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PanasonicMinas A Series Digital AC Servo Motors & Drivers
A Series
Drivers
TABLEOF CONTENTS
TABLEOF CONTENTS
Driver Series Output
seireS W03 W05 W001 W002 W003 W004 W005 W006 W057 W009
ADSM v v v v v v
ADQM v v v
ADDM v
ADGM v v v
ADFM v v
ADHM v
seireS Wk0.1 Wk2.1 Wk5.1 Wk0.2 Wk5.2 Wk0.3 Wk5.3 Wk0.4 Wk5.4 Wk0.5
ADSM v v v v v v v v v
ADQM
ADDM v v v v v v v v v
ADGM v v v v
ADFM v v v v
ADHM v v v v v v
Explanation of Part Numbers
tuptuOdetaR
A3 W03 01 Wk0.1
A5 W05 21 Wk2.1
10 W001 51 5.1 Wk
20 W002 02 0.2 Wk
30 W003 52 Wk5.2
40 W004 03 Wk0.3
50 W005 53 Wk5.3
60 W006 04 Wk0.4
80 W057 54 Wk5.4
90 W009 05 Wk0.5
seireS
ADSM
ADQM
ADDM
ADGM
ADFM
ADHM
ylppuSrewoP
1 V001esahPelgniS
3 V002esahPeerhT
redocnE
A latnemercnir/p0052
D etulosbatib71
M S D A 1 3 A 1 A01 2 3 4 5 6 7 8 9 10
Design and specifications are subject to change without notice. Ask Panasonic for technical specifications before purchase and/or use.
Whenever a doubt about safety arises from this product, please contact Panasonic immediately for technical consultation.
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TABLEOF CONTENTS
Basic Specifications
ecruoSrewoPtupnI
V001esahPelgniS tiucricniaM tiucriclortnoC V511-001CA%01+ / %51- zH06/05
V002esahpeerhTtiucricniaM
tiucriclortnoCV032-002CA %01+ /
%51-zH06/05
noitautculfycneuqerfelbawollA %5.xaM
metsySlortnoC )lortnocevaweniS(lortnoCMWPTBGI
redocnEkcabdeeFlatnemercnI seriw11-noituloverrepeslup0052
etulosbA seriw7-tib71
snoitcnuFdradnatS
egrahcsiDevitarenegeRegraltonsirotsiserni-tliubehtfirotsiserlanretxenaesU-ni-tliuB
hguone
ekarbcimanyD
:snoitidnocgniwolloftadetavitcAFFOrewopniaM)1
FFO-ovreS)2demrala-ovreS)3
NO-langisHNl)4
)dnammoceslupforalacS(raegcinortcelE:nwohssaalumroF
eslupkcabdeeffoelacSlatnemercnI noituloverrepeslup0052-1
etulosbA noituloverrepeslup48361-1
snoitcnuFevitcetorP
egatlovrednU)1
)3 tnerrucrevOdaolrevO)5
egrahcsidevitarenegeR)7
rorrenoitisoP)9wolfrevoretnuocrorrE)11
rorretupnitibihnilevartrevO)31
egatlovrevO)2
taehrevO)4deepsrevO)6
rorreredocnE)8
rorrerelacseslupdnammoC)01rorreatadMORPEE)21
rorrenwodmetsysetulosbA)41
rotinoM
yalpsidlatigiD DELtnemges7-stigid6
tuptuogolanAmpr0003/V6:rotinomdeepS
%001/V3:rotinomeuqroT
rebmunesluprorrenoitisoP
gnitteSnoitacinummoC )sevird61otpuknil.xaM(584SRdnaC232SR
syeklenaphcuoT TFEL,NWOD,PU,TES,EDOM
lortnoCnoitisoP
ycneuqerfesluptupni.xaM revirdeniL/sppk005rotcellocnepO/sppk002
dnammocfoepyTdnammocesluperutardauQ
dnammocWCC/WC
dnammocnoitcerid/petS
lortnocdeepS
egnarlortnocdeepS 0005:1
emitgnilttesnoitareleced/noitareleccAmpr0001/.ces01-0
noitareleced/noitareleccalaudividnI
noitareleced/noitareleccaevruc"S"
tupnidnammocyticolevgolanA V010
dnammocyticolevlanretnI tesebnacsdeepsruoF
lortnoCeuqroT
tupnidnammoceuqrotgolanA V010
dnammoctimileuqroT .noitceridWCCdnaWCottesyllaudividnI
langisdnammoceuqroTedomlortnoceuqroTroedomlortnoceuqroT/noitisoPhtiwRQRT/RPS
edomlortnoceuqroT/deepShtiwRQRT/LTWCC
tluafedsaeuqrotdetar/V3
redocnEtuptuOlangiS
esahpB/A tuptuorevirdeniL
esahpZ tuptuorotcellocnepOdnarevirdeniL
gnitnuoMlacisyhP gnitnuomlenapkcabrotnorF
tnemnorivnE
erutarepmettneibmA C55-0
ytidimuhtneibmA )gnisnednocoN(sselro%09
noitarbiV zH05-01ta)sselroG6.0(2s/m9.5
esnopseRycneuqerF )MJ=LJta(zH005
1 to 10000 x 20 to 17
1 to 10000
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TABLEOF CONTENTS
Dimensions
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rewoP
ADSM
1A3 V001/W03
3A3 V002/W03
1A5 V001/W05
3A5 V002/W05
110 V002/W001
310 V002/W001
320 V002/W002
ADQM
110 V001/W001
310 V002/W001
320 V002/W002
Weight: 1.0 kg / 2.21 lb.
rebmuNledoM/tuptuO
rewoP
ADSM120 V001/W002
340 V002/W004
ADQM120 V001/W002
340 V002/W004
Weight: 1.1 kg / 2.43 lb.
N
ameplate
Nameplate
Nameplate
Nameplate
Units: mm(in)
Units: mm(in)
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Dimensions
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rewoP
ADSM140 V001/W004
380 V002/W057
ADQM 140 V001/W004
ADFM 340 V002/W004
ADGM 230 V002/W003
Weight: 1.4 kg / 3.09 lb.
rebmuNledoM/tuptuO
rewoP
ADSM301 V002/Wk0.1
351 V002/Wk5.1
ADDM
380 V002/W057
301 V002/Wk0.1
351 V002/Wk5.1
ADFM380 V002/W057
351 V002/Wk5.1
ADGM360 V002/W006
390 V002/W009
ADHM
350 V002/W005
301 V002/Wk0.1
351 V002/Wk5.1
Weight: 3.8 kg / 8.38 lb.
Nameplate
Nameplate
NameplateN
ameplate
Units: mm(in)
Units: mm(in)
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TABLEOF CONTENTS
Dimensions
rebmuNledoM /tuptuOrewoP
ADSM
303 V002/Wk0.3
353 V002/Wk5.3
304 V002/Wk0.4
354 V002/Wk5.4
305 V002/Wk0.5
ADDM
303 V002/Wk0.3
353 V002/Wk5.3
304 V002/Wk0.4
354 V002/Wk5.4
305 V002/Wk0.5
ADFM353 V002/Wk5.3
354 V002/Wk5.4
ADGM303 V002/Wk0.3
354 V002/Wk5.4
ADHM
303 V002/Wk0.3
304 V002/Wk0.4
305 V002/Wk0.5
Weight: 8.0 kg / 17.64 lb.
Nameplate
Nameplate
rebmuNledoM/tuptuO
rewoP
ADSM302 V002/Wk0.2
352 V002/Wk5.2
ADDM302 V002/Wk0.2
352 V002/Wk5.2
ADFM 352 V002/Wk5.2
ADGM 321 V002/Wk2.1
ADHM 302 V002/Wk0.2
Weight: 4.2 kg / 9.26 lb.
NameplateNam
eplate
Units: mm(in)
Units: mm(in)
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Wiring Diagram - Main Circuit
WARNING! To avoid electric shock do notturn on the main power until wiring is completed.
1) Detach the terminal block by removing the cover screw.2) Make necessary connections using clamp terminal connectors with an insulation cover.3) Attach the terminal block cover and tighten the cover screw.
Refer to the driver nameplate for power specification.
Install a non-fuse breaker or leakage breaker. The
leakage breaker should be intended for inverters, witha countermeasure against higher harmonics.
A noise filter must be installed.
Install a surge absorber on the magnetic contactor coil.
Install an AC reactor.
For single-phase 100V, connect L1 to L3.
Do not remove the short bar connecting B1 to B2 un-less an external regenerative discharge resistor is
connected.Confirm matching color between the motor wires and
the terminals (U, V and W).
Do not short circuit or ground. Do not connect to themain power.
Connect to the grounding system.
To avoid electric shocks, never fail to connect thedrivers protective earth terminal to the control boardsprotective earth terminal.
Do not make multiple connections to a single earth
terminal. Two earth terminals are provided.
Earth wires should not be connected or make contactwith any of the terminals in the terminal box.
The electromagnetic brake is not polar-sensitive.
Surge absorber
Power supply forelectromagnetic brake
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TABLEOF CONTENTS
Wiring Diagram - Main Circuit
Three Phase 200V
Single Phase 100V
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Wiring Instructions for CN SIG Connector
The cable length between the driver and the motorshould be a maximum of 20m (65.62ft). If a longer
cable is needed, contact your dealer or sales agent.
The wiring should be separated from the main circuit
wires by at least 30cm (11.81in). Do not install thesewires in the same duct as the mains or bundle themtogether with the mains.
Depending on the motor model, there are two typesof encoder wire terminations:
- Lead wire + connector and,- Cannon plug.
When preparing your own connecting cables, contact
Panasonic concerning optional parts for connectorsand:1) Follow the wiring diagram provided and,2) Use wires of 0.18mm2 (AWG24) or higher,
shielded twisted-paired wire with enoughbending durability.
3) Signal/power paired wires should be a twisted-paired type.
4) Shield:
- The shield at the driver side should beconnected to Pin 20 (FG) of CN SIG connector.
- The shield at the motor side should be
connected to:- Pin 3 (for AMP 9 pin connectors)- Pin 15 (for AMP 15 pin connectors)- J-pin (for Cannon plug connectors)
5) If the cable is longer than 10m (32.81ft), theencoder power line (+5V and 0V) should be dual,per the figure shown to the left.
6) Other terminals should be left unconnected.(Cannon plugs)
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Wiring Diagram for CN SIG Connector - 2500 p/r IncrementalFor MSMA 750 W or
smaller, and MQMAmotors
shows a pair of twisted wires
Wiring Diagram for CN SIG Connector - 17 bit Absolute
For MSMA 750 W orsmaller, and MQMAmotors
shows a pair of twisted wires
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CN I/F Connector
Place peripheral devices, such as the controller, a maximum of 3m (9.84ft) fromthe driver.Keep the wiring a minimum of 30cm (11.81in) from the main circuit wires. Do notinstall these wires in the same duct as the mains or bundle them together with the
mains.
Control power (VDC) between COM+ and COM- should be supplied by the customer
(recommended voltage: +12VDC to +24 VDC).
Control signal output terminals can accept a maximum of 24V or 50mA. Do notapply voltage or current exceeding these limits.
If a relay is activated using the control signal, install a diode in parallel to the relay
as shown. Without a diode installed in the proper direction, the driver will be
damaged.
Use a shielded twist-paired type of wire for pulse input, encoder signal output, or
analogue command input.
The Frame Ground (FG) is connected to an earth terminal in the driver.
Driver Receptacle:
10250-52A2JL
Connector to Controller:- Solder type plug
Part # 10150-300VE- Shell
Part # 10350-52A0-008
Manufacturer:Sumitomo 3M
Wiring Instructions
CN I/F Connector - Wiring for Position ControlConnectorSpecifications
VDC12~24
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TABLEOF CONTENTS
CN I/F Connector - Wiring for Speed Control Mode
CN I/F Connector - Wiring for Torque Control Mode
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PanasonicMinas A Series Digital AC Servo Motors & Drivers
A Series
Drivers
TABLEOF CONTENTS
TABLEOF CONTENTS
Input Interface Circuit
SI - Connecting to Sequence Input Signals- Connect to the contacts of the switch and relay, or to a transistor of an open collector output.- Use a switch or relay for micro current to avoid insufficient contact.- The lower limit of the power supply (12 - 24V) should not be less than 11.4V in order to secure the
appropriate level of primary current in the photo coupler.
PI - Command Pulse Input CircuitLine Driver I/F- This is a good signal transmission method that is
less sensitive to noise. We recommend you usethis method to maintain the reliability of signals.
Open Collector I/F
- Uses an external control power supply (VDC).- Requires a current-limiting resistor corresponding
to the capacity of the VDC value.
CDV eulaVR
V21 W4/1k1
V42 W4/1k2
VDC -1.5R + 220 10mA
shows a pair of twisted wires
AI - Analog Command Input
- There are three analog command inputs of SPR/RTQR(14 pins), CCWTL (16 pins) and CWTL (18 pins).
- The maximum permissible input voltage is 10V. See the
figure for input impedance.- If you make a simplified circuit comprising a variable resistor
(VR) and resistor (R), refer to the figure. When the variablerange of each input is -10V to +10V, the VR should be a B-
type resistor of 2kW (min. 1/2 W). The R should be 200W(min. 1/2W)
- The A/D converters for these inputs should have the
following resolution (including 1 bit for the sign):- ADC1 (SPR and TRQR) - 16 bits
- ADC2 (CCWTL and CWTL) - 10 bits
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13/14
PanasonicMinas A Series Digital AC Servo Motors & Drivers
A Series
Drivers
TABLEOF CONTENTS
TABLEOF CONTENTS
Output Interface Circuit
S01 S02 - Sequence Output Circuit- Comprises a Darlington amplifier with an open collectorconnected to a relay or photo coupler.
- There is a collector-to-emitter voltage VCE(SAT) of
approximately 1V at transistor ON, due to the Darlingtonconnection of the output transistor. Note that normal TTLIC
can not be directly connected since it does not meet the VILrequirement.
-This circuit has an independent emitter connection, or an emitterconnection that is commonly used at the minus (-) terminal(COM-) of the control power.
- The maximum rating is 30V, 50mA.
P01 Line Driver (Differential) Output
- Provides differential output of encoder signals (A, B and Zphases) that come from the scalar.
- Receive these signals with line receivers. In this case, install a
resistor of approximately 330W between the inputs.
P02 Open Collector Output
- Outputs Z-phase signals among those from the encoder.- Receive these signals with a high-speed photo coupler at
controller side, since Z-phase signal width is normally narrow.
A0 Analog Monitor Output
- This output is the velocity signal (SP) or torque monitor signal (IM).
- The signal range is approximately 0 to 9V.- The output impedance is 1kW. Pay attention to the input impedance
of your measuring instruments and external circuits connected.Resolution
- Velocity monitor signal (SP): 8 r/min./LSB calculated from 6V/3000r/min (pr07=3)
- Torque monitor signal (IM): 0.4%/LSB calculated from 3V/rated value
(100%)
shows a pair of twisted wires
shows a pair of twisted wires
VDC-2.5
10
R= [KW]
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14/14
PanasonicMinas A Series Digital AC Servo Motors & Drivers
A Series
Drivers
TABLEOF CONTENTS
TABLEOF CONTENTS
Pin Assignment for CN I/F on Driver
Driver Connector Configurations
Pin Assignment for CN SIG on Driver - For 2500p/r Incremental Encoder
Pin Assignment for CN SIG on Driver - For 17bit Absolute Encoder
11
Z
13
NC
15
NC
17
RX
19
NC
12
Z
14
NC
16
NC
18
RX
20FG
(Shield)
9
B
10
B
1
0V
3
+5V
5
NC
7
A
2
0V
4
+5V
6
NC
8
A
11
NC
13
NC
15
NC
17
RX / TX
19
NC
12
NC
14
NC
16
NC
18
RX / TX
20
FG(Shield)
9
NC
10
NC
1
0V
3
+5V
5
BATT+
7
NC
2
0V
4
+5V
6
BATT-
8
NC
26ZEROSPD
28
DIV
30
CL
32C-
MODE
34S-
RDY-
36
ALM-
38
COIN-
40
TLC
42
IM
44
BATT+
46
NC
48
OB+
50
FG
27
GAIN
29SRV-ON
31A-
CLR
33
INH
35S-
RDY+
37
ALM+
39
COIN+
41
COM-
43
SP
45
BATT-
47
NC
49
OB-
19
CZ
21
OA+
23
OZ+
25
GND
18
CWTL
20
NC
22
OA-
24
OZ-
9
CCWL
11BRK-OFF+
13
GND
15
GND
10
BRK-OFF-
12
ZSP
14
SPR/TRQR
16
CCWTL/TRQR
17
GND
1
NC
3
PULS1
5
SIGN1
7
COM+
2
NC
4
PULS2
6
SIGN2
8
CWL
Panasonic Industrial Company Industrial Motor Departmenthttp://www.panasonic.com/pic
Telephone: 704-947-8400 ext. 221Facsimile: [email protected]
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