REFERENCE SPECIFICATIONS

Transcription

1 No. SX-DSV319 REFERENCE SPECIFICATIONS MODEL Product Nam AC Srvo Drivr Product No. MINAS A6BE,BF Sris (standard typ/multi-function typ) Issud on Fb. 15, 217 (Rvisd on Mar. 9, 218) Motor Businss Unit, Elctromchanical Control Businss Division Automotiv & Industrial Systms Company, Panasonic Corporation Morofuku, Daito-City, Osaka , Japan Phon:+81-() Fax :+81-()

2 No. SX-DSV319 Dat Dat of submission Pag Changd point Changd drawing No. Rv. Rvision No. Rvisions Dscription Rason for chang, chang contnts Fb. 15, Initial Rlas - Apr. 28, 217 Appndix 1. Add th Dfault valu of th paramtrs - P3 - Corrct th rrors Add th Product Cods and Conformanc Tstd Mar. 9, Add th multi-function typ - P1 P9 P66 Add th rlatd documnts Add th tabl of th srial numbr part of th manufacturing numbr Add 12-3 Warranty Srvic - Corrct th rrors Signd R3. Motor Businss Unit, Panasonic Corporation

3 No. SX-DSV319 Contnts 1. Scop Way of looking at product numbrs Product Lin-up Standard typ Multi-function typ Spcifications Apparanc and nam of ach part Dimnsions Configuration of connctors and trminal blocks Powr connctors XA, XB, XC and trminal block USB connctor X EthrCATconnctors X2A X2B Safty function connctor X Paralll I/O connctor X Extrnal scal connctor X Encodr connctor X Monitor connctor X Input/output signal intrfac Wiring and systm configuration Wir rods usd and maximum wiring lngth Cabl-sid connctor Prcautions for wiring Wiring to th powr connctor and th trminal block Wiring to connctor X Wiring to connctor X Wiring to connctor X Wiring to connctors X2A and X2B Dynamic brak Mounting dirction and intrval Complianc with th intrnational standards List of compatibl standards for th srvo drivr Europan Communitis (EC) Dirctiv Complianc with th EMC Dirctiv Configuration of priphral dvics Installation nvironmnt Powr supply Moldd-cas circuit-brakr (MCCB) Nois filtr Surg absorbr Frrit cor Grounding List of srvo drivrs and applicabl priphral dvics Complianc with th UL standard Radio Wavs Act of South Kora Complianc with th SEMI F47 standard Harmonic supprssion masurs... 6 R3. Motor Businss Unit, Panasonic Corporation

4 No. SX-DSV Safty Prcautions Lif span Expctd lif span of th srvo drivr Standard lif span Rush currnt protction circuit Cooling fan Warranty Warranty priod Warranty scop Warranty srvic Othr Spcifications for Each Modl Appndd tabl : Dfault valu of th paramtrs R3. Motor Businss Unit, Panasonic Corporation

5 No. SX-DSV Scop Th contnts of this spcification documnt ar rlatd to th AC srvo drivr MINAS A6B sris manufacturd by th Motor Businss Unit, Elctromchatoronical Control Businss Division, Automotiv & Industrial Systms Company, Panasonic Corporation. This product is intndd for industrial quipmnt. It cannot b usd for any othr purposs (.g. for houshold). <Rlatd documnts> TECHNICAL REFERENCE - Fanction Spcification - TECHNICAL REFERENCE - EthrCAT Communication Spcification - * S our Wb sit for th abov documnts. : SX-DSV3241 : SX-DSV3242 <About EthrCAT> EthrCAT (Ethrnt for Control Automation Tchnology) is opn ntwork communication using ral-tim- -Ethrnt btwn mastrs and slavs dvlopd by Bckhoff Automation GmbH. ETG (EthrCAT Tchnology Group) has control ovr it. EthrCAT is rgistrd tradmark and patntd tchnology, licnsd by Bckhoff Automation GmbH, Grmany. <IMPORTANT> All rights rsrvd. No part of this publication may b rproducd or transmittd in any form without prior prmission. Motor Businss Unit, Panasonic Corporation rsrvs th right to mak modifications and improvmnts to its products and/or documntation, including spcifications and softwar, without prior notic. This product might rquir upgrad according to th spcifications chang rqustd by ETG. W do not hav liability for xpnss of such upgrads. R3. Motor Businss Unit, Panasonic Corporation

6 2. Way of looking at product numbrs No. SX-DSV Each sgmnt of th product numbr has th following maning M A D L T 1 5 B F * * * Classification srvo drivr Siz A: Siz A B: Siz B C: Siz C D: Siz D E: Siz E F: Siz F Spcific Modl Functionality E: Standard typ F: Multi-function typ AC Srvo driv L: A6 family Intrfac B: EthrCAT Safty function N: Without safty I/F T: Safty torqu off (STO) Output classification This mans adaptd motor siz Powr supply voltag 1: Singl phas 1 V 3: 3 phas 2 V 5: Singl or 3 phas 2 V R3. Motor Businss Unit, Panasonic Corporation

7 No. SX-DSV Product Lin-up 3-1 Standard typ Modl No. Product Cod (*Not 1) EthrCAT Conformanc Tst (*Not 2) Siz Powr supply input Ratd output of applicabl motor (*Not 3) MADLN1BE 638 Max 5 W Singl-phas AC1-12 V MADLN11BE 6381 Max 1 W A MADLN5BE 6384 Max 1 W Singl/3-phas AC2-24 V MADLN15BE 6385 Max 2 W MBDLN21BE 6382 Singl phas AC1-12 V Max 2 W B MBDLN25BE 6386 Singl/3-phas AC2-24 V Max 4 W MCDLN31BE 6383 Singl phas AC1-12 V Max 4 W C MCDLN35BE 6387 Singl/3-phas AC2-24 V Max 75 W MDDLN45BE 6388 Max 1 W D Singl/3-phas AC2-24 V MDDLN55BE 6389 Max 15 W MEDLN83BE 638A Max 2 W E 3-phas AC2-24 V MEDLN93BE 638B Max 24 W MFDLNA3BE 638C Max 3 W F 3-phas AC2-24 V MFDLNB3BE 638D Max 5 W 3-2 Multi-function typ Modl No. Product Cod (*Not 1) EthrCAT Conformanc Tst (*Not 2) Siz Powr supply input Ratd output of applicabl motor (*Not 3) MADLT1BF 613C Max 5 W Singl-phas AC1-12 V MADLT11BF 613C1 Max 1 W A MADLT5BF 613C4 Max 1 W Singl/3-phas AC2-24 V MADLT15BF 613C5 Max 2 W MBDLT21BF 613C2 Singl phas AC1-12 V Max 2 W B MBDLT25BF 613C6 Singl/3-phas AC2-24 V Max 4 W MCDLT31BF 613C3 Singl phas AC1-12 V Max 4 W C MCDLT35BF 613C7 Singl/3-phas AC2-24 V Max 75 W MDDLT45BF 613C8 Max 1 W D Singl/3-phas AC2-24 V MDDLT55BF 613C9 Max 15 W MEDLT83BF 613CA Max 2 W E 3-phas AC2-24 V MEDLT93BF 613CB Max 24 W MFDLTA3BF 613CC Max 3 W F 3-phas AC2-24 V MFDLTB3BF 613CD Max 5 W (Not 1) This is th Product cod of our Srvo Driv writtn in th ESI fil (Hx numral). (Not 2) This shows that this product has passd th EthrCAT conformanc Tst conductd at EthrCAT tst cntr. (Not 3) Som of th combinations shown in this tabl cannot b usd dpnding on motors. For th combination of a drivr and a motor, rfr to MINAS-A6 sris catalog. R3. Motor Businss Unit, Panasonic Corporation

8 No. SX-DSV Spcifications Basic spcifications Itm Dscription 1 V Main circuit powr supply Control circuit powr supply Singl-phas 1-12 V Singl-phas 1-12 V +1 % -15 % +1 % -15 % 5/6 Hz 5/6 Hz Input powr supply 2 V Working ambint condition Insulation voltag Control mthod Encodr fdback Control signal Main circuit powr supply Control circuit powr supply Tmpratur Humidity Altitud Vibration +1 % A to D Singl-phas/3-phas 2-24 V 5/6 Hz -15 % +1 % E and F 3-phas 2-24 V 5/6 Hz -15 % +1 % A to D Singl-phas 2-24 V 5/6 Hz -15 % +1 % E and F Singl-phas 2-24 V 5/6 Hz -15 % Opration tmpratur - 55 C (without frzing) Storag tmpratur -2 to 65 C (maximum tmpratur guarant: 8 C, 72 hours, without condnsation) Working/storag humidity 2-85%RH or lss (without condnsation) 1, m abov sa lvl or lss 5.88 m/s 2 or lss, 1 to 6 Hz Pollution dgr Pollution dgr 2 or 1 Withstanding 1,5 VAC btwn th primary and grounding lins for on minut IGBT PWM mthod, sin wav driv 23 bits ( rsolution), 7 cors-srial absolut ncodrs Input Each 8 input can b assignd by th paramtr Output Each 8 output can b assignd by th paramtr Analog signal Output 2 outputs (analog monitor 1, analog monitor 2) Puls signal Output Lin drivr output for ncodr puls (A/B phas signal) or xtrnal scal pulss. EthrCAT Intrfac for motion control. Communication function USB intrfac to connct to computrs (stup softwar PANATERM) for paramtr stting or status monitoring. USB USB cabl and wirlss LAN dongl connction is possibl *2 Safty trminal Trminal to supports functional safty 1. 7-sgmnt 2-digit LED (doubl digits) 2. Ntwork status LED (RUN, ERR, L/A IN, L/A OUT) Front panl 3. Rotary switch for nod addrss stting 4. Analog monitor output (Analog monitors 1 and 2) Sizs A and B: Without built-in rgnrativ rsistor (us xtrnal mounting) Rgnration Sizs C to F: With built-in rgnrativ rsistor (Extrnal rgnrativ rsistor is also availabl) Dynamic brak Sizs A to F: Built in Position control: Profil position mod (pp), Cyclic synchronous position mod (csp), Homing mod (hm) Vlocity control: Profil vlocity mod (pv), Cyclic synchronous vlocity mod (csv) Control mod Torqu control: Torqu profil mod (tq), Cyclic synchronous torqu mod (cst) Ths mods ar switchabl ach othr with commands through EthrCAT. Not that condnsation occurs asily if tmpratur dcrass. *2 Do not us a wirlss LAN dongl in a country that dos not allow th us of it. Doing so will b a violation of th law. For dtails, s th wbsit of Panasonic. For th list of countris that allow th us of a dongl, s th wbsit of Panasonic. R3. Motor Businss Unit, Panasonic Corporation

9 No. SX-DSV Apparanc and nam of ach part Each siz in th figurs shows a multi-function typ. Th standard typ is not providd with X3 (safty function connctor/safty bypass plug) and X5 (xtrnal scal connctor). 1 V / 2 V systm sizs A and B X7: Monitor connctor (Molx) (or quivalnt) Front panl XB: Motor output S6B-F32SK-GGXR (JST) (or quivalnt) XA: Powr supply input connction 5JFAT-SAXGGKK-A (JST) (or quivalnt) XB: Motor connction 6JFAT-SAXGGKK-A (JST) (or quivalnt) Charg lamp XA: Powr supply input S5B-F32SK-GGXR (JST) (or quivalnt) X1: USB connction UB-M5BR-S14-4S(LF)(SN) (JST) (or quivalnt) X2A: EthrCAT connctor (TX / RX) MOD-WRJ88LY1G-TP+ (HTK) (or quivalnt) X2B: EthrCAT connctor (TX / RX) MOD-WRJ88LY1G-TP+ (HTK) (or quivalnt) X4: Paralll I/O connction DF2R26NA2 (JAE) (or quivalnt) X5: Extrnal scal connction MUF-RS1SK-GKX-TB(LF) (JST) (or quivalnt) X3: Safty bypass plug CIF-PB8AK-GF1R (JST) X6: Encodr connction 3E16-223KAV (3M) (or quivalnt) Earth connction scrw XA: Powr supply input connction XB: Motor connction L1 L2 L3 L1C L2C P N B U V W Main powr supply input Control powr supply input Rgnrativ rsistr connction Motor output R3. Motor Businss Unit, Panasonic Corporation

10 No. SX-DSV V / 2 V systm sizs C and D Charg lamp X7: Monitor connctor (Molx) (or quivalnt) Front panl XA: Powr supply input connction 5JFAT-SAXGGKK-A (JST) (or quivalnt) XB: Motor connction 6JFAT-SAXGGKK-A (JST) (or quivalnt) X3: Safty bypass plug CIF-PB8AK-GF1R (JST) XA: Powr supply input S5B-F32SK-GGXR (JST) (or quivalnt) XB: Motor output S6B-F32SK-GGXR (JST) (or quivalnt) X1: USB connction UB-M5BR-S14-4S(LF)(SN) (JST) (or quivalnt) X2A: EthrCAT connctor (TX / RX) MOD-WRJ88LY1G-TP+ (HTK) (or quivalnt) X2B: EthrCAT connctor (TX / RX) MOD-WRJ88LY1G-TP+ (HTK) (or quivalnt) X4: Paralll I/O connction DF2R26NA2 (JAE) (or quivalnt) X5: Extrnal scal connction MUF-RS1SK-GKX-TB(LF) (JST) (or quivalnt) XA: Powr supply input connction L1 L2 L3 L1C L2C Earth connction scrw Main powr supply input Control powr supply input X6: Encodr connction 3E16-223KAV (3M) (or quivalnt) XB: Motor connction P N B U V W Rgnrativ rsistr connction Motor output R3. Motor Businss Unit, Panasonic Corporation

11 No. SX-DSV V systm siz E Charg lamp X7: Monitor connctor (Molx) (or quivalnt) Front panl XA: Powr supply input connction 5JFAT-SAXGGKK-A (JST) (or quivalnt) XB: Motor connction 6JFAT-SAXGGKK-A (JST) (or quivalnt) X3: Safty bypass plug CIF-PB8AK-GF1R (JST) XA: Powr supply input S5B-F32SK-GGXR (JST) (or quivalnt) XB: Motor output S6B-F32SK-GGXR (JST) (or quivalnt) X1: USB connction UB-M5BR-S14-4S(LF)(SN) (JST) (or quivalnt) X2A: EthrCAT connctor (TX / RX) MOD-WRJ88LY1G-TP+ (HTK) (or quivalnt) X2B: EthrCAT connctor (TX / RX) MOD-WRJ88LY1G-TP+ (HTK) (or quivalnt) X4: Paralll I/O connction DF2R26NA2 (JAE) (or quivalnt) X5: Extrnal scal connction MUF-RS1SK-GKX-TB(LF) (JST) (or quivalnt) XA: Powr supply input connction L1 L2 L3 L1C L2C Earth connction scrw Main powr supply input Control powr supply input X6: Encodr connction 3E16-223KAV (3M) (or quivalnt) XB: Motor connction P N B U V W Rgnrativ rsistr connction Motor output R3. Motor Businss Unit, Panasonic Corporation

12 No. SX-DSV V systm siz F Charg lamp Front panl X1: USB connction UB-M5BR-S14-4S(LF)(SN) (JST) (or quivalnt) X7: Monitor connctor (Molx) (or quivalnt) X3: Safty function connctor CIF-HS8SS-71-TB(SN) (JST) (or quivalnt) X2A: EthrCAT connctor (TX / RX) MOD-WRJ88LY1G-TP+ (HTK) (or quivalnt) X3: Safty bypass plug CIF-PB8AK-GF1R (JST) X2B: EthrCAT connctor (TX / RX) MOD-WRJ88LY1G-TP+ (HTK) (or quivalnt) X4: Paralll I/O connction DF2R26NA2 (JAE) (or quivalnt) X5: Extrnal scal connction MUF-RS1SK-GKX-TB(LF) (JST) (or quivalnt) Earth connction scrw X6: Encodr connction 3E16-223KAV (3M) (or quivalnt) Main powr supply input Control powr supply input Rgnrativ rsistr connction Motor output L1 L2 L3 L1C L2C P RB B N U V W R3. Motor Businss Unit, Panasonic Corporation

13 Exampl of a rating plat No. SX-DSV Modl numbr Srial numbr P N Lot numbr Month of manufactur Yar of production (Lowr 2 digit of AD yar) QR cod Standard mark Input/Output voltag Numbr of phas Ratd input/output currnt Input/Output frquncy Ratd output of applicabl motor Manufactur dat Country of origin Manufactur dat Manufactur month Manufactur yar Th valus of th srial numbr part of th manufacturing numbr rang from 1 to On th rating plat, it is indicatd in four digits as in th format shown blow. I and O ar not usd for th fourth-digit alphabt. Valu of th srial numbr Indication on th rating plat part A - A B - B H - H J - J N - N P - P Z - Z999 R3. Motor Businss Unit, Panasonic Corporation

14 Front panl No. SX-DSV digit 7-sgmnt LED RUN LED (grn) Link/Activity IN LED (grn) ERROR LED (rd) Link/Activity OUT LED (grn) X7-1pin 2-digit rotary switch for nod Addrss stting Stting rang: - FF Analog monitor connctor(x7) R3. Motor Businss Unit, Panasonic Corporation

15 No. SX-DSV Dimnsions Both th standard typ and th multi-function typ hav common outsid dimnsions of rspctiv sizs (th figur shows th standard typ). 1 V /2 V systm siz A 2-M4 Effctiv scrw dpth 7 Rating plat 2-M4 Effctiv scrw dpth 7 Unit: mm * Do not us thradd scrw hols that do not hav dscription of dimnsions. R3. Motor Businss Unit, Panasonic Corporation

16 No. SX-DSV [Rack mount installation (by using optional parts: to b installd on th front)] Mounting brackt (optional part) Rating plat Mounting brackt (optional part) Unit: mm * Do not us thradd scrw hols that do not hav dscription of dimnsions. * Mounting brackts ar optional parts. Thy ar not includd with th product. R3. Motor Businss Unit, Panasonic Corporation

17 No. SX-DSV V / 2 V systm siz B 2-M4 Effctiv scrw dpth 6.5 Rating plat 2-M4 Effctiv scrw dpth 7 Unit: mm * Do not us thradd scrw hols that do not hav dscription of dimnsions. R3. Motor Businss Unit, Panasonic Corporation

18 No. SX-DSV [Rack mount installation (by using optional parts: to b installd on th front)] Mounting brackt (optional part) Rating plat Mounting brackt (optional part) Unit: mm * Do not us thradd scrw hols that do not hav dscription of dimnsions. * Mounting brackts ar optional parts. Thy ar not includd with th product. R3. Motor Businss Unit, Panasonic Corporation

19 No. SX-DSV V / 2 V systm siz C 2-M4 Effctiv scrw dpth 6.5 Rating Nam plat plat 2-M4 Effctiv scrw dpth 6 Unit: mm * Do not us thradd scrw hols that do not hav dscription of dimnsions. R3. Motor Businss Unit, Panasonic Corporation

20 No. SX-DSV [Rack mount installation (by using optional parts: to b installd on th front)] Mounting brackt (optional part) Rating plat Mounting brackt (optional part) Unit: mm * Do not us thradd scrw hols that do not hav dscription of dimnsions. * Mounting brackts ar optional parts. Thy ar not includd with th product. R3. Motor Businss Unit, Panasonic Corporation

21 2 V systm siz D No. SX-DSV M4 Effctiv scrw dpth 6.5 Rating plat 2-M4 Effctiv scrw dpth 6 Unit: mm * Do not us thradd scrw hols that do not hav dscription of dimnsions. R3. Motor Businss Unit, Panasonic Corporation

22 No. SX-DSV [Rack mount installation (by using optional parts: to b installd on th front)] Mounting brackt (optional part) Rating plat Mounting brackt (optional part) Unit: mm * Do not us thradd scrw hols that do not hav dscription of dimnsions. * Mounting brackts ar optional parts. Thy ar not includd with th product. R3. Motor Businss Unit, Panasonic Corporation

23 2 V systm siz E [Rack mount installation (standard: to b installd on th front)] No. SX-DSV M4 Effctiv scrw dpth 6 Rating plat 4-M4 Effctiv scrw dpth 6 Unit: mm R3. Motor Businss Unit, Panasonic Corporation

24 No. SX-DSV [Bas mount installation (with brackts movd: to b installd on th rar)] Rating plat Unit: mm R3. Motor Businss Unit, Panasonic Corporation

25 2 V systm siz F [Rack mount installation (standard: to b installd on th front)] 4-M4 Effctiv scrw dpth 9 No. SX-DSV Rating plat 4-M4 Effctiv scrw dpth 9 Unit: mm R3. Motor Businss Unit, Panasonic Corporation

26 No. SX-DSV [Bas mount installation (with brackts movd: to b installd on th rar)] Rating plat Unit: mm R3. Motor Businss Unit, Panasonic Corporation

27 No. SX-DSV Configuration of connctors and trminal blocks 7-1 Powr connctors XA, XB, XC and trminal block 1 V / 2 V systm sizs A and B Pin No. Symbol Nam Dscription XA 5 L1 4 L2 Main powr input trminal 1 V systm 2 V Singl-phas 1-12 V + 1 %, 5/6 Hz is input % For singl-phas, th connctor should b connctd to th L1 and L3 trminals. Singl-phas/3 phas 2-24 V + 1 %, 5/6 Hz is input % systm 3 L3 For singl-phas, th connctor should b connctd to th L1 and L3 trminals. 2 L1C 1 L2C Control powr input trminal 1 V systm Singl-phas 1-12 V + 1 %, 5/6 Hz is input % 2 V systm Singl-phas 2-24 V + 1 %, 5/6 Hz is input % XB 6 P 5 N 4 B Rgnrativ rsistor conncting trminal Whn using an xtrnal rgnrativ rsistor (to b prpard by th customr), connct th xtrnal rgnrativ rsistor btwn th P trminal and th B trminal. In addition, paramtr stting is rquird for th rgnrativ rsistor. For dtails, rfr to Tchnical Documnt - Basic Functional Spcifications -. Do not connct anything to th N trminal. 3 U 2 V 1 W Motor output trminal It is connctd with ach phas winding of th motor. U... U phas, V... V phas, W... W phas Erath It is connctd with th E trminal of th motor to stablish grounding. * Th tightning torqu of Earth scrws should b 1. to 1.2 N m for M4 scrws. R3. Motor Businss Unit, Panasonic Corporation

28 No. SX-DSV V / 2 V systm sizs C and D Pin No. Symbol Nam Dscription XA 5 L1 4 L2 Main powr input trminal 1 V systm 2 V Singl-phas 1-12 V + 1 %, 5/6 Hz is input % For singl-phas, th connctor should b connctd to th L1 and L3 trminals. Singl-phas/thr-phas 2-24 V + 1 %, 5/6 Hz is input % systm 3 L3 For singl-phas, th connctor should b connctd to th L1 and L3 trminals. XC XB 2 L1C 1 L2C 4 N 3 2 P 1 6 P 5 RB 4 B 3 U 2 V 1 W Control powr input trminal 1 V systm 2 V systm Singl-phas 1-12 V + 1 %, 5/6 Hz is input % Singl-phas 2-24 V + 1 %, 5/6 Hz is input % - Do not connct anything to this connctor. Rgnrativ rsistor conncting trminal Motor output trminal Normally, short-circuit th RB trminal and th B trminal. Whn using an xtrnal rgnrativ rsistor (to b prpard by th customr), mak th circuit btwn th RB trminal and th B trminal opn and connct th xtrnal rgnrativ rsistor btwn th P trminal and th B trminal. In addition, paramtr stting is rquird for th rgnrativ rsistor. For dtails, rfr to Tchnical Documnt - Basic Functional Spcifications -. It is connctd with ach phas winding of th motor. U... U phas, V... V phas, W... W phas Earth It is connctd with th E trminal of th motor to stablish grounding. * Th tightning torqu of Earth scrws should b 1. to 1.2 N m for M4 scrws. R3. Motor Businss Unit, Panasonic Corporation

29 No. SX-DSV V systm siz E XA XC XB Pin No. Symbol Nam Dscription 5 L1 Main powr input 2 V + 1 % Thr-phas 2-24 V, 5/6 Hz is input. trminal systm - 15 % 3 L3 2 L1C Control powr input 2 V + 1 % Singl-phas 2-24 V, 5/6 Hz is input. 1 L2C trminal systm - 15 % 4 P Normally, short-circuit th RB trminal and th B trminal. Whn using an xtrnal rgnrativ rsistor (to b prpard by th customr), mak th 3 RB circuit btwn th RB trminal and th B trminal opn and connct th xtrnal Rgnrativ rsistor rgnrativ rsistor btwn th P trminal and th B trminal. conncting trminal 2 B In addition, paramtr stting is rquird for th rgnrativ rsistor. For dtails, rfr to Tchnical Documnt - Basic Functional Spcifications -. 1 N Do not connct anything to th N trminal. 3 U It is connctd with ach phas winding of th motor. 2 V Motor output trminal U... U phas, V... V phas, W... W phas 1 W Earth It is connctd with th E trminal of th motor to stablish grounding. * Th tightning torqu of arth scrws should b 1. to 1.2 N m for M4 scrws. R3. Motor Businss Unit, Panasonic Corporation

30 No. SX-DSV V systm siz F Us trminal blocks. Trminal block No. (From abov) Symbol Nam Dscription 1 L1 Main powr input + 1 % 2 L2 Thr-phas 2-24 V trminal - 15 % 3 L3, 5/6 Hz is input. 4 L1C Control powr input + 1 % Singl-phas 2-24 V 5 L2C trminal - 15 %, 5/6 Hz is input. Trminal block 6 P 7 RB 8 B 9 N Rgnrativ rsistor conncting trminal Normally, short-circuit th RB trminal and th B trminal. Whn using an xtrnal rgnrativ rsistor (to b prpard by th customr), mak th circuit btwn th RB trminal and th B trminal opn and connct th xtrnal rgnrativ rsistor btwn th P trminal and th B trminal. In addition, paramtr stting is rquird for th rgnrativ rsistor. For dtails, rfr to Tchnical Documnt - Basic Functional Spcifications -. Do not connct anything to th N trminal. 1 U 11 V 12 W Motor output trminal It is connctd with ach phas winding of th motor. U... U phas, V... V phas, W... W phas Earth It is connctd with th E trminal of th motor to stablish grounding. * Th tightning torqu of arth scrws should b 1.8 to 2. N m for M5 scrws. * Th tightning torqu of trminal block scrws should b 1.8 to 2. N m for M5 scrws. * Th tightning torqu of fixing scrws for th trminal block covr should b.19 to.21 N m for M3. * Th scrws may b damagd if th tightning torqu has xcdd th maximum valu. R3. Motor Businss Unit, Panasonic Corporation

31 No. SX-DSV USB connctor X1 Oprations such as paramtr stting/chang, control status monitoring, rror status/history browsing, and paramtr saving/loading can b prformd by conncting to a PC or a high-ordr NC via a USB connctor. Nam Symbol Pin No. Dscription VBUS 1 USB signal trminal D- 2 Usd for communication with a PC or a controllr. D+ 3 For manufacturr - 4 Do not connct anything. Signal ground GND 5 Signal ground Th connctor shap on th drivr sid is USB mini-b. R3. Motor Businss Unit, Panasonic Corporation

32 No. SX-DSV EthrCATconnctors X2A X2B Thy ar RJ45 connctors usd for EthrCAT. [X2A] / [X2B] Nam Symbol Connctor pin no. Dscription Ntwork output / input + TX/RX+ 1 Connct to pin 1 on th RJ45 connctor of communication nod. Ntwork output / input - TX/RX- 2 Connct to pin 1 on th RJ45 connctor of communication nod Ntwork input / output + RX/TX+ 3 Connct to pin 1 on th RJ45 connctor of communication nod Unusd - 4 Connct to pin 1 on th RJ45 connctor of communication nod Unusd - 5 Connct to pin 1 on th RJ45 connctor of communication nod Ntwork input / output - RX/TX- 6 Connct to pin 1 on th RJ45 connctor of communication nod Unusd - 7 Connct to pin 1 on th RJ45 connctor of communication nod Unusd - 8 Connct to pin 1 on th RJ45 connctor of communication nod Fram ground - Shll Connct to shild of cabl. * B sur to us shildd twistd pair (STP) compatibl with 5 of TIA/EIA-568 or highr catgory * Auto MDI/MDI-X assigns functions to pin no.1,2,3, Safty function connctor X3 It is a trminal for supporting functional safty. This connctor is supportd only for th multi-function typ. Nam Symbol Pin No. Dscription Input/output signal Intrfac Rsrvd Do not connct anything Safty input 1 SF1-3 SF1+ 4 It is an indpndnt circuit consisting of two systms, which turns off th Safty input 2 SF2-5 driv signal to th powr modul and shuts off th motor currnt. SF2+ 6 i-1 EDM output EDM- 7 It is monitor output for monitoring malfunctions of th safty function. o-1 EDM+ 8 Fram ground FG Shll It is connctd with th arth trminal insid th srvo drivr. - R3. Motor Businss Unit, Panasonic Corporation

33 No. SX-DSV Paralll I/O connctor X4 Input signal Nam Symbol Pin No. Dscription Gnral input common SI-COM 6 Control input 1 SI1 5 Control input 2 SI2 7 Control input 3 SI3 8 Control input 4 SI4 9 Control input 5 SI5 1 Control input 6 SI6 11 Control input 7 SI7 12 Control input 8 SI8 13 It is connctd with th positiv or ngativ lctrod of th xtrnal DC powr supply (12-24 V). Us 12 V±5% to 24 V±5% for powr supply. It nds to b isolatd from th primary sid powr supply. Do not connct with th sam powr supply. Primary sid powr supply: Powr supply for motor brak Functions ar allocatd according to paramtrs. For dtails, rfr to Tchnical Documnt - Basic Functional Spcifications -. Not that thr ar limitations on function allocation. Rgarding xtrnal latch input, for xampl, EXT1 can b allocatd only to SI5, EXT2 to SI6, and EXT3 to SI7. Input/output signal intrfac - i-1 Output signal Control output 1 Control output 2 Control output 3 Nam Symbol Pin No. Dscription SO1- SO1+ SO2- SO2+ SO3- SO Functions ar allocatd according to paramtrs. For dtails, rfr to Tchnical Documnt - Basic Functional Spcifications -. Input/output signal Intrfac o-1 Encodr output signal/position comparison output signal Nam Symbol Pin No. Dscription OA+/ Encodr signals or xtrnal scal signals for which frquncy division was prformd A-phas output 17 OCMP1+ (A-phas, B-phas) ar output as diffrntial signals. (Equivalnt to RS422) Position comparison OA-/ Th division ratio can b st for th corrsponding paramtr. Output 1 18 OCMP1- Th ground of th lin drivr for th output circuit is connctd to th signal ground OB+/ (GND), i.. non-insulatd. B-phas output/ 2 OCMP2+ Th maximum output frquncy is 4 Mpps (aftr quad dg valuation). Position comparison OB-/ This diffrntial signal should b rcivd by a lin rcivr (AM26C32 or Output 2 19 OCMP2- quivalnt). Connct a trminating rsistor (approx. 33 Ω) btwn th lin rcivr OCMP3+ 21 inputs. Position comparison Us a twistd pair cabl with shild for wiring, and connct th shild wir to th Output 3 OCMP3-22 connctor shll. Signal Signal ground GND 16 Ground B sur to connct th lin rcivr ground to this trminal. Input/output signal Intrfac Do-1 - R3. Motor Businss Unit, Panasonic Corporation

34 No. SX-DSV Battry input for ncodr backup Nam Symbol Pin No. Dscription Input/output signal intrfac Battry input for absolut ncodr BTP-I 14 BTN-I 15 Connct a battry for th absolut ncodr. For dtails, rfr to BTP-I: Positiv lctrod BTN-I: Ngativ lctrod Powr for rtaining multi-rotation data is supplid to th absolut ncodr via BTP-O (3pin) and BTN-O (4pin) of ncodr connctor X6. Th battry for th absolut ncodr should b connctd using any of th following mthods. (1) Dirct connction to th motor sid (2) Connction to th ncodr cabl (3) Connction to this connctor - - Othr Nam Symbol Pin No. Dscription Input/output signal intrfac Rsrvd - 23,24 Do not connct anything. - Fram Ground FG Shll It is connctd with th arth trminal insid th srvo drivr Extrnal scal connctor X5 This connctor is supportd only for th multi-function typ. Nam Symbol Pin No. Dscription Extrnal scal powr output Extrnal scal signal input/output (Srial signal) EX5V 1 Extrnal scal powr output (Not 1) (Not 2) EXV 2 Ground of xtrnal scal powr output (Not 3) EXPS 3 Srial signal non-invrting input/output /EXPS 4 Srial signal invrting input/output EXA 5 A-phas signal non-invrting input /EXA 6 A-phas signal invrting input Extrnal scal signal input (A/B/Z-phas signal) EXB 7 B-phas signal non-invrting input /EXB 8 B-phas signal invrting input EXZ 9 Z-phas signal non-invrting input /EXZ 1 Z-phas signal invrting input Fram ground FG Shll It is connctd with th arth trminal insid th srvo drivr. Not 1) Th xtrnal scal powr output EX5V should b 5 V±5% and 25 ma at th maximum. Whn using an xtrnal scal whos consumption currnt xcds this valu, xtrnal powr supply should b prpard by th customr. It may tak tim to prform initialization aftr powr-on, dpnding on xtrnal scals. Not 2) Whn driving an xtrnal scal using xtrnal powr supply, mak th EX5V pin opn so that voltag is not supplid to this pin from outsid. Not 3) Th xtrnal scal powr output EXV is connctd with th control circuit ground that is connctd to connctor X5. R3. Motor Businss Unit, Panasonic Corporation

35 No. SX-DSV Encodr connctor X6 Nam Symbol Pin No. Dscription Encodr powr output E5V 1 Encodr powr output EV 2 Ground of ncodr powr output (Not 1) Battry output for absolut ncodr (Not 2) Encodr signal input/output (Diffrntial srial signal) BTP-O 3 Battry output (positiv lctrod) BTN-O 4 Battry output (ngativ lctrod) PS 5 Encodr signal non-invrting input/output /PS 6 Encodr signal invrting input/output Fram ground FG Shll It is connctd with th arth trminal insid th srvo drivr. Not 1) Th ncodr powr output EV is connctd with th control circuit ground that is connctd to connctor X4 insid th srvo drivr. Not 2) It is connctd with absolut ncodr battry inputs BTP-I and BTN-I for connctor X4 insid th drivr. Whn conncting th battry dirctly to th ncodr conncting cabl, do not connct anything to this trminal. 7-8 Monitor connctor X7 Nam Symbol Pin No. Dscription Input/output signal intrfac Analog monitor output 1 AM1 1 Analog monitor output 2 AM2 2 Analog signals for th monitor ar output. Th maning of th output signal varis dpnding on th paramtr stting. Ao-1 Signal ground GND 3 Signal ground - Rsrvd - 4,5 Do not connct anything. - R3. Motor Businss Unit, Panasonic Corporation

36 No. SX-DSV Input/output signal intrfac i-1 o-1 V DC V P S 4.7 kω or 1 pf 1 kω V DC V Ω V DC V Ao-1 S P 4.7 kω 1 pf 1 kω S: (X3) 3,5pin / (X4) 5,7,8,9,1,11,12,13pin P: (X3) 4,6pin / (X4) 6pin Do-1 +: (X3) 8pin / (X4) 1,3,25pin -: (X3) 7pin / (X4) 2,4,26pin Not) Whn driving th rlay dirctly, mount a diod in paralll with th rlay in th dirction shown in th abov figur. S 1 kω Twistd Pair + Equivalnt of AM26C31 GND G S: (X7) 1,2pin G: (X7) 3pin Th output signal amplitud is ±1 V. GND +: (X4) 17,2,21pin -: (X4) 18,19,22pin G: (X4) 16pin - 16 Connct a trminating rsistor (approx. 33 Ω) btwn th lin rcivr inputs. R3. Motor Businss Unit, Panasonic Corporation

37 No. SX-DSV Wiring and systm configuration 8-1 Wir rods usd and maximum wiring lngth Nam Symbol Maximum wiring lngth (Not 1) Elctric wir usd Main powr input L1,L2,L3 - In accordanc with Appndix Spcifications for Each Modl Control powr input L1C,L2C - In accordanc with Appndix Spcifications for Each Modl Motor output U,V,W, 2 m In accordanc with Appndix Spcifications for Each Modl Earth wir - In accordanc with Appndix Spcifications for Each Modl Encodr connction X6 2 m Extrnal scal connction Common shildd twistd pair wir X5 2 m (Not 3) Cor wir.18 mm 2 or mor I/O connction X4 3 m Safty connction (Not 3) X3 3 m Cor wir.18 mm 2 or mor EthrCAT connction X2A, X2B 1 m (Not 2) TIA/EIA-568 CAT5 STP Not 1) Th abov wiring lngth is th maximum valu undr th valuation nvironmnt of Panasonic. It dos not guarant th opration undr th working nvironmnt of th customr. Not 2) For dtails, rfr to Connction to connctors X2A and X2B. Not 3) It is supportd for th multi-function typ only. 8-2 Cabl-sid connctor Connctor symbol Product Nam Product No. Manufacturr X3 Connctor TE Connctivity X4 Soldr plug (soldrd typ) Plug hood DF2P26F22A1 DF2D26B22A Japan Aviation Elctronics Industry X5 Connctor MUF-PK1K-X J.S.T. Mfg. X6 Rcptacl Shll kit 3E26-1 KV 3E M Japan X7 Connctor Trminal Molx Japan Us th abov connctor or quivalnt. R3. Motor Businss Unit, Panasonic Corporation

38 No. SX-DSV Prcautions for wiring Wiring to th powr connctor and th trminal block 1 V / 2 V systm sizs A and B Built-in thrmostat of an xtrnal rgnrativ rsistor (light yllow) ON OFF MC1 ALM Coli surg supprssion units Coil surg absorbr Powr supply (3-phas) *Whn you us singl phas, connct th main powr btwn L1 and L3 trminals. MCCB Nois filtr MC L L1 L2 L3 L1C L2C XA Main powr supply Control powr supply Extrnal rgnrativ rsistor Rd Whit Black P N B U V W XB Motor connction motor Grn or Grn/Yllow ALM X4 Insulatd DC12 to 24 V (±5 %) ALM+ ALM- Connction of a rgnrativ rsistor Siz Short wir (accssory) Built-in rgnrativ rsistor Connction of connctor XB Whn an xtrnal rgnrativ rsistor is usd Whn an xtrnal rgnrativ rsistor is not usd A B Non Non Connct an xtrnal rgnrativ rsistor btwn P and B. Normally opn btwn P and B * Connctors X1 to X6 ar usd for th scondary sid circuit. Thy nd to b isolatd from th primary sid powr supply (motor brak powr supply). Do not connct to th sam powr supply. R3. Motor Businss Unit, Panasonic Corporation

39 No. SX-DSV V / 2 V systm sizs C and D Built-in thrmostat of an xtrnal rgnrativ rsistor (light yllow) ON OFF MC1 ALM Coli surg supprssion units Powr supply (3-phas) *Whn you us singl phas, connct th main powr btwn L1 and L3 trminals. MCCB Nois filtr MC L L1 L2 L3 L1C L2C XA Main powr supply Control powr supply Short cabl P N XC Extrnal rgnrativ rsistor Rd Whit Black P RB B U V W XB Motor connction motor Grn or Grn/Yllow ALM X4 Insulatd DC12 to 24 V (±5 %) ALM+ ALM- Connction of a rgnrativ rsistor Built-in Short wir Siz rgnrativ (accssory) rsistor C Providd Providd D Connction of connctor XB Whn an xtrnal rgnrativ rsistor is usd Whn an xtrnal rgnrativ rsistor is not usd Disconnct th accssory short wir btwn RB and B. Connct an xtrnal rgnrativ rsistor btwn P and B. Short-circuit btwn RB and B using th accssory short wir. * Connctors X1 to X6 ar usd for th scondary sid circuit. Thy nd to b isolatd from th primary sid powr supply (motor brak powr supply). Do not connct to th sam powr supply. R3. Motor Businss Unit, Panasonic Corporation

40 No. SX-DSV V systm siz E Built-in thrmostat of an xtrnal rgnrativ rsistor (light yllow) ON OFF MC1 ALM Coli surg supprssion units Powr supply (3-phas) MCCB Nois filtr Nois filtr MC L L1 L2 L3 L1C L2C XA Main powr supply Control powr supply Short cabl Extrnal rgnrativ rsistor Rd Whit Black P RB B N U V W XC XB Motor connction motor Grn or Grn/Yllow ALM X4 Insulatd DC12 to 24 V (±5 %) ALM+ ALM- Connction of a rgnrativ rsistor Built-in Short wir Siz rgnrativ (accssory) rsistor E Providd Providd Connction of connctor XC Whn an xtrnal rgnrativ rsistor is usd Whn an xtrnal rgnrativ rsistor is not usd Disconnct th accssory short wir btwn RB and B. Connct an xtrnal rgnrativ rsistor btwn P and B. Short-circuit btwn RB and B using th accssory short wir. * Connctors X1 to X6 ar usd for th scondary sid circuit. Thy nd to b isolatd from th primary sid powr supply (motor brak powr supply). Do not connct to th sam powr supply. R3. Motor Businss Unit, Panasonic Corporation

41 No. SX-DSV V systm siz F Built-in thrmostat of an xtrnal rgnrativ rsistor (light yllow) Powr supply (3-phas) MCCB Nois filtr Short bar Extrnal rgnrativ rsistor ON MC OFF L MC1 ALM Coli surg supprssion units Coil surg absorbr L1 L2 L3 L1C L2C P RB B N U V W Main powr Trminal supply block Control powr supply Motor connction Motor Rd Whit Black Grn or Grn/Yllow ALM X4 Insulatd DC12 to 24 V (±5 %) ALM+ ALM- Connction of a rgnrativ rsistor Built-in Short bar Siz rgnrativ (accssory) rsistor F Providd Providd Connction of a trminal block Whn an xtrnal rgnrativ rsistor is usd Whn an xtrnal rgnrativ rsistor is not usd Rmov th accssory short bar btwn RB and B. Connct an xtrnal rgnrativ rsistor btwn P and B. Short-circuit btwn RB and B using th accssory short bar. * Connctors X1 to X6 ar usd for th scondary sid circuit. Thy nd to b isolatd from th primary sid powr supply (motor brak powr supply). Do not connct to th sam powr supply. * Th standard capacity of th built-in dynamic brak is max. thr conscutiv tims in th cas of stopping at th maximum allowabl inrtia and th ratd rotating spd. If th dynamic brak is usd xcding th abov conditions, th rsistor may b disconnctd, rsulting in malfunctioning. R3. Motor Businss Unit, Panasonic Corporation

42 No. SX-DSV [1] If th srvo drivrs for sizs A to D ar usd by singl-phas powr input, connct thm to main powr input trminals L1 and L3. Do not connct anything to th L2 trminal. [2] Insrt th connctor scurly until it is lockd. [3] B sur to us a crimpd trminal with insulating coating for connction with ach trminal of th trminal block. (Siz F only) [4] For th modl whos trminal block is providd with a covr, th covr of th trminal block is fixd with scrws. (Siz F only) At th tim of wiring for th trminal block, rmov ths scrws to opn th covr. Tightn th covr fixing scrws with tightning torqu of.19 to.21 N m. [5] Apply powr supply voltag as spcifid in th rating plat. [6] Do not connct th powr input trminals (L1, L2, and L3) and th motor output trminals (U, V, and W) rvrsly. [7] Do not ground or short-circuit th motor output trminals (U, V, and W) ach othr. [8] High voltag is applid to powr connctors XA XB XC and th trminal block. Mak sur not to touch thm. Thr is a risk to gt an lctric shock. [9] Th short circuit currnt for th powr supply to b usd should b qual to or lss than th maximum input voltag of th product, and th symmtrical currnt should b 5, Arms or lss. If th short circuit currnt for th powr supply xcds this valu, install a track currnt limiting dvic (such as a currnt-limiting fus, currnt-limiting brakr, or transformr) to limit th short circuit currnt. [1] Th rotating dirction of th AC srvo motor cannot b changd by xchanging th thr phass as in th cas of th induction motor. Mak sur that th motor output trminals (U, V, and W) of th srvo drivr match th colors of th lad wirs of th motor (or pin numbrs for th cannon plug). [11] Mak sur to connct th arth trminal of th motor with th arth trminal of th srvo drivr and ground thm with th arth trminal of th nois filtr at a singl point. Th machin body should also b groundd. Employ class D grounding (grounding rsistanc of 1 Ω or lss). Tightn th arth scrws of th srvo drivr with an appropriat torqu dsignatd for ach siz. Us th arth wir with th diamtr dscribd in th spcifications for ach modl or mor. To avoid influnc by lctrolytic corrosion, mak sur that aluminum is not in dirct contact with coppr. [12] To prvnt nois, insrt a surg absorbr in th lctromagntic contactor installd around th srvo drivr, th coil btwn rlay contacts, and th brak winding of th motor with brak. [13] Install a moldd-cas circuit-brakr (MCCB), and in an mrgncy, b sur to shut off powr supply outsid th srvo drivr. Whn using an arth lakag brakr, tak masurs against high frquncy. [14] To rduc nois voltag of th trminal, install a nois filtr. [15] Brak powr supply for th motor with brak should b prpard by th customr. [16] Apply powr supply voltag aftr complting wiring. R3. Motor Businss Unit, Panasonic Corporation

43 No. SX-DSV [17] Extrnal rgnrativ rsistor A rgnrativ rsistor is not built in siz A and siz B. A rgnrativ rsistor is built in sizs C, D, E, and F. Th built-in rgnrativ rsistor bcoms ffctiv by making th RB trminal and th B trminal short-circuitd. Whn tripping occurs du to an rror in rgnrativ load protction, it is ncssary to install an xtrnal rgnrativ rsistor. An xtrnal rgnrativ rsistor should b connctd btwn th P trminal and th B trminal aftr rmoving th short wir or short bar btwn th P trminal and th B trminal. In addition, paramtr stting is rquird for th rgnrativ rsistor. For dtails, rfr to Tchnical Documnt - Basic Functional Spcifications -. Th following rsistanc is rcommndd for th xtrnal rgnrativ rsistor. Siz A Input powr supply voltag Singl-phas 1 V Singl-phas 2 V / Thr-phas 2 V DVP428 DVP4281 (1 W or lss) DVP4283(2 W) B DVP4283 DVP4283 C DVP4282 DVP4283 D E F - DVP4284 Two pics of DVP4284 in paralll or a singl pic of DVP4285 Two pics of DVP4285 in paralll Manufacturr: IWAKI MUSEN KENKYUSHO Manufactu Spcifications Panasonic s rr s Rsistanc Ratd powr (rfrnc) (Not 1) Built-in thrmal protctor (Not 2) product No. product valu Fr air Us of a fan Oprating tmpratur No. [Ω] [W] [W] DVP428 RF7M ±5 C DVP4281 RF7M Normal clos contact DVP4282 RF18B Switching capacity (rsistanc load) DVP4283 RF18B A, 125 VAC, 6, tims DVP4284 RF A, 25 VAC, 1, tims DVP4285 RH45F Not 1) Elctric powr that can b usd without opration of th built-in thrmal protctor Not 2) Each rgnrativ rsistor has a thrmal fus and a thrmal protctor built in for safty. Th circuit should b configurd so that powr supply is turnd off whn th thrmal protctor is opratd. (Rfr to Wiring and Systm Configuration.) Th built-in thrmal fus may b disconnctd dpnding on hat rlas conditions, oprating tmpratur rangs, powr supply voltag, and load fluctuations. Incorporat th fus into th machin and prform opration chck to mak sur that th surfac tmpratur of th rgnrativ rsistor is 1 C or lss undr conditions whr th rsistor gnrats hat asily (.g. whn powr supply voltag is high, whn th load inrtia is larg, whn dclration tim is short). Mount th rgnrativ rsistor to th noncombustibl matrial such as mtal. Covr th rgnrativ rsistor with a noncombustibl matrial so that prsons do not touch it dirctly. Th plac that may b dirctly touchd by prsons must b kpt at lss than 7 C. R3. Motor Businss Unit, Panasonic Corporation

44 No. SX-DSV Procdur of connction to th powr connctor Prform connction to connctors XA, XB, and XC according to th following procdur. <Connction procdur> 1. Prform strip procssing for th wir to b usd. Dtrmin th strip lngth according to th following figur. 1 mm (sizs A to D) 13 mm (siz E) 2. Insrt th wirs into th connctor. [1] Prss th opration lvr attachd to th opration slot with a fingr to push down th spring. [2] Insrt th wirs whil prssing th opration lvr. *Mak sur that all of th wirs ar insrtd into th opning part of th spring. [3] Th wirs can b connctd by rlasing th opration lvr. Pull th wirs lightly to chck that thy hav bn connctd scurly. <Prcautions> Th strip lngth of th wir dpnds on wir typs. Dtrmin th optimum strip lngth according to th procssing stat. Rmov th connctor from th srvo drivr body bfor prforming connction. Insrt on wir into ach of th wir insrtion ports of th connctor. Wirs can b rmovd by prssing down th opration lvr. R3. Motor Businss Unit, Panasonic Corporation

45 No. SX-DSV Wiring to connctor X4 [1] Th customr is rquird to prpar th 12 to 24 VDC control signal powr supply for xtrnal control to b connctd to SI-COM. Th connctor nds to b isolatd from th primary sid powr supply (DC powr supply for th xtrnal rgnrativ rsistor, powr supply for th motor brak). Do not connct to th sam powr supply. [2] Install priphral dvics clos to th srvo drivr as much as possibl so that wiring lngth is minimizd (within 3 m). [3] Kp th wirs away from th wiring of th powr lins (L1, L2, L3, L1C, L2C, U, V, W, ) as much as possibl (at last 3 cm). Do not rout th wirs through th sam duct and do not ti thm togthr. Control input X4 SI-COM kω SI1 5 1 kω SI kω 1 kω 4.7 kω SI3 8 1 kω 4.7 kω SI4 9 1 kω 4.7 kω SI5 1 1 kω DC DC 12~ VV SI6 SI kω 1 kω 4.7 kω 1 kω 4.7 kω SI kω Srvo Drivr Functions SI1 to SI8 should b allocatd by paramtrs. For dtails, rfr to Tchnical Documnt - Basic Functional Spcifications -. R3. Motor Businss Unit, Panasonic Corporation

46 No. SX-DSV Control output [1] Pay attntion to th polarity of th control signal powr supply. Connction to th polarity opposit to that in th figur can caus damag to th srvo drivr. [2] Whn driving th rlay dirctly using ach output signal, b sur to mount a diod in paralll with th rlay in th dirction shown in th figur blow. If a diod is not mountd or it is mountd in th rvrs dirction, th srvo drivr may b damagd. [3] Whn rciving ach output signal by a logical circuit such as a gat, b carful not to b affctd by nois. [4] Th ratd currnt, maximum currnt, and rush currnt applid to ach output should b 4 ma, 5 ma, and 9 ma or lss rspctivly. [5] A limiting rsistor (1 Ω) is connctd to th output circuit. For th purpos of Darlington connction of th output transistor, voltag btwn th collctor and th mittr VCE (SAT) is approx. 1 V whn th transistor is turnd ON. Not that dirct connction is impossibl bcaus th normal TTL IC cannot satisfy th VIL. X4 SO1+ SO Ω SO1 SO2+ SO2- SO3+ SO Ω 1 Ω SO2 SO3 DC12~ VV サーボアンプ Srvo Drivr Functions SO1 to SO3 should b allocatd by paramtrs. For dtails, rfr to Tchnical Documnt - Basic Functional Spcifications -. R3. Motor Businss Unit, Panasonic Corporation

47 No. SX-DSV Fdback puls of th rotary ncodr RS422 lin rcivr AM26C32 or quivalnt OA+ OA OA- X Lin drivr AM26C31or quivalnt A OB OB+ OB B Scaling circuit GND 16 FG Srvo drivr sid [1] Us an RS422 lin rcivr (AM26C32 or quivalnt) to rciv output puls. At that tim, mount an appropriat trminating rsistor (approx. 33 Ω) btwn th lin rcivr inputs. [2] Th maximum output frquncy should b 4 Mpps (aftr quad dg valuation) or lss. R3. Motor Businss Unit, Panasonic Corporation

48 No. SX-DSV Wiring to connctor X5 [1] It is supportd for th multi-function typ only. [2] Th cor wir of th xtrnal scal cabl should b a strand wir of.18 mm 2 or mor. Us a common shildd twistd pair wir. [3] Th maximum cabl lngth should b 2 m or lss. If th wiring lngth is long, doubl wiring is rcommndd for th 5 V powr supply to rduc influnc of voltag drop. [4] Connct th xtrior covring of th shild wir on th motor sid to th shild of th shild wir from th xtrnal scal. B sur to connct th xtrior covring of th shild wir on th srvo drivr sid to th shll of X5 (FG). [5] Kp th wirs away from th wiring of th powr lins (L1, L2, L3, L1C, L2C, U, V, W, ) as much as possibl (at last 3 cm). Do not rout th wirs through th sam duct and do not ti thm togthr. [6] Do not connct anything to th idl pin of X5. [7] Powr that can b supplid from X5 is max. 5 V±5% and 25 ma. Whn using an xtrnal scal whos consumption currnt xcds this valu, th corrsponding powr supply should b prpard by th customr. It may tak tim to prform initialization aftr powr-on, dpnding on xtrnal scals. Mak a dsign so as to satisfy th opration timing aftr supplying powr. [8] Whn driving an xtrnal scal using xtrnal powr supply, mak th EX5V pin opn so that voltag is not supplid to this pin from outsid. In addition, connct V (GND) of th xtrnal powr supply with EXV (X5 2pin) of th drivr to obtain th sam lctric potntial. EX5V EXV EXPS EXPS EXA EXA EXB EXB EXZ EXZ Connctor X5 1 EX5V 2 EXV 3 EXPS 4 EXPS 5 EXA 6 EXA 7 EXB 8 EXB 9 EXZ 1 EXZ +5 V V Rgulator Twistd pair MUF-PK1K-X (quivalnt FG Shll (FG) Dtction had Extrnal scal unit Extrnal scal sid Junction cabl Drivr R3. Motor Businss Unit, Panasonic Corporation

49 No. SX-DSV Wiring to connctor X6 [1] Th cor wir of th ncodr cabl should b a strand wir of.18 mm 2 or mor. Us a common shildd twistd pair wir. [2] Th maximum cabl lngth should b 2 m or lss. If th wiring lngth is long, doubl wiring is rcommndd for th 5 V powr supply to rduc influnc of voltag drop. [3] B sur to connct th shild wirs of th ncodr cabl to th Earh trminal on th motor sid and th shll of X6 (FG) on th srvo drivr sid. [4] Kp th wirs away from th wiring of th powr lins (L1, L2, L3, L1C, L2C, U, V, W, ) as much as possibl (at last 3 cm). Do not rout th wirs through th sam duct and do not ti thm togthr. Whn multi-rotation data is not usd *Whn usd as an incrmntal ncodr *Whn usd as a singl-rotation absolut ncodr Lad wir typ MSMF 5 W - 1 W MHMF 5 W - 1 W MQMF 1 W - 4 W Twistd pair Whit Black Rd Pink Cyan Purpl Yllow/Grn E5V EV BAT+ BAT- PS PS FG X6 +5 V E5V V EV BTP-O BTN-O PS PS Shll(FG) Rgulator Motor Tyco Elctronics (or quivalnt) Tyco Elctronics (or quivalnt) Motor Encodr cabl Srvo drivr R3. Motor Businss Unit, Panasonic Corporation

50 No. SX-DSV Connctor typ MSMF 5 W - 1 W MHMF 5 W - 1 W MQMF 1 W - 4 W Twistd pair E5V EV BAT X6 E5V EV BTP-O +5 V V Rgulator BAT- 2 4 BTN-O JN6CR7PM2 JAE (or quivalnt) PS PS FG JN6FR7SM1 JAE (or quivalnt) 5 6 PS PS Shll(FG) Motor Encodr cabl Srvo drivr MSMF 1. kw - 5. kw MHMF 1. kw - 5. kw MDMF 1. kw - 5. kw MGMF.85 kw kw Twistd pair E5V EV BAT X6 E5V EV BTP-O +5 V V Rgulator BAT- 5 4 BTN-O JN2AS1ML3-R JAE (or quivalnt) PS PS FG JN2DS1SL1-R JAE (or quivalnt) 5 6 PS PS Shll(FG) Motor Encodr cabl Srvo drivr R3. Motor Businss Unit, Panasonic Corporation

51 No. SX-DSV Cannon plug typ MSMF 1. kw - 5. kw MHMF 1. kw - 5. kw MDMF 1. kw - 5. kw MGMF.85 kw kw Twistd pair E5V EV BAT+ H G T X6 E5V EV BTP-O +5 V V Rgulator BAT- S 4 BTN-O JL1-2E2-29P JAE (or quivalnt) PS PS FG K L J JL1-6A2-29S JAE (or quivalnt) 5 6 PS PS Shll(FG) Motor Encodr cabl Srvo drivr R3. Motor Businss Unit, Panasonic Corporation

52 No. SX-DSV Whn multi-rotation data is usd *Whn an absolut systm is constructd Lad wir typ MSMF 5 W - 1 W MHMF 5 W - 1 W MQMF 1 W - 4 W Twistd pair Whit Black Rd Pink Cyan Purpl Yllow/Grn E5V EV BAT+ BAT- PS PS FG Battry X6 +5 V E5V V EV BTP-O BTN-O PS PS Shll(FG) Rgulator Motor Tyco Elctronics (or quivalnt) Tyco Elctronics (or quivalnt) Motor Encodr cabl Srvo drivr Connctor typ MSMF 5 W - 1 W MHMF 5 W - 1 W MQMF 1 W - 4 W Twistd pair E5V EV BAT Battry X6 E5V EV BTP-O +5 V V Rgulator BAT- 2 4 BTN-O JN6CR7PM2 JAE (or quivalnt) PS PS FG JN6FR7SM1 JAE (or quivalnt) 5 6 PS PS Shll(FG) Motor Encodr cabl Srvo drivr R3. Motor Businss Unit, Panasonic Corporation

53 No. SX-DSV MSMF 1. kw - 5. kw MHMF 1. kw - 5. kw MDMF 1. kw - 5. kw MGMF.85 kw kw Twistd pair E5V EV BAT Battry X6 E5V EV BTP-O +5 V V Rgulator BAT- 5 4 BTN-O JN2AS1ML3-R JAE (or quivalnt) PS PS FG JN2DS1SL1-R JAE (or quivalnt) 5 6 PS PS Shll(FG) Motor Encodr cabl Srvo drivr Cannon plug typ MSMF 1. kw - 5. kw MHMF 1. kw - 5. kw MDMF 1. kw - 5. kw MGMF.85 kw kw Twistd pair E5V EV BAT+ H G T Battry X6 E5V EV BTP-O +5 V V Rgulator BAT- S 4 BTN-O JL1-2E2-29P JAE (or quivalnt) PS PS FG K L J JL1-6A2-29S N/M357-12A JAE (or quivalnt) 5 6 PS PS Shll(FG) Motor Encodr cabl Srvo drivr R3. Motor Businss Unit, Panasonic Corporation

54 No. SX-DSV Connction of a battry for th absolut ncodr Connct a battry for th absolut ncodr dirctly btwn BAT+ and BAT- of th ncodr connctor on th motor sid. It is also accptabl to connct it btwn th 14pin and 15pin of th X4 connctor via th 3pin and 4pin of th X6 connctor shown in th following figur. X6 BAT+ BAT- 3 4 BTP-O BTN-O X4 BTP-I BTN-I Battry FG Shll(FG) Motor Encodr cabl Srvo drivr Not: Whn conncting th battry dirctly to th ncodr connctor on th motor sid, do not connct anything to th 3pin and 4pin of th X6 connctor. R3. Motor Businss Unit, Panasonic Corporation

55 No. SX-DSV Prcautions whn using th battry for th absolut ncodr If th battry voltag drops, an rror occurs in th absolut ncodr. Voltag drop is causd by ithr th nd of th battry lif or a voltag dlay. [1] Not that th battry lif is shortnd dpnding on surrounding nvironmntal conditions. [2] A lithium battry has th minimum transint voltag (voltag dlay phnomnon). Voltag may drop tmporarily whn th battry starts discharging currnt. Thrfor, it is ncssary to rfrsh th battry bfor using it. <Whn using th battry for th first tim> If you us battry unit DVP299 (built-in battry: ER6V 3.6V mad by TOSHIBA LIFESTYLE PRODUCTS & SERVICES), which is an optional itm of Panasonic, connct th connctor with lad wir to CN61 as shown in th right figur and st it asid for fiv minuts. Thn, disconnct th connctor from CN61 and attach it to th srvo drivr. Evn whn a battry is prpard by th customr, it is rcommndd to prform rfrshing bfor using it. For th rfrshing procdur, consult with th corrsponding battry manufacturr. <Aftr mounting th battry unit> CN61 It is rcommndd to prform turning ON/OFF of th control powr supply approx. onc in a day. Incorrct us of th battry can caus troubls such as corrosion of th product du to lakag from th battry or risks such as brakag of th battry. Thrfor, b sur to obsrv th following. [1] Mak sur that th dirctions of th positiv and ngativ lctrods ar corrct. [2] If th battry that has bn usd for a long priod or th battry that cannot b usd any mor is kpt st in th dvic, troubls such as lakag may occur. Rplac it with a nw on promptly. (As a guid, it is rcommndd to rplac th battry vry two yars.) Th lctrolytic solution of th battry is not only highly corrosiv, which corrods priphral parts, but also conductiv, which can caus short circuiting. Priodical rplacmnt is ndd. [3] Do not dismantl th battry and do not put it into a fir. Nvr dismantl it bcaus it is vry dangrous if th scattrd contnt ntrs th y. Putting it into a fir or hating it may caus a bursting, which is dangrous. [4] Do not short circuit th battry and do not pl th battry tub. If a mtal or th lik touchs th positiv or ngativ lctrod trminal of th battry, larg currnt is applid at a tim, which wakns th battry. Furthr, havy hat gnration may occur, rsulting in bursting, which is dangrous. [5] This battry cannot b chargd. Do not charg th battry. Disposal of th usd battry aftr rplacmnt is rgulatd by som municipalitis. Dispos of th battry according to th rgulations of ach municipality. Air transportation At th tim of transportation by aircraft (both passngr airplan and cargo airplan), it is ncssary to mak an application with rgard to hazardous matrials. (UN packaging is rquird.) Whn rqusting air transportation, it is rquird to submit ncssary documnts (such as a paramtr sht and SDS) to th transport company. Plas mak th rqust for it via th distributor. UN packaging For dtails, contact ach transport company. R3. Motor Businss Unit, Panasonic Corporation