Panasonic MSDA043A1A User manual

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ACServoMotorDriver

MINASA-series

OperatingManual

●ThankyouverymuchforyourbuyingPanasonicACServo

MotorDriver,A-series.

●Beforeuse,readthroughthismanualtoensureproperuse.

Keepthismanualataneasilyaccessibleplacesoas

Besuregivethisinstructionmanualtotheuser.

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TableofContents

−2−

SafetyPrecautions

･･･ 4

Introduction ･････････ 8

●AfterOpeningthePackage ･･･ 8

●ChecktheModelofDriver ････ 8

●ChecktheModelofMotor ････ 9

●

ChecktheCombinationofDriverandMotor･････

SystemConfigurationandWiring ･･･

●

SystemConfigurationandWiring ･･･

●

GeneralWiringDiagram

ListofAvailableComponents

･･20

●MainCircuits ･････････････････22

●CNSIGConnector

（ForEncoder）･････････････････24

●CNSERand

CNNETConnectors

（ForPCorController）

･･････････････27

●CNI/FConnector

（ForController）･･･････････････28

（CircuitsAvailableforTypicalControlModes）

･･29

（InputandOutputSignals,andtheirFunctions）･･･

（Interfacecircuit）･････････････38

ProtectiveFunctions ･･･

Maintenanceand

Inspections ･･･････ 71

ConformancetoECDirectivesandULStandards

･･･App.2

ListofConnectableMotors

･･･App.7

HowtoUseApp･････････････App.9

"Absolute"Driver ･････････ App.20

"FullClose"Driver ････････ App.28

Appendixes

ImportantInformation

BeforeUse

Preparations

and

Adjustments

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−3−

PartsDescription

･･･ 12

●Driver ････････････････････････12

●Motor･････････････････････････13

Installation ････････ 14

●Driver ････････････････････････14

●Motor･････････････････････････16

ParameterSetting

･･･ 42

●Overview ･････････････････････42

●

ParameterGroupsandListing ････

●SettingtheParameters･･････47

●MODEsStructure ････････････48

TrialOperation ････ 50

●

InspectionsbeforeTrialOperation ･･

●perationWithout

MotorLoad(JOG) ････････51

●OperationWith

CNI/FConnected ････････52

Adjustments ･･････ 55

●

PurposesofGainAdjustments ････

●KindsofGainAdjustments･･･55

●HowtoAdjustGain ･･････････57

●HowtoUse



"NormalAuto-Gain"Tuning

･･58

●HowtoUse"RealTime

Auto-Gain"Tuning ････････59

●

HowtoAdjustGainManually

･･･60

Troubleshooting

･･･････････････････ 73

After-SaleService

･･････････････Backcover

DetailsofParameters ････ App.30

DetailsofOperation ･･････ App.57

OverviewofaCommunicationControl



SoftwarePANATERM

･･･ App.67

OptionalParts ････････････ App.69

RecommendedParts ･････ App.84

OuterViewsandDimensions･･･

App.86

Properties ･･･････････････App.106

Specifications ･･･････････App.107

BeforeUse Appendixes

PreparationsandAdjustments

Important

Information

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−4−

DANGER

SafetyPrecautions

Observethefollowingprecautionsinordertoavoidinjuriesofopera-

torsandotherpersons,andmechanicaldamages.

■

ThefollowingDANGERandCAUTIONsymbolsareusedaccordingtothelevelofdangers

possiblyoccurringifyoufailtoobservetheinstructionsorprecautionsindicated.

■Thefollowingsymbolsindicatewhatyouarenotallowedtodo,or

whatyoumustobserve.

(Important)

DANGER

CAUTION

Indicatesapotentiallyhazardoussituationwhich,ifnot

avoided,willresultindeathorseriousinjury.

Indicatesapotentiallyhazardoussituationwhich,ifnotavoided,

willresultinminorormoderateinjuryandphysicaldamage.

Thissymbolindicatesthattheoperationispro-

hibited.

Thissymbolindicatesthattheoperationmust

beperformedwithoutfail.

Don'tinsertyourhandsin

thedriver.

Failuretoobservethis

instructioncouldresultin

burnsand/orelectric

shocks.

Anover-currentprotection,

earthleakagebreaker,over-

temperatureprotectionand

emergencystopshouldbe

installed.

Failuretoobservethis

instructioncouldresultin

electricshocks,injuries

and/orfire.

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−5−

DANGER

Groundtheearthterminal

ofthedriver.

Failuretoobservethis

instructioncouldresult

inelectricshocks.

Don'ttouchtherotating

partofthemotorinmotion.

Failuretoobservethisinstruction

couldresultininjuries.

Rotatingpart

Donotexposethecablesto

sharpedges,excessive

pressingforces,heavy

loadsorpinchingforces.

Failuretoobservethis

instructioncouldresult

inelectricshocks,

malfunctionand/or

damages.

Performthetransportation,

wiringandinspectionat

least10minutesafterthe

poweroff.

Failuretoobservethis

instructioncouldresult

inelectricshocks.

Don'tsubjecttheproductto

watersplash,corrosive

gases,flammablegasesand

combustiblethings.

Failuretoobserve

thisinstructioncould

resultinfire.

BeforeUse

Installanexternal

emergencystopdeviceso

thatyoucanshutoffthe

powerinanyemergency

cases.

Failuretoobservethis

instructioncouldresultin

injuries,electricshocks,

fire,malfunctionand/or

mechanicaldamages.

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−6−

Caution

SafetyPrecautions

Usethemotorand

driverinthespecified

combination.

Failuretoobservethis

instructioncouldresult

infire.

Executethetrialoperations

withthemotorfixedbut

withoutmotorloadconnected.

Connectingaloadtothe

motorispossibleonlyafter

successfultrialoperation.

Failuretoobservethis

instructioncouldresult

ininjuries.

Avoidextreme

adjustmentorchange.

Avoidanoperation

whichcausesunstable

action.

Failuretoobserve

thisinstructioncould

resultininjuries.

Ifanerroroccurs,

removethecausesfor

theerroraandsecure

thesafetybefore

restartingtheoperation.

Failuretoobserve

thisinstructioncould

resultininjuries.

Don'ttouchthemotor,

driverorits

regenerativedischarge

resistor,sincethey

becomehot.

Failuretoobserve

thisinstructioncould

resultinburns.

Don'tmodify,dismantle

orrepairthedriver.

Failuretoobservethis

instructioncouldresult

inelectricshocksand/

orinjuries.

(Important)

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−7−

Caution

*Provideappropriatesettingsasapreparedness

againsttheaccidentalrestartofthemachine

inordertoensurethesafetyofpersonnel.

Afterrecoveryfromthe

powerfailure,the

equipmentmayrestart

suddenly.Don'tapproach

totheequipment

duringpowerfailure.

Observethevoltage

specified.

Failuretoobservethis

instructioncouldresult

inelectricshocks,

injuriesand/orfire.

Thisequipmentshouldbe

treatedasanindustrial

wastewhenitisdisposedof.

Whendiscardingbatteries,

insulatethemwithtapes

orothersimilarmeansand

obeythelocalrules.

Don'tblocktheheat

dissipationholeorinsert

foreignmattersinit.

Failuretoobserve

thisinstruction

couldresultin

electricshocks,

injuriesand/orfire.

Makesurethatthe

wiringsaremade

correctly.

Failuretoobserve

thisinstructioncould

resultinelectric

shocks,injuries.

Don'tholdthecablesor

motorshaftwhen

transpotingthemotor.

Failuretoobserve

thisinstruction

couldresultin

injuries.

BeforeUse

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−8−

MSDA043A1AUU

1~3 5~6 11~12

478910

Introduction

AfterOpeningthePackage

・ AfterOpeningthePackage

・ Makesurethattheproductiswhatyouhaveordered.

ChecktheModelofDriver

Nameplate

ModelDesignation

Seriessymbol

A:A-series

Ratedmotoroutput

(seeTable1-a)

Checkwhethertheproducthasbeendamagedornotduringtransportation.

Iftheproductisnotcorrect,orithasbeendamaged,contactdealerorsalesagent.

MSDA3A1D1A01

100-115V 32V 17bits

1ø 3ø

1.0A 1.0A

30W

50/60Hz 0~333.3Hz

98120001

Power

F.L.C

Phase

Voltage INPUT OUTPUT ENCODER

AC SERVO DRIVER

60/75Åé Wire Only

Use Copper Conductors Only

Refer to Manual for Wiring and Wire Size

Refer to Manual for Over Load Protection

SER.NO.

MODEL

Freq.

Model

Ratedinputvoltage

Ratedmotoroutput

Numberofpulsesofthe

encoder(resolution)

Ratedoutputcurrent

SerialNumber

Custom

specification

Customspecification

2(A,B,C...)

Customspecification

1(1,2,3...)

Rotaryencoder

(seeTable1-b)

Powersupply

 1:Single-phase,100V

 3:Three-phase,200V

Applicablemotors

Symbol

MSD

MDD

MHD

MFD

MQD

MGD

Applicablemotors

MSM（Lowinertia）

MDM（Middleinertia）

MHM（Highinertia）

MFM（Flat）

MQM（Flat&small）

MGM（Middleinertia）

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−9−

MSMA042A1AUU

1~3 5~6 11~12

478910

ChecktheModelofMotor

Nameplate Type

SerialNo

Revolutionrating

ModelDesignation

Ratedoutput

(seeTable1-a)

Motorstructure

(seeTable1-c)

AC SERVO MOTOR

RATING S1

MODEL

MSMA022A1A

INS. CLASS B (TÜV) A (UL)

CONT. TORQUE

0.64

A1.6

CONNECTION

RATED OUTPUT

RATED FREQ. kW

0.2

SER No.

T98120001

200

RATED REV.

r/min

3000

INPUT 3ØAC

IP65

MatsushitaElectric Industrial Co..Ltd.

Made in Japan

Ratedoutput

Seriessymbol

A:A-series

Voltage

1:100V

2:200V

Z:100/200V

Rotaryencoder

(seeTable1-b)

Customspecification

1:Standard

Custom

specification

Symbol

MSM

MDM

MHM

MFM

MQM

MGM

Type

Lowinertia

Middleinertia

Highinertia

Flat

Flat&small

Middleinertia

Symbol

Type

Incremental

Absolute

Absolute/

incremental

No.ofpulses

2500P/r

――

Leadwire

11-wire

7-wire

Specifications

Resolution

10000

17bit

BeforeUse

Symbol

Ratedoutput

30W

50W

100W

200W

300W

400W

500W

600W

750W

900W

Symbol

Ratedoutput

1kW

1.2kW

1.5kW

2kW

2.5kW

3kW

3.5kW

4kW

4.5kW

5kW

Table1-a

RatedMotorOutput

Table1-b

RotaryEncoder

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