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Panasonic Industry / Automation Controls

MINAS E Series

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  • Basic Information

  • Lineup

  • System Configuration

  • Specifications

  • Dimensions

  • Wiring/ Connection

  • Option

  • Software

Discontinuation plan

Last time buy (JST)

April 30, 2025

After this date, we will no longer accept new orders for the product.
Please note that due to various reasons, the order end date may be brought forward.

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Basic Information

Position control type, 50 W to 400 W, Input power supply for Driver: Voltage AC 100 V/200 V, 2500 p/r incremental encoder, Frequency response 400 Hz

  • ce_emc
  • ukca
  • tuv_emg
  • ul_cul

  • CE, UKCA, TUV, UL/cUL Approved

Features

MINAS E Series

Best Fit to Small Drives

  • Further evolution in down-sizing, by 47 % in size.(Note)
  • Exclusively designed for position control.
    (Note) Compared to MUDS043A1

Easy to Handle, Easy to Use

  • DIN-rail mounting unit (option) improves handling/installation.
  • User-friendly Console makes the setup easy.
  • High functionality Real-Time Auto-Gain Tuning enables adjustment-free operation.

Console Option

Console Option

High-Speed Positioning with Resonance Suppression Filters

  • Built-In notch filter suppresses resonance of the machine.
Built-in adaptive filter detect resonance frequency and suppress vibration.

 

Smoother operation for Low Stiffness Machine

  • Damping control function suppresses vibration during acceleration/deceleration.

1.Easy to Handle, Easy to Use

High-functionality Real-Time Auto-Gain Tuning(Note1)

  • Offers real automatic gain tuning for low and high stiffness machines with a combination of an adaptive filter.
  • Supports the vertical axis application where the load torque is different in rotational direction.

DIN-rail mounting unit (option)

  • DIN-rail mounting unit allows parallel mounting with small control devices such as PLC.
  • Easy to mount and easy to dismount.

2.Further Reduction of Vibration

Adaptive filter(Note1)

  • Makes the notch filter frequency automatically follow the machine resonance frequency in real-time auto-gain tuning.
  • Suppression of “Judder” noise of the machine, which is caused by variation of the machines or resonance frequency due to aging, can be expected.

Notch filter(Note1)

  • 1-channel notch filter is equipped in the driver independent from adaptive filter.
  • Each of 2 filters can set up frequency and notch width, and frequency in 1Hz unit. Suppression of "Judder" noise of the machine which has multiple resonance points can be expected.

Effect of notch filter

Damping control(Note1)

  • You can suppress vibration occurring at both starting and stopping in low stiffness machine, by manually setting up vibration frequency in 0.1 Hz unit. Note) Only applies to manual adjustment

Damping control

(Note1) Select at positioning action mode.

  • At high speed positioning mode (Pr02=0) Select either one of notch filter, damping control or high-functionality real-time auto- gain tuning.
    Not possible to use them all at the same time.
    Adaptive filter cannot be used.
  • At high-functionality positioning mode (Pr02=1) All of notch filter, damping
    control, high-functionality real-time auto-gain tuning and adaptive filter can be used at the same time.

3.Further Flexibility and Multiplicity

Console (Option)

  • You can set up parameters, copy and make a JOG run.
  • Convenient for maintenance at site.
Refer to DV0P4420 Spec Detail (Options).

Command control modes

  • Offers 2 command modes, “Position control” and “Internal velocity control”.
  • You can make a 4-speed running at preset values with parameter at internal velocity control mode.

Inrush current suppressing function

  • Inrush suppressing resistor, which prevent the circuit breaker shutdown of the power supply caused by inrush current at power-on, is equipped in this driver.
  • Prevents unintentional shutdown of the power supply circuit breaker in multi axis application and does not give load to the power line.

Regeneration discharging function

  • Discharges the regenerative energy with external resistor, where energy is generated while stopping the load with large moment of inertia, or use in up-down operation, and is returned to the driver from the motor.
  • No regenerative resistor is installed in the driver.
  • It is highly recommended to install an external regenerative resistor (option).

Built-in dynamic brake

  • You can select the dynamic brake action which short the servo motor windings of U, V and W, at Servo-OFF, CW/CCW over- travel inhibition, power shutdown and trip.
  • You can select the action sequence depending on the machine requirement.

Setup support software (Option)

  • With the setup support software, “PANATERM” via RS232 / RS485 communication port, you can monitor the running status of the driver and set up parameters.

Note) Click here for more information for setup support software.

Key-way shaft and tapped shaft end

  • Easy pulley attachment and easy maintenance
  • Attache screw to the tapped shaft to prevent key or pulley from being pulled out.

Wave-form graphic function

  • With the setup support software, “PANATERM”, you can monitor the “Command speed”, “Actual speed”, “Torque”, “Position deviation” and “Positioning complete signal”.
  • Helps you to analyze the machine and shorten the setup time.

Note) Click here for more information for setup support software.

Frequency analyzing function

  • You can confirm the response frequency characteristics of total machine mechanism including the servo motor with the setup support software, “PANATERM”.
  • Helps you to analyze the machine and shorten the setup time.

Note) Click here for more information for setup support software.

Torque limit switching function

  • You can select 2 preset torque limit value from external input.
  • Use this function for tension control or press-hold control.

Conformity to CE and UL Standards

SubjectStandard conformed
MotorIEC60034-1IEC60034-5 　UL1004 　
CSA22.2 No.100		Conforms to
EU Low Voltage
Directives/UK
Low Voltage
Regulation
Motor and driver UL508C 　CSA22.2 No.14
EN55011Radio Disturbance Characteristics of Industrial, Scientific and Medical (ISM)
Radio-Frequency Equipment		Conforms to
references
by EU EMC
Directives/UK
EMC Regulation
EN61000-6-2Immunity for Industrial Environments
IEC61000-4-2Electrostatic Discharge Immunity Test
IEC61000-4-3Radio Frequency Electromagnetic Field Immunity Test
IEC61000-4-4Electric High-Speed Transition Phenomenon/Burst Immunity Test
IEC61000-4-5Lightening Surge Immunity Test
IEC61000-4-6High Frequency Conduction Immunity Test
IEC61000-4-11Instantaneous Outage Immunity Test

IEC : International Electrotechnical Commission
E N : Europaischen Normen
EMC : Electromagnetic Compatibility
U L : Underwriters Laboratories
CSA : Canadian Standards Association

Pursuant to at the directive 2004/108/EC,article 9(2)

  • When exporting this product, follow statutory provisions of the destination country.

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Lineup

Motor Lineup

Ultra low inertia

Motor seriesRated
output
(kW)		Rated
rotational
speed
(Max.speed)
(r/min)		Rotary encoderBrakeGearUL/
CSA		EnclosureFeatures
2500 P/r
incremental		17bit
absolute/
incremental		HoldingHigh
precision
MUMA

MINAS E Series

0.05 to 0.4
0.05
0.1
0.2
0.4
3000
（5000）
○
—
○
○
○
IP65
Except shaft
throughhole
and
connector		Small capacity
Ultra low inertia

Driver Lineup

SeriesControl methodInterfaceSafety Function
E Series

MINAS E Series

Position controlPulse inputwithout

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System Configuration

Wiring of main circuit

List of recommended peripheral devices

Power
supply		MotorPower
capacity (at rated
output )		Circuit Breaker
(Rated current)		Noise FilterMagnetic Contactor (Contact Composition)Wire diameter
（L1,L2,L3,U,V and W）
SeriesOutput
Single
phase,
100 V		MUMA50 W0.3 kVA5 ADV0P416010 A
(3P+1a)		0.75 mm2 to 0.85 mm2
AWG18
100 W0.4 kVA
200 W0.5 kVA10 A
Single
phase,
200 V		50 W0.3 kVA5 A15 A
(3P+1a)
100 W
200 W0.5 kVA
400 W0.9 kVA10 A
3-phase
200 V		50 W0.3 kVA5 A10 A
(3P+1a)
100 W
200 W0.5 kVA
400 W0.9 kVA10 A

* Select the single and 3-phase common specifications corresponding to the power supplies.


To conform to EC Directives, install a circuit breaker which conforms to IEC and UL Standards (Listed, marked) between noise filter and power supply.

Remarks

  • Use a copper conductor cables with temperature rating of 60 °C or higher for main power connector and ground terminal wiring.
  • Use a cable for ground with diameter of 2.0 mm2 (AWG14) or larger.

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Driver Specifications

Basic Specifications

ItemSpecifications
Input powerSingle phase, 100 VSingle phase, 100 V (＋10 ％ －15 ％) to 115 V (＋10 ％ －15 ％) 50 Hz / 60 Hz
Single phase, 200 VSingle phase, 200 V (＋10 ％ －15 ％) to 240 V (＋10 ％ －15 ％) 50 Hz / 60 Hz
3-phase, 200 V3-phase, 200 V (＋10 ％ －15 ％) to 240 V (＋10 ％ －15 ％) 50 Hz / 60 Hz
EnvironmentTemperatureOperating : 0 °C to 55 °C, Storage : –20 °C to 65 °C
(Max.temperature guarantee 80 °C for 72 hours [Nomal temperature])
HumidityBoth operating and storage : 90 %RH or less (free from condensation)
Altitude1000 m or lower
Vibration5.88 m/s2 or less, 10 Hz to 60 Hz (No continuous use at resonance frequency)
Withstand voltageShould be 1500 VAC (Sensed current: 20 mA) for 1 minute between Primary and Ground.
Control methodIGBT PWM Sinusoidal wave drive
Encoder feedback2500 P/r (10000 resolution) incremental encoder
Control signalInput7 inputs
(1) Servo-ON,
(2) Alarm clear and other inputs vary depending on the control mode.
Output4 outputs
(1) Servo alarm,
(2) Alarm,
(3) Release signal of external brake and other outputs vary depending on the control mode.
Pulse signalInput2 inputs
Supports both line driver I/F and open collector I/F.
Output4 outputs
Feed out the encoder pulse (A, B and Z-phase) in line driver.
Z-phase pulse is also feed out in open collector.
Communication functionRS2321 : 1 communication to a host with RS232 interface is enabled.
Display LED(1) Status LED (STATUS),
(2) Alarm code LED (ALM-CODE)
RegenerationNo built-in regenerative resistor (external resistor only)
Dynamic brakeBuilt-in
Control mode3 modes of (1) High-speed position control, (2) Internal velocity control and (3) High-functionality positioning control are selectable with parameter.

Functions

ItemSpecifications
Position controlControl input(1) CW over-travel inhibition, (2) CCW over-travel inhibition, (3) Deviation counter clear,
(4) Gain switching, (5) Electronic gear switching
Control output(1) Positioning complete (In-position)
Pulse inputMax. command pulse
frequency		Line driver : 500 kpps, Open collector : 200 kpps
Type of input pulse trainDifferential input. Selectable with parameter,
((1) CW/CCW, (2) A and B-phase, (3) Command and
Direction)
Electronic gear (Division/Multiplication
of command pulse )		Setup of electronic gear ratio Setup range of (1-10000) × 2(0-17)/(1-10000)
Smoothing filterPrimary delay filter or FIR type filter is selectable to the command input.
Internal speed controlControl input(1) CW over-travel inhibition,
(2) CCW over-travel inhibition,
(3) Selection 1 of internal command speed,
(4) Selection 2 of internal command speed,
(5) Speed zero clamp
Control output(1) Speed arrival (at-speed)
Internal speed commandInternal 4-speed is selectable with control input.
Soft-start/down functionIndividual setup of acceleration and deceleration are enabled,
with 0 s to 10 s/1000 r/min.
Sigmoid acceleration/deceleration is also enabled.
Zero-speed clamp0-clamp of internal speed command with speed zero clamp input is enabled.
CommonAuto-gain tuningReal-timeEstimates the load inertia in real-time in actual operation and sets up the gain automatically
corresponding to the machine stiffness. Useable at
(1) High-response position control,
(2) Internal
speed control and
(3) High-functionality position control.
Normal modeEstimates the load inertia with an action command inside of the driver, and sets up the gain
automatically corresponding to setup of the machine stiffness. Useable at
(1) High-response position
control,
(2) Internal speed control and
(3) High-functionality position control.
Masking of unnecessary
input		Masking of the following input signal is enabled.
(1) Over-travel inhibition,
(2) Speed zero clamp,
(3) Torque limit switching
Division of encoder feedback
pulse		1 P/r to 2500 P/r (encoder pulses count is the max.).
Protective
function		Hardware errorOver-voltage, under-voltage, over-speed over-load, over-heat, over-current and encoder error etc.
Software errorExcess position deviation, command pulse division error, EEPROM error etc.
Traceability of alarm dataTraceable up to past 14 alarms including the present one.
Damping control functionManual setup with parameter
SetupManualConsole
Setup support softwarePANATERM (Supporting OS : Windows98, Windows ME, Windows2000, and WindowsXP)

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Dimensions

CAD

CAD Download

Dimensions of Motor

Please refer to the catalog.

Dimensions of Driver

Frame K

Frame L

 

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Wiring/ Connection

1. Standard Wiring Example of Main Circuit/ Driver Specifications Encorder Wiring Diagram

Standard Wiring Example of Main Circuit

When you make your own junction cable for encoder

1) Refer the wiring diagram.

2) Use the twisted pair wire with shield, with core diameter of 0.18 mm2 (AWG24) or larger, with higher bending resistance.

3) Use the twisted pair wire for the corresponding signal and power supply.

4) Shielding

  • Connect the shield of the driver to the case of CN X4.
  • Connect the shield of the motor to Pin-6.

2. Control Circuit Standard Wiring Example

Fig. 1

Fig. 1

  • This fig. shows the usage of an external control signal power supply.
  • You need to install an resistor R for current limit corresponding to VDC.

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Option

You can search for options by category.

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Software

Option

Setup Support Software “PANATERM” for MINAS series AC Servo Motor & Driver

Part No. DV0P4460 (Japanese/English version)

  • Can not use with A5, A6 family.

The PANATERM assists users in setting parameters, monitoring control conditions, setup support, and analyzing mechanical operation data on the PC screen, when installed in a commercially available personal computer, and connected to the MINAS A4 series, E series through the RS232 serial interface.

For using this software, separately sold PC communication cable (Part No. DV0P1960) is required.
When your PC is not equipped with RS232 I/F (D-sub connector 9-pins), please prepare RS232 (D-sub connector 9-pins)-USB converter.

Basic Function

●Parameter setup

  • After a parameter is defined on the screen, it will be sent to the driver immediately.
  • Once you register parameters you frequently use, they can be easily set up on the screen.

Monitoring Control Conditions

●Monitor

  • Control conditions: Control mode, velocity, torque, error and warning
  • Driver input signal
    ・Load conditions: Total count of command/feedback pulses, Load ratio, Regenerative resistor load ratio

●Alarm

  • Displays the numbers and contents of the current alarm and up to 14 error events in the past.
  • Clears the numbers and contents of the current alarm and up to 14 error events in the past.

Setup

●Auto tuning

  • Gain adjustment and inertia ratio measurement

●Graphic waveform display

  • The graphic display shows command velocity, actual velocity, torque, and error waveforms.

●Absolute encoder setup

  • Clears absolute encoder at the origin.
  • Displays single revolution/multi-revolution data.
  • Displays absolute encoder status.

Analysis of Mechanical Operation Data

●Frequency analysis

  • Measures frequency characteristics of the machine, and displays Bode diagram.

Hardware configuration

[Personal computer]

  • CPU : Pentium 100MHz or more
  • Memory : 16 MB or more (32 MB recommended)
  • Hard disk capacity (vacancy of 25 MB or more recommended)
  • OS : Windows® 98, Windows® Me, Windows® 2000, Windows® XP (US version)
  • Communication speed of serial communication port : 2400 bps or more (The software may not operate normally using USB-to-Serial adapter.)

[Display]

  • Resolution : 640*480 (VGA) or more (desirably 1024*768)
  • Number of colors : 256 colors or more

[CD-ROM drive]
CD-ROM drive operable on the above-mentioned personal computer

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