MUMA011P1T - PANASONIC - Datasheet.Live

Motion Control Solutions

Minas A4/A4N/E Servo Drives/FP-Series PLCs

04/2008

Page 3

Page 11

Page 29

2008

Panasonic Electric Works Europe AG

Made in Germany

Panasonic Electric Works Europe AG

Made in Germany

Control Conﬁgurator PM

2008

Overview

Panasonic Motion Control Solutions

FP-SERIES

The compact FP3(Sigma) is suitable for most applications. The FP3(Sigma) PLC itself has

powerful features for up to two axes. Add FP3(Sigma) positioning units to control up to10 inde-

pendent axes. The new FP-X PLC with transistor outputs offers functionality similar to the FP3

(Sigma). The FP2/FP2SH is also suitable for complex positioning applications, while the com-

pact FP0 and FP-e can handle simple positioning tasks. RTEX units for FP3(Sigma) and FP2

offer real-time access to multiple Minas A4N drivers.

MINAS A4/A4N/A4P/E SERIES SERVO MOTORS AND DRIVERS

Powerful servo drives with cutting edge technology, high power density and a power range of

50W to 5kW. [Minas A4/A4N/Minas E (100 to 400W)].

SOFTWARE

Use any of the built-in functions for FP3(Sigma) or FP-X for up to two axes or the certified

Motion Control Library for more complex tasks that require positioning units. PANATERM® and

Configurator PM allow set-up, tuning, monitoring and analysis of the driven system.

MINAS A4/A4N/A4P/E

SERIES SERVO

DRIVES

FP-SERIES PLCs

SOFTWARE

04/2008

PLC FP0 / FPe FP-X FP3 (SigmaFP2 / FP2SH

Type Transistor Relay with cassette Transistor Relay Transistor

Number of axes

supported

2x5kHz (1x10kHz)

pulse train –4 (2x100kHz

+2x20kHz) pulse train –

2x60kHz

(1x100kHz) pulse

train

–

Functions Positioning – Linear interpolation

2x100kHz +2x20kHz –

Linear interpolation

100kHz, circular

20kHz

–

Number of axes

supported using

expansion units

–2x80kHz (1x100kHz)

pulse train –8x500kHz (2MHz line driver) pulse train,

16 x Ethernet 100MHz (RTEX)

64 (88 for FP2SH) x 500kHz

(2MHz line driver) pulse train,

112 x Ethernet 100MHz

(RTEX)

Number of axes

per expansion

unit

– 1 pulse train – 1 or 2 pulse train, 2,4 or 8 via Ethernet

(RTEX)

1 or 2 pulse train,

2, 4 or 8 via Ethernet (RTEX)

Functions –

Independent positio-

ning,

linear interpolation

–Independent positioning (pulse train), linear interpolation 2 or 3 axes,

circular 2 axes, spiral 3 axes (Ethernet/RTEX)

FP-Series PLCs

Overview

FP3(SIGMA)

Program capacity: 32k steps

Memory capacity: 32k words

Expansion capacity: 4 modules (left side)

3 modules (right side) up to 384 I/Os

Processing speed: 0.32μs/basic instruction

FP-X

Program capacity: FPXC30, FPXC60 32k steps

FPXC14 16k steps

Memory capacity: 32k words

Expansion capacity: Up to 8 units + up to 2 cassettes for

FPXC14 or + up to 3 cassettes for

FPXC30/C60

Up to 300 I/Os possible

Processing speed: 0.32μs/basic instructions

FP2 / FP2SH

Program capacity: FP2 16 or 32k steps

FP2SH 60 or 120k steps

Memory capacity: FP2 6000 words

FP2SH 10,240 words

Expansion capacity: Up to 28 modules or 2048 I/Os

Processing speed: FP2 0.35μs/basic instruction

FP2SH 0.03μs/basic instruction

04/2008

Positioning with FP

(Sigma)

FP-Series PLCs

Pulse output of up to 4Mpps and high-speed startup at 0.005ms enable linear servo motor control.

FP3 (Sigma) positioning unit

The linear and circular interpolation functions support a wide va-

riety of applications.

These interpolation functions enable simultaneous two-axis control,

which can support applications that up to now have been difficult to

handle using conventional compact PLCs.

Error detection is available by using the high-speed counter in com-

bination.

Unexpected accidents, such as errors in the driving system, can be de-

tected by setting the counter so that it counts the feedback pulses from

the encoder during positioning.

Smooth acceleration/deceleration enables smooth startup. Accelerates/decelerates in a maximum of

60 steps depending on preset parameters

Open-loop control

Motor

driver

Pulser

output Motor

Encoder

(for error detection)

FP3 (Sigma)

positioning unit

Pulser input

from the encoder

Counts feedback

pulses from the

encoder to detect

errors

Adhesive

Linear interpolation Circular

interpolation

CW/CCW is also supported.

Pulse+Sign method. Cost reduction of the whole

system can be achieved by using FP3 (Sigma)

with small stepping motors or servo motors that

do not support the pulse-and-sign method.

CW/CCW method Pulse+Sign method

The control unit on its own can provide two-axis control.

The control unit has a pulse output of 100kpps and startup speed of 0.02ms, which provide sufficient performance for normal po-

sitioning.

Circular interpolation

Positioning locus

Current position S

(X 5000, Y 8660)

Passing position P

(X 9396, Y -3420)

Target position E

(X 8660, Y -5000)

A center-radius setting

method is also

available.

Convenient and easy programming and selectable home return mode.

• Uses a data table for setting parameters, such as startup speed, target speed, acceleration/de-

celeration time.

• Comes with dedicated instructions for each mode: trapezoidal control, home return, JOG opera-

tion, free table operation, linear interpolation and circular interpolation.

• The home return method is selectable depending on the design, e.g. when only a single sensor is

being used.

• Output of the deviation counter reset signal upon completion of return to home position is also

available.

Type Output type Product number

FP¤ (Sigma) CPU Transistor output type NPN FPG-C32T2H-A

FP¤ (Sigma) CPU Transistor output type PNP FPG-C28P2H-A

Type Output type Product number

1-axis type Transistor output type FPGPP11

2-axis type Transistor output type FPGPP21

1-axis type Line driver output type FPGPP12

2-axis type Line driver output type FPGPP22

Unit type and product number

The FP3(Sigma) positioning unit supports ultra-high speed linear servo motors.

All-purpose device capable of linear interpolation and circular interpolation.

Example

Center

position O

(Xo, Yo)

(Sigma) (Sigma)

04/2008

Positioning with FP-X

FP-Series PLCs

on)

sive

ion

po-

sition S

8660)

ng position P

96, Y -3420)

osition E

Y -5000)

ber

-A

Built-in 4-axis pulse output (transistor output type).

The transistor output type C14 comes with 3-axis pulse output while

C30/40 comes with 4-axis pulse output inside the control unit. Multi-

axis control, which previously required a higher-level PLC, additional

positioning unit, or two or more PLC units, can now be achieved with

only one FP-X transistor output type unit in a small space at a low

cost. In addition, as this type does not require a pulse I/O cassette as

needed for a relay output type, other function expansion cassettes

such as communication or analog input can be attached for more di-

versified applications.

Item Specification

Pulse output

Max. frequency

C14: 100kHz (CH0,1), 20kHz (CH2)

C30, C60: 100kHz (CH0,1), 20kHz (CH2,3)

Output type Transistor output type PNP

Function Trapezoidal control, multi-stage operation, jog

operation, origin return, 2-axis linear interpolation

The relay output type can

control two axes by using ex-

pansion cassettes.

2-axis 80kHz pulse output is

possible by attaching two pulse

I/O cassettes (AFPX-PLS). This

type is also capable of perfor-

ming 2-axis linear interpolation.

The pulse I/O cassette does not

work with the control unit transis-

tor output type.

100kHz

x 2 axes

20kHz

x 2 axes

3-axis control with C14 4-axis control with C30/C60

2-axis linear interpolation simultaneously in two sets (transistor output type).

2-axis linear interpolation simultaneously controls two motor shafts, allowing you, for example, to move a robot arm diagonally. It is

used for palletising, component pick and place, XY table control, contour cutting of a PC board, etc. The FP-X transistor output

type is capable of simultaneously controlling 2-axis linear interpolation, for the first time in the industry with a compact pulse-output

PLC. This unit greatly expands the range of applications as well as providing the added convenience of programming by using the

linear interpolation command F175 (SPSH).

Simultaneous control of two mechanisms

Controls two units of 2-axis XY table

Maximum

composite

speed

100kHz

Maximum

composite

speed

20kHz

Y-axis

(CH1)

Y-axis

(CH3)

X-axis (CH0) X-axis (CH2)

C30/C60

The relay output type is also capable of 2-axis linear interpolation.

By adding two pulse I/O cassette units, linear interpolation is possible at a

maximum composite speed of 80kHz. The command used for this unit is

F175 (SPSH) as for the transistor output types.

FP-X perfectly fits the need for low cost “multi-axis positioning control in small-scale equipment”.

FP-X type overview

Power supply Output type In-

puts

Out-

puts

AFPXC14TD 24VDC Transistor NPN 8 6

AFPXC14T 100 to 240VAC Transistor NPN 8 6

AFPXC14PD 24VDC Transistor PNP 8 6

AFPXC14P 100 to 240VAC Transistor PNP 8 6

AFPXC30TD 24VDC Transistor NPN 16 14

AFPXC30T 100 to 240VAC Transistor NPN 16 14

AFPXC30PD 24VDC Transistor PNP 16 14

AFPXC30P 100 to 240VAC Transistor PNP 16 14

FP-X type overview

Power supply Output type In-

puts

Out-

puts

AFPXC60TD 24VDC Transistor NPN 32 28

AFPXC60T 100 to 240VAC Transistor NPN 32 28

AFPXC60PD 24VDC Transistor PNP 32 28

AFPXC60P 100 to 240VAC Transistor PNP 32 28

XY table + processing head Semiconductor wafer takeout blade

First axis

80kHz

Second

axis

80kHz

04/2008

FP2 and FP2SH positioning units

FEATURES

Maximum 4Mpps command gives high-speed, high-precision positioning.

0.005ms high-speed drive reduces tact-time (start-up time is the time from reception of the CPU unit start-up command

to release of the pulse output by the positioning unit).

4 axes per unit means versatility and saves space.

S (sight-shaped) acceleration/deceleration function provides smooth starting and stopping.

Feedback pulse count function makes output pulse counting possible for encoders, etc.

The pulse input function allows users to generate pulses manually to adjust machines, for example.

•

Operation modes:

E-point control

P-point control

Homing function

Jog operation function

Pulser input function

Interpolation

Single speed acceleration/deceleration

Multistage acceleration/deceleration

Fast startup of 0.02 or 0.005ms makes cycle time reduc-

tion possible

Acceleration/ deceleration control: Linear or 4 types of

S-curve: Sine, quadratic, cycloid and cubic curves (for

smooth startup and stopping)

•

FP-Series PLCs

FP2 CPU types

Type Program capacity Product number

FP2 Standard CPU 16k steps FP2C1

FP2SH CPU 60k steps FP2C2

FP2SH CPU 120k steps FP2C3

FP2 positioning units

Number of axes Output type Product number

2Transistor FP2PP21

2Line driver FP2PP22

4Transistor FP2PP41

4Line driver FP2PP42

FP2 power supplies

Supply voltage Power Product number

200–240VAC 2.5A FP2PSA2

100–240VAC 5A FP2PSA3

FP2 backplanes

Description Product number

FP2 backplane 5 modules FP2BP05

FP2 backplane 7 modules FP2BP07

FP2 backplane 9 modules FP2BP09

FP2 backplane 12 modules FP2BP12

FP2 backplane 14 modules FP2BP14

UP TO 4 AXES

PER POSITIONING MODULE:

Motor

Driver

4-axis type

FP2PP42

Driver

Motor

04/2008

RTEX positioning units for FP¤ (Sigma) and FP2/FP2SH

FP-Series PLCs

REAL-TIME ETHERNET SERVO SYSTEM

FOR MINAS A4N SERVO DRIVES

SYSTEM CONFIGURATION

ADVANTAGES:

Easy control of network servos with an ultracompact PLC.

Allows highly accurate control of multi-axis positioning using high-speed 100Mbps communication.

Commercial LAN cables greatly reduce wiring costs.

New product lineup includes a new 2-axis unit in addition to the 4-axis and 8-axis units.

Dedicated software tool ConfiguratorPM provides total support, from configuration and startup to monitoring.

Includes manual pulser input allowing support for precision teaching.

•

No. of positioning units per RTEX unit

FP3 (Sigma): 2 units

FP2: 14 units (limited by consumption current)

Control of 2 to 8 axes in one positioning unit

Commercially available

LAN cable

(Ethernet category

5 shielded type)

CPU unit

Tool port

Positioning unit RTEX

dedicated software tool

Configurator PM

Programming tool

Control FPWIN Pro

PANATERM Vers. 3.70.1 and higher

Software tool for Minas A4/AN servo drives

I/O signals, such as

origin proximity, limit,

etc., sent to A4N.

Positioning units for FP3(Sigma) and FP2 PLCs

support Minas A4N network servo drives. A mutually

optimised system consisting of PLC and servo drive

greatly simplifies installation.

04/2008

FP3 Positioning unit RTEX Configuration example: 16 axes + I/O (256)

FP Dedicated Expansion Unit

(Max. of 4 units in combination

with Positioning Unit)

Positioning Unit

RTEX

(Max. 2 units)

Control Unit

FP /FP0 Common

Expansion Unit

(Max. 3 units)

Pulser Input

Terminal

Network Port

(Transmit)

Monitor LEDs

Status Display

Link Status

Error Display

Pulser Input Status

Network Port

(Receive)

Pulser Input

Terminal

Network Port

(Transmit)

Monitor LEDs

Status Display

Link Status

Error Display

Pulser Input Status

Configuration example

: 8

axes

x 14 modules = 112 axes

Master backplane

Expansion backplane

FP2/FP2SH Positioning Unit RTEX

Network Port

(Receive)

RTEX multi-axis network servo system

FP-Series PLCs

FP¤ (SIGMA) POSITIONING UNIT RTEX – THE WORLD’S FIRST SERVO SYSTEM

WITH ULTRACOMPACT PLC!

• Maximum number of control axes: 16 axes. Realisation of highly accurate 2-axis circular interpolation, 3-axis linear interpolation

and 3-axis spiral interpolation with high-speed 100Mbps communication.

• With 3 types in the product range, for 2 axes, 4 axes and 8 axes, provides flexible support even for control of small numbers of

axes.

• Provides a rich environment for total control of equipment including I/O control, with a powerful control unit with 32k step

program capacity/max. 320 I/O points/serial communication on 3 ports.

ULTRA-HIGHSPEED PROCESSING WITH FP2/FP2SH

• Installation of up to 14 units with 8 axes is possible bringing the number of control axes up to 112.

• With the addition of 2 axis, 4 axis and 8 axis units to the product lineup, flexible system configurations from small to large

numbers of axes are possible.

• RTEX in combination with the ultra-high-speed and large capacity FP2SH CPU unit [20k steps/1ms (as measured in in-house

experiments) and 120k step program capacity] provides sufficient support also for large-scale equipment.

04/2008

Servo Amp

MINAS A4N

Commercially available LAN cable

(Ethernet category 5e shielded type)

Data communication flow

Servo Amp

MINAS A4N

Keine Verdrahtung

erforderlich

No wiring

required Sensor signal

Save wiring

Servo Amp

MINAS A4N

Sensor signal Sensor signal Sensor signal

Reduction in wiring errors and debug time

RTEX multi-axis network servo system

FP-Series PLCs

tion

BROAD REDUCTION IN WIRING COSTS

Realtime Express* uses commercially available LAN cables as wiring for its network. In terms of cost efficiency, availability and

workability, this is a great benefit.

* Matsushita Electric Industrial network servo systems

HIGH RELIABILITY WITH LOOP WIRING

Transmitted and received data in serial communication is normally sent and received at frequent intervals in the same cable making

the communication state extremely sensitive to environmental conditions such as noise. However, by using loop wiring as shown

in the figure below, Realtime Express provides high reliability by creating smooth communication conditions with the data flow al-

ways in the same direction. In addition, by utilising the 100Mbps high communication speed, Realtime Express reads the data

transmissions which occur every 0.5ms twice and carries out data transfer in the extremely short period of 1ms, further improving

reliability.

ADVANCED WIRING METHOD

Sensor input (origin proximity, limit) is wired directly to the servo amp of each axis and the signal is transferred through the network

to the positioning unit. This enables you to check at a glance which sensor input is connected to which axis. Wiring errors are re-

duced and the time required for debugging shortened, especially when the system deals with large numbers of axes. In addition,

even if the positioning unit and servo amp are far apart, it is not necessary to wire the signal from a sensor which is close to the

servo amp to the distant positioning unit, further reducing the amount of wiring.

04/2008

RTEX multi-axis network servo system

FP-Series PLCs

FUNCTIONS

Operating patterns

• E-point trapezoidal control (PTP control)

• P-point change speed control (CP control)

• C-point repeated trapezoidal control (PTP control)

Low speed test operation mode (speed setting)

• The acceleration/deceleration time and target speed for

each point indicated in the data table can be set to a low

speed in the range of 1 to 100% without actually changing

the data itself. Test operations can be carried out safely by

checking the operation of the device at low speed.

Interpolation operation modes

2-axis circular, 2-axis linear• 3-axis spiral, 3-axis linear•

Control methods

• Absolute method, increment method

Auxiliary output

Codes can be output during operation according to the

data table number.

•

Movement unit settings

• Pulse (pulse), scale (μm, inch), angle (degree)

JOG operation

Speed and acceleration/deceleration time can be changed

during operation.

•

Acceleration/deceleration method

• Linear, S-curve

Pulser input

2-phase quad edge – max. 1Mpps

• Division ratio setting possible by specification of numera-

tor/denominator.

•

Origin return

• Origin proximity (DOG) search method

Unit specifications

2-axis type 4-axis type 8-axis type

Product number FP3 (Sigma)/FP2 FPGPN2AN FP2PN2AN FPGPN4AN FP2PN4AN FPGPN8AN FP2PN8AN

Positioning control

functions

Control method PTP Control, Cursor Path (CP) Control

Interpolation control 2-axis/3-axis linear interpolation • 2-axis circular interpolation • 3-axis spiral interpolation

Control units Pulse/μm/inch/degree

Position data 600 points for each axis

Backup Parameters and data file can be saved to FROM

Acceleration/deceleration method Linear acceleration/deceleration/S-curve acceleration/deceleration

Acceleration/deceleration time

0 to 10,000ms (1ms units) different settings for acceleration and deceleration are possible

Positioning area (-1,073,741,823 to 1,073,741,823 pulse) increment and absolute specification

Speed control functions Supported with JOG operation (free rund operation)

Origin functions Search method Origin proximity (DOG) search

Creep speed Free settings possible

Other functions Pulser input operation support

Auxiliary output code, auxiliary output contact support

Dwell time support

Communication

specifications

Communication speed 100Mbps

Cable Commercially available LAN straight cable (shielded category 5e)

Connection method Ring method

Communication cycle/no. of terminals 0.5ms: Max. 8 axes/system (command cycle: 1ms)

Transmission distance Between terminals: 60m; total length: 200m

SPECIFICATIONS OF RTEX POSITIONING UNITS

04/2008

ation

sible

Main features – increased performance and accuracy

Minas A4/A4P/A4N/E Series Servo Drives

Fast response frequency: 1000Hz (Minas E 400Hz)

Completely adjustment-free, real-time auto-gain tuning

High performance vibration control

Command input up to 2Mpps

Smaller motors and drivers versus the former series

Position, velocity and torque control support – a wide range of applications in one driver

Many more additional functions (Minas A4/A4N/A4P):

- Hit & Stop homing, i.e. homing without a switch

- Press/Tension control

- 8 internal JOG speeds

- Others

Minas A4P Drivers

- For simple positioning control. No positioning unit or pulse control necessary

- Preset up to 60 position points with Software Tool PANATERM

- Postioning with digital I/O

•

Minas series A4 AN A4P A4 AN A4P Minas E

Rated power 50W to 5kW 400W to 7.5kW 50W to 400W

Velocity response frequency 1000Hz 400Hz

Rated/max. rotational speed 3000/5000 rpm

Rated torque 0.16 to 15.8Nm – 1.9 to 57.2Nm – 0.16 to 1.3Nm

Peak torque 0.48 to 47.6Nm – 5.3 to 137Nm – 0.48 to 3.8Nm

Moment of inertia 0.025 to 19.7 x 10-4kg m² – 2.45 to 288 x 10-4kg m² – 0.021 to 0.2 x

10-4kg m²

Encoder

Incremental

Pulses 2500 pulses/rev.

Resolution 10,000

Absolute

Pulses 17-bit resolution

Resolution 131,072

Control method Pulse train Ethernet Digital input Pulse train Ethernet Digital input Pulse train

Control modes Position, velocity, torque, full-closed Position,

internal speed

04/2008

Details of features

Minas A4/A4N/A4P/E Series Servo Drives

ADJUSTMENT-FREE OPERATION

High-functionality real-time auto-gain tuning

Automatically tunes in real-time to variations in load inertia. Real-time auto-gain tuning for machines with low or high stiffness.

Supports vertical axis applications where the load torque varies depending on rotational direction.

An over-travel detection function prevents the machine from over-travelling during real-time auto-gain tuning.

Enables you to set and check while monitoring real-time automatic gain tuning conditions on the front panel.

•

HIGH-SPEED AND FAST RESPONSE

Velocity response (bandwidth) of 1kHz

The instantaneous Velocity Observer detects the motor speed more quickly and with a higher resolution than the previous

models.

•

High-functionality real-time auto-gain tuning

Enables low stiffness machines (e.g. belt-driven machines) and high stiffness machines (e.g. short stroke ball-screw driven

machines) to be used in high-speed positioning applications.

•

Corresponds to wide frequency range (-1500Hz)

Suppresses vibration quickly

4000

3200

2400

1600

800

-800

-1600

-2400

-3200

-4000

180

160

140

120

100

-20

Actual speed (r/min)

E A4 A4N A4P

Legend: not possible

possible

04/2008

* On demand only

ss.

Details of features

Minas A4/A4N/A4P/E Series Servo Drives

REDUCTION VIBRATION

Adaptive Filter

Enables the notch filter frequency to automatically follow the

machine resonance frequency.

Suppresses judder noise of the machine caused by a chan-

ge in the resonance frequency (e.g. resutling from aging ef-

fects or changeovers).

•

DAMPING CONTROL

The driver is equipped with a 2-channel damping filter. You can suppress vibration occurring at both starting and stopping in

low stiffness machines by manually setting up vibration frequencies in 0.1Hz units.

You can switch between the channels with the direction command or with an external input.

Easy setup with input of only frequency and filter values. Incorrect setup values do not result in unstable operation.

•

Effect of notch filter

Without notch filter With notch filter

50ms/div 50ms/div

Motor movement Machine movement

Without damping control

With damping control

2-CHANNEL NOTCH FILTERS

Adaptive Filter

The driver is equipped with 2-channel notch filters which

operate independently from the adaptive filter.

Both frequency and width for each of the 2 filters can be set.

Frequency can be defined in units of 1Hz.

Suppress judder noise of machines with multiple resonance

points.

•

E A4 A4N A4P E A4

E A4 A4N A4P

A4N A4P

04/2008

Additional features

Minas A4/A4N/A4P/E Series Servo Drives

SETUP SUPPORT WITH

HELPFUL MONITORING FUNCTIONS

Faster communication speed of RS232C/RS485 (max.

57,600bps) establishes easy and comfortable operating con-

ditions for setup support software PANATERM®.

PANATERM® displays useful status information, e.g. to help

you analyse motor problems.

You can enable the panel operation lock via the front panel

to inhibit operation, e.g. to prevent parameters from being

changed unintentionally.

COMMAND CONTROL MODES

Offers you “Position”, “Velocity (including

internal 8-speed)” and “Torque” command control modes.

You can select any one of the above command control

modes, or select two command control modes by defining

the parameters.

You can combine command control modes in a hybrid mode

and switch between them.

MONITORING FUNCTION

WITH FRONT PANEL

LED display and analog monitor terminals are installed in the

front panel.

Displays “Motor speed”, “Motor torque”, “Position deviation”,

“Motor load factor” and “Regeneration load factor”.

You can monitor “Motor speed”, “Motor torque” and “Position

deviation" with analog monitor terminals.

TRIAL RUN (JOG)

Features the function for trial run (JOG) through the front

panel or console (option) without connecting to a host

controller.

Shortens machine setup time.

FULL-CLOSED CONTROL

(HIGH PRECISION POSITIONING)

Features the full-closed control of position and velocity,

using the signals from the linear scale installed on the load

side and the high resolution encoder.

Best suited for high precision machines.

•

INRUSH CURRENT

SUPPRESSING FUNCTION

The driver is equipped with an inrush suppressing resistor

which prevents circuit breaker shutdown of the power supply

caused by inrush current at power-on.

Prevents unintentional shutdown of the power supply circuit

breaker in multi-axis applications and does not add load to

the power line.

REGENERATION

DISCHARGING FUNCTION

Discharges regenerative energy, which is returned from the

motor to the driver with a resistor, e.g. stopping a load with a

large moment of inertia or with the up-down operation.

Frame A and Frame B drivers do not have a built-in regene-

ration discharge resistor. We recommend connecting an opti-

onal regenerative resistor.

Frame C – Frame F drivers have a built-in regeneration

discharge resistor. However, connecting an optional regene-

rative resistor will add even more regenerative capability.

BUILT-IN DYNAMIC

BRAKE

The driver is equipped with a dynamic brake for emergency

stop.

The dynamic brake can be used in the following instances:

- Main power OFF

- Servo OFF

- A protective function

- Over-travel inhibit is activated

POSITIONING PULSE

Up to 2Mpps of pulse input at positioning control possible.

TORQUE LIMIT

VALUE SWITCHING

You can set up 2 torque limits and use them for tension

control or press & hold control.

APPROVALS

•

E A4 A4N A4P

Legend: not possible

possible

E A4 A4N A4P

E A4

A4N A4P

04/2008

Overview drivers

es Minas A4/A4N/A4P/E Series Servo Drives

ply

uit

h a

opti-

ne-

Minas A4/A4N/A4P

Basic specifications

Input power

Main circuit

Frame A, B Single phase, 200–240V +10% 50/60Hz

-15%

Frame C, D Single/3-phase, 200–240V +10% 50/60Hz

-15%

Frame E, F Single/3-phase, 200–240V +10% 50/60Hz

-15%

Control

circuit

Frame

A to D Single phase, 200–240V +10% 50/60Hz

-15%

Frame E, F Single phase, 200–230V +10% 50/60Hz

-15%

Environment

Temperature Operating: 0 to 55°C , Storage: -20 to +80°C

Humidity Both operating and storage : 90%RH or less (free from condensation)

Altitude 1000m or lower

Vibration 5.88m/s2 or less, 10 to 60Hz (no continuous use at resonance frequency)

Control method IGBT PWM sinusoidal wave drive

Encoder feedback 17-bit (131,072 resolution) absolute/incremental encoder (on demand only)

2500P/r (10,000 resolution) incremental encoder (standard)

External scale feedback Compatible with AT500 series, ST771 by Mitsutoyo

Control signal

Input

10 inputs

(1) Servo-ON, (2) Control mode switching, (3) Gain switching/torque limit switching, (4) Alarm clear

other inputs vary depending on the control mode, (5) CW drive prohibition, (6) CCW driver prohibition

Output

6 outputs

(1) Servo alarm, (2) Servo ready, (3) Release signal of external brake (4) Zero speed detection,

(5) Torque in-limit. Other outputs vary depending on the control mode

Analog signal

Input 3 inputs (16Bit A/D : 1 input, 10Bit A/D : 2 inputs)

Output

2 outputs (for monitoring)

(1) Speed monitor (actual motor speed or command speed). Select the content and scale with

parameter. (2) Torque monitor [torque command (approx. 3V/rated torque)], deviation counter or full-

closed deviation is enabled. Select the content or scale with parameter

Pulse signal

Input 2 inputs. Select the exclusive input for line driver or photo-coupler input with parameter

Output 4 outputs. Feed out the encoder pulse (A, B and Z-phase) or external scale pulse (EXA, EXB and

EXZ-phase) in line driver. Z-phase and EXZ-phase pulse is also fed out in open collector

Communication

function

RS232C 1:1 communication to a host with RS23C interface is enabled

RS485 1:n communication up to 15 axes to a host with RS485 interface is enabled

Front panel (1) 5 keys (MODE, SET, UP, DOWN, SHIFT), (2) LED (6-digit)

Regeneration Frame A, B: no built-in regenerative resistor (external resistor only), Frame C to F: built-in regenera-

tive resistor (external resistor is also enabled)

Dynamic brake Setup of action sequence at power-OFF, servo-OFF, at protective function activation and over-travel

inhibit input is enabled

Control mode

Switching among the following 7 modes is enabled, (1) Position control, (2) Velocity control, (3) Tor-

que control, (4) Position/Velocity control, (5) Position/Torque control, (6) Velocity/Torque control and

(7) Full-closed control

Rated

power Minas A4

Drivers Minas A4N

Drivers Minas A4P

Drivers

Frame

Minas A4,

A4N, A4P

Minas E

Drivers Frame

Minas E

50W MADDT1205 MADDT1205N MADDT1205P AMKDET1505P K

100W

200W MADDT1207 MADDT1207N MADDT1207P MLDET2210P L

400W MBDDT2210 MBDDT2210N MBDDT2210P B MLDET2510P

750W MCDDT3520 MCDDT3520N MCDDT3520P C––

1kW MDDDT5540 MDDDT5540N MDDDT5540P D ––

1.5kW ––

2kW MEDDT7364 MEDDT7364N MEDDT7364P E – –

3kW MFDDTA390 MFDDTA390N MFDDTA390P

––

4kW MFDDTB3A2 MFDDTB3A2N MFDDTB3A2P ––

5kW ––

04/2008

Analog functions

Position control

Control input (1) Deviation counter clear, (2) Command pulse inhibition, (3) Electronic gear switching, (4) Damping control switching

Control output Positioning complete (In-position)

Pulse input

Max. command pulse frequency Exclusive interface for line driver: 2Mpps, Line driver: 500kpps, Open collector: 200kpps

Input pulse signal format Support (1) RS422 line drive signal and (2) Open collector signal from controller

Type of input pulse Differential input. Selectable with parameter, [(1) CW/CCW, (2) A and B-phase, (3) Command and Direction]

Electronic gear (division/multi-

plication of command pulse) Process the command pulse frequency x

(1 to 10,000) x 2(0-17)

1 to 10,000

as a position command input

Smoothing filter Primary delay filter or FIR type filter is selectable to the command input

Analog-

input

Torque limit command input Individual torque limit for both CW and CCW direction is enabled (3V/rated torque)

Instantaneous speed observer Usable

Damping control Usable

Velocity control

Control input (1) Zero speed clamp, (2) Selection of internal speed setup, (3) Gain switching or torque limit switching input

Control output Speed arrival (at-speed)

Analog

input

Velocity command input Setup of scale and rotational direction of the motor against the command voltage is enabled with parameter, with the permissible max.

voltage input = 10V and 6V/rated speed (default setup)

Torque limit command input Individual torque limit for both CW and CCW direction is enabled (3V/rated torque)

Speed control range 1 : 5000

Internal speed command 8-speed with parameter setup

Soft-start/down function

Individual setup of acceleration and deceleration is enabled, with 0 to 10s/1000r/min. Sinusoidal acceleration/deceleration is also enabled

Zero speed clamp Zero speed clamp for internal speed command

Instantaneous speed observer Usable

Speed command filter Usable

Torque control

Control input (1) CW over-travel inhibition, (2) CCW over-travel inhibition, (3) Zero speed clamp

Control output Speed arrival (at-speed)

Analog

input

Speed command input Setup of scale and CW/CCW torque generating direction of the motor against the command voltage is enabled with parameter, with the

permissible max. voltage input = 10V and 3V/rated speed (default setup)

Speed limit input Speed limit input by analog voltage is enabled. Scale setup with parameter

Speed limit function Speed limit value with parameter or analog input is enabled

Full-closed control

Control input (1) CW over-travel inhibition, (2) CCW over-travel inhibition, (3) Deviation counter clear, (4) Command pulse input inhibition,

(5) Electronic gear switching, (6) Damping control switching

Control output Full-closed positioning complete (in-position)

Pulse input

Max. command pulse frequency Exclusive interface for line driver: 2Mpps, Line driver: 500kpps, Open collector : 200kpps

Input pulse signal format Differential input. Selectable with parameter (1) CCW/CW, (2) A and B-phase, (3) Command and direction

Electronic gear division/multiplica-

tion of command pulse Process the command pulse frequency x

(1 to 10,000) x 2(0-17)

1 to 10,000

as a position command input

Smoothing filter Primary delay filter is adaptable to the command input

Analog

input

Torque limit command input Individual torque limit for both CW and CCW direction is enabled (3V/rated torque)

Setup range of division/

multiplication of external scale

Setting of ratio between encoder pulse (denominator) and external scale pulse (numerator) is

enabled within a range of (1 to 10,000) x 2

(0-17)

/ (1 to 10,000)

Common

Auto-gain

tuning

Real-time Corresponds to load inertia fluctuation, possible to automatically set up parameters related to notch filter

Normal mode Estimates load inertia and sets up an appropriate servo gain

Fit-gain function Automatically searches and sets up the value which makes the fastest settling time with external command input

Masking of unnecessary input Masking of the following input signal is enabled

(1) Over-travel inhibition, (2) Torque limit, (3) Command pulse inhibition, (4) Speed-zero clamp

Division of encoder feedback pulse Set up of any value is enabled (encoder pulses count is the max.)

Protective

function

Soft error Over-voltage, under-voltage, over-speed, over-load, over-heat, over-current and encoder error etc.

Hard 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 5-push switches on front panel

Setup support software PANATERM

(Supporting OS: Windows95, Windows98, Windows ME, Windows2000, Windows.NET and Windows XP)

Common driver specifications

Minas A4/A4N/A4P Series Servo Drives

MODE SET

04/2008

Connector for

communication

Name plate

Air current

(from bottom to top)

Air current

(from bottom to top)

Connector for control

signal connection

Connector for motor

connection, CNX3

Connector for encoder

connection, CNX4

Earth terminal

screws

Connector for main

circuit connection,

CNX1

Connector for

communication

Connector for control

signal connection

Connector for motor

connection, CNX3

Connector for encoder

connection, CNX4

Earth terminal

screws

Connector for main

circuit connection,

CNX1

Driver dimensions

s Minas E Series Servo Drives

FRAME K

MKDET1505P

FRAME L

MLDET2210P, MLDET2510P

All measurements in mm

04/2008

RB2

RB3

Rack mount type

(Option: Front-end mounting)

Driver dimensions

Minas A4/A4N/A4P Series Servo Drives

FRAME A

FRAME B

FRAME C

Minas A4N

Minas A4

All measurements in mm

Same dimensions for Minas A4P drivers

— Rotary switch for node address

— Network link LEDs

— RX Ethernet connection

— TX Ethernet connection

— Parallel I/O connection

— Rotary switch for node address

— Network link LEDs

— RX Ethernet connection

— TX Ethernet connection

— Parallel I/O connection

— Rotary switch for node address

— Network link LEDs

— RX Ethernet connection

— TX Ethernet connection

— Parallel I/O connection

Base mount type

(Standard: Back-end mounting)

Base mount type

(Standard: Back-end mounting)

Rack mount type

(Option: Front-end mounting)

Rack mount type

(Option: Front-end mounting)

Base mount type

(Standard: Back-end mounting)

Rack mount type

04/2008

Mounting bracket

(install the standard to back end)

Base mount type

(Standard: Back-end mounting)

RB2

RB3

5.2

2.5

5.2

2.5

50 17.5

5.2

881

861

3.5

200

2.6

Mounting bracket

(install the standard to back end)

Mounting bracket

(install the standard to back end)

Driver dimensions

s Minas A4/A4N/A4P Series Servo Drives

FRAME E

FRAME F

FRAME D

Minas A4N

Minas A4

All measurements in mm

— Network link LEDs

— RX Ethernet

connection

— TX Ethernet

connection

— Parallel I/O

connection

— Network link LEDs

— RX Ethernet

connection

— TX Ethernet

connection

— Parallel I/O

connection

Rotary switch for

node address

— Network link LEDs

RX Ethernet

connection

TX Ethernet

connection

— Parallel I/O

connection

t type

nd mounting)

nt type

nd mounting)

Rack mount type

(Option: Front-end mounting)

t type

nd mounting)

Rotary switch for

node address

Rotary switch for

node address

04/2008

Motor types

Minas A4/A4N/A4P/E Series Servo Drives

Motor

product number

Rated

power

Driver

product

number

Torque Moment of

inertia

*10-4kgm²

Shaft Oil

seal

Holding

brake Encoder With IP67

connectors

Rated Momentary

max. peak

MSMD5AZP1A

50W

MADDT1205 or

MADDT1205N or

MADDT1205P

0.16Nm 0.48Nm

0.025 Round Incremental Option available*

MSMD5AZP1C 0.025 Round x Incremental Option available*

MSMD5AZP1D 0.027 Round x x Incremental Option available*

MSMD5AZP1S 0.025 Keyway Incremental Option available*

MSMD5AZP1T 0.027 Keyway x Incremental Option available*

MSMD5AZS1S 0.025 Keyway Absolute Option available*

MSMD012P1A

100W

MADDT1205 or

MADDT1205N or

MADDT1205P

0.32Nm 0.95Nm

0.051 Round Incremental Option available*

MSMD012P1C 0.051 Round x Incremental Option available*

MSMD012P1D 0.054 Round x x Incremental Option available*

MSMD012P1S 0.051 Keyway Incremental Option available*

MSMD012P1T 0.054 Keyway x Incremental Option available*

MSMD012S1S 0.051 Keyway Absolute Option available*

MSMD022P1A

200W

MADDT1207 or

MADDT1207N or

MADDT1207P

0.64Nm 1.91Nm

0.14 Round Incremental Option available*

MSMD022P1C 0.14 Round x Incremental Option available*

MSMD022P1D 0.16 Round x x Incremental Option available*

MSMD022P1S 0.14 Keyway Incremental Option available*

MSMD022P1T 0.16 Keyway x Incremental Option available*

MSMD022S1C 0.14 Round x Absolute Option available*

MSMD022S1S Keyway Absolute Option available*

MSMD022S1T 0.16 Keyway x Absolute Option available*

MSMD042P1A

400W

MBDDT2210 or

MBDDT2210N or

MBDDT2210P

1.3Nm 3.8Nm

0.26 Round Incremental Option available*

MSMD042P1C 0.26 Round x Incremental Option available*

MSMD042P1D 0.28 Round x x Incremental Option available*

MSMD042P1S 0.26 Keyway Incremental Option available*

MSMD042P1T 0.28 Keyway x Incremental Option available*

MSMD042S1C 0.26 Round x Absolute Option available*

MSMD042S1S 0.26 Keyway Absolute Option available*

MSMD082P1A

750W

MCDDT3520 or

MCDDT3520N

or MCDDT3520P

2.4Nm 7.1Nm

0.87 Round Incremental Option available*

MSMD082P1C 0.87 Round x Incremental Option available*

MSMD082P1D 0.97 Round x x Incremental Option available*

MSMD082P1S 0.87 Keyway Incremental Option available*

MSMD082P1T 0.97 Keyway x Incremental Option available*

MSMD082S1S 0.87 Keyway Absolute Option available*

MSMA102P1G 1kW MDDDT5540,

MDDDT5540N

or MDDDT5540P

3.18Nm 9.5Nm 1.69 Keyway x Incremental x

MSMA102P1H 1.88 Keyway x x Incremental x

MSMA152P1G 1.5kW 4.77Nm 14.3Nm 2.59 Keyway x Incremental x

MSMA152P1H 2.84 Keyway x x Incremental x

MSMA202P1G

2kW

MEDDT7364,

MEDDT7364N,

MEDDT7364P

6.36Nm 19.1Nm

3.46 Keyway x Incremental x

MSMA202P1H 3.81 Keyway x x Incremental x

MSMA302P1G

3kW

MFDDTA390,

MFDDTA390N,

MFDDTA390P

9.54Nm 28.6Nm

6.77 Keyway x Incremental x

MSMA302P1H 7.45 Keyway x x Incremental x

MSMA402P1G 4kW MFDDTB3A2 or

MFDDTB3A2N

or MFDDT-

B3A2P

12.6Nm 37.9Nm 12.7 Keyway x Incremental x

MSMA402P1H 14.1 Keyway x x Incremental x

MSMA502P1G 5kW 15.8Nm 47.6Nm 17.8 Keyway x Incremental x

MSMA502P1H 19.7 Keyway x x Incremental x

Minas E

MUMA012P1S 100W MKDET1505P 0.32Nm 0.95Nm 0.032 Keyway Incremental

MUMA012P1T 0.036 Keyway x Incremental

MUMA022P1S 200W MLDET2210P 0.64Nm 1.91Nm 0.10 Keyway Incremental

MUMA022P1T 0.13 Keyway x Incremental

MUMA042P1S 400W MLDET2510P 1.3Nm 3.8Nm 0.17 Keyway Incremental

MUMA042P1T 0.20 Keyway x Incremental

* To order a motor with IP67 connectors, simply add an X to the PN, e.g. MSMD042P1SX, or MSMD042P1TX (brake motor).

04/2008

Motor specifications

Minas E Series Servo Drives

AC200V

Motor model MUMA 5AZP1;012P1;022P1;042P1;

Applicable driver Model no. MKDET1505P MKDET1310P MLDET2310P

Frame symbol Frame K Frame L

Power supply capacity (kVA) 0.3 0.5 0.9

Rated output (W) 50 100 200 400

Rated torque (N • m) 0.16 0.32 0.64 1.3

Momentary max. peak torque (N • m) 0.48 0.95 1.91 3.8

Rated current (Arms*) 1.0 1.6 2.5

Max. current (Ao-p) 4.3 7.5 11.7

Regenerative brake

frequency

(times/min)1

Without option No limit 2

DV0P2891s1No limit 2

Rated rotational speed (r/min) 3000

Max. rotational speed (r/min) 5000

Moment of inertia

of rotor

(x10-4 kg • m2)

Without brake 0.021 0.032 0.10 0.17

With brake 0.026 0.036 0.13 0.20

Recommended moment of inertia ratio

of the load and the rotor 3Smaller than 30 times

Rotary encoder specifications 2500P/r

Incremental

Resolution per single turn 10,000

Protective enclosure rating IP65 (except shaft through hole and cable end connector)

Environment

Ambient

temperature 0°C to 40°C, storage: -20°C to + 80°C

Ambient humidity 85%RH or lower (free of condensation)

Installation location Indoors (no direct sunlight), free from corrosive gas, inflammable gas, oil mist and dust

Altitude 1000m or lower

Vibration resistance 49m/s2 or less

Mass (kg), ( ) represents

holding brake type 0.4 (0.6) 0.5 (0.7) 0.96 (1.36) 1.5 (1.9)

Brake specifications (This brake will be released when it is energized. Do not use this for braking the motor while it is running.)

Static friction torque (N • m) 0.29 1.27

Engaging time (ms) 25 50

Releasing time (ms) 420 (30) 15 (100)

Operating current (DC) (A) 0.26 0.36

Releasing voltage DC 1V or more

Operating voltage DC 24V ±10%

Permissible load

During assembly

Radial load

P-direction (N) 147 392

Thrust load

A-direction (N) 88 147

Thrust load

B-direction (N) 117 196

During operation

Radial load

P-direction (N) 68 245

Thrust load

A-direction (N) 58 98

Thrust load

B-direction (N) 58 98

50W–400W

For notes 1–4, see page 26

*rms = root mean square

Note: Driver for 50W and 100W has a comon power supply of single phase and 3-phase, 200V

le*

04/2008

Minas A4/A4N/A4P Series Servo Drives

Motor specifications

AC200V

Motor model MSMD5AZP1;MSMD012P1;MSMD022P1;MSMD042P1;MSMD082P1;

Applicable driver Model no. MADDT1205 / MADDT1205N MADDT1207 (N) MBDDT2210 (N) MCDDT3520 (N)

Frame symbol Frame A Frame B Frame C

Power supply capacity (kVA) 0.3 0.5 0.9 1.3

Rated output (W) 50 100 200 400 750

Rated torque (N • m) 0.16 0.32 0.64 1.3 2.4

Momentary max. peak torque (N • m) 0.48 0.95 1.91 3.8 7.1

Rated current (Arms*) 1.1 1.6 2.6 4

Max. current (Ao-p) 4.7 6.9 11.0 17.0

Regenerative brake

frequency

(times/min)1

Without option No limit 2

With external brake

resistor No limit 2

Rated rotational speed (r/min) 3000

Max. rotational speed (r/min) 5000 4500

Moment of inertia

of rotor

(x10-4 kg • m2)

Without brake 0.025 0.051 0.14 0.26 0.87

With brake 0.027 0.054 0.16 0.28 0.97

Recommended moment of inertia ratio

of the load and the rotor 3Smaller than 30 times Smaller than 20 times

Rotary encoder specifications 2500P/r

Incremental

Resolution per single turn 10,000

Protective enclosure rating IP65 (except shaft through hole and cable end connector)

Environment

Ambient

temperature 0°C to 40°C, storage : -20°C to + 80°C

Ambient humidity 85%RH or lower (free of condensation)

Installation location Indoors (no direct sunlight), free from corrosive gas, inflammable gas, oil mist and dust

Altitude 1000m or lower

Vibration resistance 49m/s2 or less

Mass (kg), ( ) represents

holding brake type 0.32 (0.53) 0.47 (0.68) 0.82 (1.3) 1.2 (1.7) 2.3 (3.1)

Brake specifications (This brake will be released when it is energized. Do not use this for braking the motor while it is running.)

Static friction torque (N • m) 0.29 1.27 2.45

Engaging time (ms) 35 50 70

Releasing time (ms) 420 (–) 15 (–) 20 (–)

Operating current (DC) (A) 0.30 0.36 0.42

Releasing voltage DC 1V or more

Operating voltage DC 24V ±5%

Permissible load

During assembly

Radial load

P-direction (N) 147 392 686

Thrust load

A-direction (N) 88 147 294

Thrust load

B-direction (N) 117 196 392

During operation

Radial load

P-direction (N) 68 245 392

Thrust load

A-direction (N) 58 98 147

Thrust load

B-direction (N) 58 98 147

50W–750W

For notes 1–4, see page 26

*rms = root mean square

04/2008

Torque characteristics

Minas A4/A4N/A4P Series Servo Drives

0.5

0 1000 2000 3000 4000 5000

1.0



5

0 10203040

100

0 10203040

100

0.5

0 1000 2000 3000 4000 5000

1.0



0.5

0.32

0.5

0.32

℃

010203040

100

1.0

0 1000 2000 3000 4000 5000

2.0

0 1000 2000 3000 4000 5000

4.0 0

0 10203040

100



2.0

0 1000 2000 3000 4000 5000

4.0



010203040

100

1.0

0 1000 2000 3000 4000 5000

2.0



010203040

100

1.1

0.64

1.1

0.64

3.8

1.3

3.8

1.3

℃

0102030

100

4.0

0 1000 2000 3000 4000 5000

8.0



4.0

0 1000 2000 3000 4000 5000

8.0



0102030

100

7.1

2.4

7.1

2.4

℃

0.25

0 1000 2000 3000 4000 5000

0.5 5

0 10203040

100



0.25

0 1000 2000 3000 4000 5000

0.5

0 10203040

100



0.48

0.16

0.48

0.16

℃

Torque

Rotational speed [r/min]

1.91

)

mes

MSMD5AZ 1 MSMD012 1

MSMD022 1 MSMD042 1

MSMD082 1

With oil seal Without oil seal

Torque

Rotational speed [r/min] Ambient temperature [°C]

Rotational speed [r/min]

Rotational speed [r/min] Ambient temperature [°C]

Rotational speed [r/min] Ambient temperature [°C] Rotational speed [r/min] Ambient temperature [°C]

Ambient temperature [°C]

Rotational speed [r/min] Ambient temperature [°C]

Rotational speed [r/min] Ambient temperature [°C] Rotational speed [r/min]

Versus rated torque (%)

Versus rated torque (%) Versus rated torque (%)

Versus rated torque (%)

Versus rated torque (%)Versus rated torque (%)

Ambient temperature [°C]

with brake

without brake

with brake

without brake

04/2008



□



77

160 50±

190 50±

Encoder

Motor

MSMD 50W–750W (LOW INERTIA)

Dimensions are subject to change without notice. Contact us or a dealer for the latest information.

Minas A4 series (low inertia)

Motor output 50W 100W 200W 400W 750W

Motor model MSMD5AZP1;MSMD012P1;MSMD022P1;MSMD042P1;MSMD082P1;

Rotary encoder specifications 2500P/r incremental

LL Without brake 72 92 79 98.5 112

With brake 102 122 115.5 135 149

LR 25 30 35

S8111419

LA 45 70 90

LB 30 50 70

LC 38 60 80

LD —

LE 3

LF 6 6.5 8

LG —

LH 32 43 53

LN 26.5 46.5 —

LZ 3.4 4.5 6

Keyway

LW 14 20 25

LK 12.5 18 22.5 22

KW 3h9 4h9 5h9 6h9

KH 3 456

RH 6.2 8.5 11 15.5

TP M3 x 6 (depth) M4 x 8 (depth) M5 x 10 (depth)

Mass (kg) Without brake 0.32 0.47 0.82 1.2 2.3

With brake 0.53 0.68 1.3 1.7 3.1

HIGH QUALITY CONNECTORS

Minas A4/A4N/A4P Series Servo Drives

Motor dimensions

04/2008

der

For notes 1–4 see Page 26

*rms= root mean square

Motor specifications

Minas A4/A4N/A4P Series Servo Drives

ORS

1kW–5kW

AC200V

Motor model MSMA102P1:MSMA152P1:MSMA202P1:MSMA302P1:MSMA402P1:MSMA502P1:

Applicable driver Model no. MDDDT5540/N MEDDT7364/N MFDDTA390/N MFDDTB3A2/N

Frame symbol Frame D Frame E Frame F

Power supply capacity (kVA) 1.8 2.3 3.3 4.5 6.0 7.5

Rated output (W) 1000 1500 2000 3000 4000 5000

Rated torque (N • m) 3.18 4.77 6.36 9.54 12.6 15.8

Momentary max. peak torque (N • m) 9.5 14.3 19.1 28.6 37.9 47.6

Rated current (Arms*) 7.2 9.4 13.0 18.6 24.7 28.5

Max. current (Ao-p) 30 40 56 80 105 120

Regenerative

brake frequency

(times/min) 1

Without option No limit 2326

With external

brake resistor

No limit 2

–– No limit 2

Rated rotational speed (r/min) 3000

Max. rotational speed (r/min) 5000 4500

Moment of inertia

of rotor

(x10-4 kg • m2)

Without brake 1.69 2.59 3.46 6.77 12.7 17.8

With brake 1.88 2.84 3.81 7.45 14.1 19.7

Recommended moment of inertia

ratio of the load and the rotor 3Smaller then 15 times

Rotary encoder specifications 2500P/r

Incremental

Resolution per single turn 10,000

Protective enclosure rating IP65 (except shaft through hole and cable end connector)

Environment

Ambient

temperature 0°C to 40°C (free from freezing), Storage : -20°C to + 80°C

Ambient humidity 85%RH or lower (free from condensing)

Installation

location Indoors (no direct sunlight), free from corrosive gas, inflammable gas, oil mist and dust

Altitude 1000m or lower

Vibration

resistance 49m/s2 or less

Mass (kg), ( ) represents

holding brake type 4.5 (5.1) 5.1 (6.5) 6.5 (7.9) 9.3 (11.0) 12.9 (14.8) 17.3 (19.2)

Brake specifications (This brake will be released when it is energized. Do not use this for braking the motor in motion.)

Static friction torque (N • m) 4.9 7.8 11.8 16.1

Engaging time (ms) 50 80 110

Releasing time (ms) 415 (100) 50 (130)

Operating current (DC) (A) 0.74 0.81 0.81 0.90

Releasing voltage DC 2V or more

Operating voltage DC 24V ±10%

Permissible load

During assembly

Radial load

P-direction (N) 686 980

Thrust load

A-direction (N) 392 588

Thrust load

B-direction (N) 490 686

During operation

Radial load

P-direction (N) 392 490 784

Thrust load

A-direction (N) 147 196 343

Thrust load

B-direction (N) 147 196 343

04/2008

0 1000 2000 3000 4000 5000

0102030

100

.5

3.18

℃

0 1000 2000 3000 4000 5000

0 10203040

100

1.1

6.36

℃

0 1000 2000 3000 4000 5000

0 10203040

100

0

28.6

.54

℃

7.5

0 1000 2000 3000

3500

4000 5000

0 10203040

100

14.3

4.77

0 1000 2000 3000 4000 5000

0 10203040

100

0

37.

12.6

℃

0 1000 2000 3000 4000 5000

0 10203040

100

47.6

15.8

℃

Versus rated torque (%)

19.1

9.54

37.9

19.1

MSMA202 1

MSMA152 1 MSMA102 1

Notes:

1. Regenerative brake frequency represents the frequency of the motor’s stops from the rated speed

with deceleration without load.

If the load is connected, frequency will be defined as 1/(m+1), where m=load moment of inertia/rotor

moment of inertia.

When the motor speed exceeds the rated speed, regenerative brake frequency is in inverse

proportion to the square of (running speed/rated speed).

Power supply voltage is AC230V (at 200V of the main voltage). If the supply voltage fluctuates,

frequency is in inverse proportion to the square of (running supply voltage/230) relative to the value

in the table.

When regeneration occurs continuously, e.g. frequent changes in running speed or vertical feeding,

consult either us or a dealer.

•

MSMA302 1

MSMA402 1 MSMA502 1 I

2. If the effective torque is within the rated torque, there is no limit in generative brake.

3. Consult us or a dealer if the load moment of inertia exceeds the specified value.

4. Specified releasing time is obtained with the use of surge absorber for brake

(Z15D151 by Ishizuka Electronic or equivalent).

( ) Represents the actually measured value using a diode (200V, 1A or equivalent).

*Continuous torque,

ambient temperature

*Continuous torque,

ambient temperature

*Continuous torque,

ambient temperature

*Continuous torque,

ambient temperature

Radial load (P) direction Thrust load (A, B) direction

Torque

Rotational speed [r/min] Ambient temperature [°C]

Torque

Torque Torque

Versus rated torque (%)

Rotational speed

Rotational speed [r/min] Ambient temperature [°C]

Rotational speed [r/min] Ambient temperature [°C]Rotational speed [r/min] Ambient temperature [°C]

Rotational speed [r/min] Ambient temperature [°C] Rotational speed [r/min] Ambient temperature [°C]

*Continuous torque,

ambient temperature

Running range (Torque limit setup: 300%)

Running range (Torque limit setup: 200%)

with brake

without brake

with brake

without brake

with brake

without brake

with brake

without brake

Motor characteristics 1kW to 5kW

Minas A4/A4N/A4P Series Servo Drives

*Continuous torque,

ambient temperature

04/2008

W

 W



 



7





S6



Motor dimensions

Minas A4/A4N/A4P Series Servo Drives

MSMA 1kW–5kW (LOW INERTIA)

Dimensions are subject to change without notice. Contact us or a dealer for the latest information.

Minas A4 series (low inertia)

Motor output 1.0kW 1.5kW 2.0kW 3.0kW 4.0kW 5.0kW

Motor model MSMA102P1;MSMA152P1;MSMA202P1;MSMA302P1;MSMA402P1;MSMA502P1;

Rotary encoder specifications 2500P/r incremental

LL Without brake 175 180 205 217 240 280

With brake 200 205 230 242 265 305

LR 55 55 65

S19 22 24

LA 100 115 130/145 (slot) 145

LB 80 95 110

LC 90 100 120 130

LD 120 135 162 165

LE 36

LF 710 12

LG 84

LH 98 103 111 118

LZ 6.6 9

Keyway

LW 45 55

LK 42 41 51

KW 6h9 8h9

KH 67

RH 15.5 18 20

Mass (kg) Without brake 4.5 5.1 6.5 9.3 12.9 17.3

With brake 5.1 6.5 7.9 11.0 14.8 19.2

Connector/Plug specifications Refer to Minas A4 Manual

LK KW

ø LB h7

Sh6

4- ø LZ

04/2008

Motor dimensions Minas E 100W–400W

Minas E Series Servo Drives

MUMA (LOW INERTIA)

Encoder

connector Motor connector

Dimensions are subject to change without notice;

please contact us or a dealer for current information.

Brake connector

Keyway dimensions

MUTMA series (ultra low inertia)

Motor output 50W 100W 200W 400W

Motor model MUMA 5A;P1;01;P1;02;P1;04;P1;

Rotary encoder specifications 2500P/r incremental

LL Without brake 75,5 92,5 96 123.5

With brake 107 124 129 156.5

LR 24 30

S81114

LA 48 70

LB 22 50

LC 42 60

LE 23

LF 7

LH 34 43

LZ 3.4 4.5

Keyway

LW 14 20 25

LK 12,5 18 22.5

KW 3h9 4h9 5h9

KH 345

RH 6.2 8.5 11

TP M3 X 6 (depth) M4 X 8 (depth) M5X 10 (depth)

Mass (kg) Without brake 0.40 0.50 0.96 1.5

With brake 0.60 0.70 1.36 1.90

Connector/Plug specifications Refer to options, page 35

* Cautions: Reduce the moment of inertia if high speed response operation is required.

Read the Instruction Manual carefully and understand all precautions and remarks before using the products.

04/2008

Setup support software

Software

SETUP SUPPORT SOFTWARE PANATERM®FOR MINAS SERIES AC SERVO MOTOR &

DRIVER

BASIC FUNCTION

Parameter setup

After a parameter has been defined on the screen, it will immediately be sent to

the driver.

Once you register the parameters you frequently use, they can easily be set up

on the screen.

Enter position data for Minas ACP drivers.

•

Graphic waveform display

Parameter

Monitor

PANATERM ® assists users in setting parameters, monitoring

control conditions, setup support and analysing mechanical

operation data on the PC screen when installed in a commer-

cially available personal computer and connected to the Minas

series through the RS232C serial interface.

ANALYSIS OF MECHANICAL OPERATION DATA

Frequency analysis

Measures frequency characteristics of the machine; displays Bode diagram.

Product number: DVOP4460

•

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, regenera-

tive resistor load ratio.

Alarm

Displays the numbers and contents of the current alarm and a history of the last

14 error events.

Clears the numbers and contents of the current alarm and a history of the last

14 error events.

•

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/multirevolution data.

Displays absolute encoder status.

•

04/2008

FFWD FWD DWELL REV

FF F

REV

2008

PROGRAM, LADDER DIAGRAM BODY

Drilling setupTiming diagram

EXAMPLE FOR CONSECUTIVE MOVEMENT IN A DRILLING APPLICATION

See also: www.plcopen.org/MC_Certification/Panasonic/shortform_statement_Panasonic.htm

Motion Control Library for FPWIN Pro

Software

ADVANTAGES OF PLC PROGRAMS USING THE MOTION CONTROL LIBRARY

COMPLIANT WITH THE PLCOPEN STANDARD:

Simple – Easy programming and installation, even for complex applications

Efficient – In the number of function blocks and in design and understanding

Consistent – Compliant with the IEC 61131-3 PLC programming standard

Universal – Hardware-independent

Flexible – Add hardware or expand range of applications at any time

Complete – Comprehensive product line solves typical positioning applications easily

•

Panasonic’s Motion Control Library is designed to save programming time with a sophisticated yet user-

friendly software solution. Our library includes function blocks programed according to PLCopen’s speci-

fications. Developed to simplify programming of FP2 and FP3 (Sigma) positioning units.

PLCopen, an independent international organization, aims to harmonize access across platforms during

development, installation and maintenance based on the IEC61131-3 environment.

Administrative Motion

Single Axis Multiple Axis Single Axis Multiple Axis

MC_Power MC_CamTableSelect MC_MoveAbsolute MC_CamIn

MC_ReadStatus MC_MoveRelative MC_CamOut

MC_ReadAxisError MC_MoveAdditive * MC_GearIn

MC_ReadParameter MC_MoveSuperimposed MC_GearOut

MC_ReadBoolParameter MC_MoveVelocity

MC_WriteParameter MC_Home

MC_WriteBoolParameter MC_Stop

MC_ReadActualPosition MC_PositionProfile

MC_Reset MC_VelocityProfile

MC_AccelerationProfile

*If executed, the current motion is briefly interrupted due to hardware reasons.

Motion Control Library

Note: FP2 positioning unit multifunction type version 5.4 or newer usable with FP3 (Sigma) positioning unit

Product number NCL-MC-LIB D

04/2008

Configurator PM software tool for RTEX

Software

TOOL OPERATIONS

• Each axis can be operated by tool operation independently from the operation

modes (PROG and RUN) of the FP control unit (or the FP2CPU unit).

• JOG operation and teaching can be carried out easily to index positioning points.

Test operation is possible without having to create a rudder program.

DATA MONITOR

Data table no. during operation

Auxiliary output

Current position, speed and vector

Error code, warning code (Errors and warnings

can also be cleared)

•

The Configurator PM provides powerful yet simple full support ranging from configuration settings and startup to opera-

tion monitoring. This reduces the time and man hours required for system setup.

Axis settings

Check the axis to be used. Select axis no. used.

Grouping of axes for in-

terpolation operations

is carried out simply by

dragging and dropping

the relevant axes.

Parameter settings

The details of the settings can be displayed in a table. Details

on how to create settings for each category are explained in

the box below.

Parameters can be copied between axes. In instances where

many settings are shared among the axes, this can reduce the

number of repeat inputs.

Each axis (or each interpolation axis

group) has a separate sheet, and data

tables for each axis are displayed in an

easy-to-understand manner.

Data tables can be exported as text

files in CSV format.

This is effective when making printouts

for document management.

You can copy parts of a CSV file to a

data table using Cut & Paste.

Data table creation

STATUS MONITOR

Connection status of each axis

Model code of each motor amp and motor

connected

Servo lock status

Origin proximity input, limit input

•

Simple input as in Excel.

04/2008

XXXXXXXX



37.3

Encoder cables

Software

MFECA0

;;

0EAM

Encoder cables for Minas A4 and E servo drives, standard connectors, usable for drag chain

Product number Power range Minas A4 Power range Minas E Length L

MFECA0010EAM 50–750W 50–400W 1m

MFECA0020EAM 50–750W 50–400W 2m

MFECA0030EAM 50–750W 50–400W 3m

MFECA0050EAM 50–750W 50–400W 5m

MFECA0100EAM 50–750W 50–400W 10m

Encoder cable for Minas A4 servo drives, high quality connectors, IP67,

usable for drag chain

Product number Power range Minas A4 Length L

MFECA0020EAB 50–750W 2m

MFECA0030EAB 50–750W 3m

MFECA0040EAB 50–750W 4m

MFECA0050EAB 50–750W 5m

MFECA0070EAB 50–750W 7m

MFECA0100EAB 50–750W 10m

MFECA0150EAB 50–750W 15m

MFECA0200EAB 50–750W 20m

Encoder cable for Minas A4 with 17-bit absolute encoder, standard connectors,

without battery holder

Product number Power range Minas A4 Length L

MFECA0030EAD 50–750W 3m

MFECA0050EAD 50–750W 5m

MFECA0100EAD 50–750W 10m

Encoder cable for Minas A4 with 17-bit absolute encoder, standard connectors,

with battery holder

Product number Power range Minas A4 Length L

MFECA0030EAE 50–750W 3m

MFECA0050EAE 50–750W 5m

MFECA0100EAE 50–750W 10m

Encoder cable for Minas A4 with incremental encoder, IP67 metal connectors,

usable for drag chain

Product number Power range Minas A4 Length L

MFECA0030ESD 1–5kW 3m

MFECA0050ESD 1–5kW 5m

MFECA0100ESD 1–5kW 10m

MFECA0

;;

0EAB

MFECA0

;;

0ESD

MFECA0

;;

0EAD

MFECA0

;;

0EAE

04/2008

XXXXXXXX

Motor and brake cables

Accessories

Motor cable for Minas A4 servo drives, usable for drag chain

Product number Power range Length L

MFMCA0010EED 50 – 750W 1m

MFMCA0020EED 50 – 750W 2m

MFMCA0030EED 50 – 750W 3m

MFMCA0050EED 50 – 750W 5m

MFMCA0100EED 50 – 750W 10m

Motor cable for Minas E servo drives, usable for drag chain

Product number Power range Length L

MFMCA0050AEB 50 – 400W 5m

MFMCA0100AEB 50 – 400W 10m

MFMCA0200AEB 50 – 400W 20m

Motor cable for Minas A4, high quality connectors, IP67, usable for drag chain

Product number Power range Length L

MFMCA0020EBD 50 – 750W 2m

MFMCA0030EBD 50 – 750W 3m

MFMCA0040EBD 50 – 750W 4m

MFMCA0050EBD 50 - 750W 5m

MFMCA0100EBD 50 – 750W 10m

MFMCA0150EBD 50 – 750W 15m

MFMCA0200EBD 50 – 750W 20m

Motor cable for Minas A4 motors with brake, high quality connectors, IP67,

usable for drag chain

Product number Power range Length L

MFMCA0020EBDB 50 – 750W 2m

MFMCA0030EBDB 50 – 750W 3m

MFMCA0050EBDB 50 – 750W 5m

MFMCA0070EBDB 50 – 750W 7m

MFMCA0100EBDB 50 – 750W 10m

Motor cable for Minas A4, without brake, usable for drag chain

Product number Power range Length L

MFMCD0032ECD 1 – 1.5kW 3m

MFMCD0052ECD 1 – 1.5kW 5m

MFMCD0102ECD 1 – 1.5kW 10m

Motor cable for Minas A4, without brake, usable for drag chain

Product number Power range Length L

MFMCD0032ECT 2kW 3m

MFMCD0052ECT 2kW 5m

MFMCD0102ECT 2kW 10m

MFMCD0152ECT 2kW 15m

Motor cable for Minas A4, without brake, usable for drag chain

Product number Power range Length L

MFMCA0033ECT 3–5kW 3m

MFMCA0053ECT 3–5kW 5m

MFMCA0103ECT 3–5kW 10m

Motor cable for Minas A4, with brake, usable for drag chain

Product number Power range Length L

MFMCA0032FCD 1–1.5kW 3m

MFMCA0052FCD 1–1.5kW 5m

MFMCA0102FCD 1–1.5kW 10m

Motor cable for Minas A4, with brake, usable for drag chain

Product number Power range Length L

MFMCA0032FCT 2kW 3m

MFMCA0052FCT 2kW 5m

MFMCA0102FCT 2kW 10m

Motor cable for Minas A4, with brake, usable for drag chain

Product number Power range Length L

MFMCA0033FCT 3–5kW 3m

MFMCA0053FCT 3–5kW 5m

MFMCA0103FCT 3–5kW 10m

Brake junction cable for Minas A 4 and E motors with brake, usable for drag chain

Product number Power range Minas A Power range Minas E Length L

MFMCB0030GET 50 – 750W 50 – 400W 3m

MFMCB0050GET 50 – 750W 50 – 400W 5m

MFMCB0100GET 50 – 750W 50 – 400W 10m

(50) (50)



(11)

(10.0)

(12.0)

(4) (4)

MFMCA0

;;

0EED

MFMCA0

;;

0EBD

(50)



(12.5)

37.3

MFMCD0

;;

2ECD MFMCD0

;;

2ECT

(50)

(12.5)

37.3

(



.8)

MFMCA0

;;

2FCD

MFMCA0

;;

2FCT

(.8)

(40) (50)



(5.6)

(12.0)

(10.0)

MFMCB0

;;

0GET

MFMCA0

;;

0AEB

MFMCA0

;;

0EBDB

04/2008

XXXXXXXX

Direct connection cables to FP3 (Sigma) and FP2

Accessories

Product number Description Number of

axes Power range Length Connectors

DVOP0980W-1 FP3 (Sigma) NPN to CN I/F 1 0.05–5kW 1m 50 pin Molex to 2x10 pin MIL

DVOP0981W-1 FP3 (Sigma) NPN to CN I/F 2 0.05–5kW 1m 2x50 pin Molex to 3x10 pin MIL

DVOP0982W-1 FP3 (Sigma) PNP to CN I/F 1 0.05–5kW 1m 50 pin Molex to 2x10 pin MIL

DVOP0983W-1 FP3 (Sigma) PNP to CN I/F 2 0.05–5kW 1m 2x50 pin Molex to 3x10 pin MIL

DVOP0984W-1 FP3 (Sigma) NPN to CN I/F, with TLC-signal 2 0.05–5kW 1m 50 pin Molex to 2x10 pin MIL, with TLC-signal

DVOP0985W-1 FP3 (Sigma) / FP2 Positioning units transistor type 2 0.05–5kW 1m 50 pin Molex to 1x40 pin MIL

DVOP0986W-1 FP3 (Sigma) / FP2 Positioning units line driver type 2 0.05–5kW 1m 50 pin Molex to 1x40 pin MIL

In/out connectors for the PLC FP3 (Sigma).

Unused inputs/outputs can be used for other

purposes.

DVOP0980W-1

DVOP0982W-1

DVOP0983W-1

DVOP0984W-1

DVOP0981W-1

For pulse control, not for Minas A4N / RTEX

DVOP0985W-1

DVOP0986W-1

DIRECT CONNECTION TO FP3 (SIGMA) AND FP2 POSITIONING UNITS

(Not for Minas A4N/ RTEX transistor or line driver types)

For FP3 (Sigma) CPU PNP or NPN

One axis

Two axes

04/2008

XXXXXXXX

Other cables, connectors, brake resistors, filters

Accessories

gnal

a).

ther

Product number Description

DVOP1960 RS232C communication cable to PC9 pin Sub-D

DVOP1972 RS485 communication cable Mini-DIN 8Pin-MD connector, 1m

CONNECTOR UNITS

Product number Description

DVOP3670 Connector kit for motor and encoder

DVOP4310 Connector kit for Minas A4 servo drives 1 to 2kW, without brake

DVOP4320 Connector kit for Minas A4 servo drives 3 to 5kW, without brake

DVOP4330 Connector kit for Minas A4 servo drives 1 to 2kW, with brake

DVOP4340 Connector kit for Minas A4 servo drives 3 to 5kW, with brake

DVOP4350 Connector for Minas A4 drivers for external equipment

DVOP4380 Connector kit for Minas A4 servo for encoder- and motor connection

FILTERS

Product number Description

FN2060-6-06 EMC filter for control circle, Minas A4 servo drives 1 to 2kW

FN2090-10-06 Multi-stage EMI filter, 1-phase, for Minas A4/N servo driver MDDT5540, 1 to 1.5kW

FN2410-32-33 Multi-stage EMI filter, 1-phase, for Minas A4/N servo driver 2 to 5kW

FS21238-6-07 FS21238-6-07 EMC filter for Minas A4 servo drives 50 to 750W

DVOP4160 EMC filter for Minas E

BRAKE RESISTORS

Product number Power range Additional

information / description

BWD250100 30–750W 100 Ohm/100W

BWD600027 1–5kW 27 Ohm/240W

MANUALS

Product number Additional information / description

DVOP4210 Minas A4-series manual

DVOP4490 Minas A4P-series manual

DVOP3700 Minas E-series manual

Minas A4N manual is only available as PDF file from panasonic-electric-works.com

OTHER ACCESSORIES

Product number Description

DVOP2990 Lithium battery for absolute encoder, Minas A4, 3.6V 2000mAh

DVOP37300 Cable set (3m) interface, encoder and motor cable and connector kit of drive power

DVOP3811 DIN rail mounting kit for Minas E drivers

DVOP39200 Cable set (5m) interface, encoder and motor cable and connector kit of drive power

DVOP4420 Operating Console for Minas A4 and E servo drivers

DVOP4460 PANATERM Software for Minas servo drives, CD-ROM

COMMUNICATION CABLES

INTERFACE CABLES

Product number Description

DVOP0800 Interface cable for Minas E driver 26 pins

DVOP4360 Interface Connector cable for Minas A4 drivers,

length 2m

DVOP4510 I/O Interface cable for Minas A4N and A4P servo

drivers, length 2m

04/2008

Panasonic Electric Works

Please contact our Global Sales Companies in:

Europe

Headquarters Panasonic Electric Works Europe AG Rudolf-Diesel-Ring 2, 83607 Holzkirchen, Tel. (08024) 648-0, Fax (08024) 648-111, www.panasonic-electric-works.com

Austria Panasonic Electric Works Austria GmbH

PEW Electronic Materials Europe GmbH

Rep. of PEWDE, Josef Madersperger Str. 2, 2362 Biedermannsdorf, Tel. (02236) 26846, Fax (02236) 46133, www.panasonic-electric-works.at

Ennshafenstraße 9, 4470 Enns, Tel. (07223) 883, Fax (07223) 88333, www.panasonic-electronic-materials.com

Benelux Panasonic Electric Works

Sales Western Europe B.V.

De Rijn 4, (Postbus 211), 5684 PJ Best, (5680 AE Best), Netherlands, Tel. (0499) 372727, Fax (0499) 372185,

www.panasonic-electric-works.nl

Czech Republic Panasonic Electric Works Czech s.r.o. Prumyslová 1, 34815 Planá, Tel. 374 799 990, Fax 374 799 999, www.panasonic-electric-works.cz

France Panasonic Electric Works

Sales Western Europe B.V.

French Branch Ofﬁce, B.P. 44, 91371 Verrières le Buisson CEDEX, Tél. 01 60135757, Fax 01 60135758, www.panasonic-electric-works.fr

Germany Panasonic Electric Works Deutschland GmbH Rudolf-Diesel-Ring 2, 83607 Holzkirchen, Tel. (08024) 648-0, Fax (08024) 648-555, www.panasonic-electric-works.de

Hungary Panasonic Electric Works Europe AG Magyarországi Közvetlen Kereskedelmi Képviselet, 1117 Budapest, Neumann János u. 1., Tel. 06 1 482 9258, Fax 06 1 482 9259,

www.panasonic-electric-works.hu

Ireland Panasonic Electric Works UK Ltd. Dublin, Tel. (01) 4600969, Fax (01) 4601131, www.panasonic-electric-works.co.uk

Italy Panasonic Electric Works Italia s.r.l. Via del Commercio 3-5 (Z.I. Ferlina), 37012 Bussolengo (VR), Tel. (045) 6752711, Fax (045) 6700444, www.panasonic-electric-works.it

PEW Building Materials Europe s.r.l. Piazza della Repubblica 24, 20154 Milano (MI), Tel. (02) 29005391, Fax (02) 29003466, www.panasonic-building-materials.com

Nordic Countries Panasonic Electric Works Nordic AB

PEW Fire & Security Technology Europe AB

Sjöängsvägen 10, 19272 Sollentuna, Sweden, Tel. (08) 59476680, Fax (08) 59476690, www.panasonic-electric-works.se

Citadellsvägen 23, 21118 Malmö, Tel. (040) 6977000, Fax (040) 6977099, www.panasonic-ﬁre-security.com

Poland Panasonic Electric Works Europe AG Przedstawicielstwo w Polsce, Al. Krakowska 4/6, 02-284 Warszawa, Tel. 22 338-11-33, Fax 22 338-12-00, www.panasonic-electric-works.pl

Portugal Panasonic Electric Works España S.A. Portuguese Branch Ofﬁce, Avda Adelino Amaro da Costa 728 R/C J, 2750-277 Cascais, Tel. (21) 4812520, Fax (21) 4812529

Spain Panasonic Electric Works España S.A. Barajas Park, San Severo 20, 28042 Madrid, Tel. (91) 3293875, Fax (91) 3292976, www.panasonic-electric-works.es

Switzerland Panasonic Electric Works Schweiz AG Grundstrasse 8, 6343 Rotkreuz, Tel. (041) 7997050, Fax (041) 7997055, www.panasonic-electric-works.ch

United Kingdom Panasonic Electric Works UK Ltd. Sunrise Parkway, Linford Wood, Milton Keynes, MK14 6LF, Tel. (01908) 231555, Fax (01908) 231599, www.panasonic-electric-works.co.uk

North & South America

USA PEW Corporation of America 629 Central Avenue, New Providence, N.J. 07974, Tel. 1-908-464-3550, Fax 1-908-464-8513, www.pewa.panasonic.com

Asia Paciﬁc / China/ Japan

China Panasonic Electric Works (China) Co., Ltd. Level 2, Tower W3, The Towers Oriental Plaza, No. 2, East Chang An Ave., Dong Cheng District, Beijing 100738, Tel. (010) 8518-5988,

Fax (010) 8518-1297

Hong Kong Panasonic Electric Works

(Hong Kong) Co., Ltd.

RM1205-9, 12/F, Tower 2, The Gateway, 25 Canton Road, Tsimshatsui, Kowloon, Hong Kong, Tel. (0852) 2956-3118, Fax (0852) 2956-0398

Japan Matsushita Electric Works, Ltd. 1048 Kadoma, Kadoma-shi, Osaka 571-8686, Japan, Tel. (06) 6908-1050, Fax (06) 6908-5781, www.mew.co.jp/e-acg/

Singapore Panasonic Electric Works Asia Paciﬁc Pte. Ltd. 101 Thomson Road, #25-03/05, United Square, Singapore 307591, Tel. (06255) 5473, Fax (06253) 5689

4152 euen 04/08

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04/2008