MINAS E Series (Discontinued)

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Discontinued Products

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Lineup

Motor Lineup

Ultra low inertia

Motor series	Rated output (kW)	Rated rotational speed (Max.speed) (r/min)	Rotary encoder		Brake	Gear	UL/ CSA	Enclosure	Features
Motor series	Rated output (kW)	Rated rotational speed (Max.speed) (r/min)	2500 P/r incremental	17bit absolute/ incremental	Holding	High precision	UL/ CSA	Enclosure	Features
MUMA	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

Series	Control method	Interface	Safety Function
E Series	Position control	Pulse input	without

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System Configuration

Wiring of main circuit

List of recommended peripheral devices

Power supply	Motor		Power capacity (at rated output )	Circuit Breaker (Rated current)	Noise Filter	Magnetic Contactor (Contact Composition)	Wire diameter （L1,L2,L3,U,V and W）
Power supply	Series	Output	Power capacity (at rated output )	Circuit Breaker (Rated current)	Noise Filter	Magnetic Contactor (Contact Composition)	Wire diameter （L1,L2,L3,U,V and W）
Single phase, 100 V	MUMA	50 W	0.3 kVA	5 A	DV0P4160	10 A (3P+1a)	0.75 mm² to 0.85 mm² AWG18
		100 W	0.4 kVA	5 A
		200 W	0.5 kVA	10 A
Single phase, 200 V		50 W	0.3 kVA	5 A		15 A (3P+1a)
		100 W	0.3 kVA
		200 W	0.5 kVA
		400 W	0.9 kVA	10 A
3-phase 200 V		50 W	0.3 kVA	5 A		10 A (3P+1a)
		100 W	0.3 kVA
		200 W	0.5 kVA
		400 W	0.9 kVA	10 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

Item		Specifications
Input power	Single phase, 100 V	Single phase, 100 V (＋10 ％－15 ％) to 115 V (＋10 ％－15 ％) 50 Hz / 60 Hz
	Single phase, 200 V	Single phase, 200 V (＋10 ％－15 ％) to 240 V (＋10 ％－15 ％) 50 Hz / 60 Hz
	3-phase, 200 V	3-phase, 200 V (＋10 ％－15 ％) to 240 V (＋10 ％－15 ％) 50 Hz / 60 Hz
Environment	Temperature	Operating : 0 °C to 55 °C, Storage : –20 °C to 65 °C (Max.temperature guarantee 80 °C for 72 hours [Nomal temperature])
	Humidity	Both operating and storage : 90 %RH or less (free from condensation)
	Altitude	1000 m or lower
	Vibration	5.88 m/s² or less, 10 Hz to 60 Hz (No continuous use at resonance frequency)
Withstand voltage		Should be 1500 VAC (Sensed current: 20 mA) for 1 minute between Primary and Ground.
Control method		IGBT PWM Sinusoidal wave drive
Encoder feedback		2500 P/r (10000 resolution) incremental encoder
Control signal	Input	7 inputs (1) Servo-ON, (2) Alarm clear and other inputs vary depending on the control mode.
Control signal	Output	4 outputs (1) Servo alarm, (2) Alarm, (3) Release signal of external brake and other outputs vary depending on the control mode.
Pulse signal	Input	2 inputs Supports both line driver I/F and open collector I/F.
Pulse signal	Output	4 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 function	RS232	1 : 1 communication to a host with RS232 interface is enabled.
Display LED		(1) Status LED (STATUS), (2) Alarm code LED (ALM-CODE)
Regeneration		No built-in regenerative resistor (external resistor only)
Dynamic brake		Built-in
Control mode		3 modes of (1) High-speed position control, (2) Internal velocity control and (3) High-functionality positioning control are selectable with parameter.

Functions

Item			Specifications
Position control	Control 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 input	Max. command pulse frequency	Line driver : 500 kpps, Open collector : 200 kpps
		Type of input pulse train	Differential 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 filter	Primary delay filter or FIR type filter is selectable to the command input.
Internal speed control	Control 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 command		Internal 4-speed is selectable with control input.
	Soft-start/down function		Individual setup of acceleration and deceleration are enabled, with 0 s to 10 s/1000 r/min. Sigmoid acceleration/deceleration is also enabled.
	Zero-speed clamp		0-clamp of internal speed command with speed zero clamp input is enabled.
Common	Auto-gain tuning	Real-time	Estimates 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.
	Auto-gain tuning	Normal mode	Estimates 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 error	Over-voltage, under-voltage, over-speed over-load, over-heat, over-current and encoder error etc.
	Protective function	Software error	Excess position deviation, command pulse division error, EEPROM error etc.
	Traceability of alarm data		Traceable up to past 14 alarms including the present one.
	Damping control function		Manual setup with parameter
	Setup	Manual	Console
	Setup	Setup support software	PANATERM (Supporting OS : Windows98, Windows ME, Windows2000, and WindowsXP)

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Wiring/ Connection

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

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

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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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