Panasonic

PLC Based High Performance Advanced Servo System

Motion Control Solution

System Overview
C PLC: FP or FP2 with Positioning modules

See page 4/5

A Software: PLC Motion Control Function Blocks

See below and page 22/23

B Motors and Drivers: MINAS A Servo

See page 3 and 6ff

Motion Control Library for FPWIN Pro PLC Programming Software: Certified Function Blocks according to PLCopens motion control specifications.
Example of a Function Block: This function block controls motion at a specific absolute position.
Function blocks programmed according to the IEC 61131-3 standard secure your investment.
Advantages of PLC programs using Motion Control Library compliant to PLCopen Standard:
Simple Efficient Consistent Universal Flexible Complete Easy programming and installation, even for complex applications In the number of FBs and in design and understanding Compliant to IEC 61131-3 PLC programming standard and PLCopen specification Hardware independent: same FBs at other, certified vendors For future extensions and for the range of application Easy solution comprising all components for typical positioning applications.
Motors and Drivers: Panasonic MINAS A Servo
The Matsushita Motion Control Solution comprises FP series PLCs, Panasonic MSDA drivers, Panasonic servo motors and appropriate cables. The latest technological advances in digital control enable motion control solutions to be applied to even the smallest machines.
Features High performance motion control Power range of 30 to 5000 W Velocity control, torque control and position control as standard functions High-speed control via 32-bit technology and a velocity response frequency of 500 Hz Digitally controlled by PLC Automatic switching between control signals Max. motor speed 5,000 rpm Optional high-resolution 17-bit absolute / incremental encoder Resonance suppression function enables high speed
Built-in notch filter suppresses vibration of driven mechanism High-speed positioning, even with low-stiffness mechanism Built-in frequency analysing function detects resonance points of mechanism driven, offering simple adjustment Auto tuning modes: -normal auto tuning mode for setup -real-time auto tuning mode after setup For almost all types of machines, including chip mounting machines and general industrial machines Closed loop control as standard feature
PLC: Matsushita FP or FP2 with Positioning Modules
The brain of Matsushitas servo system is the PLC FP or FP2/2SH. Special intelligent modules control the Panasonic servo.
FP (Sigma) High-speed, high precision positioning
General Features of FP (Sigma) High program capacity High data memory capacity Strong communication features High speed input High speed pulse output High expansion capability Analogue volume inputs Fast processing speed Powerful instruction set Small size Positioning Features of FP PLC (only CPU) Transistor types (PNP or NPN) Clockwise/counterclockwise output or pulse/direction 2-independent axis positioning Up to 100 kHz 12 k steps 32 k words up to 3 serial interfaces RS232C, RS485 max. 50 kHz max. 100 kHz up to 384 I/O 2 0.4 s / basic instruction Floating-Point, String and PID instructions 30 x 90 x 60 mm (WxHxD) Operation modes Absolute positioning Relative positioning Home return JOG operation Emergency stop Linear/circular interpolation Part No. FPG-C28P2 FPG-C32T2
CPU: 16 inputs/12 outputs PNP CPU: 16 inputs/16 outputs NPN
Enhanced Motion Control functionality using positioning expansion units for FP
Features of FP Positioning Modules Transistor or line driver output types Up to 500 kpps / 4 Mpps output Clockwise/counterclockwise or pulse/direction 8 (10 with CPU) independent axis positioning Pulse range: 32-bit signed Operation modes Interpolation Single speed acceleration / deceleration Multi-stage acceleration / deceleration JOG operation Fast startup of 0.02 or 0.005 ms makes cycle time reduction possible 4 types of S-curve acceleration / deceleration control makes smooth startup and stopping possible: sine, quadratic, cycloid and cubic curve
Part No. FPG-PP11 FPG-PP21 FPG-PP12 FPG-PP22
Output Type Transistor output Transistor output Line driver output Line driver output
Type 1-axes type 2-axes type 1-axes type 2-axes type Up to two axes per Postioning Module:

FP2 and FP2SH Modular, high performance
General Features of FP2 / FP2SH High program capacity High memory capacity Additional file registers Serial interfaces Communication modules FPk or 32 k steps, FP2SH 60 k or 120 k steps Data registers: 6000 words (FP2), 10,240 words (FP2SH) Up to 30,717 words (FP2) and 3 x 32,765 words (FP2SH) 2 RS232C on CPU Serial Data Units or Computer communication modules with 2 additional ports each available, Profibus DP/FMS, Ethernet module High expansion capability Fast processing speed Powerful programming commands Small size Extended debugging functions Up to 28 modules or 2048 I/O are possible FP2 0.35 s / basic instruction, FP2 SH 0.03 s Floating point Math, String instructions, PID Control and more 140 x 100 x 93 mm (WxHxD) for 5 modules backplane Testmode and Breakpoints can be used
Positioning Units for FP2 and FP2SH Extremely fast startup of 0.005 ms Up to 500kpps / 4Mpps output for high-speed, high-accuracy positioning Feedback pulse count function (for encoders) Transistor / line driver output 64 (88) independent axis positioning Pulse range: 32 bits, signed
Operation modes Interpolation Single speed acceleration / deceleration Multi-stage acceleration / deceleration Fast startup of 0.02 or 0.005ms makes cycle time reduction possible linear or 4 types of S-curve: sine, quadratic, cycloid and cubic curve (for smooth startup and stopping)
Clockwise / counterclockwise or pulse/direction Acceleration / deceleration control:
Up to four axes per Postioning Module: Part No. FP2-PP21 FP2-PP41 FP2-PP22 FP2-PP42 Output Type Transistor output Transistor output Line driver output Line driver output Type 2 axes 4 axes 2 axes 4 axes
Drivers and Motors (30 to 750 W)
Servo Motors rated rated rated brake Product No. output torque rpm [W] [Nm] [min-1]
MSMA3AZA1A MSMA3AZA1B MSMA3AZA1C MSMA3AZA1D MSMA5AZA1A MSMA5AZA1B MSMA5AZA1C MSMA5AZA1D MSMA5AZA1E MSMA5AZA1F MSMA5AZC1A MSMA5AZC1C MSMA012A1A MSMA012A1B MSMA012A1C MSMA012A1D MSMA012A1E MSMA012A1F MSMA012C1A MSMA012C1C MSMA022A1A MSMA022A1B MSMA022A1C MSMA022A1D MSMA022A1E MSMA022A1F MSMA022C1A MSMA042A1A MSMA042A1B MSMA042A1C MSMA042A1D MSMA042A1E MSMA042A1F MSMA042C1A MSMA082A1A MSMA082A1B MSMA082A1C MSMA082A1D MSMA082A1E MSMA082A1F MSMA082C1A 750 0.095 0.095 0.095 0.095 0.16 0.16 0.16 0.16 0.16 0.16 0.16 0.16 0.32 0.32 0.32 0.32 0.32 0.32 0.32 0.32 0.64 0.64 0.64 0.64 0.64 0.64 0.64 1.3 1.3 1.3 1.3 1.3 1.3 1.3 2.4 2.4 2.4 2.4 2.4 2.4 2.x x x x

oil seal

key 17-bit Driver shaft absolute Product No. encoder.

MSDA3A5A1A

Driver Type
x x x x x x x x x x MSDA5A3D1A MSDA5A5A1A
x x x x x x x x x x MSDA013D1A 1 MSDA015A1A 1
x x x x x x x x MSDA023D1A 2 MSDA023A1A 2
x x x x x x x x MSDA043D1A 2 MSDA043A1A 2
x x x x x x x x MSDA083D1A 3 MSDA083A1A 3
Drivers and Motors (1 to 5 kW)
MSMA102A1C MSMA102A1D MSMA102A1G MSMA102A1H MSMA152A1C MSMA152A1D MSMA152A1G MSMA152A1H MSMA202A1C MSMA202A1D MSMA202A1G MSMA202A1H MSMA252A1C MSMA252A1D MSMA252A1G MSMA252A1H MSMA302A1C MSMA302A1D MSMA302A1G MSMA302A1H MSMA352A1C MSMA352A1D MSMA352A1G MSMA352A1H MSMA402A1C MSMA402A1D MSMA402A1G MSMA402A1H MSMA452A1C MSMA452A1D MSMA452A1G MSMA452A1H MSMA502A1C MSMA502A1D MSMA502A1G MSMA502A1H 3.18 3.18 3.18 3.18 4.77 4.77 4.77 4.77 6.36 6.36 6.36 6.36 7.94 7.94 7.94 7.94 9.54 9.54 9.54 9.54 11.0 11.0 11.0 11.0 12.6 12.6 12.6 12.6 14.3 14.3 14.3 14.3 15.8 15.8 15.8 15.3000 x x
x x x x x x x x x x x x x x x x x x x x x x x x x x x x x x x x x x x x
key 17-bit Driver shaft absolute Product No. encoder

MSDA103A1A

MSDA153A1A

MSDA203A1A

MSDA253A1A

MSDA303A1A

MSDA353A1A

MSDA403A1A

MSDA453A1A

MSDA503A1A

Common Specifications for Drivers
+10% 15% +10% 15% +10% 15%
Type 1 ~ Type 3 Power supply Main power 200V Type 4 ~ Type 5

1 / 3-phase

200 ~ 230V AC

50 / 60 Hz

3-phase
Control power Control method Feedback

Type 1 ~ Type 5

1-phase IGBT PWM sine wave control
2500 p/r incremental encoder or 17-bit absolute/incremental encoder Temperature Operating temperature: 0 to 55C, Storing temperature: 20 to +85C Operating/storing humidity: 90% RH or less (no condensation) 1000 m or lower level above the sea 5.88 m/s 2 max. 10 to 60 Hz (Continuous operation with resonance frequency is not allowed). 1) Position control, 2) Velocity control, 3) Torque control, 4) Position/velocity control, 5) Position/torque control, 6) Velocity/torque control, 7) Semi-closed control *, 8) Full-closed control (first) *, 9) Hybrid control *, 10) Velocity (first)/external encoder (second) control *, 11) Velocity (first)/semi-closed (second) control * Note) The control modes indicated with * can be used for the motor with 17-bit encoder only. Undervoltage, Overvoltage, Overcurrent, Radiator overheat, Overload, Regenerative discharge overload, Encoder error, Position error excess, Hybrid error excess, Command pulse scale error, Overvelocity, External scale error, EEPROM error, Absolute encoder battery voltage error, Absolute encoder rotation excess, etc. 1)Servo on, 2) Alarm clear 3) Gain switching, 4) Control mode switching, 5) CW overtravel inhibit /Smoothing filter switching, 6) CCW overtravel inhibit /Command pulse scale switching 2, 7) Command pulse scale switching kpps 1) RS422 line drive signal, 2) Open-collector signal (from controller) 1) CW/CCW pulse signal, 2) Pulse signal/rotating direction signal, 3) 90phase difference signal Command pulse scale input = Command pulse frequency x 1) Error counter clear, 2) Command pulse inhibit 1:to 10 s/1000 rpm, Acceleration time and deceleration time can be separately specified. Sigmoidal acceleration/deceleration is enabled. Maximum allowable input voltage =10 V, 6 V / Scale to command voltage at rated velocity (standard default setting) and direction of motor rotation can be specified with parameters. Four-level velocities can be specified with parameters. 1) Speed zero clamp, 2) Internal velocity setting selection Maximum allowable input voltage =10 V, 3 V / Scale to command voltage at rated velocity (standard default setting) and direction of motor rotation can be specified with parameters. With the external analog voltage command, CW and CCW torque limits can be separately specified. 1) Servo alarm, 2) Servo ready, 3) External brake release, 4) At-speed (for velocity/torque control) (1 to 10000) x 2 (0 to 17) 1 to 10000

Environment

Humidity Altitude Vibration

Control mode

Protective function
Control input Max. command pulse frequency Position control Input pulse signal form Input pulse type Electronic gear (Command pulse scaling) Control input Velocity control range Velocity control Acceleration/deceleration time setting External analog velocity command Internal velocity setting Control input Torque control External analog torque command CW/CCW torque limit

Signal input

Control output Signal output Scale output Signal output Digital display Monitor output Analog output
/in-position (for position control), 5) Torque in-limit, 6) In-position (for position control) 2500 p/r incremental encoder 1: to 2500 p/r (parameter setting)

Encoder signal scale

17-bit absolute/incremental encoder 1 :to 16384 p/r (parameter setting) 1) Line drive output (phases A, B and Z), 2) Open-collector output (phase Z) 6-digit, 7-segment LED SP terminal: Selection of actual motor speed or command velocity, and scale can be specified with parameters. IM terminal: Selection of torque command, position error, and scale can be specified with parameters.
Regenerative discharge Built-in function Dynamic brake Unused wiring masking function Auto tuning function Setup Normal Real-time Manual Setup support software
Type 1 ~ Type 5: Built-in regenerative discharge resistor, Type 6 : Exter al regenerative discharge resistor n Operation sequence at power off, servo off, activation of protective function and overtravel inhibit input can be specified. 1) Overtravel inhibit input, 2) Torque limit input, 3) Command pulse inhibit input, 4) Speed zero clamp input Estimates load inertia, and defines proper servo gain. Adaptive to load inertia fluctuations during operation. Five pushbutton switches on front panel

MODE SET

PANATERM (Applicable OS: Windows95, Windows98, Windows2000, WindowsNT and WindowsME)

Dimensions, Drivers

Type 1, 30 to 50 W Type 2/3, 200 to 750 W

Type 4-2, 1 kW to 1.5 kW

Type 4-3, 2 kW to 2.5 kW

Type 5, 3 kW to 5 kW

Specifications Motors 30 W to 100 W

200 VAC

Motor model

M SM A M SD A

3AZA1* 3A5A1A

5AZA1* 5A5A1A

5AZC1* 5A5D1A

Type 1

012A1* 015A1A

012C1* 013D1A

Applicable amplifier Type
Power supply capacity Rated output Rated torque Maximum instantaneous torque Rated current Maximum current (kVA) (W ) (N m) (N m) (Arms) (Ao-p) 0.0.095 0.28 1.0 4.3 0.0.16 0.48 1.0 4.3 No limitation Note 2) No limitation Note 2) 0.016 0.020 0.025 0.030 0.035 0.or less 0.062 0.066 0.072 0.076

0.0.32 0.95 1.0 4.3

Regenerative discharge Without optional parts brake frequency DV0P1981 (Times/min) Note 1) Rated rpm Maximum rpm (min 1) (min 1)
Moment of rotor inertia Without brake (x 104kg m2) With brake Recommended ratio of moment of load Note 3) inertia to moment of rotor inertia Position/velocity detector

(Encoder)

2500 p/r incremental 10000
17-bit absolute/ incremental 131072
Resolution per revolution Enclosure rating Ambient temperature Ambient humidity Environment Installation location Altitude Vibration resistance Weight, ( ): with Holding Brake (kg)
IP65 (excluding through hole for motor shaft, and cable connector) 0 to 40 C (no freezing), Storing temperature: 20 to +80 C 85 % RH or less (no condensation) Indoors (no direct sunlight), free from corrosive gas, inflammable gas, oil mist or dust 1000 m or lower level above the sea 49 m /s2max. 49 m /s max. 0.34 (0.53)
24 m / s2 max. 0.40 (0.59)
49 m /s2 max. 0.56 (0.76)
24 m /s2 max. 0.62 (0.82)

0.27 (0.47)

Brake specifications (The brake will be released when the holding brake is energized. It cannot be used for braking motor in operation.)
Static friction torque (Nm) (Min.)
0.20 (30) 0.VDC or more 24VDC 10%
Engaging time (ms) (Max.) Release time (ms) (Max.) (Note 4) Exciting current (DC) (A) Release voltage Exciting voltage Allowable load
Radial load (direction P)(N)

During assembly

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

During operation

Thrust load (direction A)(N) Thrust load (direction B)(N)
Note) This amplifier model uses single-phase/3-phase 200 V power supply.

Tourque Characteristics

Amplifier power supply voltage: 200 VAC

MSMA3AZ*1*

Without Oil Seal

Torque [Nm]

MSMA5AZ*1*
* Continuous torque vs. ambient temperature

100 50

* Continuous torque vs. ambient temperature With brake

Rated torque ratio [%]

Instantaneous 0.15 operation range
Continuous operation range
Instantaneous 0.25 operation range

1 Motor rpm [min ]

Ambient temperature [ C]

With Oil Seal

0.3 0.15

Without brake With brake

0.5 0.25
* Continuous torque vs. ambient temperature Without brake

With brake

Instantaneous operation range

MSMA012*1*

1.0 0.5

Radial load (P)

Thrust load (A or B)
Note) 1. The regenerative discharge brake frequency indicates the allowable frequency for braking a motor without load, from rated rpm to deceleration to stop. If a load is connected to the motor, the brake frequency is defined as 1/(m+1) from the value given in the table. (m= moment of load inertia/moment of rotor inertia) If the motor rpm exceeds the rated value, the regenerative discharge brake frequency is inversely proportional to the square of [operating rpm / rated rpm]. The power supply voltage is 230 VAC (when amplifier power supply voltage is 200 VAC). If the power supply voltage fluctuates, the regenerative discharge brake frequency is inversely proportional to the square of [operating power supply voltage / 230] relative to the value in the table. If the operating rpm frequently changes, or the regenerative discharge brake is frequently activated (e.g. in vertical feed operation), contact us for detailed information. 2. There is no limitation on the regenerative discharge brake frequency, if the effective (root-mean square) torque is within the rated torque range. 3. If the ratio of load inertia moment exceeds the specified value, contact us for detailed information. 4. The specified release time applies to the case where the surge absorber for motor brake (Ishizuka: C-5A2/Z15D151 or equivalent) is used. ( ) indicates the data measured with diode (200V 1A or equivalent).
Specifications, Motors (200 W to 750 W)

022A1* 023A1A

Type 1 Type 2 0.0.64 1.91 1.6 6.9

022C1* 023D1A

042A1* 043A1A

042C1* 043D1A

082A1* 083A1A

082C1* 083D1A

Applicable amplifier Note)
Power supply capacity Rated output Rated torque Maximum instantaneous torque Rated current Maximum current

(kVA) (W ) (N m) (N m) (Arms) (Ao-p)
Type 2 Type 3 0.1.3 3.8 2.5 10.5 No limitation Note 2)
Type 3 1.2.4 7.1 4.3 18.3
Regenerative discharge Without optional parts brake frequency DV0P1981 x 1 (Times/min) Note 1) DV0P1983 x 1 Rated rpm Maximum rpm (min 1) (min 1)

No limitation Note 2)

No limitation Note 2) No limitation Note 2) 4500 0.36 0.or less 0.37 0.40 1.31 1.or less 1.32 1.40
Moment of rotor inertia Without brake (x 104kg m2) With brake Recommended ratio of moment of load Note 3) inertia to moment of rotor inertia Position/velocity detector (Encoder)

0.17 0.20

0.18 0.21
IP65 (excluding through hole for motor shaft, and cable connector) 0 to 40 C (no freezing), Storing temperature: -20 to +80 C 85 % RH or less (no condensation) Indoors (no direct sunlight), free from corrosive gas, inflammable gas, oil mist or dust 1000 m or lower level above the sea 49 m/s2 max. 1.0 (1.4) 24 m/s2 max. 1.1 (1.5) 49 m/s2 max. 1.6 (2.0) 24 m/s2 max. 1.7 (2.1) 49 m/s2 max. 3.2 (3.9) 24 m/s2 max. 3.3 (4.0)
1.15 (100) 0.VDC or more 24VDC 10%

2.15 (100) 0.43

147 147
Note) For the 200W and 400 W amplifier models, the model on the upper stage uses 3-phase 200 V power supply, and the model on the lower stage uses single-phase 200 V power supply.
(The dotted line indicates the data obtained at 10% power supply voltage drop.)

MSMA022*1*

2.0 1.0

MSMA042*1*

Torque [Nm] Rated torque ratio [%]

4.0 2.0

Ambient temperature [ C] * Continuous torque vs. ambient temperature

70 With brake

4.0 2.75 50

MSMA082*1*

8.0 4.50
Instantaneous 4.0 operation range
Specifications, Motors (1 kW to 2 kW)

102A1* 103A1A

Type 42

1.3.18 9.5 7.2 30

152A1* 153A1A
2.4.77 14.3 9.No limitation Note 2) No limitation Note 2) 3000 5000

202A1* 203A1A

Type 43

3.6.36 19.1 13.0 56

Power supply capacity Rated output Rated torque Maximum instantaneous torque Rated current Maximum current (kVA) (W ) (N m) (N m)

(Arms) (Ao-p)

Regenerative discharge Without optional parts brake frequency (Times/min) Note 1) DV0P1983 x 1 Rated rpm Maximum rpm (min 1) (min 1) 1.69 1.88

2.59 2.or less

3.46 3.81
IP65 (excluding through hole for motor shaft, and cable connector) 0 to 40 C (no freezing), Storing temperature: 20 to +80 C 85 % RH or less (no condensation) Indoors (no direct sunlight), free from corrosive gas, inflammable gas, oil mist or dust 1000 m or lower level above the sea 49 m/s2 max. 4.5 (5.1) 5.1 (6.5) 6.5 (7.9)
4.15 (100) 0.VDC or more 24VDC 10%

7.15 (100) 0.81

196 196

MSMA102*1*

MSMA152*1*
* Continuous torque vs. ambient temperature Torque [Nm]
* Continuous torque vs. ambient temperature Rated torque ratio [%]

(3500)

MSMA202*1*
Note) 1. The regenerative discharge brake frequency indicates the allowable frequency for braking a motor without load, from rated rpm to deceleration to stop. If a load is connected to the motor, the brake frequency is defined as 1/(m+1) from the value given in the table. (m= moment of load inertia/moment of rotor inertia) If the motor rpm exceeds the rated value, the regenerative discharge brake frequency is inversely proportional to the square of [operating rpm / rated rpm]. The power supply voltage is 230 VAC (when amplifier power supply voltage is 200 VAC). If the power supply voltage fluctuates, the regenerative discharge brake frequency is inversely proportional to the square of [operating power supply voltage / 230] relative to the value in the table. If the operating rpm frequently changes, or the regenerative discharge brake is frequently activated (e.g. in vertical feed operation), contact us for detailed information. 2. There is no limitation on the regenerative discharge brake frequency, if the effective (rootmean square) torque is within the rated torque range. 3. If the ratio of load inertia moment exceeds the specified value, contact us for detailed information. 4. The specified release time applies to the case where the surge absorber for motor brake (Ishizuka: C-5A2/Z15D151 or equivalent) is used. ( ) indicates the data measured with diode (200V 1A or equivalent).
Specifications, Motors (2.5 kW to 3.5 W)

252A1* 253A1A

3.7.94 23.8 15.No limitation Note 2) No limitation Note 2)

302A1* 303A1A

Type 5
4.9.54 28.6 18.No limitation Note 2)

352A1* 353A1A

5.11.0 33.2 21.6 92
Power supply capacity Rated output Rated torque Maximum instantaneous torque Rated current Maximum current (kVA) (W ) (N m) (N m) (Arms) (Ao-p)

Without optional parts Regenerative discharge brake frequency DV0P1983 x 1 (Times/min) Note 1) DV0P1983 x 2 Rated rpm Maximum rpm (min 1) (min 1)
No limitation Note 2) 4.31 4.74 6.77 7.or less 7.90 8.69
IP65 (excluding through hole for motor shaft, and cable connector) 0 to 40 C (no freezing), Storing temperature: 20 to +80 C 85 % RH or less (no condensation) Indoors (no direct sunlight), free from corrosive gas, inflammable gas, oil mist or dust 1000 m or lower level above the sea 49 m/s2 max. 7.5 (8.9) 9.3 (11.0) 10.9 (12.6)
7.15 (100) 0.VDC or more 24VDC 10%

11.15 (100) 0.81

MSMA252*1*

Without brake

MSMA302*1*

30 Without brake

(23.8)

With brake 85 50

MSMA352*1*
Specifications, Motors (4 kW to 5 W)

402A1* 403A1A

452A1* 453A1A

502A1* 503A1A

Power supply capacity Rated output Rated torque Maximum instantaneous torque Rated current Maximum current (kVA) (W ) (N m) (N m) (Arms) (Ao-p) 6.12.6 37.9 24.No limitation Note 2) No limitation Note 2) 12.70 14.10 15.30 17.or less 17.80 19.70

6.14.3 42.9 28.0 118

7.15.8 47.6 28.326 No limitation Note 2)
Regenerative discharge Without optional parts brake frequency (Times/min) Note 1) DV0P1983 x 2 Rated rpm Maximum rpm (min 1) (min 1)
IP65 (excluding through hole for motor shaft, and cable connector) 0 to 40 C (no freezing), Storing temperature: 20 to +80 C 85 % RH or less (no condensation) Indoors (no direct sunlight), free from corrosive gas, inflammable gas, oil mist or dust 1000 m or lower level above the sea 49 m/s2 max. 12.9 (14.8) 15.1 (17.0) 17.3 (19.2)
Brake specifications (The brake will be released when the holding brake is energised. It cannot be used for braking motor in operation.)
16.50 (130) 0.VDC or more 24VDC 10%

343 343

MSMA402*1*

40 Without brake

MSMA452*1*
50 Without brake With brake

MSMA502*1*

Instantaneous 25 operation range

Motor rpm

Outputs the motion status (PLCopen definition) of a single-axis motion.

MC_ReadActualPosition

Outputs the actual position of a single-axis.

MC_Reset

Resets all internal errors of a single-axis after a stop due to an error.

MC_PositionProfile

Single-axis motion according to a time-position motion profile.

MC_VelocityProfile

Single-axis motion profile according to a time-velocity motion profile.
Order information: NAiS Motion Control Library

NCL-MC-LIB

Software

Software PANATERM

With the Windows-based software PANATERM, drive parameters can be easily accessed, saved and downloaded via RS232C.

Features:

Set and store of parameters, and write to EEPROM Monitor input/output status, input and load ratio Check error status and error history Measure of wave form graphic data, and save and read data Auto-tuning Measure frequency characteristics
Order information: Software PANATERM English version DVOP3180
Accessories / Cables / Options
Encoder Cables For MSMA up to 750 W, 5 m For MSMA up to 750 W, 10 m For MSMA up to 750 W, 15 m For MSMA up to 750 W, 20 m For MSMA from 1 to 5 kW, 5 m For MSMA from 1 to 5 kW, 10 m For MSMA up to 750 W, 5 m, usable for drag chain For MSMA up to 750 W, 10 m, usable for drag chain For MSMA up to 750 W, 15 m, usable for drag chain For MSMA up to 750 W, 20 m, usable for drag chain For MSMA from 1 to 5 KW, 5 m, usable for drag chain For MSMA from 1 to 5 kW, 10 m, usable for drag chain Motor Cables For MSMA up to 750 W without brake, 5 m For MSMA up to 750 W without brake, 10 m For MSMA up to 750 W without brake, 15 m For MSMA up to 750 W without brake, 20 m For MSMA up to 750 W with brake, 5 m For MSMA up to 750 W with brake, 10 m For MSMA up to 750 W with brake, 15 m For MSMA up to 750 W with brake, 20 m For MSMA from 1 to 2,5 KW without brake, 5 m For MSMA from 1 to 2,5 KW without brake, 10 m For MSMA up to 750 W without brake, 5 m, usable for drag chain For MSMA up to 750 W without brake, 10 m, usable for drag chain For MSMA up to 750 W without brake, 15 m, usable for drag chain For MSMA up to 750 W without brake, 20 m, usable for drag chain For MSMA up to 750 W with brake, 5 m, usable for drag chain For MSMA up to 750 W with brake, 10 m, usable for drag chain For MSMA up to 750 W with brake, 15 m, usable for drag chain For MSMA up to 750 W with brake, 20 m, usable for drag chain For MSMA from 1 to 2,5 KW without brake, 5 m, usable for drag chain For MSMA from 1 to 2,5 KW without brake, 10 m, usable for drag chain For MSMA from 1 to 2,5 KW with brake, 5 m, usable for drag chain For MSMA from 3 to 2,5 KW with brake, 10 m, usable for drag chain Other Accessories and Cables Connector for PLC connection, 50 pins, without cable Connector Kit for Motor and Encoder MSMA 30 W.750 W 2500p/r encoder Connector Kit for Motor and Encoder MSMA 1 kW.2.5 kW, without brake Connector Kit for Motor and Encoder MSMA 3 kW.5 kW, without brake RS232C Communication cable to PC 9 pin Sub-D, 2 m RS485 Communication Cable Mini-DIN8Pin -MD connector, 1 m EMC 1-phase filter 250VAC, 50/60 Hz, 6A Cable MSDA to FP-Series, 50-pins / open ends, 0.25 m (2 pieces) Cable MSDA to FP-Series, 50-pins / open ends, 0.5 m (2 pieces) Cable MSDA to FP-Series, 50-pins / open ends, 1.5 m (2 pieces) Cable MSDA to FP-Series, 50-pins / open ends, 5 m (2 pieces) I/F Connector Terminal for FP2 - MSDA, 1 axis I/F Connector Terminal for FP2 - MSDA, 2 axis Cable for connection of FP2 to I/F Terminal, 0.5 m Cable for connection of FP2 to I/F Terminal, 1 m Cable for connection of MSDA - I/F Terminal, 1 m Cable for connection of MSDA - I/F Terminal, 2 m Part No. CDE3751 CDE3752 CDE3753 CDE3754 CDE1501 CDE1502 CDE3751PM CDE3752PM CDE3753PM CDE3754PM CDE1501PM CDE1502PM CDM3751 CDM3752 CDM3753 CDM3754 CFM3751 CFM3752 CFM3753 CFM3754 CDM1251 CDM1252 CDM3751PM CDM3752PM CDM3753PM CDM3754PM CFM3751PM CFM3752PM CFM3753PM CFM3754PM CDM1251PM CDM1252PM CFM1251PM CFM1252PM DVOP0980 DVOP0490 DVOP0960 DVOP1510 DVOP1960 DVOP1972 FS5739-6/07 AFP3510 AFP3511 AFP3513 AFP35110 AFP8501 AFP8502 AFP85100 AFP85101 AFP85111 AFP85112

Typical Applications

Stitching machine
FP0T32CP controls 2 MINAS A servos, one for feeding the cloth, one for the needle. Both servos are sychronized accurately by the PLC for achieving good quality.
Machine for ceramic tube cutting
FP (Sigma) controls the whole machine and offers high flexibility for production of tubes with variable length and quantity.

Control cabinet

with FP0T32CP, MSDA203A1A and MSDA083A1A

Leather cutting machine

FP2 with positioning module and MINAS A servo control the cutting process with high speed and an accuracy of 10 m.
Quality control in automotive industry

Labelling machine

Machine for cutting paper
750W Panasonic servo controls the cutting blade
MINAS A 400W type tooth belt transmission
Other application examples:
Packaging machines with several axes Winding machines Textile machines Gate and door control

Global Network Services

Global Network
North America Aromat Corporation Europe Matsushita Electric Works (Europe) AG Asia Pacific China Japan Matsushita Electric Works, Ltd. Global Headquarter Matsushita Matsushita Electric Works Electric Works (Asia Pacific) Pte. Ltd. (China) Co., Ltd.
Matsushita Electric Works
Please contact our Global Sales Companies in:
Europe Europe Austria Matsushita Electric Works (Europe) AG Matsushita Electric Works Austria GmbH MEW Electronic Materials (Europe) GmbH Benelux Matsushita Electric Works Benelux B.V. Czech Republic Matsushita Electric Works (CZ) s.r.o. France Matsushita Electric Works France S.A.R.L. MEW Electronic Materials (France) S.p.A. Germany Matsushita Electric Works Deutschland GmbH Ireland Matsushita Electric Works UK Ltd. Italy Matsushita Electric Works Italia s.r.l. MEW Building Materials (Europe) s.r.l. MEW Lighting (Europe) s.r.l. Portugal Matsushita Electric Works Espaa S.A. Scandinavia Matsushita Electric Works Scandinavia AB MEW Fire & Security Technology AB Spain Matsushita Electric Works Espaa S.A. Switzerland Matsushita Electric Works Schweiz AG United Kingdom Matsushita Electric Works UK Ltd. North & South America USA Aromat Corporation Head Office USA 629 Central Avenue, New Providence, N.J. 07974, Tel. 1-908-464-3550, Fax 1-908-464-8513, www.aromat.com Rudolf-Diesel-Ring 2, 83607 Holzkirchen, Tel. (08024) 648-0, Fax (08024) 648-111, www.mew-europe.com Josef Madersperger Str. 2, 2362 Biedermannsdorf, Tel. (36) 46, Fax (36) 33, www.matsushita.at Industriehafenstrae 9, 4470 Enns, Tel. (23) 8 83, Fax (23) 33, www.mew-europe.com De Rijn 4, (Postbus 211), 5684 PJ Best, (5680 AE Best), Netherlands, Tel. (0499) 372727, Fax (0499) 372185, www.matsushita.nl, www.matsushita.be Prumyslov 1, CZ-34815 Plan, Tel. 374799990, Fax 374799999, www.nais.cz B.P. 44, F-91371 Verrires le Buisson CEDEX, Tl. 01 60135757, Fax 01 60135758, www.matsushita-france.fr 26 Alle du Clos des Charmes, 77090 Collegien, Tl. 01 64622919, Fax Rudolf-Diesel-Ring 2, 83607 Holzkirchen, Tel. (08024) 648-0, Fax (08024) 648-555, www.matsushita.de Irish Branch Office, Waverley, Old Naas Road, Bluebell, Dublin 12, Tel: (01) 4600969, Fax: (01) 4601131, www.matsushita.ie Via del Commercio 3-5 (Z.I. Ferlina), 37012 Bussolengo (VR), Tel. (045) 6752711, Fax (045) 6700444, www.matsushita.it Viale Elvezia 18, 20154 Milano (MI), Tel. (02) 33604525, Fax (02) 33605053 Via del Commercio 3-5 (Z.I. Ferlina), 37012 Bussolengo (VR), Tel. (045) 6703882, Fax (045) 6717420 Portuguese Branch Office, Avda Adelino Amaro da Costa 728 R/C J, 2750-277 Cascais, Tel. (21) 4812520, Fax (21) 4812529 Sjngsvgen 10, 19272 Sollentuna, Sweden, Tel. (08) 59476680, Fax (08) 59476690, www.matsushita.se Citadellsvgen 23, 21118 Malm, (040) 6977000, Fax (040) 6977099, www.mfstech.com Barajas Park, San Severo 20, 28042 Madrid, Tel. (91) 3293875, Fax (91) 3292976, www.matsushita.es Grundstrasse 8, 6343 Rotkreuz, Tel. (041) 7997050, Fax (041) 7997055, www.matsushita.ch Sunrise Parkway, Linford Wood, Milton Keynes, MK14 6LF, Tel. (01908) 231555, Fax (01908) 231599, www.matsushita.co.uk

Asia Pacific / China / Japan China Hong Kong Japan Singapore Matsushita Electric Works (China) Co., Ltd. Matsushita Electric Works (Hong Kong), Ltd. Matsushita Electric Works, Ltd. Matsushita Electric Works (Asia Pacific) Pte. Ltd. 2013, Beijing Fortune, Building No. 5, Dong San Huan Bei Lu, Chaoyang District, Beijing, Tel. 86-10-6590-8646, Fax 86-10-6590-8647 Rm1601, 16/F, Tower 2, The Gateway, 25 Canton Road, Tsimshatsui, Kowloon, Hong Kong, Tel. (852) 2956-3118, Fax (852) 2956-Kadoma, Kadoma-shi, Osaka 571-8686, Japan, Tel. 06-6908-1050, Fax 06-6908-5781, www.mew.co.jp/e-acg/ 101 Thompson Road, #25-03/05, United Square, Singapore 307591, Tel. (65) 6255-5473, Fax (65) 6253-5689
Copyright 2004 Printed in Germany 4152 eu en 07/04