Panasonic MSDA043A1A Operating Manual Download Page 56

Page: 56 / 183

−

Adjustments

Purposes of Gain Adjustment

In case of the servo motor, the motor is required to act per any command without any

time delay, or without missing

any commands. To ensure this, gain adjustment is necessary.

<Example: ball screw>

Position loop gain

：20

Velocity loop gain

：100

Velocity loop integration time constant：50
Velocity feed forward

：0

Inertia ratio

：100

Position loop gain

：130

Velocity loop gain

：260

Velocity loop integration time constant：30
Velocity feed forward

：0

Inertia ratio

：100

Position loop gain

：130

Velocity loop gain

：260

Velocity loop integration time constant：30
Velocity feed forward

：50

Inertia ratio

：100

Types of Gain Adjustment

Gain set-up: low

Gain set-up: high

+Feed forward set-up

+2000

-2000

0.0

375

250

125

0.0

375

250

125

0.0

375

250

125

｛r pm｝

+2000

-2000

｛r pm｝

Actual velocity

Command

Speed

Type

Description

Accelerate and decelerate the motor per the preset

(internally fixed) patterns to calculate the load inertia

from the required torque. Then automatically define

appropriate gains according to the inertia.

During an actual operation, calculate the load inertia in

real time. Then automatically define appropriate gains

according to the inertia.The gains will be automatically

adjusted against the fluctuation of load inertia during

operation.

You can manually adjust the necessary gains to obtain

the most appropriate action by monitoring command to

the driver, motor speed, torque and position error as the

monitor signals(SP, IM), or using the optional

communication software, PANATERM(especially with is

graphic functi

Automatic

adjustment

Manual

adjustment

Normal mode

auto gain tuning

Real time

auto gain tuning

Manual gain tuning

Preparetions and Adjustments

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Summary of Contents for MSDA043A1A

Page 1: ...ss underutilized and idle equipment along with credit for buybacks and trade ins Custom engineering so your equipment works exactly as you specify Critical and expedited services Leasing Rentals Demos In stock Ready to ship TAR certified secure asset solutions Expert team I Trust guarantee I 100 satisfaction All trademarks brand names and brands appearing herein are the property of their respectiv...

Page 2: ...Panasonic AC Servo Motor Driver A series Before use read through this manual to ensure proper use Keep this manual at an easily accessible place so as Be sure give this instruction manual to the user Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com ...

Page 3: ...d CN NET Connectors For PC or Controller 27 CN I F Connector For Controller 28 Circuits Available for Typical Control Modes 29 Input and Output Signals and their Functions 32 Interface circuit 38 Protective Functions 64 Maintenance and Inspections 71 Conformance to EC Directives and UL Standards App 2 List of Connectable Motors App 7 How to UseApp App 9 Absolute Driver App 20 Full Close Driver App...

Page 4: ... 55 How to Adjust Gain 57 How to Use NormalAuto Gain Tuning 58 How to Use Real Time Auto Gain Tuning 59 How to Adjust Gain Manually 60 Troubleshooting 73 After Sale Service Back cover Details of Parameters App 30 Details of Operation App 57 Overview of a Communication Control Software PANATERM App 67 Optional Parts App 69 Recommended Parts App 84 Outer Views and Dimensions App 86 Properties App 10...

Page 5: ...ult in death or serious injury Indicates a potentially hazardous situation which if not avoided will result in minor or moderate injury and physical damage This symbol indicates that the operation is pro hibited This symbol indicates that the operation must be performed without fail Don t insert your hands in the driver Failure to observe this instruction could result in burns and or electric shoc...

Page 6: ...es Perform the transportation wiring and inspection at least 10 minutes after the power off Failure to observe this instruction could result in electric shocks Don t subject the product to water splash corrosive gases flammable gases and combustible things Failure to observe this instruction could result in fire Before Use Install an external emergency stop device so that you can shut off the powe...

Page 7: ...auses unstable action Failure to observe this instruction could result in injuries If an error occurs remove the causes for the errora and secure the safety before restarting the operation Failure to observe this instruction could result in injuries Don t touch the motor driver or its regenerative discharge resistor since they become hot Failure to observe this instruction could result in burns Do...

Page 8: ...al waste when it is disposed of When discarding batteries insulate them with tapes or other similar means and obey the local rules Don t block the heat dissipation hole or insert foreign matters in it Failure to observe this instruction could result in electric shocks injuries and or fire Make sure that the wirings are made correctly Failure to observe this instruction could result in electric sho...

Page 9: ...hase Voltage INPUT OUTPUT ENCODER AC SERVO DRIVER 60 75Åé Wire Only Use Copper Conductors Only Refer to Manual for Wiring and Wire Size Refer to Manual for Over Load Protection SER NO MODEL Freq Model Rated input voltage Rated motor output Number of pulses of the encoder resolution Rated output current Serial Number Custom specification Custom specification 2 A B C Custom specification 1 1 2 3 Rot...

Page 10: ...00 200V Rotary encoder see Table 1 b Custom specification 1 Standard Custom specification Symbol MSM MDM MHM MFM MQM MGM Type Low inertia Middle inertia High inertia Flat Flat small Middle inertia Symbol A C D Type Incremental Absolute Absolute incremental No of pulses 2500P r Lead wire 11 wire 7 wire 7 wire Specifications Resolution 10000 17bit 17bit Before Use Symbol 3A 5A 01 02 03 04 05 06 08 0...

Page 11: ...s symbol MSMA Small Low inertia MSMA Large Low inertia Motor type MSMA3AZA MSMA5AZA MSMA011A MSMA021A MSMA041A MSMA3AZA MSMA5AZA MSMA012A MSMA022A MSMA042A MSMA082A MSMA102A MSMA152A MSMA202A MSMA252A MSMA302A MSMA352A MSMA402A MSMA452A MSMA502A Voltage 100V 200V 200V Output rating 30W 50W 100W 200W 400W 30W 50W 100W 200W 400W 750W 1 0kW 1 5kW 2 0kW 2 5kW 3 0kW 3 5kW 4 0kW 4 5kW 5 0kW Revolution r...

Page 12: ...MSDA3A3D1A MSDA5A3D1A MSDA013D1A MSDA023D1A MSDA043D1A MSDA083D1A MSDA103D1A MSDA153D1A MSDA203D1A MSDA253D1A MSDA303D1A MSDA353D1A MSDA403D1A MSDA453D1A MSDA503D1A Motor type MSMA3AZC MSMA5AZC MSMA011C MSMA021C MSMA041C MSMA3AZC MSMA5AZC MSMA012C MSMA022C MSMA042C MSMA082C MSMA102D MSMA152D MSMA202D MSMA252D MSMA302D MSMA352D MSMA402D MSMA452D MSMA502D Voltage 100V 200V 200V Output rating 30W 50W...

Page 13: ...he cover after wire connection 配線は正しく確実に行い配線後は必ずカバーをネジ止めしてください注意 Rotary switch ID Mounting bracket LED indicator 6 digits Communication connector 1 CN NET Communication connector 2 CN SER MODE selector switch Controller connection CN I F Encoder connection CN SIG Data setting buttons SHIFT UP DOWN Check pins Mains power connection Control power connection External regenerative discharge resis...

Page 14: ...wings in the Appendix Motor Example Small Low Inertia Motor MSMA Series 750W and below Mounting bolt holes 4 Flange Frame Motor cable Encoder Encoder cable Before Use Brake cable Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com ...

Page 15: ...r ventilation Type 3 and smaller up to 750W Back panel mount type projected use Bracket A Type 4 and larger 1kW and larger Front panel mount type recessed use Bracket B Bracket A MSDA 750W and smaller Bracket B MSDA 1kW and larger B If you want to change the mounting configuration use the optional bracket see Appendix Optional Parts C Fit to noncombustibles such as metal Types 1 to 3 Item Ambient ...

Page 16: ...ive grounding terminal of the driver to prevent electric shock Do not double connect to the protective grounding terminals Two protective grounding terminals are provided 2 Overload protection level The overload protective function of the driver is activated when the effective current of the driver is 115 or more of the rated current Make sure that the effective current of the driver dose not exce...

Page 17: ...l in the reduction gear does not enter into the motor Oil and Water Protections A This motor IP65 rating can be used where it is subjected to water and or oil drops but is not water or oilproof Therefore the motors should not be placed or used in such environment B If the motor is coupled with a reduction gear use the motor should with oil seals to prevent the reduction gear oil from entering into...

Page 18: ...hin the specified value of each model B Pay extra attention at installing a rigid coupling especially an excess bending load which may cause the damages and or wear of the shaft and bearings C Flexible coupling is recommended in order to keep the radial load smaller than the permissible value which is designed exclusively for servo motors with high mechanical stiffness D For the permissible shaft ...

Page 19: ...surge absorber Reactor L Reduces the harmonic in the main power Motor cable Without a brake With a brake Terminals P B1 and B2 Normally keep B1 and B2 shorted If the capacity of the internal regenerative discharge resistor is not enough disconnect be tween B1 and B2 and connect an external regenerative discharge resistor to P and B2 terminals System Configuration and Wiring General Wiring Diagram ...

Page 20: ... a PC or controller CN SIG to connect an encoder CN I F to connect a controller Personal computer Motor cable Brake power supply 24VDC Encoder cable Preparations and Adjustments Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com ...

Page 21: ...ndt 0 75mm2 A W G 18 0 75mm2 A W G 18 Series MSDA MSDA MQDA MSDA MQDA MSDA MQDA MSDA MGDA MFDA MHDA MGDA MDDA MFDA MGDA MSDA MDDA MHDA MGDA MSDA MDDA MHDA MFDA MSDA MDDA MHDA MGDA Driver Maincircuitwirediameter L1 L2 L3 U V W and E 0 75mm2 2 0mm2 A W G 14 18 0 75mm2 2 0mm2 A W G 14 18 2 0mm2 A W G 14 Required Power at the rated load approx 0 3kVA approx 0 4kVA approx 0 5kVA approx 1 0kVA approx 0 ...

Page 22: ...erminal Earth wire diameter should be 2 0 mm2 AWG14 or larger for 30W to 2 5kW and 3 5 mm2 AWG11 or larger for 3 to 5kW Maincircuitwirediameter L1 L2 L3 U V W and E 2 0mm2 A W G 14 3 5mm2 A W G 11 Terminals onthe terminalblock M5 N o i s e f i l t e r LF 340 LF 350 LF 360 ontrolpowerwiredi ameter r and t 0 75mm2 A W G 18 Magnetic contactor contacts BMF6352N 3P 2a2b BMF6502N 3P 2a2b BMF6652N 3P 2a2...

Page 23: ...the magnetic contactor coil Install an AC reactor For single phase 100V connect between L1 and r and between L3 and t Do not use L2 terminal Don t remove the short bar connecting between B1 and B2 Remove thisonlywhenanexternalregenerativedischargeresistorisconnected Ensure matching in color between the motor wires and terminals U V and W Don t short circuit or ground Don t connect to the main powe...

Page 24: ...A MFMA U A A F D F D V B B I E I E W C C B F B F E D D D E G H D E G H Brake 1 G A Brake 2 H B Preparations and Adjustment Noise filter Red Nihon AMP For 3 phase 200V NFB Nihon AMP White or yellow Green yellow Motor 172167 1 172159 1 1 2 ALM VDC 37 ALMo L2 DC DC L3 r t P P P MC L MC ALM MC ON OFF N N B1 B2 U V W L1 ALMp COMp CN I F 36 41 12 24V 3 4 Black CN I F Noise filter Red Nihon AMP Single ph...

Page 25: ...plug Encoder cable Connectors canon plugs on the encoder CN SIG connectors on the driver Signal power paired wires should be of a twist paired type min 30 cm max 20 cm max 20 cm When you prepare your own connecting cables see the Optional Parts for connectors and Follow the wiring diagram and use the Wire material 0 18 mm2 AWG24 or above shielded twist paired wire with an enough bending durability...

Page 26: ...2 11 17 4 2 3 1 20 12 2 1 4 3 6 5 11 13 14 15 RX 5V 0V 5V 0V FG RX A B Z A B Z A A B B Z Z Wiring Diagrams with a 2500P r incremental type encoder A 1 Preparations and Adjustments RX 5V 0V 5V 0V FG RX A B Z A B Z FG 0V o5V RX RX A A B B Z Z モータ側ドライバ側中継ケーブル日本航空電子製日本航空電子製キャノンプラグ MS3106B20 29S MS3102A20 29P CN SiG 11 E 12 F 9 C 10 D 7 A 8 B 18 R 17 4 2 3 1 20 P H G J 5V エンコーダ電源 0V Artisan Techno...

Page 27: ... TX RX TX 5V MS3106B20 29S MS3102A20 29P 0V CN SiG 5 T 6 S 17 K 18 4 2 3 1 20 L H G J SD SD 3 6VG 3 6V BATT BATT 2 日本航空電子製日本航空電子製エンコーダ電源 Wiring Diagram Driver with a 17 bits absolute encoder C 1 Driver with a 17 bits absolute incremental encoder D 1 黒黄緑白紫水色桃赤モータ側ドライバ側日本AMP製日本AMP製中継ケーブル 0V o5V SD FG SD 3 6V 3 6VG 0V o5V o5V 0V FG RX TX RX TX 172161 1 2 172169 1 CN SiG 17 4 2 3 1 20 6 ...

Page 28: ...Connect all the drivers and a host with RS485 Rotary switch ID select a position 1 to F Note Max 15 drivers can be connected to a host For detailed information see Communication Specifications ID MODE IM I F SP G SET ロータリスイッチ ID は1 出荷設定でご使用ください How to connect Special cable optional CN SER Turn off the power of both the driver and computer before connecting or disconnecting the connectors Tighten ...

Page 29: ...cm from the main circuit wires Don t lay these wires in the same duct of the mains or bundle with them The control power VDC between COM and COM should be supplied by the customer recommended voltage 12VDC to 24VDC Control signal output terminals can accept max 24V or 50mA Don t apply larger voltage or current exceeding these limits If you directly activate a relay using the control signal install...

Page 30: ...CLR CCWL CWL S RDY S RDY ALM COIN BRKOFF BRKOFF TLC VDC 12 24V ZSP COM BATT CN SIG 5ピンへ CN SIG 6ピンへ BATT CN I F FG COIN ALM 33 30 29 27 28 32 31 9 8 35 34 37 36 39 38 11 10 40 12 41 44 45 50 サーボオン入力 P動作第2ゲイン切替入力指令分周逓倍切替入力制御モード切替入力分周器アラームクリア入力 CCW駆動禁止入力 A相出力 B相出力 Z相出力 Z相出力オープンコレクタ CW駆動禁止入力サーボレディ出力サーボアラーム出力位置決め完了出力ブレーキ解除出力トルク制限中出力 Pr09で選択零速度検出出力 Pr0Aで選択カウンタクリア入力 26 44 45 指令パルス入力禁止入力ア...

Page 31: ...BATT CN I F FG COIN ALM 33 30 29 27 28 32 31 9 8 35 34 37 36 39 38 11 10 40 12 41 44 45 50 サーボオン入力 P動作第2ゲイン切替入力制御モード切替入力分周器アラームクリア入力 CCW駆動禁止入力 A相出力 B相出力 Z相出力 Z相出力オープンコレクタ CW駆動禁止入力サーボレディ出力サーボアラーム出力速度到達信号出力ブレーキ解除出力トルク制限中出力 Pr09で選択零速度検出出力 Pr0Aで選択内部指令適度選択1入力 14 15 16 17 18 43 42 26 44 45 内部指令適度選択2入力速度ゼロクランプ入力 Pr06 速度指令入力 0 10V CCW方向トルク制限入力 0 10V CW方向トルク制限入力 10 0V 速度モニタ出力トルクモニタ出力アブソ...

Page 32: ... 33 30 29 27 28 26 32 31 9 8 35 34 37 36 39 38 11 10 40 12 41 44 45 50 速度制限2入力サーボオン入力 P動作第2ゲイン切替入力制御モード切替入力分周器アラームクリア入力 CCW駆動禁止入力 A相出力 B相出力 Z相出力トルク指令入力 0 10V 速度モニタ出力トルクモニタ出力 Z相出力オープンコレクタ CW駆動禁止入力サーボレディ出力サーボアラーム出力速度到達信号出力ブレーキ解除出力上位コントローラ側にてアブソ用電池を装着する場合トルク制限中出力 Pr09で選択零速度検出出力 Pr0Aで選択お願い速度設定第4速 Pr56 に速度制限値を入力してください制御モードPr02が５の時速度トルクの配線例 SPR TRQR GND CCWTL TRQR GND 14 15 16 ...

Page 33: ...c Brake Inactivation at Overtravel Limit to make the dynamic brake operable Signal Pin Symbol Function I F No circuit Control signal power Control signal power Servo ON Control mode switching CW overtravel inhibit CCW overtravel inhibit 7 41 29 32 8 9 COM COM SRV ON C MODE CWL CCWL SI page38 SI page38 SI page38 SI page38 Pr02 value 3 4 5 COM open 1st Position control mode Position control mode Vel...

Page 34: ...er with the CL signal input For details see Pr05 Speed Set Up Switching description Invalid Pr43 value 1 0 Meaning The INH signal input is disabled With COM closed the pulse command signal PULSE SIGN is enabled With COM open the pulse command signal PULSE SIGN is inhibited Position control Velocity control Torque control Clears the position error counter Connect to COM to clear the counter Use Pr4...

Page 35: ...be input in three different ways Use Pr42 to select one of the following Quadrature A and B input CW PULSE CCW SIGN pulse input Command pulse PULS Sign SIGN input With COM closed the numerator of the command scalar is changed from the value stored in Pr46 Numerator of 1st Command Scalar to the value stored in Pr47 Numerator of 2nd Command Scalar Note Don t enter command pulses 10 ms after or befor...

Page 36: ...elocity and position control You can limit the motor torque in the CCW direction by entering positive voltage 0 to 10V to CCWTL You can limit the motor torque in the CW direction by entering negative voltage 10 to 0V to CWTL The torque limit value is proportional to the voltage with a factor of 100 3V CCWTL and CWTL are valid when Pr03 Torque Limit Input Inhibit 0 They are invalid when Pr03 1 At t...

Page 37: ...WARN BATT Function Output transistor turns ON during the In toque limiting Output transistor turns ON when the motor speed becomes lower than that of the preset speed with Pr61 Zero speed Output transistor turns ON when either one of over regeneration overload or battery warning is activated Output transistor turns ON when the over regeneration more than 85 of permissible power of the internal reg...

Page 38: ...nerating CW torque Use Pr08 Torque Monitor Selection to switch between torque and positional error and to define the relation between torque positional error and output voltage Signal Pin Symbol Function I F No circuit A phase output B phase output Z phase output Z phase output Velocity monitor output Torque monitor output 21 22 48 49 23 24 19 43 17 42 17 OA OA OB OB OZ OZ CZ SP GND IM GND PO1 pag...

Page 39: ...Connect to a contact of switch and relay or a transistor of an open collector output Use a switch or relay for micro current so that insufficient contact can be avoided Lower limit of the power supply 12 to 24V should not be less than 11 4V in order to secure the appropriate level of primary current of the photo coupler SI VDC R value 12V 1k Ω 1 4W 24V 2k Ω 1 4W 12 24V 7 COM 4 7K SRV ONなどリレー 7 CO...

Page 40: ...ure When the variable range of each input is 10V to 10V the VR should be a B type resistor of 2k Ω min 1 2W The R should be 200 Ω min 1 2W The A D converters for these inputs should have the following resolution AI Preparations and Adjustments ADC1 SPR and TRQR 16 bits including one bit for sign ADC2 CCWTL and CWTL 10 bits including one bit for sign 12V SPR TRQR CCWTL CWTL R 14 20K 10K GND GND 10K...

Page 41: ... of R using the formula below so as the primary current of the photo coupler become approx 10mA PO1 Line Driver Differential Output Output Provides differential outputs of encoder signals A B and Z phases that come from the sca lar Receive these signals with a line receivers In this case install a resistor of approx 330Ω between the inputs These outputs are non insulated signals Connect the signal...

Page 42: ...external circuits connected Resolution Velocity monitor signal SP 8r min LSB calculated from 6V 3000r min Pr07 3 Torque monitor signal IM 0 4 LSB calculated from 3V rated value 100 AO Open Collector Output Outputs Z phase signals among those from the encoder The out puts are non insulated Receive these signal with high speed photo coupler at controller side since these Z phase signal width is norm...

Page 43: ...nd for position velocity and integration and time constants of filters Real time auto tuning parameters You can set the real time auto tuning mode select the machine stiff ness etc You can set the parameters relating to the switching between 1st and 2nd gains You can set the input format of command pulses logical selection encoder pulse rate and pulse sca lar You can set the input gain polarity in...

Page 44: ... P S T P P P P S T P S T P S T P S T P S T P S T P S T 1 0 1 1 1 2 1 3 1 4 1 5 1 6 1 7 1 8 1 9 1 A 1 B 1 C 1 D 1 E 1 F ParameterNO Parameter description Range Default Default Related control mode Axis address Initial LED status Control mode set up Analogue torque limit inhibit Overtravel Input inhibit Internal speed switching ZEROSPD input selection Speed monitor SP selection Torque monitor IM sel...

Page 45: ...se 0 1 0 8 0 10000 0 10000 0 10000 0 10000 0 5 0 10000 0 10000 0 10000 0 3 0 10000 0 10000 0 10000 0 0 0 0 0 0 0 0 0 0 0 0 0 0 166μs 1 Setting value 166μs 166μs 166μs P S T P P P P P S S S S T T T T 3 0 3 1 3 2 3 3 3 4 3 5 3 6 3 7 3 8 3 9 3 A 3 B 3 C 3 D 3 E 3 F Parameter No Parameter description Range Default Unit Related control Pr mode Inertia ratio Real time auto tuning set Up Machine stiffnes...

Page 46: ...5 7 5 8 5 9 5 A 5 B 5 C 5 D 5 E 5 F S T Parameter No Parameter description Range Default Unit Related control Pr mode Command pulse multiplier set up Command pulse logic inversion Command pulse input mode set up Command pulse inhibit input invalidation Output pulses per single turn Pulse output logic Inversion Numerator of 1st command pulse ratio Numerator of 2nd command pulse ratio Numerator of 3...

Page 47: ...S T P S T P S T P S T P S T P S T 6 0 6 1 6 2 6 3 6 4 6 5 6 6 6 7 6 8 6 9 6 A 6 B 6 C 6 D 6 F P Parameter Setting Parameters for Sequence Note The following parameters have different default values depending on the type of the encoder incorporated Parameter No Pr 4 6 4 7 4 8 4 9 4 A 6 0 6 3 With the 2500P r incremental encoder A 10000 10000 10000 10000 0 10 1875 Default With the 17 bits absolute e...

Page 48: ...e e n t h e m o d e selected with mode switching button and the execution display MODE switching button You can select five MODE options Monitor Mode Parameter Set up Mode EEPROM Writing Mode Auto Gain Tuning Mode Auxiliary Mode LED 6 digits Use this to change shift the digit Use this to change data execute the action of the selected parameters Pressing button to increase the value Pressing button...

Page 49: ...r details see page 58 of the main body of this manual For details see page 64 of the main body of this manual Power ON SET button SET button SET button SET button See the next page See the next page Parameter Setting Mode EEPROM Writing Mode Auto Gain Tuning Mode Auxiliary Mode You can select a desired MODE by using the front panel button Artisan Technology Group Quality Instrumentation Guaranteed...

Page 50: ...ues are correct and then write them down to EEPROM Start writing momentary mes sage will be displayed as shown in the right figure Using the front touch panel Turn the driver power ON Press SET button Keep pressing MODE button Select your desired Parameter No by using UP and DOWN button Press SET button Change the value using LEFT ARROW UP and DOWN buttons Press SET button Select EPROM Writing Mod...

Page 51: ... are correct Make sure that there are no improper grounding connections and earth wires are properly connected Inspecting the power specifications Make sure that the voltage is correct Securing the servo motor Make sure that the servo motor is firmly secured Disconnecting the motor load Releasing the brake CNI F CNSIG Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www ar...

Page 52: ...l be displayed initial display Switch the parameter set up basis mode Call out Press SET button Keep pressing UP button until appears see the fig below Keep pressing UP button approx 3 seconds Bars increased as the rightfig shows The trial run preparation is now complete Keep pressing LEFT ARROW button until appears Decimal point shifts from right to left by keep pressing LEFT ARROW button approx ...

Page 53: ...ake sure that the speed is per the set up Check if the motor stops when the command pulse is stopped Use the controller to send command pulses COM 7 33 29 41 3 4 5 6 COM INH SRV ON PULS1 PULS2 SIGN1 SIGN2 CZ GND 120Ω 120Ω Note that the motor can start by command open with Pr43 Open collector forCW CCW pulse inputs Z phase output for homing DC12V 24V DC 5V π No 0 2 3 8 A Input signal Servo ON CW ov...

Page 54: ...210 211 212 213 214 215 216 217 365 18 1 217 213 60 360 365 2 884736 17 365 2 108 0 365 18 10000 10000 60 360 365 2 6912 10 Decimal 1 2 4 8 16 32 64 128 256 512 1024 2048 4096 8192 16384 32768 65536 131072 10 60 Gear Preparetions and Adjustments Example Rotate the motor by 60 degrees with an overall reduction ratio of 18 365 You can set any value by setting any value for the numerator and denomina...

Page 55: ...Velocity Control Mode Apply a DC voltage between the velocity command input SPR CN I F pin 14 and GND CN I F pin 15 Increase the voltage gradually from 0 and make sure that the motor runs and the speed change accordingly Select the Monitor Mode to monitor the motor speed Make sure that the motor speed is as per the commanded speed Set the command to 0 to see if the motor stops If the motor still r...

Page 56: ...Actual velocity Command Speed Type Description Accelerate and decelerate the motor per the preset internally fixed patterns to calculate the load inertia from the required torque Then automatically define appropriate gains according to the inertia During an actual operation calculate the load inertia in real time Then automatically define appropriate gains according to the inertia The gains will b...

Page 57: ...otor The gears should have a smaller backlash characteristic The inherent frequency resonance of the machine significantly affects the gain adjustment of the servo motor If the machine has a lower resonance frequency i e lower stiffness you can t set the high response of the servo system Pr10 1st Position Loop Gain Pr13 1st Speed Detection Filter Pr11 1st Velocity Loop Gain Pr14 1st Torque Filter ...

Page 58: ...ch filter Yes Yes No Guidance values of gains Monitoring the velocity and torque using an oscilloscope fine adjust the gains so that the motor action follows the commands Pr1D Pr14 Pr1C OK Yes Yes Yes No No NG No No OK Downloading to EEPROM 2nd gain switching function NG Note Pay extra attention to the safety If the machine enter to oscillation abnormal sound and vibration shut off the power immed...

Page 59: ... F pin 29 Servo ON Pr10 Notch Frequency 1500 Keep pressing UP button approx three seconds The horizontal bar increases as shown in the right figure The motor starts to run For approx 15 seconds the motor re peats the cycle 5 times at most which consists of two CCW revolutions and two CW revolutions Note that this process doesn t necessarily repeat 5 cycles and this is not abnormal Download the obt...

Page 60: ...most no change Small change Quick change Notes Cause Either one of Alarm Servo Off or Position Error Counter Clear ac tivated The load inertia cannot be cal culated Symptom Error message displayed Values of gain affect ing parameters e g Pr10 doesn t change Remedy Avoid operation near the limit switch or home position sensor Turn to Servo ON Cancel the Position Error Counter Clear Execute the manu...

Page 61: ...8 DIV 30 CL 32 C MODE 34 S RDY 36 ALM 38 COIN 40 TLC 42 IM 44 BATT 46 NC 48 OB 27 GAIN 29 SRV ON 31 A CLR 33 INH 35 S RDY 37 ALM 39 COIN 41 COM 43 SPM 45 BATT 47 NC 49 OB 1 NC 3 PULS1 5 SIGN1 7 COM 9 CCWL 11 BRK OFF 13 GND 15 GND 17 GND 19 CZ 21 OA 23 OZ 2 NC 4 PULS2 6 SIGN2 8 CWL 10 BRK OFF 12 ZSP 14 SPR TRQR TRQR 16 CCWTL 18 CWTL 20 NC 22 OA 24 OZ 50 FG 25 GND Guidance Values of Gains and How to...

Page 62: ... Loop Integration Time Constant Note that Pr15 Velocity Feed Forward is not effective Increase the value of Pr11 1st Velocity Loop Gain gradually until the motor machine does not generate abnormal sound or vibration Decrease the value of Pr12 1st Velocity Loop Integration Time Constant gradu ally until the overshoot undershoot is reduced to an acceptable level 2 If the controller has a position lo...

Page 63: ...ue Filter Time Constant Parameters to be set up Set upvalue Description Pr30 Pr31 Pr32 Pr35 Pr10 Pr11 Pr12 Pr13 Pr14 Pr18 Pr19 Pr1A Pr1B Pr1C 2nd gain action set Up Position control switching mode Position control switching delay time Position loop gain switching time 1st position loop gain 1st velocity loop gain 1st velocity integration time constant 1st speed detection filter 1st torque filter t...

Page 64: ...e to 50 r min so that the torque may not saturate Set the offset to 100 r min to increase the amount of velocity detection informa tion and run the motor in one way rotation Polarities for CCW and for CW Set the sampling rate to 1 from a range between 0 and 7 Start the frequency characteristics analysis function Notes Before starting the measurement make sure that the machine does not move be yond...

Page 65: ...ons marked with cannot be cleared with A CLR Alarm Clear Input They should be cleared by turning the power off removing the causes and then turning the power on again Protective Functions Causes and Corrections Protection Undervoltage control power Overvoltage error Alarm Code No 11 12 Cause Countermeasures The P N voltage of the control power converter is lower than the specified value Or the con...

Page 66: ...ester If it read the connection is broken Replac the driver Insert an external regenerative discharge resistor between the P and B2 terminals Use a resistor having the specified resistance for specified Watt Replace with a new driver that is working correctly for another axis Measure the terminal to terminal voltages between L1 L2 and L3 Increase the capacity of the main power or replace it with a...

Page 67: ... one that is working correctly Check if the U V and W wires are shorted at the connections Recon nect them if necessary Measure the insulation resistance between U V W and earth wire If the resistance is not correct re place the motor with a new one Measure the resistance between U V and W If they are unbalanced replace the motor with a new one Check if the U V W connector pins are firmly secured ...

Page 68: ...ergy cannot be consumed within the Countermeasures Monitor the torque current wave using an oscilloscope to check whether the torque is surging or not Check the load factor and overload alarm messages Increase the capacity of the driver and motor Lengthen the ramp time of acceleration deceleration Re duce the motor load Readjust the gains Correct the motor wiring per the wiring diagrams Replace ca...

Page 69: ...e encoder wiring per the wiring diagram Correct the connection of the pins Make sure that the power of the encoder is 5VDC 5 4 75 to 5 25V Especially when the wire length is long it is impor tant to meet this requirement You should not bundle the encoder wires and motor wires together Connect the shield to FG See the encoder wiring diagram Check whether the motor operates per the position command ...

Page 70: ...factor by ad justing the values of Pr46 through Pr4B and then adjust the scale ratios so that the command pulse frequency is 500 kpps or less Check the reason why the CN I F Pin 33 is OFF Check that the motor operates per the position command pulse See the torque monitor to check that the output torque does not get saturated Readjust the gains Maximize the value of Pr5E torque limit set up Correct...

Page 71: ... driver s self diagnosing function is ac tivated because an error happens in the driver Countermeasures Check the voltage of the battery Connect to the battery and then clear the encoder using the absolute encoder clear mode contained in the auxiliary function see Details of Operation in Appendix Limit the movable range to 32767 revo lutions 15 bits from the initial position Adjust the value of Pr...

Page 72: ...ual average Load factor max 80 Operating hours max 20 hours per day Daily and periodical inspections should be done per the following instructions Notes If the actual operating conditions differ from things mentioned above the inspection cycles may change accordingly Type Cycles Daily Every year nspection items Ambient temperature humidity dust particles foreign matters etc Abnormal sound and vibr...

Page 73: ...ndard replacement cycles hour about 5 years 2 to 3 years 10 to 30 thousand hours about 5 years 3 to 5 years 20 to 30 thousand hours 5000 hours 3 to 5 years 20 to 30 thousand hours 1 year from the first use Remarks The replacement cycles shown here are just only for reference If any part is found defective regardless of the standard replacement cycles im mediately replace it with a new one Prohibit...

Page 74: ...the power fed Power line connections firmly secured Alarm Code No displayed Parameter values correct CN I F connections correct Not loosened Loosened connections wire break ill contact Wiring correct Abnormal sound from the motor CN SIG connections correct Not loosened Important information Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com ...

Page 75: ... 1 Check the value of Pr5E torque limit set up Change the value to 300 default Check the value of Pr06 ZERPSPD input selection Change the value to 0 If the value is 1 the zero clamp function is valid If you desire to set the pa rameter to 1 enable the zero speed clamp input and adjust the wiring so that the zero speed clamp input can be turned on correctly Check the value of Pr04 If the value is 0...

Page 76: ...tween CN I F pins 29 and 41 by monitoring the display of in put and output signals status Modify the wiring so that Servo ON signals can be made active cor rectly Check the controller Check the wiring and connections between CN I F pins 17 and 18 and 16 and 17 using a circuit tester and or oscilloscope Modify the wiring so that CW CCW torque limit input can be made ac tive correctly Check the cont...

Page 77: ...00 kpps The scale is not appropriate Countermeasures Count the number of feedback pulses while repeat ing to travel back and forth within a fixed distance If the number of feedback pulses varies adjust the controller Take measures to reduce the noise on the command pulse Use the check pin IM to monitor the position error when the in position signals are received Read the in position signals at a m...

Page 78: ...atus Modify the wiring so that Command Pulse Input Inhibit can be made active correctly Check the controller Check the overshoot at stop using the wave form graphics function of PANATERM Adjust the gains If this is not effective increase the capacity of the driver and motor The initial home position varies Category System Wiring Causes When calculating the initial home position the Z phase output ...

Page 79: ...es Check the wiring between CN I F Pins 14 and 15 velocity command inputs using an oscilloscope Take measures to reduce the noise noise filters ferrite cores etc Properly connect the shield wires of I F cables Use twist paired wires Separate the signal and power wires Decrease the values of Pr10 velocity loop gain and Pr11 position loop gain Increase the value of Pr13 speed detection filter until ...

Page 80: ...ty monitor Check the coupling between the motor and machine If the ambient temperature is higher than the speci fied value install a cooling fan Check the cooling fans of the driver and machine The cooling fan of the driver should be replaced at regular cycles This replacement should be done by a service engineer of the sales agent Check the nameplates of the driver and motor For available combina...

Page 81: ...nt Causes The velocity command input gain is not correct The position loop gain is too small The scale is not appropriate Countermeasures Check that the value of Pr50 velocity command in put gain is 500 i e 3000rpm 6V Adjust the value of Pr10 position loop gain to ap proximately 100 Correct the values of Pr46 numerator of 1st command pulse ratio Pr4A Multiplier of numerator of command pulse radio ...

Page 82: ...ables motor cables brake cable connector kits communication cables communication control software PANATERM mounting brackets and reactors App 69 Recommended Parts Surge absorber for motor brake App 84 List of peripheral equipment manufacturers App 85 Outer Views and Dimensions Motor App 86 Driver App 100 Properties Overload protection time related characteristics App 106 Specifications Gain switch...

Page 83: ...ases machines and equipment comprising our servo systems may not satisfy the requirements for wiring and grounding conditions specified by the EMC Directives Therefore conformance to the EMC Directives especially the requirements for emission noise and noise terminal voltage should be examined based on the final products that include our servo drivers and servo motors Applicable Standards IEC Inte...

Page 84: ...under the environment of Over voltage Category III specified by IEC60664 1 2 The power for interface should be marked CE or EN Standard EN60950 type 12VDC to 24VDC insulated Circuit Breaker Install a circuit breaker between the power supply and noise filter The circuit breaker should be IEC Standard and UL listed marked Noise Filter If several drivers are used and a single noise filter is installe...

Page 85: ...le to Drivers EC Directives Voltage 100V 200V Circuit breaker current rating 10A 15A 10A 15A 20A 30A 50A Output rating 30W 200W 400W 30W 400W 300W 750W 1kW 750W 1kW 400W 750W 500W 1kW 600W 900W 1 5kW 1 5kW 1 5kW 1 5kW 1 2kW 2kW 2 5kW 2kW 2 5kW 2 5kW 2kW 2kW 3kW 5kW 3kW 5kW 3kW 5kW 3 5kW 4 5kW 3kW 4 5kW Driver s Series No MSDA MQDA MSDA MQDA MGDA MSDA MDDA MFDA MHDA MGDA MSDA MDDA MFDA MHDA MGDA MS...

Page 86: ...o DVOP1460 Manufacturer s Product No R A V 781BXZ 4 Manufacturer Okaya Electric Industries Co Ltd Optional Part No DVOP1450 Circuit diagram 1 2 3 ø4 2 0 2 41 1 UL 1015 AWG16 28 1 5 5 1 11 1 28 5 1 4 5 0 5 200 30 0 39 1 34 1 30 1 13 1 Weight 62 8 kg Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com ...

Page 87: ...K N O 1 5 Circuit diagram R Cx Cx Cy L Noise Filters for Signal Lines Conform to UL Standards The noise filters conform to UL508C File No E164620 to satisfy the following conditions The servo driver should be used under Contamination Level 2 or 1 specified by IEC60664 1 housing the driver in an IP54 control box Install a circuit breaker or fuse between the power supply and noise filter The circuit...

Page 88: ...MDDA303AIA MDDA353AIA MDDA403AIA MDDA453AIA MDDA503AIA MHDA053AIA MHDA103AIA MHDA153AIA MHDA203AIA MHDA303AIA MHDA403AIA MHDA503AIA MFDA043AIA MFDA083AIA MFDA153AIA MFDA253AIA MFDA353AIA MFDA453AIA MGDA033AIA MGDA063AIA MGDA093AIA MGDA123AIA MGDA203AIA MGDA303AIA MGDA453AIA MQDA011AIA MQDA021AIA MQDA041AIA MQDA013AIA MQDA023AIA MQDA043AIA Applicable motors Size Size 4 3 Size 3 Size 4 3 Size 3 Size...

Page 89: ...3DIA MHDA053DIA MHDA103DIA MHDA153DIA MHDA203DIA MHDA303DIA MHDA403DIA MHDA503DIA MFDA043DIA MFDA083DIA MFDA153DIA MFDA253DIA MFDA353DIA MFDA453DIA MGDA033DIA MGDA063DIA MGDA093DIA MGDA123DIA MGDA203DIA MGDA303DIA MGDA453DIA MQDA011DIA MQDA021DIA MQDA041DIA MQDA013DIA MQDA023DIA MQDA043DIA Applicable motors 200V 200V 200V 200V 100V 200V 2000r min 2000r min 2000r min 1000r min 3000r min Size Voltag...

Page 90: ...ion of the relay RY If you use a diode for surge absorber note that the start of the servo motor after releasing the brake is delayed 4 Use the recommended surge absorber See Recommended Parts in page 84 Driver Surge absorber Motor Brake coil BRK OFF 11 10 41 RY BRK OFF VDC RY 12 24V Power for brake 24VDC DC24V COM CN F I Wiring Example This circuit shows a function of controlling the brake using ...

Page 91: ...in case of Servo OFF or alarm event can be adjusted by using Pr6B brake output delay time set up at motor in motion For details see Details of Parameters Notes 1 The brake may produce a sound rattling of brake liner This is not a problem 2 When energizing the brake coil when the brake is off magnetic flux may leak from the end of the axis If a magnetic sensor or similar device is used near the mot...

Page 92: ...kg m2 0 003 0 03 0 09 0 03 0 09 0 25 0 33 1 35 0 33 1 35 4 25 4 7 1 35 4 7 1 35 4 7 8 75 1 35 4 7 Absorption time ms 25 or less 50 or less 60 or less 50 or less 60 or less 50 or less 80 or less 110or less 50 or less 80 or less 100or less 110or less 90 or less 80 or less 100or less 80 or less 150or less 80 or less 150or less Releasing time ms 1 20or less 15or less 50or less 15or less 70or less 50or...

Page 93: ...ion or after stop or can be made disabled i e allowing the free running of the motor These features can be set by using the relevant parameters However if the control power is OFF the dynamic brake is kept ON overriding the parameter settings in case the driver is Type 1 2 3 or 4 if the driver is type 5 the dynamic brake is not activated overriding the parameter settings A Options of the operation...

Page 94: ...t Pr66 Operating conditions During deceleration After stop B Options of the operation through deceleration and stop by turning on Servo OFF Pr69 C Options of the operation through deceleration and stop by turning on a protective function Pr68 D B D B Free run Free run D B D B Free run Free run D B Free run Free run D B D B Clear Hold Free run Free run D B 0 Pr69 1 2 3 4 5 6 7 Sequence at Servo OFF...

Page 95: ... Control voltage 5V Main power 1 Dynamic brake Motor energized Activated Free not energized Activated braking Reset approx 2 ms Not ready Alarm No Yes Released Energized Released Released Ready Not alarm Valid 2 Invalid Brake release BRK OFF Internal reset Servo ready S RDY Servo alarm ALM Servo ON SRV ON Position velocity torque command approx 50 ms approx 2 ms Artisan Technology Group Quality In...

Page 96: ...he explanation of Pr68 in Details of Parameters Alarm Dynamic brake Motor energized Normal Energized Ready Not alarm Error alarmed Operation braking 2 Free not energized Not ready Alarm Servo ready S RDY Servo alarm ALM approx 1 to 5 ms t1 1 Braking Braking Released approx 30 r min approx 30 r min Released A B Brake release BRK OFF t1 1 Set by Pr6B Set by Pr6B Artisan Technology Group Quality Inst...

Page 97: ...s 1 The value of t depends on the value of Pr6A 2 For the operation of the dynamic brake at Servo OFF see the explanation of Pr69 in Details of Parameters Dynamic brake Motor Brake release BRK OFF Motor speed Servo ON SRV ON approx 50 ms approx 1 to 5 ms servo OFF Servo ON Servo OFF braking 2 t 1 Free not energized Braking Released Energized Released approx 30 r min Braking Free not energized Brak...

Page 98: ...ke Motor Servo ON does not become active until the motor speed decreases to about 30 r min or less Brake release BRK OFF Servo ON SRV ON approx 50 ms Motor speed approx 30 r min approx 1 to 5 ms Servo ON Servo OFF Braking 3 t1 1 Free not energized Braking Braking Released Energized Released approx 30 r min approx 30 r min Released Dynamic brake Motor Motor speed A Brake release BRK OFF A Motor spe...

Page 99: ...ection 117 6 196 392 117 6 196 490 686 490 686 980 686 980 686 980 1176 Radial load 49 68 6 245 392 68 6 245 392 490 784 392 490 784 490 784 392 490 784 490 784 1176 Thrust load A or B direction 29 4 58 8 98 147 58 8 98 147 196 343 147 196 343 196 343 147 196 294 196 343 490 Motor capacity 30W 50W 100W 200W 400W 750W 100W 200W 400W 1kW 1 5kW 3 5kW 4kW 5kW 750W 1kW 2kW 2 5kW 3kW 3 5kW 4kW 4 5kW 5kW...

Page 100: ...rations The motor will start to decelerate with the proximity sensor ON and stop with the first initialization signal Z phase The motor will start to decelerate with the proximity sensor ON and stop with the first initialization Z phase signal after the proximity sensor OFF Proximity sensor Initialization signal Proximity sensor dog range Proximity sensor dog range Going back and forth Z phase out...

Page 101: ...ingle turn data that defines the absolute position of the motor and Multi turn data that counts the number of turns after the latest clearing operation of the encoder 1回転データ CW CCW 1 0 0 1 1 2 131071 0 1 2 131071 0 1 2 131071 0 1 多回転データモータ回転方向 0Bh RSW ID D2h 03h 11h Encoder status L Absolute data 15 characters received Value of RSW ID on the LED touch panel Encoder status H Single turn data L Sin...

Page 102: ... absolute status or over speed For details of the encoder status see Encoder Specifications For details of the transfer of absolute data see Communication Specifications When transferring absolute data enter Servo OFF and fix the motor using a brake Installing the Battery The backup battery is used for saving the position data of the absolute encoder when the main power of the driver is off Use on...

Page 103: ...oning controller Battery TXD Host ID MODE IM SER IN SER OUT I F SIG U V W SP G SET RSW ID 0 RSW ID 1 RSW ID 2 RSW ID 3 RS485 ID MODE IM SER IN SER OUT I F SIG U V W SP G SET RS485 ID MODE IM SER IN SER OUT I F SIG U V W SP G SET RS485 Max 16 axes Host ID MODE IM SER IN SER OUT I F SIG U V W SP G SET ID MODE IM SER IN SER OUT I F SIG U V W SP G SET ID MODE IM SER IN SER OUT I F SIG U V W SP G SET I...

Page 104: ...ived 15 characters 04h received 06h received 05h received Checksum OK 00h sent 00h sent 2Dh sent 1 2 D2h sent The host enters the RSW value 1 data of the desired driver into the axis field of the command block and sends the command according to the RS232C communication protocol Checksum OK if the value of the lowest 8 bits of the sum of the received absolute data 15 characters is 0 RSW ID 0 1 2 3 ...

Page 105: ...W SP G SET Set the value of RSW ID on the LED touch panel to 1 to F Max 15 axes Host Controller RS485 interface ADM485 or equivalent Motor Positioning controller Next driver Battery RS485 RS485 GND 7 8 4 44 45 3 Driver CN NET CN SER CN I F BATT CN SIG BATT RS485 7 8 4 RS485 GND RS485 RS485 GND 2 1 The baud rate is determined by Parameter No 0D Baud rate set up of RS485 2400 4800 9600 bps 8 bits Ni...

Page 106: ...5h 86h 87h 88h 89h 8Ah 8Bh 8Ch 8Dh 8Eh 8Fh 2 data 01h 02h 03h 04h 05h 06h 07h 08h 09h 0Ah 0Bh 0Ch 0Dh 0Eh 0Fh 3 data 2Dh 2Ch 2Bh 2Ah 29h 28h 27h 26h 25h 24h 23h 22h 21h 20h 1Fh RS485 is not available Start of transfer N N N N Y Y Y Y End of transfer The controller requests the driver to send absolute data 04h sent 80h sent 06h sent 15h sent Absolute data received 15 characters 81hreceived 06h rece...

Page 107: ...k cover for types 1 through 3 Connect the cable Battery holder Set the lug into place Note Make sure that the cable is not caught between the driver and holder Snap the upper lug into place while pressing the mark 2 Insert the battery into the holder Insert the battery Battery holder optional DVOP2061 Battery DVOP2060 3 Set the holder to the driver Driver Artisan Technology Group Quality Instrumen...

Page 108: ...e battery cover into place 2 Set the battery into the holder 1 Never use a damaged liquid leaking battery 2 Make sure that the battery cable is firmly connected Otherwise electric contact may be lost due to aging Notes If using two batteries simultaneously one at the driver and other one at the controller a loop circuit is made which may cause troubles Artisan Technology Group Quality Instrumentat...

Page 109: ...or External scale 0V 5V SD SD 3 6V 3 6VG 0V 5V EXZ EXZ EXB EXB EXA EXA 5V 0V FG RX TX RX TX PG5V PG5V 172161 1 172169 1 PG0V CN SIG 17 4 2 3 1 20 6 5 18 7 8 9 10 11 12 4 2 1 5 7 8 9 3 BATT BATT Motor side Driver side JapanAviationElectronicsIndustry Ltd make JapanAviationElectronicsIndustry Ltd make Intermediate cable FG Servo motor External scale 0V 5V SD SD 3 6V 3 6VG 0V 5V EXZ EXZ EXB EXB EXA E...

Page 110: ...X 220Ω 2KΩ 2KΩ 43KΩ 43KΩ Twist paired wires DS26C32ATM or equivalent EX 0V Relationship between signal from external scale and rotating direction CCW Rotation EXB precedes EXA by 90 degrees and t1 0 5 μ s t2 2 0 μ s CW Rotation EXB succeeds to EXA by 90 degrees and t1 0 5 μ s t2 2 0 μ s t1 t2 EXA EXB t1 t2 EXA EXB Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisa...

Page 111: ... mains power ON the current value of RSW ID 0 to F on the LED touch panel is downloaded to the driver as the value of this parameter The value of this parameter cannot be modified by other means than the rotary switch RSW ID Reading pulse count of the position error counter Unit pulse generates CCW torque generates CW torque Motor speed Unit r min runs in CCW runs in CW Motor torque Unit generates...

Page 112: ...de If you do not use the torque limit set Pr03 to 1 With Pr03 0 and torque limit input CCWTL and CWTL open the motor does not run 1 These are special modes intended for full close operation For detals see Full Close Specifications 2 If a hybrid mode has been selected Pr02 3 4 5 9 or 10 switch the 1st and 2nd mode with the control mode switching input C MODE Notes Allow 10ms or longer before enteri...

Page 113: ... or CW overtravel limit input CCWL or CWL becomes active For details see the description of Pr66 DB inhibition at overtravel limit 04 Overtravel input inhibit 0 1 1 CW direction CCW direction CCWL CWL Work Servo motor Limit switch Limit switch Driver Value 0 1 CCWL CWL input Enabled Disabled Input CCWL CN I F 9 CWL CN I F 8 Operation Normal with the CCW limit switch not activated Normal with the C...

Page 114: ... Internal speed Pr53 2st Internal speed Pr54 3st Internal speed Pr55 4st Internal speed Pr56 2 External velocity command Value of Pr05 30 33 AD converter 1 1 2 2 0 0 Pr05 SPR CL CN I F INH External velocity command Contact input Velocity command 1st Internal speed Pr53 2st Internal speed Pr54 3st Internal speed Pr55 4st Internal speed Pr56 14 INH Pin 33 Off On Off On CL Pin 30 Off Off On On Switch...

Page 115: ...ation using the internal velocity commands To run stop the motor you need zero speed clamp input ZEROSPD and Servo ON input SRV ON in addition to CL INH input Notes You can set up the acceleration deceleration time and S curve acceleration deceleration time individually with parameters See the following descriptions of the parameters Pr58 Acceleration time set up Pr59 Deceleration time set up Pr5A...

Page 116: ...ignal Overregeneration alarm Overload alarm Absolute battery alarm Signal symbol TLC ZSP WARN ALL WARN REG WARN OL WARN BATT Remarks For details of these functions see the section of CN I F Connector Value 0 1 2 3 4 5 6 7 8 9 SPM signal Actual motor speed Relationship between output voltage level and velocity 1 6V 47 r min 1 6V 187 r min 1 6V 750 r min 1 6V 3000 r min 1 5V 3000 r min 1 6V 47 r min...

Page 117: ... Baud rate set up of RS485 0 5 1 0 2 1 0 2 2 0 2 2 Value 0 1 2 Description Uses an absolute encoder as an ab solute encoder Uses an absolute encoder as an in cremental encoder Uses an absolute encoder as an ab solute encoder but ignoring the multi turn counter over Value 0 1 2 Baud rate 2400bps 4800bps 9600bps Value 0 1 2 Baud rate 2400bps 4800bps 9600bps Details of Parameters Note For the default...

Page 118: ...tant of the primary delay filter that is inserted to the torque command portion Use this function to suppress the oscillation caused by torsion resonance You can set up the amount of velocity feed forward at position control Position error becomes almost 0 while the motor runs at a constant speed by setting this to 100 The higher the setting you make the quicker the response you can obtain with sm...

Page 119: ...imary delay filter inserted in the Distulbance torque observer 18 19 1A 1B 1C 1D 1E 1F 2nd position loop gain 2nd velocity loop gain 2nd velocity loop integration time constant 2nd speed detection filter 2nd torque filter time constant Notch frequency Notch width selection Disturbance torque observer 10 2000 50 1 3500 1 1000 50 0 5 4 0 2500 100 1500 1500 0 4 2 0 8 8 1 s Hz ms ー 0 01ms Hz ー Details...

Page 120: ...ained though the operation may become unstable depending on the operating pattern In nor mal cases the value of this parameter should be 1 or 2 You can set up the machine stiffness from 10 options that is used at the real time auto gain tuning Large impact shock might be given to the machine when you suddenly set this parameter to a larger value Start from the smaller value while monitoring the ma...

Page 121: ...n selection and switching Fixed to the 1st gains 1 switching between PI and P possible Switching between the 1st and 2nd gains possible 2 GAIN input COM disconnected COM connected Operation of the position loop PI operation P operation Value 0 1 2 3 4 5 6 7 8 Conditions for gain switching Fixed to the 1st gain Fixed to the 2nd gain 2nd gain selection with the gain switching input GAIN ON Pr30 must...

Page 122: ...t up a phased switching time of the gain applied to the position loop alone while the 2nd gain switching function is enabled Use this parameter only for switching from a smaller position loop gain to a larger position loop gain from Kp1 to Kp2 in order to reduce the impact forces caused by a large change in gain Set the smaller value than the difference between KP2 and KP1 32 33 34 35 Position con...

Page 123: ... switching level Velocity control switching hysteresis Torque control switching mode Torque control switching delay time Torque control switching level Torque control switching hysteresis 0 5 0 0 10000 0 0 10000 0 0 10000 0 0 3 0 0 10000 0 0 10000 0 0 10000 0 ー 166μs ーーー 166μs ーー Details of Parameters Value 0 1 2 3 4 5 Gain switching Fixed to the 1nd gain Fixed to the 2nd gain 2nd gain selectio...

Page 124: ...4 4 0 3 0 0 3 1 PrNo Parameter Range Function description Parameters for Position Control Value 1 2 3 or 4 Multiplication at quadrature pulse input 1 2 4 Value 0 or 2 1 3 Signal PULS SIGN PULS SIGN PULS SIGN Type of command pulse Quadrature pulse command mode CW CCW pulse command mode Pulse Sign command mode CCW command CW command Value 0 1 2 3 Logic of PULSE signal Non inversion Inversion Non inv...

Page 125: ...pulse inputs Make both of the rising and tailing time 0 1 μs or shorter I F for inputting PULSE SIGN signals Interface for line drivers Interface for open collectors t1 2 5 t2 1 2 5 t3 1 2 5 t4 1 2 5 t5 1 2 5 t6 1 2 5 Maximum permissible frequency 500kps 200kpps Minimum required time width μs Command pulse input is disabled by opening the connection between INH input and COM If you do not use INH ...

Page 126: ...ugh Pr4B You can invert the the phase relation between A and B phases by inverting the logic of the B phase pulse with this parameter CCW run A phase OA B phase OB non inversion B phase OB inversion CW run Value 0 1 Command pulse 2 Numerator of 1st command pulse ratio Pr46 1 1 2 2 Multiplier of numerator of command pulse ratio Pr4A Internal command F f Feedback pulse resolution to the position err...

Page 127: ... of 1 4 to turn the motor one revolution Set up the Pr46 Pr4A and Pr4B so that the post scaling inter nal command F equals the resolution 10000 or 217 of the encoder F f x Pr46 x 2Pr4A Pr4B 10000 or 217 F Internal command pulse counts required for motor one revolution f Command pulse counts required for motor one revolution 46 4B Details of Parameters DIV off DIV on 1st numerator Pr46 selection 2s...

Page 128: ... 30 1 Minimum time width of the CL signal 4C 4D Smoothing filter set up Counter clear input 0 7 1 0 1 0 Value 0 1 7 Time constant No filtering function Large time constant Value 0 1 Conditions Cleared with level 1 Cleared with edge rising part Purpose of this filter Reduce the stepwise motion of the motor that may appear when the command input is rough The command input may become rough when The s...

Page 129: ... r min V e g 6V with 3000 r min Notes 1 Don t apply more than 10V to the velocity command input SPR 2 If the position loop is composed externally the set up value of Pr50 affects the overall position gain Higher set up of Pr50 could cause oscillation Value 0 1 Rotating direction CCW with command viewed from the shaft end CW with command viewed from the shaft end 10 2000 500 0 1 1 Notes When the dr...

Page 130: ...min at JOG trial run mode For details of JOG functions see Trail run 52 53 54 55 56 57 Velocity command offset 1st internal speed 2nd internal speed 3rd internal speed 4th internal speed JOD speed set up 2047 2047 0 10000 10000 0 10000 10000 0 10000 10000 0 10000 10000 0 0 500 300 CCW run CW run Manual adjustment when executing the adjustment with the driver alone Set up the value with this parame...

Page 131: ...e impact shock will be given at starting or stopping with a linear acceleration deceleration You can set up the relationship between the motor torque and the voltage applied to the torque command input TRQR CN I F pin 14 58 59 5A 5C Acceleration time set up Deceleration time set up S shaped accel decel time set up Torque command input gain 0 5000 0 0 5000 0 0 500 0 10 100 30 1 Set the basic accele...

Page 132: ...ltage for producing the rated torque The default value of 30 corresponds to 3V 100 0 1 0 0 500 300 Rated torque Torque Default Voltage of command input 2 2 4 6 8 10V 100 100 200 300 200 300 4 6 8 10V CW CCW Value 0 1 Direction of motor torque CCW torque with commands CW torque with commands Set up the value in against the rated torque The right figure shows an example that the maximum torque is li...

Page 133: ...becomes lower than this setting 60 61 In position range Zero speed 0 32767 0 10000 50 The unit of position error pulses is the resolution of the encoder It differs depending on the type of encoder 17 bit encoder 217 131072 2500 P rev encoder 4 x 2500 Notes 1 If you set up too small value to Pr60 time to feed out COIN signal gets longer or causes a chattering 2 The value of this parameter does not ...

Page 134: ...e the value of this parameter using the following formula Pr62 affects both CW and CCW rotation regardless of the actual rotating direction Value 0 1 Position error limit protection Enabled Disabled The motor continues to run even though the pulse counts ex ceeds the level set by Pr63 judging that no error is found Speed CW COIN Off ON CCW Pr62 Pr62 Parameter value Position error limit level pulse...

Page 135: ...mic brake DB is activated and the motor is stopped After stop the dynamic brake is released Without dynamic brake the motor stops after coasting After stop the motor remains free Value 0 1 Details of Parameters Under voltage protective function If the main power is lost during Servo ON Servo OFF get active the motor does not trip After this when the main power is on Servo ON will be made active ag...

Page 136: ...the conditions for decelerating the motor and keeping the motor stopped after one of the driver s protective functions alarms is activated DB Dynamic brake engaged See also Timing chart for alarms in Appendix Defines the following processes after Servo OFF SER ON signal CN I F Pin 29 Operating conditions during deceleration and after stop Process for clearing the position error counter The functio...

Page 137: ...regenerative discharge resistor selection 0 100 0 0 2 0 Details of Parameters Value 0 1 2 Regenerative discharge resistor Internal resistor External resistor External resistor Over regenerative power protection The protection operates for the internal resistor The protection operates for the external resistor whose operating limit is 10 of the duty No protection This parameter is necessary for avo...

Page 138: ...ternal information Warning Load factor of the regenerative dis charge resistor Load factor Pressing UP button will scroll downward in the arrow direction Pressing DOWN button will scroll upward Position error corresponding to three pulses 1000 r min Torque output of 100 Position control mode No 0 active Currently no errors Internal information Overload warning occurred no battery or no over regen ...

Page 139: ...the motor speed rpm with an indication of polarity unit r min Revolution in CCW direction Revolution in CW direction Torque output Display the generated torque with an indication of polarity unit Torque in CCW direction Torque in CW direction Display of Control Mode Display the current control mode Control mode Position control mode Torque control mode Data Speed control mode Notes symbol is not d...

Page 140: ... blinking Input output selection mode Signal selection mode The lowest No of input signal The highest No of input signal The lowest No of output signal Input signa Output signal The highest No of output signal Decimal point placed on the right side Signal selection mode Decimal point placed on the left side Input output selection mode Pressing UP button will scroll downward in the arrow direction ...

Page 141: ...MODE ZEROSPD DIV INH GAIN CL INH CL Pin No 29 31 8 9 32 26 28 33 27 30 33 30 No 0 1 2 3 4 5 6 7 8 9 A B C D E F 10 11 12 13 14 15 16 17 18 19 1A 1B 1C 1D 1E 1F Signal description Servo ready Servo alarm In position Mechanical brake release Zero speed detection Torque in limit Internal use Internal use Internal use At speed Internal use Internal use Internal use Dynamic brake action Internal use In...

Page 142: ...26 Function Undervoltage control power Overvoltage Undervoltage main power Overcurrent Overheat Overload Regenerative discharge Encoder A B phase error Encoder communication error Encoder connection error Encoder communication data error Position error Hybrid error Overspeed Alarm Code No 27 28 29 35 36 37 38 40 41 42 44 45 47 Other than the above Function Command pulse saler error External scale ...

Page 143: ...urs Alarming criteria cannot be changed Acceptable load factor of the regenerative discharge resistor unit For an external regenerative discharge resistor Pr6C should be 0 or 1 to display the load factor Display of the load factor Display the load factor as a percentage of the rated load 100 See Overload Protection Time Limiting Characteristic in Appendix Load factor unit Display of the load facto...

Page 144: ...it must be downloaded to EEPROM After downloading the parameter value is not valid until the power is turned off and turned on again Press UP button to scroll down in the arrow direction Press DOWN button to scroll up SET Using LEFT button move the decimal point to a digit that you want to edit Note How many digits you can move the decimal point leftward differs depending on the parameter Press UP...

Page 145: ...re Select the automatic offset adjustment mode using the procedure mentioned above will appear Press SET button to display The mode is ready for execution Automatic offset adjustment mode Motor trial mode Alarm clear mode Absolute encoder clear mode SET Keep pressing UP but ton for about three seconds The number of short bars will increase The mode is started The adjustment will complete instantan...

Page 146: ...l A CLR Procedure Select the alarm clear mode refer to page 39 in Appendix will appear Press SET button to display The mode is ready for execution SET Notes If one of the errors shown below is occurring the trip status is not removed and appears In this case remove the error by turning off the power removing the cause and turning on the power again Over current overheat encoder A B phase error enc...

Page 147: ...lay The mode is ready for execution SET The mode is started The clearing operation will complete instanta neously Clearing completed Error Notes If you execute this mode for a driver with an incremental encoder will appear After executing the absolute encoder clear mode turn off the power of the driver and then turn it on again Keep pressing UP button for about three seconds The number of short ba...

Page 148: ...rt the PANATERM Setup Disc 1 into the floppy disc drive Start Explorer and switch to select the floppy disc drive For the procedure for starting the Explorer program see the instructions for Windows Double click on Setup exe PANATERM Setup program will start Click on OK to start the setup program Keep the operation according to the guide of the setup program Click on Start installing to start the ...

Page 149: ...sonal computer Start Windows95 or 98 Turn on the driver Click on the start button of Windows see the Windows manual Select click on PANATERM from the program menu An opening splash will be displayed for two seconds and then PANATERM screen will appear For the operation functions and other details about PANATERM see the Instructions for the PANATERM program Overview of a Communication Control Softw...

Page 150: ...al encoders Motor cable Brake cable With brake Encoder cable 17 bits 7 wires for absolute incremental encoders Encoder cable 2500 pulses 11 wires incremental encoders Motor cable Brake cable With brake MSMA30 750W MQMA100 400W MSMA1 0 2 5kW MDMA750W 2 5kW MHMA500W 1 5kW MGMA300 900W MSMA3 0 5 0kW MDMA3 0 5 0kW MHMA2 0 5 0kW MGMA1 2 4 5kW MFMA400W 1 5kW MFMA2 5 4 5kW Dwg No Motor type Cable Part No...

Page 151: ... ø37 3 ø9 2 L m 3 5 10 20 Part No MFECA0030LAA MFECA0050LAA MFECA0100LAA MFECA0200LAA L m 3 5 10 20 Part No MFECA0030LSA MFECA0050LSA MFECA0100LSA MFECA0200LSA L m 3 5 10 20 Part No MFECAO030EAA MFECAO050EAA MFECAO100EAA MFECAO200EAA Part No MFECAO030ESA MFECAO050ESA MFECAO100ESA MFECAO200ESA L m 3 5 10 20 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com ...

Page 152: ...032ECT MFMCD0052ECT MFMCD0102ECT MFMCD0202ECT Part No MFMCA0033ECT MFMCA0053ECT MFMCA0103ECT MFMCA0203ECT L m 3 5 10 20 fig 3 5 MFMCD0 3ECT 50 L ø37 3 ø12 5 ø14 50 L ø43 7 L m 3 5 10 20 Part No MFMD0033ECT MFMD0053ECT MFMD0103ECT MFMD0203ECT L m 3 5 10 20 Part No MFMCA0032ECT MFMCA0052ECT MFMCA0102ECT MFMCA0202ECT fig 3 4 MFMCA0 2ECT Robotop is the trademark of Sumitomo Denso Artisan Technology Gr...

Page 153: ... 50 L 50 ø37 3 ø12 5 ø 9 8 L 50 L 50 ø43 7 ø14 ø 9 8 Part No MFMCB0030GET MFMCB0050GET MFMCB0100GET MFMCB0200GET L m 3 5 10 20 L m 3 5 10 20 Part No MFMCA0033FCT MFMCA0053FCT MFMCA0103FCT MFMCA0203FCT L m 3 5 10 20 Part No MFMCA0032FCT MFMCA0052FCT MFMCA0102FCT MFMCA0202FCT Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com ...

Page 154: ...Shell Manufacturer s Part No 10150 3000VE 10350 52A0 008 Quantity 1 1 Manufacturer SUMITOMO 3M Remarks For CN I F 50 pins 26 ZERO SPD 28 DIV 30 CL 32 C MODE 34 S RDY 36 ALM 38 COIN 40 TLC 42 IM 44 BATT 46 NC 48 OB 27 GAIN 29 SRV ON 31 A CLR 33 INH 35 S RDY 37 ALM 39 COIN 41 COM 43 SPM 45 BATT 47 NC 49 OB 1 NC 3 PULS1 5 SIGN1 7 COM 9 CCWL 11 BRK OFF 13 GND 15 GND 17 GND 19 CZ 21 OA 23 OZ 2 NC 4 PUL...

Page 155: ...1 1 15 1 4 Manufacturer Sumitomo 3M AMP AMP Remarks For CN I SIG 20pin For encoder cable 15 pins For motor cable 4 pins Item Plug Shell Cap Socket Cap Socket Manufacturer s Part No 10120 3000VE 10320 52A0 008 172161 1 170365 1 172159 1 170366 1 Quantity 1 1 1 9 1 4 Manufacturer Sumitomo 3M AMP AMP Remarks For CN I SIG 20pin For encoder cable 9 pins For motor cable 4 pins with a 2500 pulse 11 wire ...

Page 156: ...ion Electronics Industry Ltd Remarks For CN I SIG 20pin For encoder cable For motor cable Item Plug Shell Straight plug Cable clamp Straight plug Cable clamp Manufacturer s Part No 10120 3000VE 10320 52A0 008 MS3106B 20 29S MS3057 12A MS3106B22 22S MS3057 12A Quantity 1 1 1 1 1 1 Manufacturer Sumitomo 3M Japan Aviation Electronics Industry Ltd Japan Aviation Electronics Industry Ltd Remarks For CN...

Page 157: ...motor cable Item Plug Shell Straight plug Cable clamp Straight plug Cable clamp Manufacturer s Part No 10120 3000VE 10320 52AO 008 MS3106B20 29S MS3057 12A MS3106B24 11S MS3057 16A Quantity 1 1 1 1 1 1 Manufacturer Sumitomo 3M apan Aviation Electronics Industry Ltd Japan Aviation Electronics Industry Ltd Remarks For CN I SIG 20pin For encoder cable For motor cable with brake with a 17 bit absolute...

Page 158: ... 12 NC 14 NC 16 NC 20 FG Shield 1 0V 5 BATT 7 NC 9 NC 2 0V 6 BATT 8 NC 10 NC 2500P R 17bit Notes 1 The tables above show the pins alignment looking from where the plugs are soldered 2 The pin 20 FG should be connected to the shield of the shielded wire Pins marked with NC should be left unconnected 3 For the use of these pins see the section CN SIG Connector for Encoder in the main part of this ma...

Page 159: ...8 29 30 Wire color Orange Red 3 Orange Brack3 Gray Red 3 Gray Brack 3 White Red 3 White Brack3 Yellow Red 3 Yellow Brack3 Pink Red 3 Pink Brack 3 Pin No 31 32 33 34 35 36 37 38 39 40 Wire color Orange Red 4 Orange Brack4 Gray Red 4 White Red 4 White Brack4 Yellow Red 4 Yellow Brack4 Pink Red 4 Pink Brack 4 Gray Brack 4 Pin No 41 42 43 44 45 46 47 48 49 50 Wire color Orange Red 5 Orange Brack5 Gray...

Page 160: ...als 0 2000 200 D subconnector 9P eight clamp terminals Mini DIN8P MD connector eight clamp terminals 0 Mini DIN8P MD connector eight clamp terminals L Communication Control Software PANATERM Part No DVOP2320 3 5 inch floppy disc Note For the operating environment and other details see the Instructions for PANATERM Part No DVOP1970 DVOP1971 DVOP1972 L mm 200 500 1000 Artisan Technology Group Qualit...

Page 161: ...ounting screws are supplied together with the brackets Notes Type 5 drivers can be secured in either way of front panel mounting or back panel mounting To change the mounting method change the L shape brack ets supplied 2 M3 Countersinking 2 M3 Countersinking 10 17 65 11 5 32 15 32 5 5 2 32 5 10 15 17 65 11 5 32 ø 5 2 2 M3 Countersinking 2 M3 Countersinking 10 17 50 9 5 19 15 25 19 9 5 50 17 15 10...

Page 162: ... and 8 Appendix Recommended combination between driver and external regenerative discharge resistor Part No DV0P1980 DV0P1981 DV0P1982 DV0P1983 Specifications 50 Ω 100Ω 30 Ω 20 Ω Model Product number RH150M RH150M RH220M RH500M Resistance 90W 90W 120W 300W Driver type 1 2 3 4 2 4 3 5 Single phase 100V DVOP1980 x 1 Three phase 200V DVOP1981 x 1 DVOP1982 x 2 in parallel or DVOP1983 x 1 DVOP1982 x2 3...

Page 163: ... Absolute Driver with battery Outer Dimension Driver Types 1 through 3 Dimension 1 2 3 L LL 130 147 170 187 Notes Absolute drivers of types 4 2 4 3 and 5 have the same dimension as the standard type 23 99 17 50 Lead wires 注意配線は正しく確実に行い配線後は必ずカバーをネジ止めしてください CAUTION Connect the wiring correctly and properly and screw the cover after wire connection Nameplate Bracket standard 17 LL L 1 5 23 2 3 D...

Page 164: ...0W 30W 400W 100W 400W 300W 400W 500W 600W 750W 900W 1 2kW 1 0kW 1 5kW 1 5kW DVOP222 DVOP220 DVOP221 DVOP222 MSDA MDDA MHDA MGDA MSDA MDDA MFDA MSDA MDDA MHDA MGDA MSDA MDDA MFDA MSDA MDDA MFDA 200V 2 0kW 2 0kW 2 5kW 3 0kW 3 5kW 4 0kW DVOP223 DVOP224 DVOP225 Driver series Voltage Rated output Reactor Part No Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com...

Page 165: ... CHEMIー CON CO motor Surge absorber for brake MSMA30W 1 0kW MQMA100W 400W MHMA2 0kW 5 0kW MGMA600W 2 0kW MSMA1 5kW 5 0kW MDMA750W MDMA3 5kW 5 0kW MFMA750W 1 5kW MGMA3 0kW 4 5kW MDMA1 0kW 3 0kW MFMA400W MFMA2 5kW 4 5kW MHMA500W 1 5kW MGMA300W Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com ...

Page 166: ...16 7290 Chub Area 052 322 9652 Kansai Ares 06 6447 3944 Kantou Area 044 844 8111 Chub Area 0565 29 0890 Kansai Ares 06 6251 4961 Manufacturer agent Tel Equipment Matsushita Electric Works Ltd IWAKI MUSEN KENKYUSHO CO LTD NIPPON CHEMI CON CORPORATION Ishizuka Electronics Corporation Tokin Corporation TDK Corporation Okaya Electric Industries Co Ltd Japan Aviation Electronics Industry Ltd Sumitomo 3...

Page 167: ... 14 19 7 8 11 14 19 7 8 11 14 19 7 8 11 14 19 Model MSMA3AZA1 M S M A 5 Z A 1 MSMA01 A1 MSMA02 A1 MSMA04 A1 MSMA082A1 MSMA3AZC1 MSMA5AZC1 MSMA01 C1 MSMA02 C1 MSMA04 C1 MSMA082C1 MSMA3AZA1 MSMA5AZA1 MSMA01 A1 MSMA02 A1 MSMA04 A1 MSMA082A1 MSMA3AZC1 MSMA5AZC1 MSMA01 C1 MSMA02 C1 MSMA04 C1 MSMA082C1 LB 30 50 70 30 50 70 30 50 70 30 50 70 LA 45 70 90 45 70 90 45 70 90 45 70 90 LC 38 60 80 38 60 80 38 ...

Page 168: ...4 4 5 6 3 4 4 5 6 LW 13 14 20 25 13 14 20 25 13 14 20 25 13 14 20 25 LK 12 12 5 18 22 5 22 12 12 5 18 22 5 22 12 12 5 18 22 5 22 12 12 5 18 22 5 22 KW 2 3 4 5 6 2 3 4 5 6 2 3 4 5 6 2 3 4 5 6 Without brake M S M A With brake KH 2 3 4 5 6 2 3 4 5 6 2 3 4 5 6 2 3 4 5 6 LP 6 5 7 5 10 12 5 17 5 6 5 7 5 10 12 5 17 5 6 5 7 5 10 12 5 17 5 6 5 7 5 10 12 5 17 5 Weight kg 0 27 0 34 0 56 1 0 1 6 3 2 0 33 0 40...

Page 169: ...SMA352A1 MSMA402A1 MSMA452A1 MSMA502A1 MSMA102D1 MSMA152D1 MSMA202D1 MSMA252D1 MSMA302D1 MSMA352D1 MSMA402D1 MSMA452D1 MSMA502D1 MSMA102A1 MSMA152A1 MSMA202A1 MSMA252A1 MSMA302A1 MSMA352A1 MSMA402A1 MSMA452A1 MSMA502A1 MSMA102D1 MSMA152D1 MSMA202D1 MSMA252D1 MSMA302D1 MSMA352D1 MSMA402D1 MSMA452D1 MSMA502D1 LB 80 95 110 80 95 110 80 95 110 80 95 110 LA 100 115 145 100 115 145 100 115 145 100 115 1...

Page 170: ...5 55 45 55 45 55 45 55 LK 42 41 51 42 41 51 42 41 51 42 41 51 KH 6 7 6 7 6 7 6 7 RH 15 5 18 20 15 5 18 20 15 5 18 20 15 5 18 20 LQ 145 145 145 145 KW 6 8 6 8 6 8 6 8 without brake M S M A with brake Weight kg 4 5 5 1 6 5 7 5 9 3 10 9 12 9 15 1 17 3 4 5 5 1 6 5 7 5 9 3 10 9 12 9 15 1 17 3 5 1 6 5 7 9 8 9 11 0 12 6 14 8 17 0 19 2 5 1 6 5 7 9 8 9 11 0 12 6 14 8 17 0 19 2 Artisan Technology Group Qual...

Page 171: ... 400 100 200 400 100 200 400 S 8 11 14 8 11 14 8 11 14 8 11 14 Model MQMA01 A1 MQMA02 A1 MQMA04 A1 MQMA01 C1 MQMA02 C1 MQMA04 C1 MQMA01 A1 MQMA02 A1 MQMA04 A1 MQMA01 C1 MQMA02 C1 MQMA04 C1 Without brake M Q M A With brake LB 50 70 50 70 50 70 50 70 LA 70 90 70 90 70 90 70 90 LC 60 80 60 80 60 80 60 80 LE 3 5 3 5 3 5 3 5 Dimensions Artisan Technology Group Quality Instrumentation Guaranteed 888 88 ...

Page 172: ... 4 5 3 4 5 3 4 5 LN 20 22 20 22 20 22 20 22 LP 7 5 10 12 5 7 5 10 12 5 7 5 10 12 5 7 5 10 12 5 LW 14 20 25 14 20 25 14 20 25 14 20 25 LO 7 5 10 12 5 7 5 10 12 5 7 5 10 12 5 7 5 10 12 5 Without brake M Q M A With brake RH 6 2 8 5 11 6 2 8 5 11 6 2 8 5 11 6 2 8 5 11 Weight kg 0 65 1 3 1 8 0 75 1 4 1 9 0 9 2 0 2 5 1 0 2 1 2 6 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE w...

Page 173: ... MDMA152D1 MDMA202D1 MDMA252D1 MDMA302D1 MDMA352D1 MDMA402D1 MDMA452D1 MDMA502D1 MDMA082A1 MDMA102A1 MDMA152A1 MDMA202A1 MDMA252A1 MDMA302A1 MDMA352A1 MDMA402A1 MDMA452A1 MDMA502A1 MDMA082D1 MDMA102D1 MDMA152D1 MDMA202D1 MDMA252D1 MDMA302D1 MDMA352D1 MDMA402D1 MDMA452D1 MDMA502D1 LB 110 130 114 3 110 130 114 3 110 130 114 3 110 130 114 3 LA 145 165 200 145 165 200 145 165 200 145 165 200 LC 120 13...

Page 174: ...51 50 42 41 51 50 42 41 51 50 KH 6 7 8 6 7 8 6 7 8 6 7 8 RH 15 5 18 20 24 30 15 5 18 20 24 30 15 5 18 20 24 30 15 5 18 20 24 30 LQ 145 145 145 145 KW 6 8 10 6 8 10 6 8 10 6 8 10 Without brake M D M A With brake Weight kg 4 8 6 8 8 5 10 6 12 8 14 6 16 2 18 8 21 5 25 0 4 8 6 8 8 5 10 6 12 8 14 6 16 2 18 8 21 5 25 0 6 5 8 7 10 1 12 5 14 7 16 5 18 7 21 3 25 0 28 5 6 5 8 7 10 1 12 5 14 7 16 5 18 7 21 3...

Page 175: ...HMA502A1 MHMA052D1 MHMA102D1 MHMA152D1 MHMA202D1 MHMA302D1 MHMA402D1 MHMA502D1 MHMA052A1 MHMA102A1 MHMA152A1 MHMA202A1 MHMA302A1 MHMA402A1 MHMA502A1 MHMA052D1 MHMA102D1 MHMA152D1 MHMA202D1 MHMA302D1 MHMA402D1 MHMA502D1 LB 110 114 3 110 114 3 110 114 3 110 114 3 LA 145 200 145 200 145 200 145 200 LC 130 176 130 176 130 176 130 176 LD 165 233 165 233 165 233 165 233 Without brake M H M A With brake ...

Page 176: ...LF 12 18 12 18 12 18 12 18 LR 70 80 70 80 70 80 70 80 LZ 9 13 5 9 13 5 9 13 5 9 13 5 LW 45 55 45 55 45 55 45 55 Without brake M H M A With brake Weight kg 5 3 8 9 10 0 16 0 18 2 22 0 26 7 5 3 8 9 10 0 16 0 18 2 22 0 26 7 6 9 9 5 11 6 19 5 21 7 25 5 30 2 6 9 9 5 11 6 19 5 21 7 25 5 30 2 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com ...

Page 177: ...352D1 MFMA452D1 MFMA042A1 MFMA082A1 MFMA152A1 MFMA252A1 MFMA352A1 MFMA452A1 MFMA042D1 MFMA082D1 MFMA152D1 MFMA252D1 MFMA352D1 MFMA452D1 LB 110 114 3 200 110 114 3 200 110 114 3 200 110 114 3 200 LA 145 200 235 145 200 235 145 200 235 145 200 235 LC 130 176 220 130 176 220 130 176 220 130 176 220 LD 165 233 268 165 233 268 165 233 268 165 233 268 Without brake M F M A With brake LL LR LE LF LBh7 øS...

Page 178: ... 15 5 18 30 15 5 18 30 LE 6 3 2 4 6 3 2 4 6 3 2 4 6 3 2 4 LF 12 18 16 12 18 16 12 18 16 12 18 16 LR 55 65 70 55 65 70 55 65 70 55 65 70 LZ 9 13 5 9 13 5 9 13 5 9 13 5 LW 45 55 45 55 45 55 45 55 Without brake M F M A With brake Weight kg 4 7 8 6 11 0 14 8 15 5 19 9 4 7 8 6 11 0 14 8 15 5 19 9 6 7 10 6 14 0 17 5 19 2 24 3 6 7 10 6 14 0 17 5 19 2 24 3 Artisan Technology Group Quality Instrumentation ...

Page 179: ...MGMA452D1 MGMA032A1 MGMA062A1 MGMA092A1 MGMA122A1 MGMA202A1 MGMA302A1 MGMA452A1 MGMA032D1 MGMA062D1 MGMA092D1 MGMA122D1 MGMA202D1 MGMA302D1 MGMA452D1 Without brake M G M A With brake LB 110 114 3 110 114 3 110 114 3 110 114 3 LA 145 200 145 200 145 200 145 200 LC 130 176 130 176 130 176 130 176 LD 165 233 165 233 165 233 165 233 eyebolt call 10 MGMA 300W 3 0kW MGMA 4 5kW øSh6 L Bh7 øSh6 L Bh7 LR L...

Page 180: ... 41 50 90 41 50 90 41 50 90 41 50 90 KW 8 10 12 8 10 12 8 10 12 8 10 12 RH 18 30 37 18 30 37 18 30 37 18 30 37 LR 70 80 113 70 80 113 70 80 113 70 80 113 KH 7 8 7 8 7 8 7 8 Without brake M G M A With brake Weight kg 5 1 6 8 8 5 15 5 17 5 25 0 34 0 5 1 6 8 8 5 15 5 17 5 25 0 34 0 6 7 8 4 10 0 19 0 21 0 28 5 39 5 6 7 8 4 10 0 19 0 21 0 38 5 39 5 Artisan Technology Group Quality Instrumentation Guara...

Page 181: ...M E M O Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com ...

Page 182: ...17 00 Monday to Saturday expect Sunday National holiday and the end biginning of the year Memorandum Fill in the blanks for convenience in fine of inquiry or repair Industrial and Appliance Motor Division Motor Co Matsushita Electric Industrial Co Ltd 1 1 Morofuku 7 chome Daito Osaka Japan 574 0044 IMB29 M0699 0 Date of purchase Place of purchase Model No M DA M MA Telephone No TEL 0720 71 1242 Da...

Page 183: ...quipment Have surplus equipment taking up shelf space We ll give it a new home Learn more Visit us at artisantg com for more info on price quotes drivers technical specifications manuals and documentation Artisan Scientific Corporation dba Artisan Technology Group is not an affiliate representative or authorized distributor for any manufacturer listed herein We re here to make your life easier How...

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