MINAS A7N Series Servo Driver

Download

Basic Information
Lineup
System Configuration
Specifications
Dimensions
Wiring/ Connection

------------------------------ Tab1 showing ------------------------------

Basic Information

Realtime Express (RTEX)
Advanced Network to realize high-precise real-time performance for Servo Control

------------------------------ Tab2 showing ------------------------------

	Type	Series
Rotation type	Standard type	A7NE
	Multifunctional type	A7NF
	Application specialized type	A7NR^*

*Special order

*Realtime Express and RTEX are registered trademarks of Panasonic Holdings Corporation.

------------------------------ Tab3 showing ------------------------------

A7N Series (Driver: B frame, Motor: 200 W)

<Caution>
Please select the appropriate tightening torque for the product's mounting screws, taking into consideration the strength of the screws used and the material to which they are attached, to avoid loosening or damage.
Example) When tightening steel screws (M5) to steel, 2.7 N•m to 3.3 N•m.

List of applicable peripherals

Driver	Applicable motor	Voltage specification (V) ^*1	Rated output (W)	Power supply capacity (at rated load) (kVA)	Circuit breaker (Rated current) (A)	Short circuit protection element (Fuse) (A)		Noise filte (Single Phase/Three Phase)	Ferrite core	Electromagnetic contactor (A) ^*2	Conductor thickness for main circuit Withstand voltage	Terminal block crimp terminal for main circuit ^*3	Wire thickness for control power supply	Terminal block crimp terminal for control power supply	Motor wire thickness Withstand voltage ^*6	Terminal block crimp terminal for motor ^*4	Brake wire thickness Withstand voltage ^*6
Driver	Applicable motor	Voltage specification (V) ^*1	Rated output (W)	Power supply capacity (at rated load) (kVA)	Circuit breaker (Rated current) (A)	Main circuit power input line	Control circuit power input line	Noise filte (Single Phase/Three Phase)	Ferrite core	Electromagnetic contactor (A) ^*2	Conductor thickness for main circuit Withstand voltage	Terminal block crimp terminal for main circuit ^*3	Wire thickness for control power supply	Terminal block crimp terminal for control power supply	Motor wire thickness Withstand voltage ^*6	Terminal block crimp terminal for motor ^*4	Brake wire thickness Withstand voltage ^*6
MADN	MHMG	Single Phase 100	50	Approx.0.4	15	10	1	DV0P4170 (Single phase only)	DV0P1460	20 (3P+1a)	2.0 mm²/ AWG14 300 VAC or more	Connecting to a dedicated connector	2.0 mm²/ AWG14 300 VAC or more	Connecting to a dedicated connector	0.75 mm²/ AWG18 to 2.0 mm²/ AWG14 300 VAC or more	Connecting to a dedicated connector	0.3 mm²/ AWG22 to 0.75 mm²/ AWG18 100 VAC or more
MADN			100	Approx.0.4
MBDN			200	Approx.0.5
MCDN			400	Approx.0.9		20		DV0PM20042
MADN		Single Phase/Three Phase 200	50	Approx.0.5		10		DV0P4170 (Single phase only))/ DV0PM20042
			100	Approx.0.5
			200	Approx.0.6
MBDN			400	Approx.1.0
MCDN			750	Approx.1.9		20		DV0PM20042
MDDN ^*5			1000	Approx.2.4		35		DV0P4220		32 (3P+1a)

*1 For single phase/three phase 200 V common specifications, select peripheral equipment according to the power supply used.
*2 The electromagnetic contactor used for the external dynamic brake resistor should have the same rating as the electromagnetic contactor used for the main circuit.
*3 Use the same crimp terminal for the ground screw as the crimp terminal for the main circuit terminal block.
*4 Make sure that the thickness of the ground wire and the external dynamic brake resistor wire are the same or larger than the motor wire.
*5 For UL certification, in the case of a single phase power supply, please use a clamp meter that can measure the effective value current and derate the input effective current to 12A or less.
*6 Applicable wire size varies depending on the motor model number. Please check the instruction manual or specifications document for the applicable wire size for each motor model number.
* Specifications are subject to change due to improvements, etc. Please be sure to obtain the latest information when using these products.

● Circuit breakers and electromagnetic contactors

To comply with EU directives/UK standards, be sure to connect an IEC standard and UL certified (LISTED, marked) molded circuit breaker between the power supply and the noise filter.
Make sure that the short-circuit current of the power supply you use is less than 5000 Arms symmetrical current when the product’s maximum input voltage is less than that. If the short-circuit current of the power supply exceeds this, install a currentlimiting device (current-limiting fuse, current-limiting breaker, transformer, etc.) to limit the short-circuit current.
<Caution>
• Select a molded circuit breaker and noise filter with a capacity commensurate with the power supply capacity (taking load conditions into consideration).

● Terminal block and protective ground terminal

• Use copper conductor wires with a temperature rating of 75 °C or higher for wiring.
• For frames A to D, use the included dedicated connectors. In that case, keep the length of the stripped wire between 8 mm and 9 mm.

■Driver: tightening torque (Connection connector [X4] with ground screw and upper controller)

Driver external frame symbol	Ground screw		Connector to upper controller (X4)
Driver external frame symbol	Call	Tightening torque (N･m) ^Note)1	Call	Tightening torque (N･m) ^Note)1
MADN, MBDN, MCDN, MDDN	M4	0.7 to 0.8	M2.6	0.2±0.05

Note)1
<Caution>
• Exceeding the maximum tightening torque may cause damage.
• Do not turn on the power while the terminal block screws are loose.
• Turning the power on while the screws are loose may cause smoke or fire.
<Remarks>
• Check the tightening torque periodically once a year for looseness.

------------------------------ Tab4 showing ------------------------------

Item				Performance
Input power	100 V series	Main circuit power supply		Single phase 100 to 120 V, -15% to +10%, 50/60 Hz
	100 V series	Control circuit power supply		Single phase 100 to 120 V, -15% to +10%, 50/60 Hz
	200 V series	Main circuit power supply	A frame to D frame	Single phase/3-phase 200 to 240 V, -15% to +10%, 50/60 Hz
	200 V series	Control circuit power supply	A frame to D frame	Single phase 200 to 240 V, -15% to +10%, 50/60 Hz
Ambient conditions of use		Temperature		Operating temperature: 0 to 60 °C (Can be used at reduced rating if 55 to 60 °C) (No freezing) Storage temperature: -20 to 65 °C (Maximum temperature guaranteed: 80 °C, 72 hours, non-condensing ^*1)
		Humidity		Use, Storage Humidity: 20 to 85% RH or Less (No Condensation ^*1)
		Elevation		Below 2000 m above sea level (can be used with reduced rating for 1000 to 2000 m)
		Vibration		5.88 m/s² or less, 10 to 60 Hz
		Degree of contamination		Degree of contamination 2
		Mounting space		10 mm or more (1 to 10 mm can be used with reduced rating ^*2)
Protection class				IP00
Insulation voltage				Withstand AC1500V for 1 minute between 1st side and earth
Control method				IGBT PWM method Sine wave drive
Encoder feedback				27 bit (134217728 resolution) 7-wire serial absolute encoder
External scale feedback^*3				A/B phase/home signal differential input type Panasonic industry serial communication type^*4
Control signal		Input		General purpose 8 inputs General-purpose input functions are selected by parameters
Control signal		Output		General purpose 3 outputs General-purpose output functions can be selected by parameters
Analog signal		Input		1 input (16-bit A/D : input) ^*5
Analog signal		Output		2 outputs (Analog monitor 1, Analog monitor 2)
Pulse signal		A/B phase output (2 outputs)		Line driver output with A/B phase signal
Communication function		Realtime Express (RTEX)		Real-time operation command transmission, parameter setting, status monitoring, etc. possible
Communication function		USB		Parameter settings, status monitoring, etc. possible by connecting a PC, etc.
Safety function^*3				Safe Torque Off (STO) 2 Input (Safety Input 1, 2) 1 Output (EDM output)
Front panel				① Rotary switch ② LED 7 segment 2 digits and 4 lights for status display ③ Connector for analog monitor
Regenerative				A, B frame: No built-in regenerative resistor (external only) C, D frame: Built-in regenerative resistor (external connection is also possible)
Dynamic brake				Frame A-D: Built-in
Control mode				Position control: cyclic position control (CP)

*1 Please note that condensation is more likely to occur as the temperature drops.
*2 When using the servo driver at an ambient temperature of 55 to 60 °C or at an altitude of 1000 to 2000 m, use the load factor multiplied by the respective load factors shown in the figure on the right. When using a servo driver with a mounting interval of 1 to 10 mm, refer to the ambient temperature shown in the figure on the right.

*3 Not available for standard types.
*4 Please refer to the separate collaboration catalog for compatible scale manufacturers and product numbers.
*5 Available for only applicaton specialized type. (Special order)

Mode		Performance
Position control	Control input	Positive direction over-tlavel inhibit, negative over-tlavel inhibit, latch signal, near origin, etc.
	Control output	Positioning completion, etc.
	Command input	RTEX command type (smoothing filter available)
	Basic functions	Rotation direction setting, Command input, Electronic gear, Motor movable range setting, Regenerative resistance setting, Absolute setting, External scale type selection, 2 degrees of freedom control mode, Network setting (communication cycle/command update cycle setting)
	Tuning function	Real-time auto-tuning, Adaptive filter, Gain switching, 3rd gain switching, Notch filter, Vibration damping control, Model-type damping filter, Speed feedforward, Torque feedforward, Load fluctuation compensation, Friction torque compensation, Two-stage torque filter, Quadrant glitch compensation, Position command filter, High response current control, Backlash correction
	Applied function	Pulse regeneration, Deceleration stop, Over traval inhibit(POT, NOT), Deceleration stop, Deceleration stop at Servo-Off, Deceleration stop at main power off, Deceleration stop at alarm, Immediate stop at alarm, Fall prevention at alarm, Fall prevention at Servo-On, Derating, Torque limit switching, Torque saturation protection, Position compare output (A7B only), 1 rotation absolute, Infinite rotation absolute, External scale position information monitor during semi-closed control, Slow stop
Speed control	Control input	Positive direction over-travel inhibit, Negative direction over travel inhibit, latch signal, etc.
	Control output	At-Speed, Speed coincidence, etc.
	Command input	RTEX command type
	Basic functions	Rotation direction setting, Command input, Electronic gear, Regenerative resistance setting, Absolute setting, 2 degrees of freedom control mode (speed), External scale type selection, Network setting (communication cycle/command update cycle setting)
	Tuning function	Real-time auto-tuning, Adaptive filter, Gain switching, Notch filter, Torque feedforward, Load fluctuation compensation, Friction torque compensation, Two-stage torque filter, Speed command acceleration/deceleration setting, High-response current control
	Applied function	Pulse regeneration, Deceleration stop, Over travel inhibit (POT, NOT), Deceleration stop at Servo-Off, Deceleration stop at main power off, Deceleration stop at alarm, Immediate stop at alarm, Fall prevention at alarm, Fall prevention at Servo-On, Derating, Torque limit switching, Torque saturation protection, Position compare output (A7B only), 1 rotation absolute, Infinite rotation absolute, External scale position information monitor during semi-closed control, Slow stop
Torque control	Control input	Over travel inhibit (positive, negative direction, latch signal, etc.
	Control output	At-Speed, etc.
	Command input	RTEX command type
	Basic functions	Rotation direction setting, Command input, Electronic gear, Regenerative resistance setting, Absolute setting, External scale type selection, Speed limit, 2 degrees of freedom control mode
	Tuning function	Real-time auto tuning, Gain switching, Notch filter, Two-stage torque filter, High-response current control, Torque feedforward, Friction torque compensation
	Applied function	Pulse regeneration, deceleration and stop, Deceleration stop, Deceleration stop at over travel inhibit (POT, NOT), Deceleration stop at Servo-Off, Deceleration stop at main power off, Deceleration at alam, Immediate stop at alarm, Fall prevention at alarm, Fall prevention at Servo-On, Derating, 1 rotation absolute, Infinite rotation absolute, External scale position information monitor during semi-closed control, Slow Stop
Full closed control	Control input	Positive direction over travel inhibit (POT, NOT), Negative direction over travel inhibit (POT, NOT), Latch signal, Near origin, etc.
	Control output	Positioning complete, At-speed output, Speed matching output, etc.
	Command input	RTEX command type (smoothing filter available)
	Basic functions	Rotation direction setting, Command input, Electronic gear, Motor movable range setting, Regenerative resistance setting, External scale type selection, 2 degrees of freedom control mode, External scale division ratio setting, Hybrid deviation excess setting, Network setting (communication cycle and command update cycle setting)
	Tuning function	Real-time auto tuning, Adaptive filter, Gain switching, Third gain switching, Notch filter, Damping control, Speed feedforward, Torque feedforward, Load fluctuation suppression, Friction torque compensation, Hybrid vibration suppression, Two-stage torque filter, Quadrant glitch compensation, Position command filter, High response current ontrol, Backlash compensation
	Applied function	Pulse regeneration, Deceleration stop, Deceleration stop at over travel inhibit (POT, NOT), Deceleration Stop at Servo Off, Deceleration stop at main power off, Deceleration stop at Alarm, Immediate stop at alarm, Fall prevention at alarm, Fall prevention at Servo-On, Derating, Torque limit switching, Torque saturation protection, Position compare output (A7B only), External scale position Information monitor during Semi-Close Control
Common	Safety function	STO
Common	Protection function	Protection stop, Warning, Timestamp

*For a description of each function name (functional terminology), see the following page.
*Each specification is subject to change for improvement. Be sure to obtain the latest manual when actually using this product.

------------------------------ Tab5 showing ------------------------------

------------------------------ Tab6 showing ------------------------------

Connection of the regenerative resistor

Frame type	Short line	Built-in regenerative resistor	Connector XB connection: Do not connect anything to “N”
Frame type	Short line	Built-in regenerative resistor	When using an external regenerative resistor	When an external regenerative resistor is not used
A frame B frame	None	None	Between P and B: Connect external regenerative resistor	Between P and B: Always open

Note)1

Frame type	Short wire (Accessory)	Built-in regenerative resistor	Connector XB connection: Do not connect anything to “N”
Frame type	Short wire (Accessory)	Built-in regenerative resistor	When using an external regenerative resistor	When an external regenerative resistor is not used
C frame D frame	Yes	Yes	Remove the attached short line between RB and B. Between P and B: Connect external regenerative resistor	Short circuit with attached short wire between RB and B

A safety circuit that controls safety functions is made by connecting the host controller. If you do not want to construct a safety circuit, please use the included safety bypass plug.

Safety Torque Off (STO) Function Overview

The Safe Torque Off (STO) function uses a safety input signal to forcibly turn off the drive signal of the power transistor inside the servo driver using a circuit (hardware) to cut off the motor current and output torque.
When the STO function is activated, the servo driver turns off the servo ready output signal (S-RDY) and enters the STO state, and "St" is displayed on the front panel. Also, when the STO input is released and the Servo-On input is turned off (OFF), the state automatically transitions to the Servo-Off state.

Safety precautions

If there is an external force (such as gravity on a vertical axis), the motor will move. If holding is required, use a separate external brake or other means. Please note that the brake of a servo motor with a brake is only for holding and cannot be used for braking purposes.
Furthermore, even if there is no external force, if parameter Pr5.10 "Sequence at alarm" is set to free run (dynamic brake disabled), the motor will free run and the stopping distance will be longer. Please do not let this become a problem.
- Even when the STO function is working, the following dangers still exist, so be sure to consider safety in your risk assessment. Incorrect use may result in personal injury.
- If there is an external force (such as gravity on a vertical axis), the motor will move. If holding is required, use a separate external brake or other means. Please note that the brake of a servo motor with a brake is only for holding and cannot be used for braking purposes.
- Due to a power transistor failure, etc., the motor may move within a range of up to 180 electrical degrees. Please do not let this become a problem.
- The STO function cuts off power to the motor, but does not cut off power to the servo driver and does not provide electrical isolation. When performing maintenance on the servo driver, take other measures such as cutting off the power to the servo driver.
EDM output signals are not safety outputs. Do not use it for any purpose other than the failure monitoring function. Incorrect use may result in personal injury.
The STO status monitor output signal is not a safety-related part. When designing the system, make sure to avoid dangerous conditions even if the STO condition monitor output signal cannot be output normally. Incorrect use may result in personal injury.
The dynamic brake and external brake release signal outputs are not safety-related parts. Make sure that the system design avoids dangerous conditions even if the external brake release fails during STO conditions. Incorrect use may result in personal injury.
When using the STO function, connect equipment that complies with safety standards. Use of equipment that does not meet safety standards may result in personal injury.

［Pin arrangement］
(View from the cable side)