FP-Series PLCs

Motion Control Solutions Servo Drives Minas A4 / FP-Series PLCs 10/2006 Panasonic Motion Control Solutions Overview QFP-SERIES PLCs A QSERVO...
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Motion Control Solutions Servo Drives Minas A4 / FP-Series PLCs

10/2006

Panasonic Motion Control Solutions Overview

QFP-SERIES PLCs

A

QSERVO DRIVES MINAS A4 SERIES

B

QSOFTWARE

C A

Q FP-SERIES The compact FP3 (Sigma) is suitable for most applications. The FP3 (Sigma) PLC itself has powerful features for up to two axes. Add FP3 (Sigma) positioning units to control up to 10 independent axes. The new FP-X PLC with transistor outputs offers functionality similar to the FP3 (Sigma). The FP2/FP2SH is also suitable for complex positioning applications, while the compact FP0 and FP-e can handle simple positioning tasks.

B

Q MINAS A4 SERIES SERVO MOTORS AND DRIVERS

C

Q SOFTWAR W E

Powerful servo drives with cutting edge technology, high power density and a power range of 50W to 5kW.

Use any of the built-in functions for FP3 (Sigma) for up to two axes or the certified Motion Control Library for more complex tasks that require positioning units.

2 10/2006

A FP-Series PLCs FP3 (Sigma) – High-Speed, High Precision

Q GENERAL FEATURES

3 10/2006

A FP-Series PLCs Positioning with FP 3(Sigma) Max. 100kHz pulse output performance is now standard. Powerful device capable of linear interpolation and circular interpolation.

QPULSE OUTPUT MAX. 100kHz Because command processing at speeds up to 100kHz is available, high-speed, high-precision positioning is enabled. Along with stepping motor control, the specs also ensure plenty of scope for controlling servomotors.

Stepping motor Servomotor Servo motor Pulse output CW

Y0 Pulse output CCW

Y1

Possible to combine with pulse-train input drivers Single unit enables two-axis control

I

Motor driver 1

Pulse output CW

Y3 Pulse output CCW

Y4

Motor driver 2

QRAPID 0.02ms START (WHEN JOG OPERATION CONTROLS ARE EXECUTED) The time taken to execute the JOG operation, from the instant the trigger (execution condition) goes on to the time of pulse output, is 0.02ms and 0.2ms with trapezoidal control. Control time is reduced even for machines that quickly and repeatedly restart.

QLINEAR INTERPOLATION AND CIRCULAR INTERPOLATION ARE BUILT-IN (FPG-C32T2H AND FPG-C28P2H)

Linear Interpolation

Circular Interpolation Adhesive

Interpolation functions enable simultaneous control of two axes. Applications that a compact PLC couldn‘t previously cope with are no longer a challenge.

The settings are there for a maximum 60 acceleration/ deceleration steps.

4 10/2006

CW / CCW method

Smooth acceleration/deceleration You can choose to set either 30 or 60 steps of acceleration/ deceleration. This feature means you can achieve smoother movement during long acceleration /deceleration periods of stepping motors.

Support for CW/CCW method Reduce overall costs by designing systems that combine with servomotors and small stepping motors without support for pulse and sign methods.

Motor driver

Pulse / Sign method

QAND THERE’S MORE...

Motor driver

A FP-Series PLCs Positioning with FP 3(Sigma) QPROGRAMMING WITH CONVENIENT AND EASY-TO-UNDERSTAND INSTRUCTIONS • Uses a preset value table for starting speed, target speed, acceleration/ deceleration time, and other factors. Easy-tounderstand programming is possible since numbers can be specified intuitively.

QSELECTABLE HOME RETURN MODE • The home return method may be specified even in situations such as when only a single sensor is being used, depending on the design. • When the home position return is completed, a deviation counter clear signal can also be output.

• Comes with dedicated instructions for each mode: trapezoidal control, home return, JOG operation, free table operation, linear interpolation, and circular interpolation.

QHOME POSITION RETURN

QJOG OPERATION

• Pulse output diagram (when the home position proximity input is not used).

• Pulse output diagram

XA ON

Home sensor ON

XB (JOG command) ON OFF

2000Hz

300Hz

100Hz 0Hz

Y0 (Pulse)

0Hz

150ms

Home search automatically reverses the motor rotation when over limit (+ or -) is input and searches for the home position or near home position in order to return to it automatically.

This refers to an operation in which the motor is rotated only while operation commands are being input. This is used to forcibly rotate the motor using input from an external switch, for instance when making adjustments. Depending on the circumstances, unlimited feeding can be accomplished with the JOG operation in some cases.

QLINEAR INTERPOLATION

QCIRCULAR INTERPOLATION

• Positioning Iocus.

• Positioning Iocus. Current position S (X 5000, Y 8660)

Y-axis (CH2)

• Center-radial setting methods are also available.

2000

θ Center position O (Xo,Yo)

5000

Pass position P (X 9396, Y -3420)

X-axis (CH0)

A control function that automatically defines the continuum of points in a straight line based on only two co-ordinate positions.

Target position E (X 8660, Y -5000)

Allows points to be smoothly traversed by arced paths for which the user specifies the orientation plane, the radius of curvature, motion path profile, and direction of motion.

5 10/2006

A FP-Series PLCs FP 3(Sigma) Positioning Units

1-axis transistor output FPG-PP11

1-axis line driver output FPG-PP12

2-axis transistor output FPG-PP21

2-axis line driver output FPG-PP22

QFEATURES 1. High-speed pulse and startup for great performance is a compact package and even supports linear servos. Max. output frequency: 4 Mpps, Startup speed: 0.005 ms

2. Supports indexed feeding with JOG positioning function. Able to support indexed feed processing applications with high-speed startup and repeated control.

3. Count of feedback pulse possible. Since feedback pulses from encoders, etc., can be counted, control is possible while detecting whether the motor is out of step or verifying the current position in step motors.

QPERFORMANCE SPECIFICATIONS 0ARTNUMBER /UTPUTTYPE /CCUPIED)/POINTS .UMBEROFAXESCONTROLLED #OMMANDUNITS 0OSITION COMMAND -AXPULSECOUNT 3PEED #OMMANDRANGE COMMAND

&0' 00 &0' 00 &0' 00 &0' 00 4RANSISTOR ,INEDRIVER 4RANSISTOR ,INEDRIVER )NPUTPOINTS /UTPUTPOINTS )NPUTPOINTS /UTPUTPOINTS AXIS AXES INDEPENDENT 0ULSEUNIT4HEPROGRAMSPECIFIESWHETHER)NCREMENTOR!BSOLUTEISUSED 3IGNEDBITSn   TO    PULSES PPSTOKPPS PPSTO-PPS PPSTOKPPS PPSTO-PPS CANSETINPPS CANSETINPPS CANSETINPPS CANSETINPPS !CCELERATION ,INEARACCELERATIONDECELERATION 3ACCELERATIONDECELERATION DECELERATIONMETHOD THISTAKESTHEFORMOFAN@3 !CCELERATION @3!CCELERATION DECELERATION #ANSELECTFROM3INECURVE 3ECONDARYCURVE #YCLOIDCURVEAND4HIRDCURVE DECELERATION COMMAND !CCELERATION TO MSCANSETINMS DECELERATIONTIME (OMERETURNSPEED 3PEEDSETTINGPOSSIBLECHANGESRETURNSPEEDANDSEARCHSPEED )NPUTTERMINALS (OMERETURN (OMEINPUT .EARHOMEINPUT /VERLIMITINPUT /VERLIMITINPUTn /UTPUTTERMINALS $EVIATIONCOUNTERCLEAROUTPUTSIGNAL s%POINTCONTROL,INEARAND3ACCELERATIONSDECELERATIONSSELECTINGPOSSIBLE s0POINTCONTROL,INEARAND3ACCELERATIONSDECELERATIONSSELECTINGPOSSIBLE s(OMERETURNFUNCTION(OMESEARCH s*/'OPERATIONFUNCTION  s*/'POSITIONINGFUNCTION /PERATIONMODE s0ULSERINPUTFUNCTION  4RANSFERMULTIPLICATIONRATIO s s s s s s s sSELECTINGPOSSIBLE s2EAL TIMEFREQUENCYCHANGEFUNCTION s)NFINITYOUTPUTFUNCTION 3TARTUPTIME MSORMSPOSSIBLE   PULSEOUTPUT0ULSE3IGN  PULSEOUTPUT#7##7 /UTPUTINTERFACE /UTPUTMODE #OUNTABLERANGE 3IGNEDBITSn   TO    PULSES &EEDBACK COUNTER  PHASEINPUT $IRECTIONDISTINCTIONINPUT )NDIVIDUALINPUT )NPUTMODE FUNCTION  TRANSFERMULTIPLEAVAILABLEFOREACH s4HEFLAGTOCOMPARETHEELAPSEDVALUEISBUILTIN /THERFUNCTIONS 4HETIMINGSIGNALOUTPUTSATTHEOPTIONALPOSITIONDURINGANOPERATION M!MAX M!MAX )NTERNALCURRENTCONSUMPTIONAT6$# 6$#TO6$# %XTERNALPOWER 6OLTAGE SUPPLY #URRENTCONSUMPTION M! M! -ASS !PPROXGMAX !PPROXGMAX

6 10/2006

*1: When linear acceleration /deceleration operation is selected, the target speed can be changed during operation. *2: The startup time can be changed by the control code setting in the shared memory.The factory setting (default setting) is 0.02ms.The startup time is the time from the start request to the first pulse output. *3: Pulser input function and feedback counter function use the same pulse input terminal, so both cannot function simultaneously.

A FP-Series PLCs FP2 and FP2SH PLCs QGENERAL FEATURES OF FP2 / FP2SH High program capacity: High memory capacity: Additional file registers: Serial interfaces: Communication modules:

FP2 16k or 32k steps, FP2SH 60k or 120k steps data registers: 6000 words (FP2), 10,240 words (FP2SH) up to 30,717 words (FP2) and 3 x 32,765 words (FP2SH) 2 RS232C on CPU Serial Data Units or Computer Communication Modules with 2 additional ports each available, Profibus DP/FMS Ethernet module up to 28 modules or 2048 I/Os are possible FP2 0.35µs / basic instruction, FP2 SH 0.03µs powerful instruction set 140 x 100 x 93mm (WxHxD) for 5-module backplane

High expansion capability: Fast processing speed: Small size:

Extended debugging functions: testmode and breakpoints can be used

QPOSITIONING UNITS FOR FP2 AND FP2SH • Super fast startup of 0.005ms • Up to 4 Mpps speed command for high-speed, high-accuracy positioning. • Feedback pulse count function (for encoders) • Transistor / line driver output • Clockwise / counterclockwise or pulse/direction • 64 (88) independent axis positioning • Up to 500kpps / 4Mpps • Pulse range: 32-bit, signed Operation modes: • Interpolation • Single speed acceleration / deceleration • Multistage acceleration / deceleration • Fast startup of 0.02 or 0.005ms makes cycle time reduction possible. • Acceleration / deceleration control: linear or 4 types of S-curve: sine, quadratic, cycloid and cubic curve (for smooth startup and stopping)

QUP TO FOUR AXES PER POSITIONING MODULE:

Motor

Motor Driver

Motor Driver

Driver

4-axis type FP2-PP42

Motor Driver

Part No.

Output Type

FP2-PP22

Line driver output

2-axis type

FP2-PP42

Line driver output

4-axis type

Type

7 10/2006

B Minas A4 Series Servo Drives Main Features – Increased Performance and Accuracy

• Fast response frequency: 1000Hz • Completely adjustment-free, real-time auto-gain tuning • High performance vibration control • Command input up to 2 Mpps • Smaller motors and drivers compared to the former series • Position, velocity and torque control support a wide range of applications in one driver • Many more additional functions: - Hit & Stop Homing, i.e. homing without needing a switch - Press/Tension control - 8 internal JOG speeds - etc.

Motor output power rating:

50W to 5kW

Nominal/Maximum speed:

3000/5000 rpm

Nominal torque:

0.16 to 42.9 Nm

Peak torque:

0.48 to 107.0 Nm

Encoder:

incremental

2500 pulses/rev (standard)

absolute

17-bit (on demand only)

8 10/2006

B Minas A4 Series Servo Drives Details of Features QADJUSTMENT-FREE OPERATION High-functionality real-time auto-gain tuning • Automatically tunes in real-time to variations in load inertia. Real-time auto-gain tuning for machines with low or high stiffness. • Supports vertical axis applications where the load torque varies depending on rotational direction. • An over-travel detection function prevents the machine from over-travelling during real-time auto-gain tuning. • Enables you to set and check while monitoring real-time automatic gain tuning conditions on the front panel.

Actual speed (r/min) 4000

180

3200

160

2400

140

1600

120

800

100

0

80

-800

60

-1600

40

-2400

20

-3200

0

-4000

-20

Corresponds to wide frequency range (-1500Hz) Suppresses vibration quickly

QHIGH-SPEED AND FAST RESPONSE Velocity response (bandwidth) of 1kHz • The instantaneous Velocity Observer detects the motor speed more quickly and with a higher resolution than the previous models.

High-functionality real-time auto-gain tuning • Enables low stiffness machines (e.g. belt-driven machines) and high stiffness machines (e.g. short stroke ball-screw driven machines) to be used in high-speed positioning applications.

9 10/2006

B Minas A4 Series Servo Drives Details of Features QREDUCTION VIBRATION

Q2-CHANNEL NOTCH FILTERS

Adaptive Filter • Enables the notch filter frequency to automatically follow the machine resonance frequency.

Adaptive Filter • 2-channel notch filters are equipped in the driver, independent of the adaptive filter.

• Suppresses "Judder" noise of the machine caused by a change in the resonance frequency (e.g. resutling from aging effects or changeovers).

• You can set up both frequency and width for each of the 2 filters. You can define the frequency in units of 1Hz. • Suppress "Judder" noise of machines with multiple resonance points.

Effect of notch filter without notch filter

with notch filter

50ms/div

50ms/div

QDAMPING CONTROL • The driver is equipped with a 2-channel damping filter. You can suppress vibration occurring at both starting and stopping in low stiffness machines, by manually setting up vibration frequencies in 0.1Hz units. • You can also switch between the channels either by the rotation direction or with an external input. • Easy setup with entry of only frequency and filter value. Improper setup values do not result in unstable operation.

motor movement

machine movement

without damping control

with damping control

10 10/2006

B Minas A4 Series Servo Drives Additional Features QSETUP SUPPORT WITH HELPFUL MONITORING FUNCTIONS • Faster communication speed of RS232C/RS485 (Max. 57600bps) establishes an easy and comfortable operating condition for setup support software, "PANATERM®". • "PANATERM®" display useful status information, e.g. to help you analyse motor troubles. • You can enable the panel operation lock to inhibit operation via the front panel, e.g. to prevent parametres from being changed unintentionally.

QCOMMAND CONTROL MODES • Offers you "Position", "Velocity (including internal 8-speed)" and "Torque" command control modes. • You can set up any one of the command control modes, or selectable two command control mode with parameter.

• Prevents unintentional shutdown of the power supply circuit breaker in multi-axis applications and does not add load to the power line.

QREGENERATION DISCHARGING FUNCTION • Discharges regenerative energy, which is returned from the motor to the driver with a resistor, e.g. stopping a load with a large moment of inertia, or up-down operation. • Frame A and Frame B drivers do not have a built-in regeneration discharge resistor. We recommend connecting an optional regenerative resistor. • Frame C – Frame F drivers have a built-in regeneration discharge resistor. However, connecting an optional regenerative resistor will add even more regenerative capability.

• You can combine command control modes in a hybrid mode and switch between them.

QBUILT-IN DYNAMIC BRAKE

QMONITORING FUNCTION WITH FRONT PANEL

• The dynamic brake can be used in the following cases: - Main power OFF - Servo OFF - A protective function - Over-travel inhibit is activated

• LED display and analog monitor terminals are installed in the front panel. • Displays "Motor speed" , "Motor torque", "Position deviation" , "Motor load factor" and "Regeneration load factor". • You can monitor "Motor speed" ,"Motor torque" and "Position deviation" through analog monitor terminals.

• The driver is equipped with a dynamic brake for emergency stop.

QPOSITIONING PULSE • Up to 2Mpps of pulse input at positioning control possible.

QTRIAL RUN (JOG)

QTORQUE LIMIT VALUE SWITCHING

• Features the function for trial (JOG) run through the front panel or console (option) without connecting to a host controller.

• You can set up 2 torque limits and use them for tension control or press & hold control.

• Shorten machine setup time.

QFULL-CLOSED CONTROL (HIGH PRECISION POSITIONING) • Features the full-closed control of position and velocity, using the signals from linear scale installed on the load side and high resolution encoder. • Best suited to high precision machines.

QINRUSH CURRENT SUPPRESSING FUNCTION • The driver is equipped with an inrush suppressing resistor which prevents circuit breaker shutdown of the power supply caused by inrush current at power-on.

11 10/2006

B Minas A4 Series Servo Drives Overview Minas A4 Drivers

QPRODUCT NUMBER LEGEND M A D D

T 1 2 0 5 * * *

* * * Not for use in Europe

Please note: Not all type combinations are possible. Please use the table below for selection.

QMINAS A – MINAS A4 CROSS REFERENCE Minas A Drivers (old)

Minas A4 Drivers (new)

MSDA5A5A1A

50W

Incr. encoder, 1 phase 200V

MSDA015A1A

100W

Incr. encoder, 1 phase 200V

MSDA023A1A

200W

Incr. encoder, 1 phase 200V

MADDT1207

MSDA043A1A

400W

Incr. encoder, 1 phase 200V

MBDDT2210

MSDA083A1A

750W

Incr. encoder, 1 phase 200V

MCDDT3520

MSDA103A1A

1kW

Incr. encoder, 1 phase 200V

MSDA153A1A

1.5kW

Incr. encoder, 1 phase 200V

MSDA203A1A

2kW

Incr. encoder, 1 phase 200V

MEDDT7364

MSDA253A1A

2.5kW

Incr. encoder, 1 phase 200V



MSDA303A1A

3kW

Incr. encoder, 1 phase 200V

MFDDTA390

MSDA353A1A

3.5kW

Incr. encoder, 1 phase 200V



MSDA403A1A

4kW

Incr. encoder, 1 phase 200V

MFDDTB3A2

MSDA453A1A

4.5kW

Incr. encoder, 1 phase 200V



MSDA503A1A

5kW

Incr. encoder, 1 phase 200V

MFDDTB3A2

MADDT1205

MDDDT5540

12 10/2006

B Minas A4 Series Servo Drives

Main circuit

200V

Control circuit

Input power

Common Specifications of Driver +10% -15% 50/60Hz

Frame A, B

Single phase, 200-240V

Frame C, D

+10% Single/3-phase, 200-240V -15% 50/60Hz

Frame E, F

3-phase, 200-230V

+10% -15% 50/60Hz

Frame B, C

Single phase, 200-240V

+10% -15% 50/60Hz

Frame E, F

Single phase, 200-230V

+10% -15% 50/60Hz

Temperature

Operating : 0 to 55°C , Storage : -20 to +80°C

Humidity

Both operating and storage : 90%RH or less (free from condensation)

Altitude

1000m or lower

Vibration

5.88m/s2 or less, 10 to 60Hz (No continuous use at resonance frequency)

Environment

Control method

IGBT PWM sinusoidal wave drive

Encoder feedback

17-bit (131072 resolution) absolute/incremental encoder (on demand only), 2500P/r (10000 resolution) incremental encoder (standard)

External scale feedback

AT500 series, ST771 by Mitsutoyo Input

10 inputs (1) Servo-ON, (2) Control mode switching, (3) Gain switching/Torque limit switching, (4) Alarm clear Other inputs vary depending on the control mode

Output

6 outputs (1) Servo alarm, (2) Servo ready, (3) Release signal of external brake (4) Zero speed detection, (5) Torque in-limit. Other outputs vary depending on the control mode

Input

3 inputs (16Bit A/D : 1 input, 10Bit A/D : 2 inputs)

Output

2 outputs (for monitoring) (1) Speed monitor (Monitoring of actual motor speed or command speed is enabled. Select the content and scale with parameter.), (2) Torque monitor (Monitoring of torque command, (approx. 3V/rated torque)), deviation counter or full-closed deviation is enabled. Select the content or scale with parameter

Input

2 inputs Select the exclusive input for line driver or photo-coupler input with parameter

Output

4 outputs Feed out the encoder pulse (A, B and Z-phase) or external scale pulse (EXA, EXB and EXZ-phase) in line driver. Z-phase and EXZ-phase pulse is also fed out in open collector

RS232C

1:1 communication to a host with RS23C interface is enabled

RS485

1:n communication up to 15 axes to a host with RS485 interface is enabled

Control signal

Analog signal

Pulse signal

Communication function

(1) 5 keys (MODE, SET, UP, DOWN, SHIFT), (2) LED (6-digit) Front panel regeneration

Frame A, B: no built-in regenerative resistor (external resistor only) Frame C to F: Built-in regenerative resistor (external resistor is also enabled)

Dynamic brake

Setup of action sequence at Power-OFF, Servo-OFF, at protective function activation and over-travel inhibit input is enabled

Control mode

Switching among the following 7 mode is enabled, (1) Position control, (2) Velocity control, (3) Torque control, (4) Position/Velocity control, (5) Position/Torque control, (6) Velocity/Torque control and (7) Full-closed control

13 10/2006

B Minas A4 Series Servo Drives (1) Deviation counter clear, (2) Command pulse inhibition, (3) Electronic gear switching, (4) Damping control switching

Control output

Positioning complete (In-position)

Pulse input

Control input

Max. command pulse frequency

Exclusive interface for line driver : 2Mpps, Line driver : 500kpps, Open collector : 200kpps

Input pulse signal format

Support (1) RS422 line drive signal and (2) Open collector signal from controller

Type of input pulse

Differential input. Selectable with parameter, ((1) CW/CCW, (2) A and B-phase, (3) Command and Direction)

Electronic gear (Division/Multiplication of command pulse)

(0-17) Process the command pulse frequency x (1 to 10000) x 2 1 to 10000

Smoothing filter

Primary delay filter or FIR type filter is selectable to the command input

Torque limit command input

Individual torque limit for both CW and CCW direction is enabled. (3V/rated torque)

Instantaneous speed observer

Usable

Damping control

Usable

Speed arrival (at-speed)

Analogueinput

(1) Speed zero clamp, (2) Selection of internal speed setup, (3) Gain switching or Torque limit switching input

Control output Velocity command input

Setup of scale and rotational direction of the motor against the command voltage is enabled with parameter, with the permissible max. voltage input = 10V and 6V/rated speed (default setup)

Torque limit command input

Individual torque limit for both CW and CCW direction is enabled. (3V/rated torque)

Speed control range

1 : 5000

Internal speed command

8-speed with parameter setup

Soft-start/down function

Individual setup of acceleration and deceleration is enabled, with 0 to 10s/1000r/min. Sinusoidal acceleration/deceleration is also enabled

Zero-speed clamp

0-clamp of internal speed command with speed zero clamp input is enabled

Instantaneous speed observer

Usable

Speed command filter

Usable

Control input

(1) CW over-travel inhibition, (2) CCW over-travel inhibition, (3) Speed zero clamp

Control output

Speed arrival (at-speed)

Speed command input

Setup of scale and CW/CCW torque generating direction of the motor against the command voltage is enabled with parameter, with the permissible max. voltage input = 10V and 3V/rated speed (default setup)

Speed limit input

Speed limit input by analog voltage is enabled. Scale setup with parameter

Speed limit function

Speed limit value with parameter or analog input is enabled

Control input

(1) CW over-travel inhibition, (2) CCW over-travel inhibition, (3) Deviation counter clear, (4) Command pulse input inhibition, (5) Electronic gear switching, (6) Damping control switching

Pulse input

Full-closed positioning complete (in-position)

Max. command pulse frequency

Exclusive interface for line driver : 2Mpps, Line driver : 500kpps, Open collector : 200kpps

Input pulse signal format

Differential input. Selectable with parameter ((1) CCW/CW, (2) A and B-phase, (3) Command and direction

Electronic gear Division/Multiplication of command pulse

Process the command pulse frequency x

Smoothing filter

Primary delay filter is adaptable to the command input.

Torque limit command input

Individual torque limit for both CW and CCW direction is enabled. (3V/rated torque)

Setup range of division / multiplication of external scale

Setting of ratio between encoder pulse (denominator) and external scale pulse (numerator) is enabled within a range of (1 to 10000) x 2(0-17) / (1 to 10000)

Autogain tuning

(1 to 10000) x 2(0-17) as a position command input 1 to 10000

Real-time

Corresponds to load inertia fluctuation, possible to automatically set up parameters related to notch filter

Normal mode

Estimates load inertia and sets up an appropriate servo gain

Fit-gain function

Automatically searches and sets up the value which makes the fastest settling time with external command input

Masking of unnecessary input

Masking of the following input signal is enabled. (1) Over-travel inhibition, (2) Torque limit, (3) Command pulse inhibition, (4) Speed-zero clamp

Division of encoder feedback pulse

Set up of any value is enabled (encoder pulses count is the max.)

Protective function

Common

Analogueinput

Full-closed control

Control output

Soft error

Over-voltage, under-voltage, over-speed over-load, over-heat, over-current and encoder error etc.

Hard error

Excess position deviation, command pulse division error, EEPROM error etc.

Traceability of alarm data

Traceable up to past 14 alarms including the present one

Damping control function

Manual setup with parameter

Setup

14

as a position command input

Control input

Analogueinput

Torque control

Functions

Velocity control

Analogueinput

Position control

Common Specifications of Driver







Manual

5-push switches on front panel

Setup support software

PANATERM (Supporting OS : Windows95, Windows98, Windows ME, Windows2000, Windows.NET and Windows XP)

MODE

14 10/2006

SET

B Minas A4 Series Servo Drives Driver Dimensions QFRAME A

QFRAME B

QFRAME C

RB3

RB2

15 10/2006

B Minas A4 Series Servo Drives Driver Dimensions QFRAME D

RB3

RB2

QFRAME E  





 







 

  







  

QFRAME F

16

16 10/2006



B Minas A4 Series Servo Drives Motor Types Cross Reference Minas A – Minas A4 Minas A Series motors low inertia, incremental encoder

Minas A Series motors low inertia, incremental encoder

Minas A motors product no. (old)

rated power

brake

oil seal

shaft

IP67 plugs

Minas A4 motors product no. (new)

Minas A motors product no. (old)

rated power

brake

oil seal

shaft

IP67 plugs

Minas A4 motors product no. (new)

MSMA5AZA1A

50 W

no

no

round

no

MSMD5AZP1A

MSMA152A1C

1.5kW

no

yes

round

yes

MSMA5AZA1A-X

50 W

no

no

round

yes

MSMD5AZP1AX

MSMA152A1D

1.5kW

yes

yes

round

yes

MSMA5AZA1B

50 W

yes

no

round

no

MSMD5AZP1B *

MSMA152A1G

1.5kW

no

yes

key

yes

MSMA152P1G

MSMA5AZA1C

50 W

no

yes

round

no

MSMD5AZP1C *

MSMA152A1H

1.5kW

yes

yes

key

yes

MSMA152P1H

MSMA5AZA1D

50 W

yes

yes

round

no

MSMD5AZP1D *

MSMA202A1C

2kW

no

yes

round

yes

– **

MSMA5AZA1E

50 W

no

no

key

no

MSMD5AZP1S

MSMA202A1D

2kW

yes

yes

round

yes

– **

50 W

no

no

key

yes

MSMD5AZP1SX

MSMA202A1G

2kW

no

yes

key

yes

MSMA202P1G

50 W

yes

no

key

no

MSMD5AZP1T

MSMA202A1H

2kW

yes

yes

key

yes

MSMA202P1H

50 W

yes

no

key

yes

MSMD5AZP1TX

MSMA252A1C

2.5kW

no

yes

round

yes

– **

MSMA012A1A

100W

no

no

round

no

MSMD012P1A

MSMA252A1D

2.5kW

yes

yes

round

yes

– **

MSMA012A1A-X

100W

no

no

round

yes

MSMD012P1AX

MSMA252A1G

2.5kW

no

yes

key

yes

– **

MSMA012A1B

100W

yes

no

round

no

MSMD012P1B *

MSMA252A1H

2.5kW

yes

yes

key

yes

– **

MSMA012A1C

100W

no

yes

round

no

MSMD012P1C *

MSMA302A1C

3kW

no

yes

round

yes

– **

MSMA012A1D

100W

yes

yes

round

no

MSMD012P1D *

MSMA302A1D

3kW

yes

yes

round

yes

MSMA012A1E

100W

no

no

key

no

MSMD012P1S

MSMA302A1G

3kW

no

yes

key

yes

MSMA302P1G

MSMA012A1E-X

100W

no

no

key

yes

MSMD012P1SX

MSMA302A1H

3kW

yes

yes

key

yes

MSMA302P1H

MSMA012A1F

100W

yes

no

key

no

MSMD012P1T

MSMA352A1C

3.5kW

no

yes

round

yes

– **



100W

yes

no

key

yes

MSMD012P1TX

MSMA352A1D

3.5kW

yes

yes

round

yes

– **

MSMA022A1A

200W

no

no

round

no

MSMD022P1A

MSMA352A1G

3.5kW

no

yes

key

yes

– **

MSMA022A1A-X

200W

no

no

round

yes

MSMD022P1AX

MSMA352A1H

3.5kW

yes

yes

key

yes

– **

MSMA022A1B

200W

yes

no

round

no

MSMD022P1B *

MSMA402A1C

4kW

no

yes

round

yes

– **

MSMA022A1C

200W

no

yes

round

no

MSMD022P1C *

MSMA402A1D

4kW

yes

yes

round

yes

MSMA022A1D

200W

yes

yes

round

no

MSMD022P1D *

MSMA402A1G

4kW

no

yes

key

yes

MSMA402P1G

MSMA022A1E

200W

no

no

key

no

MSMD022P1S

MSMA402A1H

4kW

yes

yes

key

yes

MSMA402P1H

MSMA022A1E-X

200W

no

no

key

yes

MSMD022P1SX

MSMA452A1C

4.5kW

no

yes

round

yes

– **

MSMA022A1F

200W

yes

no

key

no

MSMD022P1T

MSMA452A1D

4.5kW

yes

yes

round

yes

– **



200W

yes

no

key

yes

MSMD022P1TX

MSMA452A1G

4.5kW

no

yes

key

yes

– **

MSMA042A1A

400W

no

no

round

no

MSMD042P1A

MSMA452A1H

4.5kW

yes

yes

key

yes

– **

MSMA042A1A-X

400W

no

no

round

yes

MSMD042P1AX

MSMA502A1C

5kW

no

yes

round

yes

– **

MSMA042A1B

400W

yes

no

round

no

MSMD042P1B *

MSMA502A1D

5kW

yes

yes

round

yes

MSMA042A1C

400W

no

yes

round

no

MSMD042P1C *

MSMA502A1G

5kW

no

yes

key

yes

MSMA502P1G

MSMA042A1D

400W

yes

yes

round

no

MSMD042P1D *

MSMA502A1H

5kW

yes

yes

key

yes

MSMA502P1H

MSMA042A1E

400W

no

no

key

no

MSMD042P1S

MSMA042A1E-X

400W

no

no

key

yes

MSMD042P1SX

MSMA042A1F

400W

yes

no

key

no

MSMD042P1T



400W

yes

no

key

yes

MSMD042P1TX

MSMA082A1A

750W

no

no

round

no

MSMD082P1A

MSMA082A1A-X

750W

no

no

round

yes

MSMD082P1AX

MSMA082A1B

750W

yes

no

round

no

MSMD082P1B *

MSMA082A1C

750W

no

yes

round

no

MSMD082P1C *

MSMA082A1D

750W

yes

yes

round

no

MSMD082P1D *

MSMA082A1E

750W

no

no

key

no

MSMD082P1S

MSMA082A1E-X

750W

no

no

key

yes

MSMD082P1SX

MSMA082A1F

750W

yes

no

key

no

MSMD082P1T



750W

yes

no

key

yes

MSMD082P1TX

MSMA102A1C

1kW

no

yes

round

yes

– **

MSMA102A1D

1kW

yes

yes

round

yes

MSMA102A1G

1kW

no

yes

key

yes

MSMA102P1G

MSMA102A1H

1kW

yes

yes

key

yes

MSMA102P1H

– MSMA5AZA1F –

– ** – **

– **

– **

– **

* only on demand, long delivery time ** not available

– **

17 10/2006

B Minas A4 Series Servo Drives Motor Specifications 50 to 750 W AC200V Motor model

MSMD Model No.

Applicable driver

012P1 F

5AZP1 F MADDT1205

Frame symbol

022P1 F

042P1F

082P1 F

MADDT1207

MBDDT2210

MCDDT3520

Frame B

Frame C

Frame A

Power supply capacity (kVA)

0.3

Rated output (W)

0.5

0.9

1.3

50

100

200

400

750

Rated torque (N • m)

0.16

0.32

0.64

1.3

2.4

Momentary Max. peak torque (N • m)

0.48

0.95

1.91

3.8

7.1

Rated current (Arms*)

1.1

1.6

2.6

4

Max. current (Ao-p)

4.7

6.9

11.0

17.0

Regenerative brake frequency (times/min) 1

Without option

No limit

2

With external brake resistor

No limit

2

Rated rotational speed (r/min)

3000

Max. rotational speed (r/min) Moment of inertia of rotor (x10-4 kg • m2)

5000 0.025

0.051

0.14

0.26

0.87

With brake

0.027

0.054

0.16

0.28

0.97

Recommended moment of inertia ratio of the load and the rotor 3

Smaller than 30 times

Resolution per single turn

10000

Protective enclosure rating

IP65 (except shaft through hole and cable end connector)

Ambient temperature

0°C to 40°C (free from freezing), Storage : -20°C to + 80°C

Ambient humidity

85%RH or lower (free from condensing)

Installation location

Indoors (no direct sunlight), free from corrosive gas, inflammable gas, oil mist and dust

Altitude

1000m or lower

Vibration resistance

49m/s2 or less

Mass (kg), ( ) represents holding brake type

Smaller than 20 times

2500P/r Incremental

Rotary encoder specifications

Environment

4500

Without brake

0.32

(0.53)

0.47

(0.68)

0.82 (1.3)

1.2 (1.7)

2.3 (3.1)

Brake specifications (This brake will be released when it is energized. Do not use this for braking the motor in motion.) Static friction torque (N • m) Engaging time (ms) Releasing time (ms)

4

Exciting current (DC) (A)

0.29

1.27

35

50

70

20 (–)

15 (–)

20 (–)

0.36

0.42

0.30

Releasing voltage

DC1V or more

Exciting voltage

DC 24 V 5%

2.45

Permissible load

During assembly

During operation

Radial load P-direction (N)

147

392

686

Thrust load A-direction (N)

88

147

294

Thrust load B-direction (N)

117

196

392

Radial load P-direction (N)

68

245

392

Thrust load A-direction (N)

58

98

147

Thrust load B-direction (N)

58

98

147

For notes 1-4, see page 22 *rms= root mean square

18 10/2006

B Minas A4 Series Servo Drives Torque Characteristics

0.5

100 5

0.25

50

0.48

Without oil seal

QMSMD012F1F

0.16 0

1000 2000 3000 4000 5000

0

0.5

100

0.25

70 60 50

0.48

10

20

30

40

With oil seal

With oil seal

Without oil seal

QMSMD5AZF1F

0.16 0

0

1000 2000 3000 4000 5000

10

20

30

40

0. 5

1.0

100 5

0.5

50

0.32 0

1000 2000 3000 4000 5000

0

10

20

30

40



100 75 70 50

1.0

0. 5

0.5

0.32 0

1000 2000 3000 4000 5000

0

10

20

30

40





Without oil seal

QMSMD042F1F 100

2.0

1. 1 1.0

50

0.64 0

0

1000 2000 3000 4000 5000

10

20

30

40



With oil seal

With oil seal

Without oil seal

QMSMD022F1F

100 80 70

2.0

1. 1 1.0

0.64 0

1000 2000 3000 4000 5000

0

10

20

30

40



3.8

100 0

2.0

50

4.0

1.3 0

1000 2000 3000 4000 5000

0

10

20

30

40



100

4.0

3.8

75

2.0

50

1.3 0

1000 2000 3000 4000 5000

0

10

20

30

40



With oil seal

Without oil seal

QMSMD082F1F 100

8.0

7.1 4.0

50

2.4 0

0

1000 2000 3000 4000 5000

10

20

30

40



100

8.0

7.1 4.0

50

2.4 0

1000 2000 3000 4000 5000

0

10

20

30

40



19 10/2006

B Minas A4 Series Servo Drives Motor Dimensions QMSMD 50W – 750W (LOW INERTIA)

7



7

Dimensions are subject to change without notice. Contact us or a dealer for the latest information.

MSMD series (low inertia) Motor output Motor model

50W

100W

200W

400W

750W

5AFP1 F

01FP1 F

02FP1 F

04FP1F

08FP1 F

Without brake

72

92

79

98.5

112

With brake

102

122

115.5

135

149

14

19

MSMD

Rotary encoder specifications LL

2500P/r incremental

LR

25

S

8

30 11

35

LA

45

70

90

LB

30

50

70

LC

38

60

80

6.5

8

LD

––

LE

3

LF

6

LG

––

LH

32

LN LZ

Keyway

53 ––

4.5

3.4

6

LW

14

LK

12.5

18

22.5

22

KW

3h9

4h9

5h9

6h9

20

25

KH

3

4

5

6

RH

6.2

8.5

11

15.5

TP Mass (kg)

43 46.5

26.5

M3 x 6 (depth)

M4 x 8 (depth)

M5 x 10 (depth)

Without brake

0.32

0.47

0.82

1.2

2.3

With brake

0.53

0.68

1.3

1.7

3.1

20 10/2006

B Minas A4 Series Servo Drives Motor Specification Q1KW – 5KW AC200V Motor model Applicable driver

MSMA

102P1

Model No.

152P1 MDDDT5540

Frame symbol

Power supply capacity (kVA)

202P1

302P1

MEDDT7364

MFDDTA390

Frame D

402P1

502P1 MFDDTB3A2

Frame E

Frame F

1.8

2.3

3.3

4.5

6.0

7.5

Rated output (W)

1000

1500

2000

3000

4000

5000

Rated torque (N • m)

3.18

4.77

6.36

9.54

12.6

15.8

Momentary max. peak torque (N • m)

9.5

14.3

19.1

28.6

37.9

47.6

Rated current (Arms*)

7.2

9.4

13.0

18.6

24.7

28.5

Max. current (Ao-p)

30

40

56

80

105

Regenerative brake frequency (times/min) 1

Without option

No limit

326 No limit

With external brake resistor

No limit 5000

4500

1.69

2.59

3.46

6.77

12.7

17.8

1.88

2.84

3.81

7.45

14.1

19.7

Recommended moment of inertia ratio of the load and the rotor 3

Smaller then 15 times 2500P/r Incremental

Rotary encoder specifications Resolution per single turn

10000

Protective enclosure rating

IP65 (except shaft through hole and cable end connector)

Ambient temperature

0°C to 40°C (free from freezing), Storage : -20°C to + 80°C

Ambient humidity

85%RH or lower (free from condensing)

Installation location

Indoors (no direct sunlight), free from corrosive gas, inflammable gas, oil mist and dust

Altitude

1000m or lower

Vibration resistance

49m/s2 or less

Mass (kg), ( ) represents holding brake type

2

3000

Max. rotational speed (r/min)

Environment

2

––

Rated rotational speed (r/min) Moment of inertia Without brake of rotor With brake (x10-4 kg • m2)

120

2

4.5 (5.1)

5.1 (6.5)

6.5 (7.9)

9.3 (11.0)

12.9 (14.8)

17.3 (19.2)

Brake specifications (This brake will be released when it is energized. Do not use this for braking the motor in motion.) Static friction torque (N • m)

4.9

Engaging time (ms)

7.8

11.8

50

Releasing time (ms)

4

Exciting current (DC) (A)

80 15 (100)

0.74

16.1 110 50 (130)

0.81

0.81

Releasing voltage

DC2V or more

Exciting voltage

DC 24 V 10%

0.90

Permissible load

During assembly

During operation

Radial load P-direction (N)

686

980

Thrust load A-direction (N)

392

588

Thrust load B-direction (N)

490

686

Radial load P-direction (N)

392

490

784

Thrust load A-direction (N)

147

196

343

Thrust load B-direction (N)

147

196

343

For notes 1-4 see Page 22 *rms= root mean square

21 10/2006

B Minas A4 Series Servo Drives Motor Characteristics 1kW to 5kW MSMA102F1F

MSMA152F1F *continuous torque, ambient temperature

10

100

.5

15

50

5

3.18 0

*continuous torque, ambient temperature

14.3

100 85

7.5

50

4.77 0

1000 2000 3000 4000 5000

10

20

30

40

0

3500

1000 2000 3000 4000 5000

0

10

20

30



MSMA202F1F

MSMA302F1F *continuous torque, ambient temperature

*continuous torque, ambient temperature

20

30

100 85 70 50

1 .1 10

6.36 0

40



1000 2000 3000 4000 5000

0

100 0 85 50

28.6 15

.54 10

20

30

0

40

1000 2000 3000 4000 5000

0

10

20

30

40





MSMA402F1F

MSMA502F1F *continuous torque, ambient temperature

40

100 0 85 50

37. 20

100

25

70 50

15.8

12.6 0

50

47.6

1000 2000 3000 4000 5000

0

10

20

30

40

0

1000 2000 3000 4000 5000

0

10

20

30



40



radial load (P) direction

thrust load (A, B) direction

running range (Torque limit setup: 300%) running range (Torque limit setup: 200%) running range (Torque limit setup: 200%)

Notes: 1. Regenerative brake frequency represents the frequency of the motor's stops from the rated speed with deceleration without load. • If the load is connected, frequency will be defined as 1/(m+1), where m=load moment of inertia/rotor moment of inertia. • When the motor speed exceeds the rated speed, regenerative brake frequency is in inverse proportion to the square of (running speed/rated speed). • Power supply voltage is AC230V (at 200V of the main voltage). If the supply voltage fluctuates, frequency is in inverse proportion to the square of (Running supply voltage/230) relative to the value in the table. • When regeneration occurs continuously such cases as running speed frequently changes or vertical feeding, consult us or a dealer.

22 10/2006

2. If the effective torque is within the rated torque, there is no limit in generative brake. 3. Consult us or a dealer if the load moment of inertia exceeds the specified value. 4. Specified releasing time is obtained with the use of surge absorber for brake (Z15D151 by Ishizuka Electronic or equivalent). ( ) represents the actually measured value using a diode (200V, 1A or equivalent)

B Minas A4 Series Servo Drives Motor Dimensions QMSMA 1KW – 5KW (LOW INERTIA) LR

LE

4- ø LZ

Sh6 S

LF

6

LL

LW W

LH

LK

KW W

ø LB h7 7

LG

ø

RH

Dimensions are subject to change without notice. Contact us or a dealer for the latest information.

MSMA series (low inertia) Motor output Motor model

1.0kW

1.5kW

2.0kW

3.0kW

4.0kW

5.0kW

10FP1 F

15FP1 F

20FP1 F

30FP1 F

40FP1 F

50FP1 F

Without brake

175

180

205

217

240

280

With brake

200

205

230

242

265

MSMA

Rotary encoder specifications LL

2500P/r incremental

LR

55

S

55

19

305 65

22

24

130/145 (slot)

145

LA

100

LB

80

95

LC

90

100

120

130

LD

120

135

162

165

115

LE

110

3

LF

7

10

LH

98

103

LZ

6.6

6 12

LG

84

Mass (kg)

118

9

LW Keyway

111

45

LK

42

KW

6h9

KH

6

RH

15.5

55 41

51 8h9 7

18

20

Without brake

4.5

5.1

6.5

9.3

12.9

17.3

With brake

5.1

6.5

7.9

11.0

14.8

19.2

Connector/Plug specifications

refer to Minas A4 Manual

23 10/2006

C Option Select Software Setup Support Software QSETUP SUPPORT SOFTWARE PANATERM® FOR MINAS SERIES AC SERVO MOTOR & DRIVER PANATERM® assists users in setting parameters, monitoring control conditions, setup support, and analyzing operation data on the PC screen when installed in a available personal computer and connected to the M through the RS232 serial interface.

Û

Q BASIC FUNCTION Parameter setup • After a parameter is defined on the screen, it will be sent to the driver immediately. • Once you register parameters you frequently use, they can be easily set up on the screen.

Q MONITORING CONTROL CONDITIONS Monitor • Control conditions: control mode, velocity, torque, error and warning. • Driver input signal.

Parameter

• Load conditions: total count of command/feedback pulses, load ratio, regenerative resistor load ratio. Alarm • Displays the numbers and contents of the current alarm and up to 14 error events in the past. • Clears the numbers and contents of the current alarm and up to 14 error events in the past.

Q SETUP Auto tuning • Gain adjustment and inertia ratio measurement. Monitor

Graphic waveform display • The graphic display shows command velocity, actual velocity, torque, and error waveforms. Absolute encoder setup • Clears absolute encoder at the origin. • Displays single revolution/multirevolution data. • Displays absolute encoder status.

QANALYSIS OF MECHANICAL PERATION DATA Frequency analysis • Measures frequency characteristics of the machine, and displays Bode diagram.

24 10/2006

Graphic waveform display

C Software Motion Control Library for FPWIN Pro Panasonic´s Motion Control Library is designed to save programming time with a sophisticated yet user-friendly software solution. Our library includes function blocks programmed according to PLCopen´s specification.

QMC_MOVEABSOLUTE Single-axis motion to a specified absolute position.

QMC_MOVERELATIVE Single-axis motion to a specified distance relative to the actual position.

QMC_MOVEADDITIVE1) Adds a relative motion to a single axis motion. The distance is added to the target position of the previously executed FB.

QMC_MOVESUPERIMPOSED1) Superimposes a relative motion a running singleaxis motion.

QMC_MOVEVELOCITY Single-axis motion at a specified velocity.

QMC_HOME Single-axis motion to the home position. 1)

If executed, the current motion is briefly interrupted due to hardware reasons.

Standardized access to drive/motion specifics to harmonize the access for Motion Control across different platforms during development, installation and maintenance based on the IEC 61131-3 environment.

QADVANTAGES OF PLC PROGRAMS USING THE MOTION CONTROL LIBRARY COMPLIANT WITH THE PLCopen STANDARD: • Simple –

Easy programming and installation, even for complex applications

• Efficient –

In the number of function blocks and in design and understanding

• Consistent –

Compliant with the IEC 61131-3 PLC programming standard

• Universal –

Hardware-independent

• Flexible –

Add hardware or expand range of application at any time

• Complete –

Comprehensive product line solves typical positioning applications easily

25 10/2006

C Software Motion Control Library for FPWIN Pro PLCopen, an independent international organization, aims to harmonise access across platforms during development, installation and maintenance based on the IEC61131-3 environment. See also: http://www.plcopen.org/MC_Certification/Panasonic/shortform_statement_Panasonic.htm

QMC_STOP Stops a single-axis motion by a specified modus (ramp to stop, emergency stop).

QMC_READSTATUS Outputs the motion status of a single axis.

QMC_READACTUALPOSITION Outputs the actual position of a single axis.

QMC_RESET Resets all internal errors of a single axis after a stop due to an error.

QMC_POSITIONPROFILE Single-axis motion according to a time-position motion profile.

QMC_VELOCITYPROFILE Single-axis motion profile according to a time-velocity motion profile.

QPROGRAM, LADDER DIAGRAM BODY

QEXAMPLE FOR CONSECUTIVE MOVEMENT IN A DRILLING APPLICATION v

FFWD

FWD

DWELL

REV

t

FF

s

F REV

Timing diagram

Drilling setup

t

26 10/2006

C Software Multiple-Axis Function Blocks QMC_CAMTABLESELECT Selects the CAM table by setting the pointer to the relevant table.

QMC_CAMIN Engages the CAM.

QMC_CAMOUT Disengages the slave from the master axis immediately.

QMC_GEARIN Specifies a ratio for the velocities of the master to slave axis.

QMC_GEAROUT Disengages the slave from the master axis.

Motion Control Library

NCL-MC-LIB D 200 6

27 10/2006

Accessories

(4)

37.3

(11.8)

Encoder Cables

(14)

(4)

MFECA0 *

PN

* 0EAM

Power range

MFECA0 *

Length

IP class

Drag chain usage

Power supply

Additional information

MFECA0010EAM

50 - 750W

1m

possible

1/3~200VAC

MFECA0020EAM

50 - 750W

2m

possible

1/3~200VAC

MFECA0030EAM

50 - 750W

3m

possible

1/3~200VAC

MFECA0050EAM

50 - 750W

5m

possible

1/3~200VAC

MFECA0100EAM

50 - 750W

10m

possible

1/3~200VAC

MFECA0020EAB

50 - 750W

2m

IP67

possible

1/3~200VAC

MFECA0030EAB

50 - 750W

3m

IP67

possible

1/3~200VAC

MFECA0040EAB

50 - 750W

4m

IP67

possible

1/3~200VAC

MFECA0050EAB

50 - 750W

5m

IP67

possible

1/3~200VAC

MFECA0100EAB

50 - 750W

10m

IP67

possible

1/3~200VAC

MFECA0150EAB

50 - 750W

15m

IP67

possible

1/3~200VAC

MFECA0030ESD

1 - 5kW

3m

IP67

possible

1/3~200VAC

Canon plug

MFECA0050ESD

1 - 5kW

5m

IP67

possible

1/3~200VAC

Canon plug

MFECA0100ESD

1 - 5kW

10m

IP67

possible

1/3~200VAC

Canon plug

high quality connector high quality connector high quality connector high quality connector high quality connector high quality connector

28 10/2006

* 0ESD

Accessories Motor and Brake Cables QMOTOR CABLES (50)

(50)

(4)

37.3

(

(12.0)

(

12.5)

11)

(50)

(10.0)

(4)

A0 *

* 0EED

MFMCD0 *

QBRAKE CABLE

* 2ECD

QMOTOR CABLE (WITH BRAKE) (50)

(50)

(

(

(

.8)

(12.0)

(10.0)

37.3

.8)

12.5)

(40)

(5.6)

MFMCB0 *

* 0GET

MFMCA0 *

Power range

Length

MFMCA0010EED

50 - 750W

MFMCA0020EED

Additional information

Length

IP class

Drag chain usage

Power supply

MFMCD0102ECT

2kW

10m

IP67

possible

1~230VAC

MFMCA0033ECT

3 - 5kW

3m

IP67

possible

1~230VAC

3 - 5kW

5m

IP67

possible

1~230VAC

3 - 5kW

10m

IP67

possible

1~230VAC

MFMCA0032FCD

1 - 1.5kW

3m

IP67

possible

1~230VAC

MFMCA0052FCD

1 - 1.5kW

5m

IP67

possible

1~230VAC

MFMCA0102FCD

1 - 1.5kW

10m

IP67

possible

1~230VAC

MFMCA0032FCT

2kW

3m

IP67

possible

1~230VAC

MFMCA0052FCT

2kW

5m

IP67

possible

1~230VAC

MFMCA0102FCT

2kW

10m

IP67

possible

1~230VAC

MFMCA0033FCT

3 - 5kW

3m

IP67

possible

1~230VAC

Power supply

1m

possible

1~230VAC

50 - 750W

2m

possible

1~230VAC

MFMCA0030EED

50 - 750W

3m

possible

1~230VAC

MFMCA0053ECT

MFMCA0050EED

50 - 750W

5m

possible

1~230VAC

MFMCA0103ECT

MFMCA0100EED

50 - 750W

10m

possible

1~230VAC

MFMCA0020EBD

50 - 750 W

2m

IP67

possible

1~230VAC

MFMCA0030EBD

50 - 750W

3m

IP67

possible

1~230VAC

MFMCA0040EBD

50 - 750W

4m

IP67

possible

1~230VAC

IP class

PN

Motor cables

)

Power range

Drag chain usage

PN

(50

* 2FCD

Additional information

Motor cables

MFMCA0050EBD

50 - 750W

5m

IP67

possible

1~230VAC

MFMCA0100EBD

50 - 750 W

10m

IP67

possible

1~230VAC

MFMCA0150EBD

50 - 750 W

15m

IP67

possible

1~230VAC

High quality connector High quality connector High quality connector High quality connector High quality connector High quality connector

MFMCD0032ECD

1 - 1.5kW

3m

IP67

possible

1~230VAC

MFMCA0053FCT

3 - 5kW

5m

IP67

possible

1~230VAC

MFMCD0052ECD

1 - 1.5kW

5m

IP67

possible

1~230VAC

MFMCA0103FCT

3 - 5kW

10m

IP67

possible

1~230VAC

MFMCD0102ECD

1 - 1.5kW

10m

IP67

possible

1~230VAC

Brake cables

MFMCD0032ECT

2kW

3m

IP67

possible

1~230VAC

MFMCB0050GETS

30 - 750W

5m

possible

1/3~200VAC

MFMCD0052ECT

2kW

5m

IP67

possible

1~230VAC

MFMCB0100GETS

30 - 750W

10m

possible

1/3~200VAC

For motors with holding brake For motors with holding brake For motors with holding brake For motors with holding brake For motors with holding brake For motors with holding brake For motors with holding brake For motors with holding brake For motors with holding brake

29 10/2006

Accessories Direct Connection to FP-Series PLCs

50-pin Molex connector attached to the Panasonic servo driver

70

In/out connectors for the PLC FP3 (Sigma) (not used inputs/outputs can be used for other purposes)

35

DVOP0980W-1

0X

18

Y0

+

-

25 500 DVOP0980W-1 DVOP0982W-1

1000 35

Axis 1

18

Servo

0X

70

Y6

-

25

DVOP0981W-1 DVOP0983W-1 DVOP0984W-1

500 x * 1000

QPLC CONNECTION CABLE Number of axes

Power range

Length

FPG NPN to CN I/F

1

0.03 - 5kW

1m

50 pin Molex to 2x10 pin MIL

FPG NPN to CN I/F

2

0.03 - 5kW

1m

2x50 pin Molex to 2x10 pin MIL

DVOP0982W-1

FPG PNP to CN I/F

1

0.03 - 5kW

1m

50 pin Molex to 2X10 pin MIL

DVOP0983W-1

FPG PNP to CN I/F

2

0.03 - 5kW

1m

2x50 pin Molex to 2x10 pin MIL

DVOP0984W-1

FPG NPN to CN I/F, with TLC-signal

2

0.03 - 5kW

1m

50 pin Molex to 2X10 pin MIL, with TLC signal

DVOP0985W-1

FPG/ FP2 Positioning Units

2

0.03 - 5kW

1m

50 pin Molex to 1x40 pin MIL

Product No.

Description

DVOP0980W-1 DVOP0981W-1

30 10/2006

Connectors

Servo

Axis 2

Y0

+

Accessories Other Cables, Connectors, Brake Resistors, Filters QDIRECT CONNECTION OF POSITIONING UNITS 35

Axis 2

FPG-/FP2-PPx1

Servo

Axis 1

18

+

Servo

-

2_30 1_30

25

2_10 1_10 2_10 1_10

PNP PLC outputs

PNP PLC inputs

15 35 45 100

100

500 L*1000 DVOP0985W-1 (see Page 30)

QHIGH QUALITY CONNECTORS 190 ± 50

Encoder

Motor

160 ± 50

Power range

PN

Length

Power supply

Additional information

Power range

Length

Power supply

DVOP1960

0.03 - 5kW

2m

1/3~200VAC

DVOP1972

0.03 - 5kW

1m

1/3~200VAC

PN

Brake resitors

Additional information

Communication cables

BWD250100

30 - 750W

1~230VAC

100 Ohm/100W

BWD600027

1 - 5kW

1~230VAC

27Ohm/240W

Connector kit for motors and encoder Connector kit for motors and encoder Connector kit for motors and encoder Connector kit for motors and encoder Connector kit for motors and encoder

Connector kits and connectors DVOP4380

50 - 750W

1~230VAC

DVOP4310

1 - 2kW

1~230VAC

DVOP4320

3 - 5kW

1~230VAC

DVOP4330

1 - 2kW

1~230VAC

DVOP4340

3 - 5kW

1~230VAC

RS232C communication 9 pin Sub-D to MINI-DIN 8 pin RS485 communication MINIDIN 8 pin to MINI-DIN 8 pin

EMC Line Filter FS21238607

50 - 750W

1~230VAC

FN2071N1606

1 - 3.5 kW

1~230VAC

1-phase EMC filter 250VAC, 50/60 Hz, 6A 1-phase EMC filter 250VAC, 50/60Hz, 16A

31 10/2006

Global Network

North America

Europe

Asia Pacific

China

Japan

Panasonic Electric Works Please contact our Global Sales Companies in: Europe  Headquarters  Austria

Panasonic Electric Works Europe AG Panasonic Electric Works Austria GmbH PEW Electronic Materials Europe GmbH  Benelux Panasonic Electric Works Sales Western Europe B.V.  Czech Republic Panasonic Electric Works Czech s.r.o.  France Panasonic Electric Works Sales Western Europe B.V.  Germany Panasonic Electric Works Deutschland GmbH  Ireland Panasonic Electric Works UK Ltd.  Italy Panasonic Electric Works Italia s.r.l. PEW Building Materials Europe s.r.l.  Nordic Countries Panasonic Electric Works Nordic AB PEW Fire & Security Technology Europe AB  Portugal Panasonic Electric Works España S.A.  Spain Panasonic Electric Works España S.A.  Switzerland Panasonic Electric Works Schweiz AG  United Kingdom Panasonic Electric Works UK Ltd.

Rudolf-Diesel-Ring 2, 83607 Holzkirchen, Tel. (08024) 648-0, Fax (08024) 648-111, www.panasonic-electric-works.com Josef Madersperger Str. 2, 2362 Biedermannsdorf, Tel. (0 22 36) 2 68 46, Fax (0 22 36) 4 61 33, www.panasonic-electric-works.at Ennshafenstraße 9, 4470 Enns, Tel. (0 72 23) 8 83, Fax (0 72 23) 8 83 33, www.panasonic-electronic-materials.com De Rijn 4, (Postbus 211), 5684 PJ Best, (5680 AE Best), Netherlands, Tel. (0499) 37 27 27, Fax (0499) 372185, www.panasonic-electric-works.nl Prumtyslová 1, 34815 Planá, Tel. 374 799 990, Fax 374 799 999, www.panasonic-electric-works.cz French Branch Office, B.P. 44, 91371 Verrières le Buisson CEDEX, Tél. 01 60135757, Fax 01 60135758, www.panasonic-electric-works.fr Rudolf-Diesel-Ring 2, 83607 Holzkirchen, Tel. (08024) 648-0, Fax (08024) 648-555, www.panasonic-electric-works.de Dublin, Tel. (01) 4600969, Fax (01) 4601131, www.panasonic-electric-works.co.uk Via del Commercio 3-5 (Z.I. Ferlina), 37012 Bussolengo (VR), Tel. (045) 6752711, Fax (045) 6700444, www.panasonic-electric-works.it Piazza della Repubblica 24, 20154 Milano (MI), Tel. (02) 29005391, Fax (02) 29003466, www.panasonic-building-materials.com Sjöängsvägen 10, 19272 Sollentuna, Sweden, Tel. (08) 59476680, Fax (08) 59476690, www.panasonic-electric-works.se Citadellsvägen 23, 21118 Malmö, Tel. (040) 6977000, Fax (040) 6977099, www.panasonic-fire-security.com Portuguese Branch Office, Avda Adelino Amaro da Costa 728 R/C J, 2750-277 Cascais, Tel. (21) 4812520, Fax (21) 4812529 Barajas Park, San Severo 20, 28042 Madrid, Tel. (91) 3293875, Fax (91) 3292976, www.panasonic-electric-works.es Grundstrasse 8, 6343 Rotkreuz, Tel. (041) 7997050, Fax (041) 7997055, www.panasonic-electric-works.ch Sunrise Parkway, Linford Wood, Milton Keynes, MK14 6LF, Tel. (01908) 231555, Fax (01908) 231599, www.panasonic-electric-works.co.uk

North & South America  USA

PEW Corporation of America

629 Central Avenue, New Providence, N.J. 07974, Tel. 1-908-464-3550, Fax 1-908-464-8513, www.pewa.panasonic.com

Asia Pacific / China / Japan  China

Panasonic Electric Works (China) Co., Ltd.

 Hong Kong

Panasonic Electric Works (Hong Kong) Co., Ltd. Matsushita Electric Works, Ltd. Panasonic Electric Works Asia Pacific Pte. Ltd.

 Japan  Singapore

Level 2, Tower W3, The Towers Oriental Plaza, No. 2, East Chang An Ave., Dong Cheng District, Beijing 100738, Tel. (010) 8518-5988, Fax (010) 8518-1297 RM1205-9, 12/F, Tower 2, The Gateway, 25 Canton Road, Tsimshatsui, Kowloon, Hong Kong, Tel. (0852) 2956-3118, Fax (0852) 2956-0398 1048 Kadoma, Kadoma-shi, Osaka 571-8686, Japan, Tel. (06) 6908-1050, Fax (06) 6908-5781, www.mew.co.jp/e-acg/ 101 Thomson Road, #25-03/05, United Square, Singapore 307591, Tel. (06255) 5473, Fax (06253) 5689

Copyright © 2006 • Printed in Germany 4152 eu en 09/06

10/2006

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