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MINAS A4 Series
Almighty
Position Control, Velocity Control and Torque Control in one Driver supports
multiplicity of application.
Clearwater Tech - Phone: 800.894.0412 - Fax: 208.368.0415 - Web: www.clrwtr.com - Email: info@clrwtr.com
Details of Features
Further Adjustment-Free Operation
withou
with
Clearwater Tech - Phone: 800.894.0412 - Fax: 208.368.0415 - Web: www.clrwtr.com - Email: info@clrwtr.com
MINAS A4 Details of Features
Adaptive filter
actual speed (r/min) Torque [%]
Makes the notch filter frequency automatically follow the
machine resonance frequency. Speed Suppress
vibration
Suppression of "Judder" noise of the machine can be quickly
expected which is caused by variation of the machines or
resonance frequency due to aging.
torque
(33.3%/div)
50ms/div 50ms/div
Damping control
2-channel damping filters are equipped in this driver. You can suppress vibration occurring at both starting and stopping
in low stiffness machine, by manually setting up vibration frequency in 0.1Hz unit.
You can also switch the vibration frequency set by 2-channel with rotating direction or with an external input to
correspond to the variation of vibration frequency caused by the machine position.
Easy setup with entry of only frequency and filter value. Improper setup values do not result in unstable operation
motor movement machine movement
actual speed (r/min) Torque [%]
500 500 400
400 400 320
300 300 240
200 200 160
400 16 320
300 12 240
200 8 160
100 4 80
with damping control 0 0 0
100 4 80
400 16 320
500 20 400
0.1 0.2 0.3 0.4 0.5 0.6 0.7 [s]
Command speed (r/min) Position deviation [pulse]
Clearwater Tech - Phone: 800.894.0412 - Fax: 208.368.0415 - Web: www.clrwtr.com - Email: info@clrwtr.com
Further Flexibility and Multiplicity
Setup support with substantial monitoring function Inrush current suppressing function
Faster communication speed of RS232/RS485 (Max.57600bps) Inrush current suppressing resistor is equipped in this driver, You ca
establishes an easy and comfortable operating condition for which prevents the circuit breaker shutdown of the power supply press &
setup support software, "PANATERM". caused by inrush current at power-on.
It is po
Displays the factors of no-motor run and helps you to analyze the Prevents unintentional shutdown of the power supply circuit
causes of troubles. breaker in multi-axes application and does not give load to the
power line.
S
You can set up the panel operation lock to inhibit the operation
from the front panel, thus enables you to prevent miss-operation Featur
standa
such as unintentional change of parameters. Regeneration discharging function
*Note) Refer to page "F2" for setup support software. Useful
Discharges the regenerative energy with resistor, which energy is Notes)
generated while stopping the load with large moment of inertia, or 1)
Command control modes use in up-down operation, and is returned to the driver from the 2)
motor.
Offers you "Position" , "Velocity (including internal 8-speed)" and
"Torque" command control modes No regeneration discharge resistor is built-in to Frame A driver
(MADDT1105 type.), Frame B driver (MBDDT2210 type.) and
You can set up any one ofthe command control modes, or
selectable two command control mode with parameter. Frame G driver (MGDDTC3B4 type.) and we recommend you to
connect optional regenerative resistor.
You can set up any command control mode depending on your
application. Regenerative resistor is built-in to Frame C to F drivers, however,
connection of the optional regenerative resistor bring you further
regenerative capability.
Monitoring function with front panel
LED display and analog monitor terminals are installed in the front Built-in dynamic brake
panel.
Displays "Motor speed" , "Motor torque" Position deviation" , You can select the dynamic brake action which short the servo
motor windings of U, V and W, at Servo-OFF, CW/CCW over-
"Motor load factor" and "Regeneration load factor" on LED.
travel inhibition, power shutdown and trip.
You can monitor "Motor speed" ,"Motor torque" and "Position
deviation" through analog monitor terminals.
You can select the action sequence setup depending on the
machine requirement.
Clearwater Tech - Phone: 800.894.0412 - Fax: 208.368.0415 - Web: www.clrwtr.com - Email: info@clrwtr.com
MINAS A4 Details of Features
* When export this product, follow statutory provisions of the destination country.
Clearwater Tech - Phone: 800.894.0412 - Fax: 208.368.0415 - Web: www.clrwtr.com - Email: info@clrwtr.com
Motor Line-up Mo
Rated
rotational
Rotary encoder Brake Gear Ser
Rated output
Motor series * speed 2500P/r 17bit High
CE/UL Enclosure Features Applications
(kW) incremen absolute/ Holding
(Max. speed) precision
tal incremental
(r/min)
Ultra low inertia
MSMD
3000
0.05-0.75 (5000)
*For IP65 .Small capacity .Inserters
(Except shaft
5 models 400W/100V through hole .Suitable for all .Belt driven
0.05, and 750W and applications machines
connector)
0.1, 0.2, 3000 .Unloading robot
0.4 and 0.75 (4500)
MSMA
3000
.Middle capacity
.Suitable for the
Mo
1.0-5.0 (5000) IP65
machines directly .
*For (Except SMT machines
6 models coupled with ball .
4kW and cannon plug/ Inserter
1.0,1.5,2.0, screw and high .Food machines
5kW connector
3.0,4.0 stiffness and high
3000 pins) Symb
and 5.0 repetitive
(4500) MSM
application
Motor
MDMA
Symb
2000
1.0-7.5 01
(3000) IP65 .Middle capacity .Belt driven 02
*For (Except .Suitable for low 04
7 models machines
7.5kW cannon plug/ 08
1.0,1.5,2.0, stiffness machines .Conveyers
1500 connector .Robots
3.0,4.0,5.0 with belt driven
(3000) pins) Rotary
and 7.5
Symb
Low speed/
P
MGMA ( High torque type )
Middle inertia
S
0.9-6.0 IP65 .Middle capacity
(Except .Suitable for .Belt driven
5 models 1000
cannon plug/ machines requiring machines
0.9,2.0,
3.0,4.5
(2000)
connector low speed with
.Conveyers
.Robots
Ser
pins) high torque
and 6.0
MHMA
High inertia
2000
.Middle capacity
0.5-7.5 (3000) IP65 .Suitable for low .Belt driven
*For (Except
stiffness machines machines
8 models 7.5kW cannon plug/
with belt driven, .Conveyors
0.5,1.0,1.5, 1500 connector
and large load .Robots
2.0,3.0,4.0, (3000) pins)
moment of inertia
5.0 and 7.5
Servo Driver
M A D D T 1 2 0 5
Special specifications
Frame symbol Power device Max. current rating Supply voltage specifications Current detector current rating
Symbol Frame Symbol Power device Max. current rating Symbol Specifications Symbol Current detector, current rating
MADD A4 series, Frame A T1 1 0A 1 Single phase, 100V 05 5A
MBDD A4 series, Frame B T2 1 5A 2 Single phase, 200V 07 7.5A
MCDD A4 series, Frame C T3 3 0A 3 3-phase, 200V 10 1 0A
MDDD A4 series, Frame D T5 5 0A 5 Single/3-phase,200V 20 2 0A
MEDD A4 series, Frame E T7 7 5A 30 3 0A
MFDD A4 series, Frame F TA 1 0 0A 40 4 0A
MGDD A4 series, Frame G TB 1 5 0A 64 6 4A
TC 3 0 0A 90 9 0A
A2 1 2 0A
B4 2 4 0A
Clearwater Tech - Phone: 800.894.0412 - Fax: 208.368.0415 - Web: www.clrwtr.com - Email: info@clrwtr.com
Wiring example
Driver Frame Type Symbol (Frame A, B, C, D) Dr
Personal Computer
PC communication cable
L1 (DV0P1960)
L2
L3
L1C
L2C
Brake cable
Ground (Earth)
Power supply for
Motor to page A4-77 brake DC24V Motor
Clearwater Tech - Phone: 800.894.0412 - Fax: 208.368.0415 - Web: www.clrwtr.com - Email: info@clrwtr.com
MINAS A4 Wiring example
PC communication cable
(DV0P1960)
P, B1 and B2 ...
Controller
B1 and B2 to be kept shorted for normal
operation. Encoder cable
Brake cable
Clearwater Tech - Phone: 800.894.0412 - Fax: 208.368.0415 - Web: www.clrwtr.com - Email: info@clrwtr.com
Wiring example
List
Power
Driver Frame Type Symbol (Frame G) supply
voltage
Single
phase,
For details, refer to the Instruction Manual. 100V
Console (DV0P4420)
Personal Computer
PC communication cable
(DV0P1960)
3-phase
200V
Controller
Encoder cable
Clearwater Tech - Phone: 800.894.0412 - Fax: 208.368.0415 - Web: www.clrwtr.com - Email: info@clrwtr.com
MINAS A4 Wiring example
List of recommended peripheral equipments
Power Applicable Power Circuit Noise Magnetic Cable Cable
motor Noise Surge
supply capacity breaker filter absorber filter contactor diameter diameter Connector
voltage Series Output (atrated load) (rated current) (signal) (Contact) (Main circuit) (controlcircuit)
MSMD 50W
Approx. 0.4kVA BMFT61041N
Single 100W DVOP4170
MSMD (3P+1a)
phase, 200W Approx. 0.5kVA
100V MQMA BMFT61541N
400W Approx. 0.9kVA DVOP4180 (3P+1a)
50W
MSMD Approx. 0.5kVA
100W
BBW2102 DVOP4190
MAMA (10A)
100W Approx. 0.3kVA
MQMA 0.75mm2
Approx. 1.3kVA
BBW3152
MSMD
750W (15A)
MAMA Approx. 1.6kVA
Single/ MDMA
1.0kW
3-phase, MHMA
Approx. 1.8kVA
200V MGMA 900W
DVOP4220 BMFT61842N
MSMA 1.0kW
(3P+1a) 0.75mm2
MSMA DVOP1460 2.0mm2
BBW3202 AWG18
MDMA (20A) AWG14
1.5kW Approx. 2.3kVA
Terminal block M5
MGMA 2.0kW
(3P+2a2b)
MSMA
MDMA
3.0kW Approx. 4.5kVA
MHMA 3.5mm2
3-phase, AWG12
MGMA
200V
MSMA BBW350S 11.0 or
MDMA 4.0kW Approx. 6.0kVA (50A) smaller
MHMA
DVOP3410
MFMA Approx. 6.8kVA
4.5kW
MGMA
MSMA BMF6652N 5.3
5.3mm2
Approx. 7.5kVA (3P+2a2b)
MDMA 5.0kW AWG10
MHMA
MGMA 6.0kW Approx. 9.0kVA L1, L2, L3
MDMA BBW360S 5.3mm2 AWG10
7.5kW Approx. 11kVA (60A) U, V, W
MHMA 14mm2 AWG6
Select a single and 3-phase common specifications corresponding to the power supplies.
Listed circuit breaker and magnetic contactor are manufactured by Panasonic Electric Works.
To conform to EC Directives, install a circuit breaker which conforms to IEC and UL Standards (Listed, marked) between noise
filter and power supply without fail.
For details of noise filter, refer to Page A4-138.
<Remarks>
Select a circuit breaker and noise filter which match to the capacity of power supply (including a load condition).
Terminal block and earth terminals
Use a copper conductor cables with temperature rating of 60C or higher.
Earth terminals for Frame A to D are M4 and M5 for Frame E to G.
Larger tightening toque for screws than the max.value (M4 : 1.2 Nm, M5 : 2.0 Nm) may damage the terminal block.
Mounting screws on the cover of terminal block for frames E to G and screw on acrylic cover of terminal block for frame G should be
Clearwater Tech - Phone: 800.894.0412 - Fax: 208.368.0415 - Web: www.clrwtr.com - Email: info@clrwtr.com
Table of Part Numbers and Options
Rated 2500P/r, Incremental 17bit, Absolute/Incremental common 2500P/r and 17bit common
Motor Power rotational Output Rating/ Encoder Rating/ Encoder Encoder
series supply speed (W) Motor Motor Frame Motor c
Spec. cable Spec. cable cable Driver
(r/min) Note) 1 (page) Note) 2 Note) 1 (page) Note) 2 Note) 2 symbol Note
Clearwater Tech - Phone: 800.894.0412 - Fax: 208.368.0415 - Web: www.clrwtr.com - Email: info@clrwtr.com
MINAS A4 Table of Part Numbers
and Options
Optional parts
Motor cable
Motor cable
Note) 2
(with brake)
Note) 2
Brake cable
Note) 2
Regenerative
resistor
Reactor Noise filter Carrying page
Carrying
DV0P220 DV0P4170 Options Part No.
DV0P4283 page
MFMCA MFMCB DV0P4180 Japanese DV0P4200
DV0P221 Technical reference
0**0EED 0**0GET DV0P4284 DV0P4220 English DV0P4210
DV0P4283 DV0P220 DV0P4180 Console DV0P4420 A4-152
DV0P4284 DV0P221 DV0P4220 Setup support software, Japanese
DV0P4460 A4-151
PANATERM English
DV0P4280 DV0P227
DV0P4170 RS232 communication cable (for connection with PC) DV0P1960 A4-147
DV0P4283 DV0P1970
DV0P228 RS485 communication cable
DV0P4282 DV0P4180 DV0P1971 A4-147
(for connection with PC)
MFMCA MFMCB DV0P1972
DV0P4281
0**0EED 0**0GET DV0P220 Interface cable DV0P4360 A4-147
DV0P4170
Connector kit for external equipment DV0P4350 A4-146
DV0P4290
DV0P4283 A4-148
DV0P221 DV0P4380
DV0P4180
DV0P4310
DV0P4280 DV0P227 DV0P4320
DV0P4170 Connector kit for motor and encoder A4-149
DV0P4283 DV0P4330
DV0P228 DV0P4340
MFMCA MFMCB DV0P4282 DV0P4180
DV0PM20005
0**0EED 0**0GET DV0P4281 A4-150
DV0P220 DV0PM20006
DV0P4170
DV0P4283 Battery for absolute encoder DV0P2990 A4-154
DV0P221
Frame A DV0P4271
Clearwater Tech - Phone: 800.894.0412 - Fax: 208.368.0415 - Web: www.clrwtr.com - Email: info@clrwtr.com