2
3
4
5
6
7
8
9
10
LL LR LF LE Sh6 LBh7 LC 4- LZ LD LA 11
AC SERVO DRIVER MSDA3A1A1A MODEL No. INPUT OUTPUT ENCODER Voltage 100-115V 32V 17bits Phase 1ø 3ø F.L.C 1.0A 1.0A Freq. 50/60Hz 0~333.3Hz Power 30W Serial No. 00010001 Use Copper Conductors Only Refer to Manual for Wiring and Wire Size Refer to Manual for Over Load Protection M S D A 3 A 1 A 1 A 1~3 4 5~6 7 8 9 10 11~12 12
CONT. TORQUE 0.64 Nm AC SERVO MOTOR RATING S1 MODEL No. MSMA022A1A INS. CLASS B (TÜV) A (UL) INPUT 3ØAC 92 V IP65 1.6 A CONNECTION RATED OUTPUT 0.2 kw SER No. 00010001 RATED FREQ. 200 Hz RATED REV. 3000 r/min MatsushitaElectric Industrial Co..Ltd. Made in Japan M S M A 0 2 2 A 1 A 1~3 4 5~6 7 8 9 10 11~12 13
14
15
16
17
MODE SET MODE SET 18
MODE SET 19
20
ID MODE IM SP SET ID MODE G IM SP SET ID MODE G IM SP SET ID MODE G IM SP SET G I/F I/F I/F I/F SIG SIG SIG SIG U U U U V V V V W W W W 21
22
LL LR LF LE Sh6 LBh7 LC 4- LZ LD LA 23
24
25
26
27
28 NFB NF MC L1 1 2 3 4 U V W E L2 L3 r t P B1 B2 U V W L
29
ON MC ALM OFF MC ON MC ALM OFF MC NFB MC L L1 L2 L3 r t P N DC/DC NFB MC L* L1 L2 L3 r t P N DC/DC 172167-1 172159-1 1 2 3 4 P B1 B2 U V W P N 172167-1 172159-1 1 2 3 4 P B1 B2 U V W P N VDC 12~24V ALM 37 ALM+ CN I / F VDC 12~24V ALM 37 ALM+ 36 ALM- 41 COM- 36 ALM- 41 COM- CN I / F 30
MC ON OFF ALM MC NFB MC L1 L2 L3 P B U V W 2.2k 2.2k r t TH(+) TH(-) FN(+) FN(-) 24V ALM+ 37 ALM- 36 ALM ALM VDC 12~24V 31
32 ID MODE IM I/F SIG U V W SP G SET L 1 L 2 L 3 B 1 B 2 r t P 3.6V+ 3.6VG SD SD 315 (J) 20 +5V 0V FG BATT+ BATT- RX/TX RX/TX +5V +5V 0V 0V FG FG 0V +5V RX RX +5V 172163-1 172171-1 0V CN SiG 17 8 7 10 9 12 11 18 4 2 3 1 20 11 2 1 4 3 6 5 12 13 14 15 RX +5V 0V 5V 0V FG RX A B Z A B Z A A B B Z Z
33 RX +5V 0V +5V 0V FG RX A B Z A B Z FG 0V +5V RX RX A A B B Z Z MS3106B20-29S MS3102A20-29P CN SiG 11 E 12 F 9 C 10 D 7 A 8 B 17 P 18 4 2 3 1 20 R H G J +5V 0V 0V +5V SD FG SD 3.6V+ 3.6VG 0V +5V +5V 0V FG RX/TX RX/TX 172161-1 2 172169-1 CN SiG 17 4 2 3 1 20 6 5 18 4 2 1 5 7 8 3 BATT+ BATT- +5V 0V FG 0V 0V +5V +5V +5V 0V FG RX/TX RX/TX +5V MS3106B20-29S MS3102A20-29P 0V CN SiG 5 T 6 S 17 K 18 4 2 3 1 20 L H G J SD SD 3.6VG 3.6V+ BATT+ BATT- 2
ID MODE SET IM SP G NET SER I/F ID MODE SET ID MODE SET ID MODE SET IM SP G IM SP G IM SP G NET SER NET SER NET SER I/F I/F I/F 34
t ID MODE IM SP SET I/F SIG U V W G L 1 L 2 L 3 r P B 1 B 2 COM+ 1 2 GND + - GND VDC GND COM- FG CN I/F 35
36
37
38
39
RY BRK-OFF+ 11 12~24V BRK-OFF- 10 COM- 41 VDC RY DC24V CN I/F 40
41
42
43
44
45
46
47
48
49
50
ID MODE SET IM SP G 51
52
SET ID MODE SET IM SP G MODE SET SET MODE SET 53
54 SET
55
56
57
SET SET 58
SET SET 59
SET 60
61
SET 62
7 COM+ 33 INH 29 SRV-ON 41 3 4 5 6 COM- PULS1 PULS2 SIGN1 SIGN2 CZ GND 60 63
64
LL LR LF LE Sh6 LBh7 LC 4- LZ LD LA 65
66
67 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 / I F 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 R 3 PULS1 4 PULS2 5 SIGN1 R VDC 6 SIGN2 13 GND 68
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 69
70
71
72
73
74
75
76
77
78
79
ID MODE SET IM SP G 80
81
82
83
84
Pr33 0 Pr34 Pr32 Kp2(Pr10) Pr35= Kp1(Pr18) 0 1 Kp1(Pr10)<Kp2(Pr18) 0 3 1 2 2 3 85
t1 t1 t1 t1 t1 t1 t1 t1 t2 t2 t3 t2 t2 t4 t5 t4 t5 H L t6 t6 t6 t6 86
87
88
[%] 300 200 100 100 200 300 89
90
91
92
LL LR LF LE Sh6 LBh7 LC 4- LZ LD LA 93
94
95 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 / IF 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 + + + 96
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 97
98
99
100
101
ID MODE SET IM SP G 102
CN I/F CL 30 INH 33 SPR 14 GND 15 Pr05 2 1 1 2 0 0 103
104
105
106
107
108
-10-6 2 4 6 8 10 109
110
[%] 300 200 100 100 200 300 CCW CW 111
112
113
114
LL LR LF LE Sh6 LBh7 LC 4- LZ LD LA 115
116
117 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 / I F 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 + + + 118
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 119
120
121
122
123
ID MODE SET IM SP G 124
125
126
127
128
129
300[%] 200 100-10V -8-6 -4-2 2 4 6 8 10V 100 200 300[%] [%] 300 200 100 100 200 300 130
CW CCW 131
132
133
134
LL LR LF LE Sh6 LBh7 LC 4- LZ LD LA 135
ID MODE IM SP SET G I/F SIG U V W 136
137
138
139
140
141
142
143
144
145
146
147
148
149
150
151
152
153
154
155
ID MODE SET IM SP G 156
157
158
159
160
Pr33 0 Pr34 Pr32 Kp2(Pr10) Pr35= Kp1(Pr18) 0 1 Kp1(Pr10)<Kp2(Pr18) 0 3 1 2 2 3 161
t1 t1 t1 t1 t1 t1 t1 t1 t2 t2 t3 t2 t2 t4 t5 t4 t5 H L t6 t6 t6 t6 162
163
164
[%] 300 200 100 100 200 300 165
166
167
168
169
170
LL LR LF LE Sh6 LBh7 LC 4- LZ LD LA 171
172
Pr1D Pr14,Pr1C 173
SET 174
ID MODE IM SP SET G ID MODE SET IM SP G I/F SIG U V W 175
176
177 1ms 2ms
178
179
180
LL LR LF LE Sh6 LBh7 LC 4- LZ LD LA 181
182
183
100 10 MSMA MSMA MDMA MHMA MFMA MQMA MGMA 30W~100W 200W~5kW 750W~7.5kW 500W~7.5kW 400W~4.5kW 100W~400W 300W~6kW 1 100 115 150 200 250 300 350 400 184
185
186
187
188
189
190
LL LR LF LE Sh6 LBh7 LC 4- LZ LD LA 191
1 2 3 4 5 6 7 ID MODE SET IM SP G NET SER 9 ABCDEF 08 I/F SIG U V W 192
193 NET SER ID MODE IM I/F SIG U V W SP G SET NET SER ID MODE IM I/F SIG U V W SP G SET NET SER ID MODE IM I/F SIG U V W SP G SET NET SER ID MODE IM I/F SIG U V W SP G SET NET SER ID MODE IM I/F SIG U V W SP G SET NET SER ID MODE IM I/F SIG U V W SP G SET NET SER ID MODE IM I/F SIG U V W SP G SET RS232C RSW(ID)=0 RSW(ID)=1 RSW(ID)=2 RSW(ID)=3 RS485 RS485 RS485 NET SER ID MODE IM I/F SIG U V W SP G SET TXD RXD GND 5 3 4 44 45 5 3 6 BATT+ BATT- 2 1 RXD TXD GND CN SER CN I/F CN SIG NET SER ID MODE IM I/F SIG U V W SP G SET NET SER ID MODE IM I/F SIG U V W SP G SET NET SER ID MODE IM I/F SIG U V W SP G SET NET SER ID MODE IM I/F SIG U V W SP G SET RS485 RSW(ID)=1 RSW(ID)=2 RSW(ID)=3 RSW(ID)=4 RS485+ RS485- GND 7 8 4 44 45 3 CN NET CN SER CN I/F BATT+ CN SIG BATT- RS485+ 7 8 4 RS485- GND RS485+ RS485- GND 2 1
194
195
196
197
Y Y Y N N N N Y 198
Y Y Y N N N N Y 199
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 200
201
ID MODE SET IM SP G I/F SIG U V W 202
203
ID MODE IM SP SET NET SER I/F SIG G ID MODE IM SP SET NET SER I/F SIG G ID MODE IM SP SET NET SER I/F SIG G ID MODE IM SP SET NET SER I/F SIG G DV0P1960 DV0P1970 DV0P1970 DV0P1970 U U U U V V V V W W W W 204
ID ID ID MODE IM SP MODE IM SP MODE SET SET IM SP NET SER I/F SIG NET SER I/F SIG SET NET SER I/F G G SIG G ID ID ID MODE IM SP MODE IM SP MODE SET NET SER SET IM SP I/F SIG NET SER I/F SIG SET NET G SER I/F G SIG G ID ID ID MODE SET IM SP G NET MODE IM SP MODE SER I/F SIG SET IM SP NET SER I/F SIG SET NET SER I/F G SIG G ID ID MODE IM SP ID MODE IM SP SET MODE NET SER I/F SIG SET IM SP NET SER I/F SIG SET G NET SER I/F G SIG G RS232C SER SER SER SER U U U U V V V V W RSW(ID)=1 W W W RSW(ID)=1 RSW(ID)=1 RSW(ID)=1 RS232C RS485 RS485 RS485 NET NET NET SER SER SER SER U U U U V V V V W W W W 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 NET SER NET SER NET SER SER U U U U V V V V W W W W 205
206
207
208
ID MODE SET IM SP NET SER G I/F SIG U V W ID MODE SET IM SP NET SER G I/F SIG U V W 209
210
ID MODE SET IM SP G NET SER I/F SIG ID MODE IM SP SET NET SER I/F SIG G ID MODE IM SP SET NET SER I/F SIG G ID MODE IM SP SET NET SER I/F SIG G RS232C RSW(ID)=0 RSW(ID)=1 RSW(ID)=2 RSW(ID)=3 RS485 RS485 RS485 NET NET NET SER SER SER SER U U U U V V V V W W W W 211
212
213
214
215
216
217
218
219
220
221
222
223
224
225
226
227
228
229
230
231
CN I/F L1 L2 L3 r t U V W CN SIG M RE 232
233
ø4.2±0.2 28.5±1 5.5±1 11±1 1 2 3 200-0 +30 28±1 UL-1015 AWG16 4.5±0.5 41±1 39±1 34±1 13±1 30±1 M±1.5 H±1.5 I±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 DV0P1441 188 160 145 130 110 95 70 55 25 M5 4.5 ø4.57 10 M4 17.5 DV0P1442 228 200 185 170 110 95 70 60 30 M6 4.5 ø4.57 10 M4 17.5 DV0P1443 272 240 220 200 140 110 70 80 40 M6 6.5 ø6.58 15 M4 20 234
L A M L/2 B P 235
1 2 3 4 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 1 2 3 4 5 6 7 8 9 1 2 236 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
D A D A C B C B 237
L (16) (4) (14) (4) (ø7) 3M 10320 ø37.3 L (ø7) 3M 10320 L (17) (4) (23) (4) (20) (ø9.2) 3M 10320 ø37.3 L (ø9.2) 3M 10320 238
(12.0) (4) (10.0) (4) (50) (50) L (ø11) ø37.3 (ø12.5) L (50) ø40.5 (ø14) L (50) ø37.3 (ø12.5) L (50) ø43.7 (ø14) L (50) ø56.4 (ø26.3) L (50) 239
(10.0) (12.0) (40) (50) L (ø9.8) (5.6) L (50) ø37.3 (ø12.5) (ø9.8) L (50) L (50) ø43.7 (ø14) (ø9.8) L (50) ø28.6 L (50) (ø9.8) 33 18 2000 +200 0 240
L 241
242
11 Z 1 0V 12 Z 13 NC 3 5V 14 NC 15 NC 5 NC 16 NC 17 RX 7 A 18 RX 19 NC 9 B 20 FG 11 NC 1 0V 12 NC 13 NC 3 5V 14 NC 15 NC 16 NC 5 BATT 17 19 RX NC TX 7 NC 18 20 RX FG TX 9 NC 2 0V 4 5V 6 NC 8 A 10 B 2 0V 4 5V 6 BATT 8 NC 10 NC 243
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 1 26 52.4 18 244
50 50 19 9.5 9.5 19 ø5.2 10 17 15 17 5.2 10 15 25 25 65 32 11.5 65 11.5 32 ø5.2 17 5.2 10 15 17 10 15 32.5 32.5 76 13 50 38 5.2 7.5 ø5.2 22.5 30 18 40 2.3 245
RH150M, RH220M B A 3.5 E 4.5 RH500M 250 234 2 M3 3 60 80 C 2 ø4.5 4.5 D 218 ø4.5 40 A B C D E RH150 212 180 202 44 30 RH220 230 200 220 60 20 50 17 99 23 Connect the wiring correctly and properly. and screw the cover after wire connection CAUTION 246
1.5 23 17 LL L 2.3 247
248 Y X Z S R T NP E F G B C D E F G B C D
249
LL LR 220 200 LF 3 4-øLZ LC LBh7 øsh6 øla LN LO 90 ± 1 LP LW LK KH RH KWh9 250
LL LR LC LC LF LE 4-øLZ øsh6 L Bh7 øld øla ø135 øld ø145 LZ LW LK KH RH KWh9 251
LL LR 220 200 LF LE 4-øLZ LC LBh9 øsh6 øla LP LN 90 1 LO LW LK KWh9 RH KH 252
LL LR LC LC LF LE 4-øLZ øsh6 L Bh7 ø135 øld ø145 LZ øld øla LL LR LC LF LE 4-øLZ LW LK øsh6 L Bh7 øld øla KH RH KWh9 253
LL LR LC LF LE 4-øLZ øsh6 L Bh7 øld øla LL LR LC LF LE 4-øLZ LW LK øsh6 L Bh7 øld øla KH RH KWh9 254
LL LR LF LE LC 4-øLZ LC 4-øLZ øld ø250 øsh6 LBh7 øla øld øla LW LK KWh9 RH KH 255
LL LR LC LF LE 4-øLZ øsh6 L Bh7 øld øla LL LR LC LF LE 4-øLZ øsh6 L Bh7 øld øla LW LK KWh9 KH RH 256
257 RH LK KW h9 KH LW 4-øLZ LC øld øla LR Sh6 ø LE LF LBh7 LL
ø5.2 50 25 15 5 50 46 130 25 25 2 2.3 ø5.2 11 5 2 ID MODE SET ID MODE SET IM SP G NET IM SP NET G SER SER I/F 160 180 190 I/F 160 172 182 SIG SIG U U V V W W 2 R2.6 5.2 50 R2.6 5.2 46 65 65 50 61 32.5 50 32.5 ø5.2 ID MODE SET IM SP G NET SER I/F SIG U V W 15 5 160 180 190 ø5.2 ID MODE IM SP SET NET SER I/F SIG U V W G 11 5 160 172 182 130 25 2 2 2 2.3 R2.6 5.2 65 R2.6 5.2 61 258
ID MODE SET IM SP G ø5.2 65 50 32.5 15 5 ø5.2 65 61 50 32.5 11 5 170 25 2 2 2.3 ID MODE SET ID MODE SET IM SP G NET SER IM SP G NET SER I/F 160 180 190 I/F 160 172 182 SIG SIG U U V V W W 2 R2.6 5.2 65 R2.6 5.2 61 85 5.2 ø5.2 76 50 38 NET SER I/F SIG 13 5.2 220 15 7.5 235 250 22.3 2.3 2.3 205 2.3 5.2 ø5.2 50 5.2 38 13 2.3 259
ID MODE SET IM SP G ID MODE SET IM SP G NET SER I/F SIG 100 5.2 ø5.2 76 50 38 NET SER I/F 13 5.2 220 15 7.5 235 250 22.3 2.3 2.3 205 2.3 SIG 5.2 ø5.2 50 150 100 75 5.2 5.2 ø5.2 25 22.3 2.3 275 10 2.3 2.3 2.3 2.5 250 5.2 5.2 75 100 25 2.3 2.3 76 5.2 38 13 2.3 76 220 235 ø5.2 260
261 L1 R L2 S L3 T P B U V W M SET MODE G SP IM ID SIG I/F SER NET ************ 46.3 26.3 2.3 ( ) 2.3 ( ) 340.5 4 ( ) 4 ( ) 250 235 220 76 2.3 ( ) 248 90 82.5 90 37.5 90 5.2 5.2 5.2 4-5.2 5.2 5.2 5.2
ID ID MODE SET IM SP G MODE SET IM SP G P U L 1 L 2 L 3 V M r t N + 12V +5V DC/DC W RE P B1 B2 CN NET CN SER EEPROM CN I/F A/D A/D CN SIG CN BAT P U L 1 L 2 L 3 r t P B1 B2 + N DC/DC 12V +5V (24V) V W M RE CN NET CN SER EEPROM CN I/F A/D A/D CN SIG CN BAT 262
ID MODE SET IM SP G ID MODE SET IM SP G P U L 1 L 2 L 3 r t P B1 B2 + N DC/DC 12V +5V (24V) DB V W M RE CN NET CN SER EEPROM CN I/F A/D A/D CN SIG CN BAT P U L 1 L 2 L 3 P B r t PC + N DC/DC 12V +5V (24V) DB V W M RE CN NET CN SER EEPROM CN I/F A/D A/D CN SIG CN BAT 263
264
265
266
267
268
269
270
271
272
273
274
275
276
2004 Matsushita Electric Industrial Co., Ltd. All Rights Reserved. IMB14B S0300-5066