AC Servo
MINAS A5 series
2009/10
Catalog
High performance, multi function and easy use,
all advanced.
Easy
uick
Q
Safe
rt
Sma
Ligh
t
A small step for axis.
Large step ahead for system motion.
Contents
Features......................................................................................................... 2
Motor Line-up/ Driver and Motor Combination ........................................ 10
Model Designation...................................................................................... 11
Peripheral equipments configuration
....................................................... 12
List of recommended peripheral equipments.......................................... 14
Table of Part Numbers and Options ......................................................... 16
Driver
Common Specifications of Driver
Series
A5 series (Standard type) .................................................................................... 8
A5E series (Positioning type) ............................................................................... 20
Wiring example of main circuit
Five industry-leading advantages supported
by a variety of
new technologies and new features.
Safety function
Wiring to the Connector XA, XB, XC, XD ............................................................ 22
Wiring to the Connector X3 .................................................................................. 24
Wiring to the Connector X4 .................................................................................. 25
Wiring to the Connector X5 .................................................................................. 27
Wiring to the Connector X6 .................................................................................. 28
Control circuit wiring diagram
Dimensions of Driver............................................................................................. 30
Quick
1
Motor
• 2.0 kHz frequency response
• 20 bits/revolution
• Low cogging torque
• The input/output pulse 4 Mpps
Specifications of Motor
......................................................................................... 35
Motor specifications, ratings and Dimensions
................................................... 36
Describes motor specifications
......................................................................... 104
OPTION
Conformance to EC Directives / UL Standards ..................................................... 06
Cable part number designation ..............................................................................0
Specifications of motor connector...........................................................................
Smart
• Highly functional real-time auto-gain tuning
• Manual/auto notch filter
• Manual/auto damping filter
• Motion simulation
2
Easy
• Set-up support software
Localized in 4 languages
Service life prediction
Encoder temperature monitor
5
Junction Cable for Encoder ....................................................................................2
Junction Cable for Brake ........................................................................................7
Junction Cable for Motor.........................................................................................4
Connector kit...........................................................................................................8
Mounting bracket ................................................................................................... 26
Reactor .................................................................................................................. 27
Surge absorber for motor brake............................................................................. 29
External regenerative resister ................................................................................ 28
List of manufactures for peripheral equipments .................................................... 30
Battery for absolute encoder.................................................................................. 25
Information ..................................................................................................F1
Sales office
............................................................................................................ F32
Index ...................................................................................................................... F25
Light
• New structure
• Innovative core
• Innovative encoder
3
Safe
• Complies with European safety standards
• Low noise
• IP67 enclosure rating
4
MINAS A5 series Line-up
Features
Quick
1
Smart
2
A5
Conventional
Product
2.0 kHz frequency response
Example application
Semiconductor production equipment, packaging, etc.
A5
A4
Highly Functional Real-time Auto-Gain Tuning
Example application
Semiconductor production equipment, food processing machinery, etc.
2.0kHz
Achieves the industry’s fastest frequency response
of 2.0 kHz.
Operation speed up by new developed LSI and high
responsible control.
By the industry’s fastest speed and
positioning response, a highly advanced system can be
created. What’s more, the shorter response delay will
realize an to extremely lower vibration.
Gain dB）
（
10
Auto tuning
MINAS A5
2.0kHz
−10
Incorporates the industry’s quickest
high-performance real-time auto-gain tuning
featuring simple setup.
−30
Conventional
Product
−50
100
Frequency Hz）
（
1000
2000
20 bits/revolution, 1.04 million pulses
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 encoder.
Conventional
A4 Series
131,072 p/r
130,000 pulses
A5 Series
1,048,576 p/r
After installation, tuning is completed automatically in several
operations. When the response is adjusted,
simple tuning
is
supported with a change to 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.
Manual/Auto Notch Filters
Example application
Semiconductor production equipment, food processing machinery, etc.
[1.04 million pulses]
Nocth 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
during operation. The A5 Series features an
industry-largest total of four notch filters with setup
frequencies of 50 to 5,000 Hz. This approach enables
depth adjustment within this frequency range. (Two of
the filters share the auto set-up.)
Reduced noise & vibration
Resonance
Antiresonance
Low cogging torque
(Excluding MSMD, MHMD type)
Example application
Semiconductor production equipment, textile machinery, etc.
Low cogging
For the industry’s most stable speed and lowest
cogging
A4
A5
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.
Equipment
Characteristics
Gain
Vibration reduced to only
1/8
Frequency
Gain
Frequency
The input/output pulse 4 Mpps
Example application
Semiconductor production equipment, machine tools, etc.
Notch Filter
Characteristics
Vibration
generated
Frequency scan
Vibration
reduced
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.
2
Conventional
A4 Series
2 Mpps
4Mpps
3
Ａ
５
Completion of adaptive
filter setup
Features
Manual/Auto Damping Filter
Example application
Damping filter
Chip mounters, food processing machinery, robots,
general production machinery, etc.
Safe
With Damping Filter
4
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 to 200 Hz.
Complies with European Safety Standards.
(
to the safety standard.
Example application
Semiconductor and LCD production equipment, etc.
A5E series doesn't correspond
)
Safe torque off
Complies with the latest European safety standards.
Features non-software-based (hardware-based?)
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.)
Judder
Vibration-free
Motion Simulation
Example application
General production machinery, etc.
Simulation
Equipped with a simplified machine simulation
function.
Low noise
Example application
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
Semiconductor and LCD production equipment, etc.
general production machinery for export to the European market
Complies with the European EMC Directive
By incorporating the latest circuit technology, A5 series
achieves a further noise reduction of 3dB compared with the
conventional A4 Series, which also features noise suppression.
(The A4 Series also conforms to the EMC Directive.)
dB
MINAS-A4
dB
MINAS-A5
Light
3
Frequency
MHz
Frequency
MHz
New Structure/ Innovative Core/ Innovative Encoder
(Excluding MSMD, MHMD type)
Example application
Robots, chip mounters, general production machinery, etc.
IP67 Enclosure Rating
(Excluding MSMD, MHMD type)
Example application
Machine tools, robots, printing machines, etc.
New structure
Featuring significantly reduced
weight and a more compact motor
Innovative core
[Examples for MSM or MDM]
IP67
IP67 enclosure rating for increased environmental
resistance
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.
Innovative encoder
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 to 6 kg)
reduction in motor weight in the 1 kW
and larger class when compared with
conventional motors.
A4
A5
Weight
Series Series
Reduction
MSMA 2kW
IP67
MSM kW
MSM 2kW
MDM kW
4.5kg 3.5kg
▲kg
Protection against dust
• Protected against dust
penetration when in full contact
Protection against water
• Protection against temporary
immersion in water
6.5kg 5.3kg
▲.2kg
6.8kg 5.2kg
▲.6kg
MSME 2kW
MDM 2kW 0.6kg 8.0kg
▲2.6kg
Adoption of
direct-mount connector
IP65: MSMD, MHMD series
4
5
Features
Easy
5
Other
Functions
PANATERM Set-up Support Software
4 languages
Introducing the new PANATERM Set-up Support Software,
now with many added features.
Localized in 4 languages
Choose either
English, Japanese,
Chinese, or Korean*-language
display.
* The Korean-language version is
scheduled for release in December.
Command Control Mode
(Excluding A5E Series)
•
Command control mode is available for Position,
Speed (including eight internal gears) and Torque.
•
Using parameter settings, you can set up one
optional command control mode or two command
control modes by switching.
•
With a suitable application utility, you can choose an
optional command control mode.
6,000-rpm capability
The MSME motor (under 750 W) can accommodate a
maximum speed of 6,000 r/min.
[Comparison of new and conventional 200 W]
Torque
[N·m]
(1.91)
A4 Series
Life prediction
℃
2.0
1.0
Service Life Prediction
Encoder temp. monitor
The service life prediction function
considers the internal temperature for
main components such as the fan and
condenser. If the rated value is exceeded,
an alarm is displayed.
This approach
prevents unexpected suspension of
operation and allows for planning of
systemized maintenance.
Note: The life span prediction value
should be considered as a guide only.
The Encoder Temperature Monitor is a
new function capable of
real-time
measurement of the interior
temperature of the encoder, something
that has been difficult to achieve in the
past.
It is valuable for monitoring the
motor and can be used as a diagnostic in
the event of a malfunction (provided with
20-bit encoder only).
The software offers a wide range of
convenient features including motor and
driver data such as load factor, voltage,
and driver temperature. Moreover, the
logging function records the interface
history. As well, the trial run function
supports positioning with a Z-phase
search and software limit as well as a
non-rotating contributing factor display
function.
½
Service Life Prediction function
(Screen shown for reference only.)
Full closed Control
(Excluding A5E Series)
You can use the AB-phase linear scale (for general
all-purpose products) or the serial scale (for products
with Panasonicﾕs exclusive format) for supported
scales (see table below).
Peak running range
Continuous running range
(0.64)
0
1000 2000 3000 4000 5000 6000
speed
[r/min]
SEMI F47
•
Includes a function in compliance with the SEMI F47
standard for voltage sag immunity under no load or
light load.
•
Ideal for the semiconductor and LCD industries.
Notes:
1) Excluding the single-phase 100-V type.
2) Please verify the actual compliance of your
machine with the F47 standard for voltage sag
immunity.
Torque
[N·m]
(1.91)
(1.3)
(0.64)
A5 Series
2.0
1.0
Peak running range
Continuous
running range
Encoder Temperature Monitor
Continuous running range
0
1000 2000 3000 4000 5000 6000
(4600)
speed
[r/min]
Inrush Current Preventive Function
•
This driver is equipped with a rush current preventive
resistor to prevent the circuit breaker from shutting
off the power supply as a result of inrush current
occurring at power-on.
Other New Function
½
The Data Logging function handles
a variety of data types.
Table 1
Applicable Linear Scale
Parallel Type
(AB-phase)
Serial Type
(Incremental)
Manufacturer
General
Model No.
—
SR75
Sony Manufacturing Systems Corporation
SL700/PL0-RP
SL70/PL0-RP
Mitutoyo Corporation
Sony Manufacturing Systems Corporation
ST77A(L)
SR77
SR87
AT573A
SR85
Resolution
[μs]
Maximum
Speed
(m/s)
＊
Maximum speed after
4 × multiplication: 4 Mpps
0.0
0.0
0.
0.
3.3
3.3
0
0
2
5
3.3
3.3
4
0.05
0.
0.5
Serial Type
(Absolute)
ST773A(L)
0.0
0.0
* The maximum speed is a characteristic of the driver. It is limited by the configuration of the machine and the system.
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