Panasonic MINAS A6 Series Reference Specifications
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Panasonic MINAS A6 Series Reference Specifications

Ac servo driver
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REFERENCE SPECIFICATIONS
MODEL
Product Name: AC servo driver
Part Number : MINAS-A6 series (Basic type)
Motor Business Unit, Electromechanical Control Business Division
Automotive & Industrial Systems Company, Panasonic Corporation
7-1-1 Morofuku , Daito-City, Osaka 574-0044 Japan
Issued on
Sept. 1, 2015
Revised on Sept. 14, 2016
No.SX-DSV03015

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Summary of Contents for Panasonic MINAS A6 Series

  • Page 1 Product Name: AC servo driver Part Number : MINAS-A6 series (Basic type) Issued on Sept. 1, 2015 Revised on Sept. 14, 2016 Motor Business Unit, Electromechanical Control Business Division Automotive & Industrial Systems Company, Panasonic Corporation 7-1-1 Morofuku , Daito-City, Osaka 574-0044 Japan...
  • Page 2 UPDATE THE MODEL DESIGNATION CODE CHANGED THE NAME OF COMPANY P1, P3,P53, P65 ADDED THE MODEL OF MEDLN93SE ADDED THE FUNCTIONS ADDED THE HARMONIC SUPPRESSION MEASURES CORRECT THE INRUSH CURRENTS AT CONTROL POWER SUPPLY P63～65 Motor Business Unit, Panasonic Corporation...

  • Page 3: Table Of Contents

    11-1 Life expectancy of the driver ······························································································· 61 11-2 Typical life ··················································································································· 61 11-3 Warranty period ·············································································································· 61 12. Others ······························································································································· 62 13. Specification for each model ····································································································· 63 The maximum value of torque limit setup Default value of the parameters Motor Business Unit, Panasonic Corporation...

  • Page 4: Scope

    These specifications relate to the servo driver for the AC servo system that is comprised of the AC servo motor manufactured and supplied by Motor Business Unit, Electromechanical Control Business Division, Automotive & Industrial amplifier Systems Company, Panasonic Corporation. 2. Model designation code...

  • Page 5: Product Line-Up

    7 cores, 23 bits 7 cores, 23 bits MSMF152L1** 200 V 1.5 kW 3000 r/min MDMF152L1** 200 V 1.5 kW 2000 r/min 7 cores, 23 bits 7 cores, 23 bits MHMF152L1** 200 V 1.5 kW 2000 r/min Motor Business Unit, Panasonic Corporation...
  • Page 6 7 cores, 23 bits MSMF502L1** 200 V 5.0 kW 3000 r/min 7 cores, 23 bits MDMF502L1** 200 V 5.0 kW 2000 r/min 7 cores, 23 bits MHMF502L1** 200 V 5.0 kW 2000 r/min 7 cores, 23 bits Motor Business Unit, Panasonic Corporation...

  • Page 7: General Specifications

    Size A, B: External regen resistor only Size C - F: Built-in regen resistor (External regen is also available) Dynamic brake Size A - F: Built-in Selectable from the following 3 modes by parameter: Control mode [1]position control [2]velocity control [3]position/velocity control  Please note that condensation tend to occur when temperature fall. Motor Business Unit, Panasonic Corporation...

  • Page 8: Specifications By Model

    EEPROM failure, etc. Alarm data trace back function Reference of history of alarm data is available. Infinite rotation absolute function Available Deterioration diagnosis function Available 4-2 Specifications by model Refer to specification for each model. Motor Business Unit, Panasonic Corporation...

  • Page 9: Appearance And Part Names

    (or equivalent) X4：Parallel I/O connection DF02R050NA2 (JAE) (or equivalent) X6：Encoder connection 3E106-223AKV(3M) (or equivalent) Earth connection screw XA：Power supply input connection Main power supply input Control power supply XB：Motor connection input Regenerative resistor connection Motor output Motor Business Unit, Panasonic Corporation...
  • Page 10 (or equivalent) X4：Parallel I/O connection DF02R050NA2 (JAE) (or equivalent) Earth connection screw X6：Encoder connection 3E106-223AKV(3M) (or equivalent) XA：Power supply input connection Main power supply input Control power supply input XB：Motor connection Regenerative resistor connection Motor output Motor Business Unit, Panasonic Corporation...
  • Page 11 DF02R050NA2 (JAE) (or equivalent) (or equivalent) X6：Encoder connection 3E106-223AKV(3M) (or equivalent) Main power supply input Control power supply input Regenerative resistor connection Earth connection screw Motor output XA：Power supply input connection XC：Regenerative resistor connection XB：Motor connection Motor Business Unit, Panasonic Corporation...
  • Page 12 Charge lamp X1：USB connection UB-M5BR-S14-4S(LF)(SN) (JST) (or equivalent) X4：Parallel I/O connection DF02R050NA2 (JAE) (or equivalent) X6：Encoder connection 3E106-223AKV(3M) (or equivalent) Earth connection screw Main power supply input Control power supply input Regenerative resistor connection Motor output Motor Business Unit, Panasonic Corporation...
  • Page 13 Input/output voltage Number of phase Country of origin Rated input/output current Input/output Manufacture date frequency e.g.): 2 0 1 5 0 7 0 1 Rated output of applicable motor Manufacture date Manufacture month Manufacture year Motor Business Unit, Panasonic Corporation...

  • Page 14: Configuration Of Connectors And Terminal Blocks

    Connect each phase of the motor winding. Motor connection U: U phase V: V phase W: W phase Earth Earth terminal for grounding * Tighten the earth screws M4 with the 0.7-0.8 Nm torque respectively. Motor Business Unit, Panasonic Corporation...
  • Page 15 Connect each phase of the motor winding. Motor connection U: U phase V: V phase W: W phase Earth Earth terminal for grounding * Tighten the earth screws M4 with the 0.7-0.8 Nm torque respectively. Motor Business Unit, Panasonic Corporation...
  • Page 16 Connect each phase of the motor winding. Motor connection U: U phase V: V phase W: W phase Earth Earth terminal for grounding * Tighten the earth screws M4 with the 0.7-0.8 Nm torque respectively. Motor Business Unit, Panasonic Corporation...
  • Page 17 * Tighten the terminal block screws M5 with the 1.0-1.7 Nm torques respectively. * Tighten the fixing screw M3 for the terminal block cover with the 0.2 Nm torque. * If the maximum value of tightening torque is exceeded, the terminal block could be damaged. Motor Business Unit, Panasonic Corporation...

  • Page 18: Usb Connector X1

    / change parameter save / load monitoring of status checking alarm status or alarm history Connector Name Symbol Description pin No VBUS  Communicate with a computer or a controller USB signal −  Do not connect For manufacturer use  Signal ground Signal ground Motor Business Unit, Panasonic Corporation...

  • Page 19: Parallel I/O Connector, X4

     Allows you to switch up to 4 numerators by combining DIVs 1, 2. Command scaling switch 2 DIV2  Generates Err87. 0 "Abnormal forced alarm input." Forced alarm input E-STOP  Switches the inertia ratios. Inertia ratio switch J-SEL Motor Business Unit, Panasonic Corporation...
  • Page 20  Disabled in such control modes as the speed control or the torque control, which does not require position commands. Di-1  The maximum allowable input frequency is 500 kpps for line driver input, and OPC2 200 kpps for open collector input. Command direction SIGN1 input 2 SIGN2 Motor Business Unit, Panasonic Corporation...
  • Page 21 ALM-ATB  Turns on output transistor when the speed command is applied while the speed is Speed command ON/OFF V-CMD controlled. SRV-ST  Turn on output transistor when servo is on. Servo on status output Motor Business Unit, Panasonic Corporation...
  • Page 22  Internally connected to the earth terminal. Frame ground shell  Signal ground 13,15,  Signal ground  Internally insulated from the control signal power supply (COM-). 17,25 − −   Do not connect Motor Business Unit, Panasonic Corporation...

  • Page 23: Encoder Connector X6

    Do not connect. － Do not connect. Encoder signal I/O (serial signal) Frame ground shell *Note 1) The E0V of the encoder power supply output is connected with the control circuit ground of the connector X4 . Motor Business Unit, Panasonic Corporation...
  • Page 24 1000 p ON/OFF 30 V MAX PULS 12 to 24 V 10 mA SIGN 50 mA MAX ②24 V Power supply without external resistor 2.2 k 2.2 k 1000 p ON/OFF 24 V PULS SIGN Motor Business Unit, Panasonic Corporation...
  • Page 25 Ｒ ＋ 50 mA or less 12 to 24 V Pins; ＋：40,12 Note) To directly run the relay, attach a diode in Parallel with the relay and in the direction shown in the figure above. Motor Business Unit, Panasonic Corporation...

  • Page 26: Dimensions

    External dimension size A [Base-mounting TYPE (Standard: Mounting on the back)] 2-M4 Effective screw depth 7 Name plate 2-M4 Effective screw depth 7 *Please do not use the screw holes of no description of the size value. Motor Business Unit, Panasonic Corporation...
  • Page 27 Mounting bracket (Option) Name plate Mounting bracket (Option) *Please do not use the screw holes of no description of the size value. *Mounting bracket is optional parts. Mounting bracket does not shipped with the product. Motor Business Unit, Panasonic Corporation...
  • Page 28 External dimension size B [Base-mounting TYPE (Standard: Mounting on the back)] 2-M4 Effective screw depth 6.5 Name plate 2-M4 Effective screw depth 7 *Please do not use the screw holes of no description of the size value. Motor Business Unit, Panasonic Corporation...
  • Page 29 Mounting bracket (Option) Name plate Mounting bracket (Option) *Please do not use the screw holes of no description of the size value. *Mounting bracket is optional parts. Mounting bracket does not shipped with the product. Motor Business Unit, Panasonic Corporation...
  • Page 30 External dimension size C [Base-mounting TYPE (Standard: Mounting on the back)] 2-M4 Effective screw depth 6.5 Name plate 2-M4 Effective screw depth 6 *Please do not use the screw holes of no description of the size value. Motor Business Unit, Panasonic Corporation...
  • Page 31 Mounting bracket (Option) Name plate Mounting bracket (Option) *Please do not use the screw holes of no description of the size value. *Mounting bracket is optional parts. Mounting bracket does not shipped with the product. Motor Business Unit, Panasonic Corporation...
  • Page 32 External dimension size D 200V [Base-mounting TYPE (Standard: Mounting on the back)] 2-M4 Effective screw depth 6.5 Name plate 2-M4 Effective screw depth 6 *Please do not use the screw holes of no description of the size value. Motor Business Unit, Panasonic Corporation...
  • Page 33 Mounting bracket (Option) Name plate Mounting bracket (Option) *Please do not use the screw holes of no description of the size value. *Mounting bracket is optional parts. Mounting bracket does not shipped with the product. Motor Business Unit, Panasonic Corporation...
  • Page 34 No. SX-DSV03015 - 31 - External dimension size E 200V [Rack-mounting TYPE (Standard)] 4-M4 Effective screw depth 6 Name plate 4-M4 Effective screw depth 6 Motor Business Unit, Panasonic Corporation...
  • Page 35 No. SX-DSV03015 - 32 - [Base-mounting TYPE (Change from standard)] Name plate Motor Business Unit, Panasonic Corporation...
  • Page 36 No. SX-DSV03015 - 33 - External dimension size F 200V [Rack-mounting TYPE (Standard)] 4-M4 Effective screw depth 9 Name plate 4-M4 Effective screw depth 9 Motor Business Unit, Panasonic Corporation...
  • Page 37 No. SX-DSV03015 - 34 - [Base-mounting TYPE (Change from standard)] Name plate Motor Business Unit, Panasonic Corporation...

  • Page 38: Wiring

    I/O connection 8-2 Various connectors Connector symbol Part name Part number Manufacturer Solder plug DF02P050F22A1 (soldering type) Shell kit DF02D050B22A Connector 3E306-3200-008 3M Company Please use the above part number connector, or equivalent connector. Motor Business Unit, Panasonic Corporation...

  • Page 39: Precautions For Wiring

    - The circuit connected to terminal X1 – X6 are secondary circuits. Insulation is needed against the primary side power supply (power supply of the motor brake). Please do not connect them with the same power supply. Motor Business Unit, Panasonic Corporation...
  • Page 40 - The circuit connected to terminal X1 – X6 are secondary circuits. Insulation is needed against the primary side power supply (power supply of the motor brake). Please do not connect them with the same power supply. Motor Business Unit, Panasonic Corporation...
  • Page 41 - The circuit connected to terminal X1 – X6 are secondary circuits. Insulation is needed against the primary side power supply ( power supply of the motor brake). Please do not connect them with the same power supply. Motor Business Unit, Panasonic Corporation...
  • Page 42 - The circuit connected to terminal X1 – X6 are secondary circuits. Insulation is needed against the primary side power supply (power supply of the motor brake). Please do not connect them with the same power supply. Motor Business Unit, Panasonic Corporation...
  • Page 43 [15] In order to reduce the terminal noise voltage, install a noise filter. [16] Customer is responsible for the power supply of the brake attached to a motor. [17] Turn ON the power after the wiring was finished. Motor Business Unit, Panasonic Corporation...
  • Page 44 Attach the regenerative resistor on the incombustibles such as metal. Install the regenerative resistor so that people can not directly touch it, such as the incombustible to cover it. Keep the temperature of places, which people can directly touch, below 70 deg. Celsius. Motor Business Unit, Panasonic Corporation...
  • Page 45 (Sizes D – F) In case the portion to receive a fan is coated, peeling off the coating before installing a fan or using homebuilt bracket s with conductive plating provides effective anti-noise measures. Motor Business Unit, Panasonic Corporation...
  • Page 46 C-MODE Alarm clear input A-CLR Positive direction Over-travel inhibition input Negative direction Over-travel inhibition input The functions of pins 8, 9, 26-33 are allocatable with parameters. The figure above shows the default setting. Motor Business Unit, Panasonic Corporation...
  • Page 47 External brake release output BRKOFF+ BRKOFF- Torque in-limit output Zero speed detection output COM- The functions of pins 10, 11, 34, 35, 38, 39 are allocatable with parameters. The figure above shows the default setting. Motor Business Unit, Panasonic Corporation...
  • Page 48 Be aware that the line driver and open collector interfaces differ from each other in the connection to the servo driver.  Line driver interface PULS1 2.2 kΩ PULS2 220 Ω SIGN1 2.2 kΩ SIGN2 220 Ω represents twisted pair Motor Business Unit, Panasonic Corporation...
  • Page 49  Shorten the wire length (up to 1 m).  Be aware that the maximum pulse frequency of the open collector interface is small (200 kpps) compared with that (500 kpps) of the line driver interface. Motor Business Unit, Panasonic Corporation...
  • Page 50 [3] In the Z-phase signal output, be aware that the logic of line driver output (OZ) is the reverse of that of the open collector output (CZ). [4] Use the pulses at less than or equal to the maximum output frequency 4 Mpps (after quad edge valuation). Motor Business Unit, Panasonic Corporation...
  • Page 51 (or equivalent) Motor Motor side Encoder cable Driver side In case of canon plug type: Twisted pair +5 V BAT+ BAT- Shell (FG) JL10-6A20-29S-EB N/M3057-12A JL10-2A20-29P (or equivalent) (or equivalent) Motor Encoder cable Driver side Motor Business Unit, Panasonic Corporation...

  • Page 52: Compliance With Global Standards

    Thus, it is necessary to measure how the final equipments and devices where the servo driver and the servo motor are embedded are compliant (especially unnecessary radiation noise, noise terminal voltage) with EMC directive. Motor Business Unit, Panasonic Corporation...

  • Page 53: Peripheral Device Configuration

    <Dedicated to power supply cable> Power Residual Driver Motor supply current Circuit Noise filter device breaker (RCD) Ferrite core Surge absorber Ferrite core Ferrite core Insulated power supply for interface Safety Controller controller Ground (PE) Motor Business Unit, Panasonic Corporation...
  • Page 54 (1) Use it under the environment of overvoltage category III defined in IEC60664-1. (2) As for the parallel I/O power supply, use the CE marking conforming product or the 12-24 VDC power supply of insulation type compliant with EN standard (EN60950). Motor Business Unit, Panasonic Corporation...
  • Page 55 (PE) of the control panel. (2) Do not tighten the connection to the protection ground terminal ( ) along with other parts. The servo driver has two protection ground terminals. Motor Business Unit, Panasonic Corporation...

  • Page 56: List Of Peripheral Devices Applicable To Servo Driver

    For the protection earth terminal, use M4 for Sizes A-E, M5 for Sizes F. The terminal block can be damaged if the screw tightening torque exceeds the maximum value. (See the page for explanation of terminal blocks.) Motor Business Unit, Panasonic Corporation...
  • Page 57 ZCAT3035-1330 Ferrite core － RJ8035 Konno Kogyousho DV0P4170 SUP-EK5-ER-6 DV0P4220 3SUP-HU30-ER-6 Okaya Electric DV0P3410 3SUP-HL50-ER-6B Industries DV0PM20042 3SUP-HU10-ER-6 DV0PM20043 3SUP-HU50-ER-6 － FN258L-16-07(29) Noise filter － FN258L-30-07(33) － FS5559-60-34 Schaffner － FS5559-80-34 － FN258-42-07(33) － RTHN-5010 Motor Business Unit, Panasonic Corporation...

  • Page 58: Compliance With Ul Standard

    Set up the maximum instantaneous allowable current at the Pr0. 13 (first torque limit) and second torque limit). Pr5.22 ( There is no overheat protection in the servo motor. If you need to conform to the NEC, please implement the overheating protection measures. Motor Business Unit, Panasonic Corporation...

  • Page 59: Radio Waves Act (South Korea) Precautions

    [2] Make sure to evaluate and confirm the compliance with F47 power supply instantaneous stop standard with an actual device. 9-8 Harmonic suppression measures  Harmonic suppression measures will vary by the country. Please install in accordance with the regulations of each country. Motor Business Unit, Panasonic Corporation...

  • Page 60: Safety Precautions

    (11) Be sure not to touch inside a servo driver. (12) Motor drive heat sink and peripheral device become very hot. Do not touch them. (13) Do not carry out wiring or do not operate the equipment with wet hands. Motor Business Unit, Panasonic Corporation...
  • Page 61 (33) Avoid frequent switching on and off the main power supply of the driver. (34) The built-in brake of the motor is used for holding only. Do not use the brake to stop (braking) for securing safety of the equipment. Motor Business Unit, Panasonic Corporation...
  • Page 62 Abt imately 5 years. Commission the manufacturer or sales agency authorized by the manufacturer to replace the parts.  Be sure to read operating manual (safety guide) that shipped with product before use. Motor Business Unit, Panasonic Corporation...
  • Page 63 Therefore, you should exercise thorough caution to ensure safety against an unexpected operation. Motor Business Unit, Panasonic Corporation...

  • Page 64: Life And Warranty

    This Warranty shall be exempted when the life of the components described in 7-2 exceeds its typical life. (2) Warranty scope Panasonic warrants the replacement of the defected parts of the Product or repair of them when the defects of the Product occur during the Warranty Period, and when the defects are under Panasonic responsibility.This Warranty only covers the Product itself and does not cover any damage incurred by such defects.

  • Page 65: Others

     When discard batteries, provide insulation using a tape, etc. and discard the batteries abiding by a municipal law.  When discarding the equipment, process the item as an industrial waste. Motor Business Unit, Panasonic Corporation...

  • Page 66: Specification For Each Model

    The lithium-metal battery is used as a backup battery. There are restrictions for transportation of the lithium-metal batteries by an international transport rule of dangerous goods etc. Please inquire in detail through the purchase shop. Motor Business Unit, Panasonic Corporation...
  • Page 67 The lithium-metal battery is used as a backup battery. There are restrictions for transportation of the lithium-metal batteries by an international transport rule of dangerous goods etc. Please inquire in detail through the purchase shop. Motor Business Unit, Panasonic Corporation...
  • Page 68 The lithium-metal battery is used as a backup battery. There are restrictions for transportation of the lithium-metal batteries by an international transport rule of dangerous goods etc. Please inquire in detail through the purchase shop. Motor Business Unit, Panasonic Corporation...
  • Page 69 The lithium-metal battery is used as a backup battery. There are restrictions for transportation of the lithium-metal batteries by an international transport rule of dangerous goods etc. Please inquire in detail through the purchase shop. Motor Business Unit, Panasonic Corporation...

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