Table of Contents
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1 Introduction ................................................................................................................................................. 1
1.1 Servo Drive System Configuration......................................................................................................... 2
1.1.1 System Configuration..................................................................................................................... 2
1.2 Explanation of Type ............................................................................................................................... 6
1.2.1 Direct-drive Motor Type ................................................................................................................. 6
2 Specifications.............................................................................................................................................. 7
2.1 Direct-drive Motor .................................................................................................................................. 8
2.1.1 Environmental Conditions ............................................................................................................. 8
2.1.2 Precautions for Storage ................................................................................................................. 9
2.1.3 Specifications List ........................................................................................................................ 10
2.1.4 Torque Characteristics................................................................................................................. 11
2.1.5 Outline Dimension Drawings........................................................................................................ 12
3 Characteristics .......................................................................................................................................... 21
3.1 Direct-drive Motor ................................................................................................................................ 22
3.1.1 Overload Protection Characteristics ............................................................................................ 22
3.1.2 Dynamic Brake Characteristics .................................................................................................. 24
4 Dedicated Options .................................................................................................................................... 27
4.1 Encoder System Options ..................................................................................................................... 28
4.1.1 Twin-head Magnetic Encoder (MBA Series)................................................................................ 29
4.2 Cables and Connectors ....................................................................................................................... 33
4.2.1 Cable Connection Diagram.......................................................................................................... 33
4.2.2 List of Cables and Connectors..................................................................................................... 35
5 Selection .................................................................................................................................................... 39
5.1 Selection of the Power Supply Unit (Only MDS-E-V1/V2 and MDS-D2-V1/V2) .................................. 40
5.1.1 Calculation of Direct-drive Motor Output...................................................................................... 40
6 Assembly and Installation........................................................................................................................ 41
6.1 Installation............................................................................................................................................ 42
6.2 The Structure of Direct-drive Motor...................................................................................................... 43
6.3 Direct-drive Motor Assembly................................................................................................................ 44
6.3.1 Example Procedure of Assembly................................................................................................. 44
6.4 Installing Twin-head Magnetic Encoder (MBA405W Series) ............................................................... 47
7 Setup .......................................................................................................................................................... 51
7.1 Setting the Initial Parameters for the Direct-drive Motor ...................................................................... 52
7.1.1 Setting of Encoder Related Parameters ...................................................................................... 52
7.1.2 List of Standard Parameters for Each Direct-drive Motor ............................................................ 53
7.2 Initial Setup for the Direct-drive Motor System .................................................................................... 57
7.2.1 Adjustment Procedure ................................................................................................................. 57
7.2.2 Related Parameters ..................................................................................................................... 60
7.3 Initial Setup for Direct-drive Motor System When Using MBA405W.................................................... 61
7.3.1 Adjustment Procedure ................................................................................................................. 61
7.3.2 Related Parameters ..................................................................................................................... 64
7.4 Protective Functions List of Units......................................................................................................... 65
7.4.1 Drive Unit Alarm........................................................................................................................... 65
7.4.2 Drive Unit Warning....................................................................................................................... 66
7.4.3 Parameter Numbers During Initial Parameter Error..................................................................... 67
8 Servo Adjustment ..................................................................................................................................... 69
8.1 Servo Adjustment Procedure ............................................................................................................... 70
8.1.1 Speed Loop Gain ......................................................................................................................... 71
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