MINAS A5Ⅱ／A5 series
MINAS E series
If the end-user or application of this product is related to military affairs or weapons, its export may be controlled by “Foreign
Exchange and Foreign Trade Control Law” of Japan where export license will be required before product can be exported from
Japan.
equipment or system that may cause personal injury or death.
AC Servo
2015/4
Catalog
material to which the product will be mounted. Over tightening can damage the screw and/or material; under tightening can
result in loosening.
transportation, medical equipment, various safety equipments or equipments which require a lesser air contamination.
AC Servo
exceptionally large external noise disturbance and static electricity, or failure in input power, wiring and components may result
in unexpected action. It is highly recommended that you make a fail-safe design and secure the safety in the operative range.
of the machine and its mounting environment, and may result in the bearing noise. Checking and verification by customer is
required.
the application of the machine is clean room related.
5
／A5
series, E series>
Ⅱ
can lead to disconnection from the chip resistor or a poor contact connection.
this caution may lead to damage of the internal parts, causing smoke and/or fire and other troubles.
characteristics, when installing the machine or changing specification of the machine. The user is also responsible for
complying with applicable laws and regulations.
Repair
Consult to the dealer from whom you have purchased this product for details of repair work.
When the product is incorporated to the machine you have purchased, consult to the machine manufacturer or its dealer.
Electric data of this product (Instruction Manual, CAD data) can be download from the following web site;
http://industrial.panasonic.com/ww/products/motors-compressors/fa-motors
URL
Contact to :
Panasonic Corporation,
Automotive & Industrial Systems Company,
Smart Factory Solutions Business Division,
Motor Business Unit
1-1 Morofuku 7-chome, Daito, Osaka 574-0044, Japan
Tel : +81-72-871-1212
Fax: +81-72-870-3151
Family
2015 / 4
The contents of this catalog apply
to the products as of April 2015.
This product is for industrial equipment. Don't use this product at general household.
Printed colors may be slightly different from the actual products.
Specifications and design of the products are subject to change without notice for the product improvement.
<15.04
S
>
This product is for industrial equipment. Don't use this product at general household.
Family
Contents
Two-degree-of-freedom control system
A5
Ⅱ
All-in-one type
series
A5
Ⅱ
N
series
A5
Ⅱ
NL
series
Rated output:
50 W to 15.0 kW
●
20 bit incremental encoder,
17 bit absolute/ incremental encoder
●
All-in-one: Speed, Position, Torque
*1
,
Full-closed
*1
control type
*1 Not applicable to two-degree-of-freedom control system.
A5
Ⅱ
, A5
Ⅱ
E, A5, A5E series
A5
Ⅱ
Series Features ................................. 3
A5 Family Features ................................... 5
Motor Line-up .......................................... 15
Model Designation................................... 16
Overall Wiring .......................................... 17
Driver and List of
Applicable Peripheral Equipments ........ 19
Table of Part Numbers and Options ...... 21
A5 , A5 series (All-in-one type) ........ 29
Ⅱ
A5
Ⅱ
E, A5E series (Position control type) ... 31
Wiring Diagram
Wiring to the Connector
XA, XB, XC, XD and terminal block. .. 33
Safety Function
Wiring to the Connector X3 .............. 36
Control Circuit Diagram
Wiring to the Connector X4 .............. 37
Wiring to the Connector X5 .............. 39
Wiring to the Connector X6 .............. 40
Dimensions of Driver ........................ 42
............................. 49
Dimensions (IP67 motor) ................... 137
Motors with Gear Reducer ................. 141
Special Order Product ..................... 151
Model Designation ......................... 152
Table of Part Numbers and Options .... 153
....................... 155
....... 182
Cable part No. Designation ................ 185
...... 186
.................................... 188
Encoder Cable
Motor Cable ........................................ 191
Brake Cable........................................ 196
Interface Cable ................................... 197
Connector Kit...................................... 198
Battery for Absolute Encoder.............. 207
Mounting Bracket ............................... 208
Reactor ............................................... 209
External Regenerative Resister.......... 210
Surge Absorber for Motor Brake......... 212
List of Peripheral Equipments ............ 213
E series ................................................. 215
All-in-one type
Rated output:
Capacity of applying Linear motor:
●
Position, Speed and Thrust control
●
Automatic setup function & Automatic magnetic
pole detection function
●
Two-degree-of-freedom control system
50 W to 15.0 kW
Rated output:
50 W to 15.0 kW
●
20 bit incremental encoder,
17 bit absolute/ incremental encoder
●
All-in-one: Speed, Position, Torque,
Full-closed control type
Two-degree-of-freedom control system
A5
Ⅱ
MN
series
A5
Ⅱ
MNL
series
Rated output:
Capacity of applying Linear motor:
●
Position, Speed and Thrust control
●
Automatic setup function & Automatic magnetic
pole detection function
●
Two-degree-of-freedom control system
A5
Ⅱ
E
A5E
Slim design and
position control type
Rated output:
50
series
Rated output:
50 W to 5.0 kW
●
20 bit incremental encoder
●
Position control (pulse train commands)
10 W, 20 W, 30 W
●
Synchronized motion and precise CP control
up to 32 axes with 100 Mbps communication
●
Standard Ethernet cable
*2
using
●
Two-degree-of-freedom control system
Position control type
series
A5L
series
A5B
series
Options
Position control type
Motor
A5
series
●
Synchronized motion and precise CP control
up to 32 axes with 100 Mbps communication
●
Standard Ethernet cable
*2
using
●
Two-degree-of-freedom control system
Driver
Information ............................................. 246
Index................................................... 288
........................................ 306
A5A
series
Rated output:
50 W to 5.0 kW
●
20 bit incremental encoder
●
Position control (pulse train commands)
W to 400 W
E
series
1
●
Ultra-small design and pulse train
command type only
●
Real-time auto gain tuning
●
DIN-rail mountable
(using mounting Kit)
Capacity of applying Linear motor:
●
Position, Speed, Thrust control
●
Drastically reduced setup time by automatic
setup
●
Automatic magnetic pole detection function will
detect the magnetic pole position of the linear motor.
Rated output:
Rated output:
50 W to 15.0 kW
●
Supports PC-based controller
●
Passed Official EtherCAT Conformance Test
●
Standard Ethernet cable
*2
using
●
Two-degree-of-freedom control system
50 W to 5.0 kW
●
Positioning is possible by built-in NC function
●
Can connect up to 31 axes
●
Standard Ethernet cable
*2
using
●
Two-degree-of-freedom control system
: For details, see the website or request for information. *2 Shielded twisted pair cable (CAT5e or higher)
2
A5
Ⅱ
Two-degree-of-freedom
control system
All-in-one type
Realizes quick and accurate movement.
Fast response & High-precision positioning
Adopted New Algorithm
“Two-degree-of-freedom control” (2DOF) to
improve productivity and machining accuracy.
In the conventional model, because we could not adjust
separately feedforward control and feedback controls, in
other words even if we only adjust “Approach” of
feedforward, it had connection with “Settling” of
Two degree of freedom control
Driver
Command
Feedback
control
Motor
Command
Feedback
control
Feedforward
control
Driver
Motor
A5 Family
A5
Ⅱ
settling
time
Ball screw
series
settling
time
Belt device
0
ms
4
ms
feedback control, mutual adjustment was required.
In 2DOF adopted A5 series,
feedforward and
Ⅱ
feedback controls are adjusted separately, meaning
"Approach" reaction to the given command, and the
"Settling" can be adjusted separately.
Realized low vibration and reduction of settling time.
Realizes tact speed of the electronic component mounting
machines, improves the accuracy of surface treatment of
metal processing machines, allows for smooth operation
and High speed industrial robots.
(the case of the ball screw: 0 ms / waveform measured settling time)
Command
position
deviation
Position
command
speed
Torque
command
Actual speed
E Series
Information
on our test environment.
Adjustment image
by 2DOF
To achieve both as
High-speed operation
and Low vibration
operation by adjusting
individually of
Trackability-control and
Convergence-control.
Position command
speed
Approach
Command position deviation
2DOF
Conventional
Actual speed
2DOF
Conventional
10 pulse
Command position deviation
Settling
Position command speed
Actual speed
10
pulse
Settling time
0
Positioning
range
Easy and quick adjusting time.
5 times faster* than conventional
Greatly improved “operability”,
easy-to-use software “PANATERM”.
We have upgraded setup support software PANATERM,
the convenient tool for parameter setting and monitoring
often required during start-up of the machine for
adjustment motor and driver. Improved to more
easy-understandable screen.
in only
3
processes
Equipped with “Fit Gain” function to realize
speedy setup.
Newly developed feature "Fit Gain" maximizes the
function can reduce the vibration that occurs when the
rigidity of the device is low, you can set and adjust
automatically the best variety of gain.
Automatically proposes
various settings
①
②
③
condition
setting
result
measurement determination
Two-degree-of-freedom
control system
Only for position control type
Load
Stiffness
Command response
A5
Ⅱ
E
series
Realized 2.3 kHz frequency response
to improve productivity
Comparison* 1.15 times faster than conventional
Realized 2.3 kHz response makes possible
high-speed operation and improves productivity.
10
Gain dB）
（
2.3 kHz
-10
-30
Conventional
model
-50
100
Frequency Hz）
（
1000
2000
3
4
Family
Features
1
!"#$%
2
&'()*
A5 Family
A5 series
Conventional
Product
2.0 kHz Frequency Response
A5
A5E
A5 , A5
Ⅱ
A4
Highly Functional Real-time Auto-Gain Tuning
A5
Ⅱ
A5 A5
Ⅱ
E A5E
Example application
Semiconductor production equipment, food processing machinery, etc.
E Series
Example application
Semiconductor production equipment, packaging, etc.
2.0 kHz
Achieves the industry!s leading frequency response
of 2.0 kHz.
Operation speed up by new developed LSI and high
responsible control.
By the industry!s leading speed and
positioning response, a highly advanced system can be
created. What!s more, the shorter response delay will
realize an extremely lower vibration.
Gain dB）
（
10
2.0 kHz
MINAS A5 series
Auto tuning
High-performance real-time auto-gain tuning featuring simple setup.
After installation, tuning will be completed automatically after several operations.
When the response is adjusted,
simple tuning
is supported with a change of one
parameter value. Use of the gain adjustment mode in the setup support software
contributes to optimum adjustment.
The built-in auto vibration suppression
function reduces equipment damage.
Appropriate
modes are provided for various machines such as
vertical axis machines and high friction machines
with belts.
This makes it possible to perform simple optimal
adjustments simply by selecting the mode and stiffness.
Information
Conventional
Product
100
Frequency Hz）
（
1000
2000
20 bits/revolution, 1.04 million pulses
(At incremental type)
A5
Ⅱ
A5 A5
Ⅱ
E A5E
Example application
Machine tools, textile machinery, etc.
20 bits/rev
Ensures smoother operation and reduced vibration
at stopping.
Ensures accurate positioning in a short time.
New proprietary signal processing technology achieves
1.04 million pulses with a 20-bit incremental encoder.
<At incremental type>
Conventional
A4 Series
2500 p/r
A5
Ⅱ
, A5 Series
1048576 p/r
Manual/Auto Notch Filters
Notch filters
Equipped with auto-setting notch filters for greater convenience.
Now there is no need to measure troublesome
vibration frequencies. Our notch filters automatically
detect vibration and provide simple auto-setting.
These notch filters greatly reduce noise and vibration
caused by equipment resonance and respond quickly
Excessive noise & vibration
A5
Ⅱ
A5 A5
Ⅱ
E A5E
[1.04 million pulses]
Example application
Semiconductor production equipment, food processing machinery, etc.
Low Cogging Torque
(Excluding MSMD, MHMD, MDME 11.0 kW. 15.0 kW)
A5
Ⅱ
A5 A5
Ⅱ
E A5E
Example application
Semiconductor production equipment, textile machinery, etc.
Low cogging
For the industry!s most stable speed and lowest
cogging
We! ve achieved the industry!s lowest cogging by minimizing the
pulse width by a new design incorporating a 10-pole rotor for the
motor and a magnetic field parsing technique.
Positioning and
stability are greatly improved by the minimal torque
variation. This results to improved speed stability and
positioning of motor rotation.
A4 Series
A5
Ⅱ
, A5 Series
during operation. The A5 , A5 series features an
Ⅱ
industry-largest total of four notch filters with setup
frequencies of 50 Hz to 5000 Hz. This approach
enables depth adjustment within this frequency range.
(Two of the filters share the auto set-up.)
Reduced noise & vibration
Equipment
Characteristics
Resonance
Gain
Antiresonance
Frequency
Vibration reduced to only
1/8
Gain
Frequency
The Input/Output Pulse 4 Mpps
4 Mpps
Accommodates the industry!s leading positioning
resolution commands (with pulse train commands).
The command input and feedback output operate at the high
speed of 4 Mpps. Accommodates high-resolution and
high-speed operation, including standard full closed operation.
(Provided with A5 , A5 only. )
Ⅱ
5
A5
Ⅱ
A5 A5
Ⅱ
E A5E
Notch Filter
Characteristics
Vibration
generated
Vibration
reduced
Example application
Semiconductor production equipment, machine tools, etc.
Frequency scan
Conventional
A4 Series
2 Mpps
A5
Ⅱ
, A5 Series
Completion of adaptive
filter setup
4 Mpps
6
Family
Features
Manual/Auto Damping Filter
Example application
A5
Ⅱ
A5 A5
Ⅱ
E A5E
Chip mounters, food processing machinery, robots,
general production machinery, etc.
4
&'()
A5 Family
Damping filter
Equipped with a damping filter featuring simplified
Without Damping Filter
automatic setup.
The setup software features automatic setup of the damping
filter.
This filter removes the natural vibration frequency
component from the command input, greatly reducing
vibration of the axis when stopping.
The number of filters
has been increased to four from the conventional two filters
(two for simultaneous use). The adaptive frequency has also
been significantly expanded from 1 Hz to 200 Hz.
Judder
With Damping Filter
Complies with European Safety Standards.
Safe torque off
A5
Ⅱ
A5
E Series
Example application
Semiconductor and LCD production equipment, etc.
Vibration-free
Compliance with EU safety standards.
Features non-software-based independent redundant
circuitry for motor power isolation. independent
redundant circuitry for motor power isolation. This
obviates the need for magnetic contactors to isolate
the required motor in order to accommodate
low-voltage machinery commands.
(The final safety compliance must be applied as
machine.)
Information
Motion Simulation
Example application
General production machinery, etc.
A5
Ⅱ
A5 A5
Ⅱ
E A5E
Simulation
Equipped with a simplified machine simulation
function.
The setup software uses frequency response data acquired
from the actual machine. In addition, it features a machine
simulation function for performing simulated operation.
This
allows you to easily confirm the effects of gain and
various filters without adjusting the actual equipment.
Low noise
Example application
A5
Ⅱ
A5 A5
Ⅱ
E A5E
Semiconductor and LCD production equipment, etc.
general production machinery for export to the European market
Low noise
Complies with the European EMC Directive
By incorporating the latest circuit technology, A5 , A5 series
Ⅱ
achieves a further noise reduction of 3 dB compared with the
conventional A4 series, which also features noise suppression.
(The A4 series also conforms to the EMC Directive.)
A4 series
dB
dB
A5
Ⅱ
, A5 series
3
!"#$%
Frequency
MHz
Frequency
MHz
New Structure/ Innovative Core/ Innovative Encoder
A5
Ⅱ
A5 A5
Ⅱ
E A5E
Example application
Robots, chip mounters, general production machinery, etc.
IP67 Enclosure Rating
(Products are build to order items.)
Example application
Machine tools, robots, printing machines, etc.
A5
Ⅱ
A5 A5
Ⅱ
E A5E
IP67
IP67 enclosure rating for increased environmental resistance
New structure
Featuring significantly reduced
weight and a more compact motor
Innovative core
We!ve developed new designs for both
compact motors and large motors.
The new design used for the core has
succeeded in compact.
The addition
of an innovative compact encoder
has contributed to a 10 % to 25 %
(1
kg
to 6
kg)
reduction in motor
weight in the 1 kW and larger class
when compared with conventional
motors.
7
[Examples for MSM or MDM]
Series
MSMA 2 kW
A4
A5
Ⅱ
Weight
A5
Reduction
▲1
kg
Our improved motor seals and direct-mount connectors in the motor
power supply and encoder input-output areas contribute to this unit!s
IP67 enclosure rating.
MSM 1 kW
MSM 2 kW
4.5
kg
3.5
kg
IP67
Adoption of
direct-mount
connector
Protection against water
temporary immersion
in water
Protection against dust
dust penetration when
in full contact
8
6.5
kg
5.3
kg
▲1.2
kg
MDM 1 kW 6.8
kg
5.2
kg
▲1.6
kg
MSME 2 kW
Innovative encoder
MDM 2 kW 10.6
kg
8.0
kg
▲2.6
kg
Motors of MSMD and MHMD
series and 0.9 kW or higher
standard stock items have IP65
rating.
Motors of IP67 have smaller
encoder connector that requires
cable compatible with IP67 motor.
* IP67 motor is build to order items.
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