2
3
4
5
6
7
8
9
10
11
12
13
MODEL No. Voltage Phase F.L.C Freq. Power AC SERVO MADCT1503 SERIAL No. 02070001 INPUT OUTPUT ENCODER 200-240V 84V 1/3 3 1.0A/0.70A 1.0A 50/60Hz 0~333.3Hz 100W 02070001 M A D C T 1 5 0 3 2 4 5~6 7 8~9 10~12 14
CONT. TORQUE 0.64 Nm AC SERVO MOTOR RATING S1 MODEL No. MSMA3AZS1A INS. CLASS B (TÜV) A (UL) INPUT 3ØAC 92 V IP65 1.6 A CONNECTION RATED OUTPUT 0.2 kw SER No. 02070001 RATED FREQ. 200 Hz RATED REV. 3000 r/min 02070001 M S M A 3 A Z S 1 A 1~4 5~6 7 8 9 10 11~12 15
16
17
18
19
RB2 RB3 MODE L1 L2 L3 L1C RB2 RB3 L2C DL1 DL2 RB1 U V W SET MODE SET L1 L2 L3 L1C L2C DL1 DL2 RB1 U V W X5 X4 X7 X6 20
MODE SET L1X7 L2 L3 r t P B1 B2 U V W X6 X5 X4 MODE SET L1X7 L2 L3 r t P B1 B2 U V X6 X5 X4 W 21
22
23
24
25
26
X7 X6 X5 X4 27
28
L1X7 L2 X6 L3 r t X5 P B1 B2 U V W X4 29
30
31
32 NFB NF U V W E MC 1 2 3 4 L L1 L2 L3 L1C L2C DL1 DL2 RB1 RB3 RB2 U V W
NFB NF U V W E MC 1 2 3 4 L L1 L2 L3 r t P B1 B2 U V W 33
ON MC ALM OFF MC ON MC ALM OFF MC NFB MC L* L1 L2 L3 L1C L2C P N DC/DC NFB MC L L1 L2 L3 L1C L2C P N DC/DC DL1 DL1 DL2 RB1 RB3 RB2 U V W P N DL2 RB1 RB3 RB2 U V W P N ALM 37 ALM+ ALM 37 ALM+ VDC 12~24V 36 ALM- 41 COM- 36 ALM- 41 COM- VDC 12~24V CN X5 CN X5 ON MC ALM OFF MC ON MC ALM OFF MC NFB MC L* L1 L2 L3 L1C L2C P N DC/DC NFB MC L L1 L2 L3 L1C L2C P N DC/DC DL1 DL1 DL2 RB1 RB3 RB2 U V W P N DL2 RB1 RB3 RB2 U V W P N ALM 37 ALM+ ALM 37 ALM+ VDC 12~24V 36 ALM- 41 COM- 36 ALM- 41 COM- VDC 12~24V CN X5 CN X5 34
ON MC ALM OFF MC NFB MC L L1 L2 L3 r t P N DC/DC P P B1 B2 U V W N VDC 12~24V ALM 37 ALM+ 36 ALM- 41 COM- CN X5 35
36 E0V 1 2 3 4 5 6 17 18 20 E0V E5V E5V BTP-0 BTN-0 PS PS FG
37
38
COM+ 1 2 GND VDC COM- FG CN X5 + - GND GND 39
40
41
42
43
RY BRK-OFF+ 11 12~24V VDC RY BRK-OFF- 10 COM- 41 DC24V CN X5 44
45
46
47
48
49
50
51
52
53
54
9 A B CDE F 08 9 A B CDE F 08 1 2 3 4 5 6 7 1 2 3 4 5 6 7 IM SP IM SP 9 A B CDE F 08 9 A B CDE F 08 1 2 3 4 5 6 7 1 2 3 4 5 6 7 IM SP IM SP 55
56
57
58
59
60
61
62
63
64
65
66
67
DL2 DL1 L2C L1C L3 L2 L1 RB2 RB3 X7 X6 RB1 X5 U V W X4 68
69
70
LL LR LF LE Sh6 LBh7 LC 4- LZ LD LA 71
72
73 1 2 14 15 16 17 43 18 42 7 COM+ PULS2 SIGN1 SIGN2 GND OA+ OA- OB+ OB- OZ+ OZ- GND CZ SPR/TRQR GND CCWTL/TRQR GND CWTL SP IM 1 2 3 4 5 6 13 21 22 48 24 46 47 25 19 20 49 23 PULS1 INH CL SRV-ON GAIN DIV ZEROSPD C-MODE A-CLR CCWL CWL S-RDY+ S-RDY- ALM+ COIN+ BRKOFF+ BRKOFF- TLC VDC 12~24V ZSP COM- BATT+ BATT- CN X5 FG COIN- ALM- 33 30 29 27 28 32 31 9 8 35 34 37 36 39 38 11 10 40 12 41 44 45 50 26 44 45
12~24V 12~24V 7 7 3 PULS1 4 5 PULS2 SIGN1 6 13 SIGN2 GND 3 PULS1 R 4 PULS2 5 SIGN1 R 6 SIGN2 13 VDC GND 74
12~24V VDC 41 SO1 ALM+ ALM- SO2 ZSP, TLC COM- OA+ OA- OB+ OB- OZ+ OZ- GND 25 21 22 48 49 23 24 A B Z 19 25 CZ GND 43 SP 42 IM 17 GND 75
76
77
78
79
80
81
82
83
84
85
7 COM+ 33 29 INH SRV-ON 41 3 4 5 6 COM- PULS1 PULS2 SIGN1 SIGN2 CZ GND 86
60 87
88
89
90
91
92
93
94
95
Pr33 Pr34 0 Pr32 96
Kp2(Pr10) Pr35= Kp1(Pr18) 0 0 3 1 2 2 1 3 Kp1(Pr10)<Kp2(Pr18) t1 t1 t1 t1 t1 t1 t1 t1 t2 t2 t3 t2 t2 t4 t5 t4 t5 H L t6 t6 t6 t6 97
98
99
100
[%] 300 200 100 100 200 300 101
102
103
104
LL LR LF LE Sh6 LBh7 LC 4- LZ LD LA 105
106
107 7 COM+ PULS2 SIGN1 SIGN2 GND OA+ OA- OB+ OB- OZ+ OZ- GND CZ SPR/TRQR GND CCWTL/TRQR GND CWTL SP IM 1 2 3 4 5 6 13 21 22 48 24 46 47 25 19 20 49 23 PULS1 INH CL SRV-ON GAIN DIV ZEROSPD C-MODE A-CLR CCWL CWL S-RDY+ S-RDY- ALM+ COIN+ BRKOFF+ BRKOFF- TLC VDC 12~24V ZSP COM- BATT+ BATT- CN X5 FG COIN- ALM- 33 30 29 27 28 32 31 9 8 35 34 37 36 39 38 11 10 40 12 41 44 45 50 14 15 16 17 18 43 42 26 44 45
12~24V 7 12~24V 7 + + + 108
12~24V VDC 41 OA+ OA- OB+ OB- OZ+ OZ- SO1 ALM+ ALM- SO2 ZSP, TLC COM- GND 25 21 22 48 49 23 24 A B Z 19 25 CZ GND 43 SP 42 IM 17 GND 109
110
111
112
113
114
115
116
117
118
CN X5 CL 30 INH 33 SPR 14 GND 15 Pr05 2 1 1 2 0 0 119
120
121
122
123
124
125
-10-6 2 4 6 8 10 126
127
[%] 300 200 100 100 200 300 CW CCW 128
129
130
LL LR LF LE Sh6 LBh7 LC 4- LZ LD LA 131
132
133 7 COM+ PULS2 SIGN1 SIGN2 GND OA+ OA- OB+ OB- OZ+ OZ- GND CZ SPR/TRQR GND CCWTL/TRQR GND CWTL SP IM 1 2 3 4 5 6 13 21 22 48 24 46 47 25 19 20 14 15 16 17 43 18 42 49 23 PULS1 INH CL SRV-ON GAIN DIV ZEROSPD C-MODE A-CLR CCWL CWL S-RDY+ S-RDY- ALM+ COIN+ BRKOFF+ BRKOFF- TLC VDC 12~24V ZSP COM- BATT+ BATT- CN X5 FG COIN- ALM- 33 30 29 27 28 26 32 31 9 8 35 34 37 36 39 38 11 10 40 12 41 44 45 50 SPR/TRQR GND CCWTL/TRQR GND 14 15 16 17
12~24V 7 12~24V 7 + + + 134
12~24V VDC 41 SO1 ALM+ ALM- SO2 ZSP, TLC COM- OA+ OA- OB+ OB- OZ+ OZ- GND 25 21 22 48 49 23 24 A B Z 19 25 CZ GND 43 SP 42 IM 17 GND 135
136
137
138
139
140
141
142
143
144
145
146
147
148
149
150
300[%] 200 100-10V -8-6 -4-2 2 4 6 8 10V 100 200 300[%] 151
[%] 300 200 100 100 200 300 CCW CW 152
153
154
LL LR LF LE Sh6 LBh7 LC 4- LZ LD LA 155
156
157
158
159
160
161
12~24V 12~24V 7 7 3 PULS1 4 5 PULS2 SIGN1 6 13 SIGN2 GND R 3 PULS1 4 PULS2 5 SIGN1 R VDC 6 SIGN2 13 GND + + + 162
12~24V VDC 41 SO1 ALM+ ALM- SO2 ZSP, TLC COM- OA+ OA- OB+ OB- OZ+ OZ- GND 25 19 25 CZ GND 21 22 48 49 23 24 A B Z 43 SP 42 IM 17 GND 163
164
165
166
167
168
169
170
171
172
173
174
Pr33 0 Pr34 Pr32 175
Kp2(Pr10) Pr35= Kp1(Pr18) 0 0 3 1 2 2 1 3 Kp1(Pr10)<Kp2(Pr18) t1 t1 t1 t1 t1 t1 t1 t1 t2 t2 t3 t2 t2 t4 t5 t4 t5 H L t6 t6 t6 t6 176
177
178
[%] 300 200 100 100 200 300 179
180
181
182
183
184
LL LR LF LE Sh6 LBh7 LC 4- LZ LD LA 185
186
187
188
189
190
191
192
193
194
195
196
197
198
199
200
201
1ms 2ms 202
203
204
205
206
207
208
209
210
211
212
213
214
LL LR LF LE Sh6 LBh7 LC 4- LZ LD LA 215
DL1 V U RB2 RB3 L2C L1C L3 L2 L1 X7 X6 DL2 RB1 W X5 X4 216
217
100 10 MAMA MSMA MAMA MSMA MDMA MHMA MFMA MGMA 100W 30W~100W 200W~750W 200W~5kW 750W~5kW 500W~5kW 400W~4.5kW 300W~4.5kW 1 115 100 150 200 250 300 350 400 450 500 550 218
219
220
221
222
223
224
LL LR LF LE Sh6 LBh7 LC 4- LZ LD LA 225
1 2 3 4 5 6 7 9 ABCDEF 08 226
RS232C RS485 RS485 RS485 TXD RXD GND 5 3 4 44 45 CN X6 RXD TXD GND CN X5 BATT+ BATT- 1 2 5 6 CN X4 3 RSW(ID)=0 RSW(ID)=1 RSW(ID)=2 RSW(ID)=3 RS485 1 RS485+ RS485- GND CN X7 7 RS485+ 8 4 RS485- GND 7 8 4 44 45 CN X6 RS485+ RS485- GND CN X5 BATT+ BATT- RSW(ID)=1 2 CN X4 RSW(ID)=2 RSW(ID)=3 RSW(ID)=4 3 227
228
229
230
231
232 N N N N Y Y Y Y
Y Y Y N N N N Y 233
131071 0,1,2 131071 0,1,2 131071 0,1, -1 0 0 1 1 2 CW CCW 0Bh RSW (ID) D2h 00h Err42 Err47 Err44 Err41 Err45 Err40 234
235
236
237
DV0P1960 DV0P1970 DV0P1970 DV0P1970 238
RS232C X6 X6 X6 X6 RSW(ID)=1 RSW(ID)=1 RSW(ID)=1 RSW(ID)=1 RS232C RS485 RS485 RS485 X7 X7 X7 X6 X6 X6 X6 RSW(ID)=0 RSW(ID)=1 RSW(ID)=2 RSW(ID)=3 RS485 RSW(ID)=1 RSW(ID)=2 RSW(ID)=3 RSW(ID)=4 X7 X6 X7 X6 X7 X6 X6 239
240
241
242
243
244
RS232C RSW(ID)=0 RSW(ID)=1 RSW(ID)=2 RSW(ID)=3 RS485 RS485 RS485 X7 X7 X7 X6 X6 X6 X6 245
246
247
248
249
250
251
252
253
254
255
256
257
258
259
260
261
262
263
264
265
CN X5 L1 L2 L3 L1C(r) L2C(t) U V W CN X4 M RE 266
H±1.5 I±1.5 M±1.5 A±4.0 B±1.5 C±1.0 D±1.5 O±1.5 N L A B E L G±1.5 F±1.0 E±1.5 1 2 3 R Cx L Cx Cy 4 5 6 6-J 2-øL 2-øK A B C D E F G H I J K L M N O DVOP1441 188 160 145 130 110 95 70 55 25 M5 4.5 ø4.57 10 M4 17.5 3SUP-A10H-ER-4 DVOP1442 228 200 185 170 110 95 70 60 30 M6 4.5 ø4.57 10 M4 17.5 3SUP-A30H-ER-4 DVOP1443 272 240 220 200 140 110 70 80 40 M6 6.5 ø6.58 15 M4 20 SSUP-A50H-ER-4 I 2-øJ L A±3.0 B C±4.0 D 2-øK 1 Cx2 4 L (H) 2 L1 L2 5 L A B E L (C) F±1.0 E 3 R Cx1 Cy R Cx3 6 Cy A B C D E F G H I J K L DV0P3390 246 230 215 200 100 85 13 18 140 5.57 5.5 M4 3SUP-HL30-ER-6B DV0P3410 286 270 255 240 120 90 13 18 150 5.57 5.5 M6 3SUP-HL50-ER-6B ø4.2±0.2 28.5±1 5.5±1 11±1 1 2 3 41±1 200-0 +30 28±1 UL-1015 AWG16 4.5±0.5 267
39±1 34±1 13±1 30±1 95±1.0 3 25 12.5 7 25.5 6 7.2 20 4.5 65.5±1.0 31.4±1.0 110±1.0 2-4.2 268
L A M L/2 B P 269
V U PS PS NC E W FG E0V E5V FG BTN-0BTP-0 NC PS PS NC E0VE5V L K J M T H S A N G B C P D R E F MS3102A 20-29P L K J M T H S A N G B C P D R E F MS3102A 20-29P F G E H I D A C B D C D A B A G B E H C I F 270
271
L (16) (ø7) 3M 10320 (4) (14) (4) L ø37.3 (ø7) 3M 10320 L (9.8) (20) (ø9.2) 3M 10320 (4) (14) (4) ø37.3 L (ø9.2) 3M 10320 272
(12.0) (4) (10.0) (4) (50) (50) L (ø11) ø37.3 (ø12.5) L (50) ø37.3 (ø12.5) L (50) L (50) ø40.5 (ø14) ø37.3 (ø12.5) L (50) L (50) ø37.3 (ø12.5) ø43.7 (ø14) L (50) 273
(10.0) (12.0) (40) (50) L (ø9.8) (5.6) L (50) ø37.3 (ø12.5) (ø9.8) L (50) L (50) ø37.3 (ø12.5) (ø9.8) L (50) L (50) ø43.7 (ø14) (ø9.8) L (50) 33 18 2000 +200 0 274
L 275
276
11 NC 13 NC 15 NC 17 PS 19 NC 11 NC 13 NC 15 NC 17 PS 19 NC 1 0V 12 NC 3 5V 14 NC 5 NC 16 NC 7 NC 18 PS 9 NC 20 FG 1 0V 12 NC 3 5V 14 NC 16 NC 5 BTP-0 7 NC 18 PS 9 NC 20 FG 2 0V 4 5V 6 NC 8 NC 10 NC 2 0V 4 5V 6 BTN-0 8 NC 10 NC 277
26 28 ZERO DIV SPD 27 GAIN 1 NC 2 NC 30 CL 29 SRV -ON 3 PULS1 31 A- 5 SIGN1 32 C- MODE CLR 7 COM 33 INH 4 6 8 PULS2 SIGN2 CWL 34 S- RDY 35 S- RDY 9 CCWL 36 ALM 37 ALM 11 BRK- OFF 10 12 BRK- ZSP OFF 38 COIN 13 GND 40 TLC 39 COIN 14 SPR 15 GND 42 IM 41 COM 17 GND 16 CCWTL TRQR /TRQR 43 SPM 44 BATT 19 CZ 18 CWTL 46 NC 45 BATT 20 NC 21 OA 47 NC 22 OA 48 OB 23 OZ 49 OB 24 OZ 50 FG 25 GND 2000 +200 0 39 12.7 50 +10 0 25 50 52.4 1 26 18 278
279 110.2 7 7 21 2 2 17 10 15 9.5 110.2 17 9.5 15 10 21 7 5.2 R2 R1 ø5.2 2 2 2 2 2 5 190.2 5 7 29 2 17 10 15 9.5 2 ø5.2 190.2 5 17 9.5 340.2 500.2 76 13 5.2 5.2 18 38 400.2 5 20 20 44 17 10 15 9.5 ø5.2 340.2 5 17 9.5 2 17 15 9.5 22.5 30 2.3 7.5 7.5 40 26 10 50 74 17 15 10 9.5 2-ø5.2 ø5.2 15 10 29 7 5.2 15 10 44 10 50 52 74 40 26 20 5.2 R1 R2.6
ø4.3 57 60 10 52 300 ø4.3 65 8 ø4.5 B A C 250 234 2 M3 3 60 80 218 2 ø4.5 40 t0.6 3.5 E 4.5 D 4.5 72 14.5 280 18
X Y Z NP R S T E E C D C D B F G B F G 281
282
283
LL LR 220 LF 3 LC 200 4-øLZ øsh6 LBh7 LH øla LW LK KH KWh9 RH 284
285 øsh6 L Bh7 LR LE LL LF LG 4-øLZ LC LC ø145 LZ LW KWh9 LK KH RH øla øld ø135 øld LH
286 LC LW KWh9 KH RH LK øla 4-øLZ LH LL LR LE LF 200 220 LBh9 øsh6
287 øsh6 L Bh7 LR LE LL LF 4-øLZ LC LC ø145 LZ øla øld ø135 øld LW KWh9 LK KH RH
288 4-øLZ LC øla øld øsh6 L Bh7 LR LE LL LF LW KWh9 LK KH RH
289 LL LR LE LF LBh7 øsh6 LC øld 4-øLZ øla øld ø250 LC 4-øLZ øla LW LK KWh9 KH RH
290 øsh6 L Bh7 øsh6 L Bh7 LR LR LE LL LL LF LF LE 4-øLZ 4-øLZ LC LC øla øla øld øld LW KWh9 LK KH RH
291
9 A B CDE F 08 DL1 L2C L1C L3 L2 L1 ID 1 2 3 4 5 6 7 MODE SET IM SP G X7 X8 RB1 DL2 X5 RB2 RB3 W V U 9 A B CDE F 08 9 A B CDE F 08 DL1 L2C L1C L3 L2 L1 ID 1 2 3 4 5 6 7 MODE SET IM SP G X7 X8 DL2 RB1 X5 RB2 RB3 RB2 RB3 DL2 DL1 W L2C L1C L3 L2 L1 RB1 V U W V U 9 A B CDE F 08 MODE ID 1 2 3 4 5 6 7 IM SP SET G X7 X8 L2C L1C L3 L2 L1 X5 RB2 RB3 DL2 RB1 DL1 W V U 21 7 ø5.2 160 15 180 5 190 40 20 MODE ID 1 2 3 4 5 6 7 IM SP SET ø5.2 G X7 X8 5 11 160 172 182 22 170 X5 X4 X4 R 2.6 7 5.2 2.6 R 20 5.2 7 29 ø5.2 160 15 180 5 190 55 27.5 ø5.2 5 11 160 172 182 22 170 X4 X4 R 2.6 7 5.2 R 2.6 27.5 5.2 292
91 2 3 4 5 6 7 8 91 2 3 4 5 6 7 8 91 2 3 4 5 6 7 8 DL1 L2C L1C L3 L2 L1 ID A B CDE F 0 MODE SET IM SP G X7 X8 RB1 X5 RB2 RB3 DL2 W V U 91 2 3 4 5 6 7 8 DL1 L2C L1C L3 L2 L1 ID A B CDE F 0 MODE SET IM SP G X7 X8 X5 RB2 RB3 DL2 RB1 W V U 20 44 70 20 ø5.2 160 15 180 5 190 ø5.2 11 5 160 172 182 22 170 X4 X4 20 5.2 R 2.6 20 5.2 10 74 100 50 10 50 W V U RB2 RB3 RB1 DL2 DL1 L2C L1C L3 L2 L1 ID A B CDE F 0 2-ø 5.2 MODE SET IM SP G X7 X8 X5 X4 160 15 180 5 190 W V U RB2 RB3 RB1 DL2 DL1 L2C L1C L3 L2 L1 ID A B CDE F 0 2-ø 5.2 MODE SET IM SP G X7 X8 X5 X4 160 11 172 5 182 22 170 10 2.6 R 2.6 5.2 50 10 50 R 2.6 R 2.6 R 5.2 293
ID 9 A B CDE F 08 1 2 3 4 5 6 7 ID 91 2 3 4 5 6 7 8 MODE IM MODE SET IM SP G SP SET G 85 76 50 13 38 5.2 5.2 A B CDE F 0 ø5.2 X7 X6 X5 X4 15 220 7.5 235 250 22.3 2.3 205 2.3 2.3 5.2 5.2 38 ø5.2 50 13 2.3 100 76 50 13 38 5.2 5.2 ø5.2 X7 X6 X5 X4 15 220 7.5 235 250 22.3 2.3 2.3 205 2.3 5.2 5.2 38 ø5.2 50 13 2.3 294
ID 9 A B CDE F 08 1 2 3 4 5 6 7 MODE IM SP SET G 150 100 25 75 5.2 5.2 ø5.2 22.3 2.3 275 5.2 ø5.2 5.2 75 100 25 X7 X6 X5 X4 220 235 250 2.3 2.3 2.5 76 2.3 2.3 295
DL1 DL2 P U L 1 L 2 L 3 V M L1C L2C N + DC/DC ±12V +5V W RE RB1 RB3 RB2 X7 EEPROM X6 X5 A/D A/D X4 CN BAT P U L 1 L 2 L 3 r t + N DC/DC ±12V +5V V W M RE P B1 B2 X7 EEPROM X6 X5 A/D A/D X4 CN BAT 296
297 L 1 L 2 L 3 DC/DC r t P B1 X7 X6 X4 DB U V W M RE CN BAT X5 N P + ±12V +5V A/D A/D EEPROM B2
298
299
300
301
302
303
304
305
306
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319
2004 Matsushita Electric Industrial Co., Ltd. All Rights Reserved. IMC40 S0103-7066