X4 [1] Customer is responsible for the control signal power supply at 12-24 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.
No. SX-DSV03025 - 48 - [4] 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. [5] 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 opposite direction.
No. SX-DSV03025 - 49 Pulse train command A. Pulse train interface exclusively for line driver 2 kΩ 44 20 kΩ PULS 120 Ω 45 46 2 kΩ 20 kΩ 2 kΩ 20 kΩ SIGN 120 Ω 47 2 kΩ 20 kΩ 13 represents twisted pair B. Pulse train interface The pulse train command input can support both line driver and open collector interfaces, but in order to increase the certainty of signal transmissions, we recommend you to use the pulse train command input as an line driver interface as shown in the figure below.
No. SX-DSV03025 - 50 Open collector interface VDC － 1.5 R + 220 ≒ 10 mA R 3 PULS1 4 PULS2 2.2 kΩ 220 Ω 5 SIGN1 6 SIGN2 VDC R 2.2 kΩ 220 Ω 13 represents twisted pair 1 OPC1 4 PULS2 2.2 kΩ 2.2 kΩ 220 Ω 2 OPC2 6 SIGN2 2.2 kΩ 24 VDC 2.2 kΩ 220 Ω 13 represents twisted pair Note: Precautions for using the command pulse input as an open collector interface Shorten the wire length (up to 1 m).
No. SX-DSV03025 - 51 - Feedback pulse of rotary encoder AM26LS32 (or equivalent) AM26LS31 (or equivalent) OA+ 21 OA- 22 OB+ 48 OB- 49 OZ+ 23 OZ- 24 GND 25 A B Max. rating 30 V, 50 mA 19 CZ 25 GND Z High speed photo-coupler TLP554 (or equivalent) Connect signal ground of the host and the driver without fail. represents twisted pair Note: [1] As well as being output in the line driver, only the Z-phase signals are output to the pin 19 (CZ) in the open collector.
No. SX-DSV03025 - 52 - (3) Wiring to connector X6 [1] As for the encoder cable, use the batch shielded twisted wire pairs whose core is 0.18 mm2 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] Connect the coat of shielded cable at the motor side to the shield of shielded cable from the encoder.
No. SX-DSV03025 - 53 ■Connector Type MSMF 50 W - 1000 W MHMF 50 W - 1000 W MQMF 100 W - 400 W Twisted pair E5V E0V BAT+ BAT- 1 3 2 +5 V E5V 0V E0V 5 3 2 4 7 5 4 6 PS PS Regulator X6 6 BTP-O BTN-O PS PS 1 FG Shell（FG） JN6FR07SM1 JAE (or equivalent) JN6CR07PM2 JAE (or equivalent) Motor Encoder cable Servo driver MSMF 1.0 kW - 5.0 kW MHMF 1.0 kW - 5.0 kW MDMF 1.0 kW - 5.0 kW MGMF 0.85 kW - 4.
No. SX-DSV03025 - 54 ■Cannon plug type MSMF 1.0 kW - 5.0 kW MHMF 1.0 kW - 5.0 kW MDMF 1.0 kW - 5.0 kW MGMF 0.85 kW - 4.
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No. SX-DSV03025 - 56 MSMF 1.0 kW - 5.0 kW MHMF 1.0 kW - 5.0 kW MDMF 1.0 kW - 5.0 kW MGMF 0.85 kW - 4.4 kW Twisted pair E5V E0V BAT+ BAT- 1 1 2 +5 V E5V 0V E0V 6 3 Battery 5 4 3 5 7 6 PS Regulator X6 4 BTP-O BTN-O PS PS PS 9 FG Shell（FG） JN2DS10SL1-R JAE (or equivalent) JN2AS10ML3-R JAE (or equivalent) Motor Encoder cable Servo driver ■Cannon plug type MSMF 1.0 kW - 5.0 kW MHMF 1.0 kW - 5.0 kW MDMF 1.0 kW - 5.0 kW MGMF 0.85 kW - 4.
No. SX-DSV03025 - 57 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 .
No. SX-DSV03025 - 58 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.
No. SX-DSV03025 - 59 - (4) Wiring to connector X5 [1] As for the external scale cable, use the batch shielded twisted wire pairs whose core is 0.18mm2 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] Connect the coat of shielded cable at the motor side to the shield of shielded cable from the encoder.
No. SX-DSV03025 - 60 - 9. Compliance with global standards 9-1 Conforming standards European EC directive EMC directive EN55011 EN61000-6-2 EN61000-6-4 EN61800-3 Low voltage directive EN61800-5-1 EN50178 Machinery directive Functional Safety UL standard CSA standard KC IEC EN EMC UL CSA KC : : : : : : ISO13849-1 (PL e, Cat.3) EN61508 (SIL 3) EN62061 (SILCL 3) EN61800-5-2 (SIL 3, STO) IEC61326-3-1 IEC60204-1 UL508C (File No. E164620) C22. 2 No.
No. SX-DSV03025 - 61 - 9-3 Peripheral device configuration 9-3-1 Installation environment Use the servo driver under the environment of pollution level 2 or 1 defined in IEC60664-1. (Example: Installed in the IP54 control panel.
No. SX-DSV03025 - 62 9-3-2 Power supply +10 % -15% 100 V system: Single phase 100 V - 120 V 200 V system (Sizes A-D): Single / 3 phase 200 V - 240 V 200 V system (Sizes E-F): 3 phase 200 V - 240 V 50/60 Hz +10 % -15% +10 % -15% 50/60 Hz 50/60 Hz (1) Use it under the environment of overvoltage category III defined in IEC60664-1. (2) As for the parallel I/O power supply, use the CE marking conforming product or the 12-24 VDC power supply of insulation type compliant with EN standard (EN60950).
No. SX-DSV03025 - 63 - 9-4 List of peripheral devices applicable to servo driver Voltage spec Power capacity (Rated current) Single phase 100V Approx. 0.4 kVA Single/ 3 phase 200V Approx. 0.5 kVA MBDL*21** Single phase 100V Approx. 0.5 kVA MBDL*25** Single/ 3 phase 200V Approx. 0.9 kVA MCDL*31** Single phase 100V Approx. 0.9 kVA MCDL*35** Single/ 3 phase 200V Approx. 1.
No. SX-DSV03025 - 64 Use earth cable having a cross section area of 2.0 mm2 (AWG 14) or more for an output of 50 W to 2.5 kW, 3.5 mm2 (AWG 12) or more for an output of 3.0 kW to 5.0 kW, 13.3 mm2 (AWG 6) or more for an output of 6.0 kW to 11.0 kW, or 21.1 mm2 (AWG 4) or more for an output of 15 kW. For Sizes A - E, use the dedicated connector which came with the product. In this case, the stripped cable length should be 8-9 mm.
No. SX-DSV03025 - 65 - 9-5 Compliance with UL standard Certified by the UL508C (file No. E164620) standard by observing the installation conditions 1, 2 below. [1] Installation environment Use the servo driver under the environment of pollution level 2 or 1 defined in IEC60664-1. (Example: Installed in the IP54 control panel.) Make sure to connect a circuit breaker or fuse compliant with UL certification (marked with LISTED, UL ) between the power supply and the noise filter.
No. SX-DSV03025 - 66 - 9-6 Radio waves act (South Korea) precautions This servo driver is a Class A commercial electromagnetic radio wave generator not designed for home use. The user and distributor should be aware of this fact. 9-7 Compliance with SEMI F47 instantaneous stop standard This function corresponds to the F47 power supply instantaneous stop standard in the SEMI standard during no/ light load condition. Useful when used in the semiconductor manufacturing equipment.
No. SX-DSV03025 - 67 - SAFETY PRECAUTIONS 10. Safety precautions ■ Danger and damage caused when the safety precautions are ignored are described in the following categories and signs: DANGER ATTENTION Description of this sign indicates “urgent danger that may cause death or serious injury. ” Description of this sign indicates “danger that may cause injury or property damage. ” ■ Rules to keep are categorized and described with the following graphics.
No. SX-DSV03025 - 68 - SAFETY PRECAUTIONS (14) Wiringwork is strictly allowed only for an engineer specializing electrical work. (15) A motor other than specified is not provided with a protection device. Protect a motor with an overcurrent protection device, a ground-fault interrupter, overheating protection device, and emergency stop device,etc.
No. SX-DSV03025 - 69 - SAFETY PRECAUTIONS (35) (36) (37) (38) Do not fall or topple over the equipment when carrying or installing. Do not climb the motor or do not place a heavy item on the motor. Do not block radiation slits of the driver and do not put a foreign matter into the driver. Do not use the equipment under direct sunlight. When storing the equipment, avoid direct sunlight and store under conditions of operating temperatures and humidity.
No. SX-DSV03025 - 70 - SAFETY PRECAUTIONS The driver's service life significantly depends on the ambient temperature. Make sure that the driver's ambient temperature (at 5 cm distant from the driver) does not exceed the operating temperature range. 5 cm Servo driver Servo driver's ambient temperature 5 cm 5 cm Operating temperature range: 0 to 55 °C We have made the best efforts to ensure quality of this product.
No. SX-DSV03025 - 71 - 11. Life and warranty 11-1 Life expectancy of the driver The driver has 28000 hours of life expectancy when used continuously under the following conditions, Definition of the life: Life end shall be defined as the capacitance of the electrolytic capacitor is reduced by 20 % from the ex-factory status. Condition Input power : Single phase 100 VAC 50/60 Hz 3 phase 200 VAC 50/60 Hz Working temperature.
No. SX-DSV03025 - 72 - 12. Others Precautions for export of this product and the equipment incorporating this product If the end user or end purpose of this product relates to military affairs, armament and so on, this product may be subject to the export regulations prescribed in "Foreign Exchange and Foreign Trade Control Law".To export this product, take thorough examination, and follow the required export procedure.
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