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