PANASONIC MSMA042A1D

Matsushita 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 B Motors and Drivers: MINAS A Servo Function Blocks See below and page 22/23 See page 3 and 6ff Software: PLC Motion Control Function Blocks A Motion Control Library for FPWIN Pro PLC Programming Software: Certified Function Blocks according to PLCopen’s 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 Easy programming and installation, even for complex applications Efficient In the number of FBs and in design and understanding Consistent Compliant to IEC 61131-3 PLC programming standard and PLCopen specification Universal Hardware independent: same FB´s at other, certified vendors Flexible For future extensions and for the range of application Complete Easy solution comprising all components for typical positioning applications. 2 Motion Control Solution B 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 • Built-in notch filter suppresses vibration of driven • Power range of 30 to 5000 W mechanism • Velocity control, torque control and position control • High-speed positioning, even with low-stiffness as standard functions mechanism • High-speed control via 32-bit technology and a velocity • Built-in frequency analysing function detects resonance response frequency of 500 Hz points of mechanism driven, offering simple adjustment • Digitally controlled by PLC • Auto tuning modes: • Automatic switching between control signals -normal auto tuning mode for setup • Max. motor speed 5,000 rpm -real-time auto tuning mode after setup • Optional high-resolution 17-bit absolute / incremental • For almost all types of machines, including chip encoder mounting machines and general industrial machines • Resonance suppression function enables high speed • Closed loop control as standard feature 3 Motion Control Solution C PLC: Matsushita FP∑ or FP2 with Positioning Modules The brain of Matsushita’s 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 12 k steps High data memory capacity 32 k words Strong communication features up to 3 serial interfaces RS232C, RS485 High speed input max. 50 kHz High speed pulse output max. 100 kHz High expansion capability up to 384 I/O Analogue volume inputs 2 Fast processing speed 0.4 µs / basic instruction Powerful instruction set Floating-Point, String and PID instructions Small size 30 x 90 x 60 mm (WxHxD) Positioning Features of FP∑ PLC (only CPU) Operation modes • Transistor types (PNP or NPN) • Absolute positioning • Clockwise/counterclockwise output • Relative positioning or pulse/direction • Home return • 2-independent axis positioning • JOG operation • Up to 100 kHz • Emergency stop • Linear/circular interpolation Part No. FPG-C28P2 CPU: 16 inputs/12 outputs PNP FPG-C32T2 CPU: 16 inputs/16 outputs NPN Enhanced Motion Control functionality using positioning expansion units for FP∑ Features of FP∑ Positioning Modules Operation modes • Transistor or line driver output types • Interpolation • Up to 500 kpps / 4 Mpps output • Single speed acceleration / deceleration • Clockwise/counterclockwise or pulse/direction • Multi-stage acceleration / deceleration • 8 (10 with CPU) independent axis positioning • JOG operation • Pulse range: 32-bit signed • 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. Output Type Type FPG-PP11 Transistor output 1-axes type FPG-PP21 Transistor output 2-axes type Up to two axes per Postioning Module: FPG-PP12 Line driver output 1-axes type FPG-PP22 Line driver output 2-axes type 4 Motion Control Solution PLC: Matsushita FP∑ or FP2 with Positioning Modules FP2 and FP2SH – Modular, high performance General Features of FP2 / FP2SH High program capacity FP2 16 k or 32 k steps, FP2SH 60 k or 120 k steps High memory capacity Data registers: 6000 words (FP2), 10,240 words (FP2SH) Additional file registers Up to 30,717 words (FP2) and 3 x 32,765 words (FP2SH) Serial interfaces 2 RS232C on CPU Communication modules Serial Data Units or Computer communication modules with 2 additional ports each available, Profibus DP/FMS, Ethernet module High expansion capability Up to 28 modules or 2048 I/O are possible Fast processing speed FP2 0.35 µs / basic instruction, FP2 SH 0.03 µs Powerful programming commands Floating point Math, String instructions, PID Control and more Small size 140 x 100 x 93 mm (WxHxD) for 5 modules backplane Extended debugging functions Testmode and Breakpoints can be used Positioning Units for FP2 and FP2SH Operation modes • Extremely fast startup of 0.005 ms • Interpolation • Up to 500kpps / 4Mpps output • Single speed acceleration / deceleration for high-speed, high-accuracy positioning • Multi-stage acceleration / deceleration • Feedback pulse count function (for encoders) • Fast startup of 0.02 or 0.005ms makes cycle • Transistor / line driver output time reduction possible • Clockwise / counterclockwise or pulse/direction • Acceleration / deceleration control: • 64 (88) independent axis positioning linear or 4 types of S-curve: sine, quadratic, • Pulse range: 32 bits, signed cycloid and cubic curve (for smooth startup and stopping) Up to four axes per Postioning Module: Part No. Output Type Type FP2-PP21 Transistor output 2 axes FP2-PP41 Transistor output 4 axes FP2-PP22 Line driver output 2 axes FP2-PP42 Line driver output 4 axes 5 Motion Control Solution Drivers and Motors (30 to 750 W) Servo Motors rated rated rated brake oil key 17-bit Driver Driver Product No. output torque rpm seal shaft absolute Product No. Type -1 [W] [Nm] [min ] encoder MSMA3AZA1A 0.095 3000 30 . MSMA3AZA1B 30 0.095 3000 x 1 MSDA3A5A1A MSMA3AZA1C 0.095 3000 30 x MSMA3AZA1D 30 0.095 3000 x x MSMA5AZA1A 50 0.16 3000 1 MSMA5AZA1B 0.16 3000 50 x MSMA5AZA1C 50 0.16 3000 x MSDA5A5A1A MSMA5AZA1D 0.16 3000 50 x x MSMA5AZA1E 50 0.16 3000 x MSMA5AZA1F 0.16 3000 50 x x MSMA5AZC1A 50 0.16 3000 x 1 MSDA5A3D1A MSMA5AZC1C 0.16 3000 x 50 x MSMA012A1A 0.32 3000 100 MSMA012A1B 100 0.32 3000 x MSMA012A1C 0.32 3000 100 x MSDA015A1A 1 MSMA012A1D 100 0.32 3000 x x MSMA012A1E 0.32 3000 100 x MSMA012A1F 100 0.32 3000 x x MSMA012C1A 0.32 3000 x 100 MSDA013D1A 1 MSMA012C1C 100 0.32 3000 x x MSMA022A1A 200 0.64 3000 MSMA022A1B 0.64 3000 200 x MSMA022A1C 200 0.64 3000 x MSDA023A1A 2 MSMA022A1D 0.64 3000 200 x x MSMA022A1E 200 0.64 3000 x MSMA022A1F 0.64 3000 200 x x MSMA022C1A 200 0.64 3000 x MSDA023D1A 2 MSMA042A1A 400 1.3 3000 MSMA042A1B 1.3 3000 400 x MSMA042A1C 400 1.3 3000 x 2 MSDA043A1A MSMA042A1D 1.3 3000 400 x x MSMA042A1E 400 1.3 3000 x MSMA042A1F 1.3 3000 400 x x 2 MSMA042C1A 400 1.3 3000 x MSDA043D1A MSMA082A1A 750 2.4 3000 MSMA082A1B 2.4 3000 750 x MSMA082A1C 750 2.4 3000 x MSDA083A1A 3 MSMA082A1D 2.4 3000 750 x x MSMA082A1E 750 2.4 3000 x MSMA082A1F 2.4 3000 750 x x MSDA083D1A 3 MSMA082C1A 750 2.4 3000 x 6 Motion Control Solution Drivers and Motors (1 to 5 kW) Servo Motors rated rated rated brake oil key 17-bit Driver Driver Product No. output torque rpm seal shaft absolute Product No. Type -1 [W] [Nm] [min ] encoder MSMA102A1C 1000 3.18 3000 x MSMA102A1D 1000 3.18 3000 x x MSDA103A1A 4-2 MSMA102A1G 1000 3.18 3000 x x MSMA102A1H 1000 3.18 3000 x x x MSMA152A1C 1500 4.77 3000 x MSMA152A1D 1500 4.77 3000 x x MSDA153A1A 4-2 MSMA152A1G 1500 4.77 3000 x x MSMA152A1H 1500 4.77 3000 x x x MSMA202A1C 2000 6.36 3000 x MSMA202A1D 2000 6.36 3000 x x MSDA203A1A 4-3 MSMA202A1G 2000 6.36 3000 x x MSMA202A1H 2000 6.36 3000 x x x MSMA252A1C 2500 7.94 3000 x MSMA252A1D 2500 7.94 3000 x x MSDA253A1A 4-3 MSMA252A1G 2500 7.94 3000 x x MSMA252A1H 2500 7.94 3000 x x x MSMA302A1C 3000 9.54 3000 x MSMA302A1D 3000 9.54 3000 x x MSDA303A1A 5 MSMA302A1G 3000 9.54 3000 x x MSMA302A1H 3000 9.54 3000 x x x MSMA352A1C 3500 11.0 3000 x MSMA352A1D 3500 11.0 3000 x x MSDA353A1A 5 MSMA352A1G 3500 11.0 3000 x x MSMA352A1H 3500 11.0 3000 x x x MSMA402A1C 4000 12.6 3000 x MSMA402A1D 4000 12.6 3000 x x MSDA403A1A 5 MSMA402A1G 4000 12.6 3000 x x MSMA402A1H 4000 12.6 3000 x x x MSMA452A1C 4500 14.3 3000 x MSMA452A1D 4500 14.3 3000 x x MSDA453A1A 5 MSMA452A1G 4500 14.3 3000 x x MSMA452A1H 4500 14.3 3000 x x x MSMA502A1C 5000 15.8 3000 x MSMA502A1D 5000 15.8 3000 x x MSDA503A1A 5 MSMA502A1G 5000 15.8 3000 x x MSMA502A1H 5000 15.8 3000 x x x 7 Motion Control Solution Common Specifications for Drivers +10% Type 1 ~ Type 3 1 / 3-phase 200 ~ 230V AC 50 / 60 Hz –15% Main power +10% 200V Type 4 ~ Type 5 3-phase 200 ~ 230V AC 50 / 60 Hz –15% +10% Control power Type 1 ~ Type 5 1-phase 200 ~ 230V AC 50 / 60 Hz –15% Control method IGBT PWM sine wave control Feedback 2500 p/r incremental encoder or 17-bit absolute/incremental encoder Temperature Operating temperature: 0 to 55˚C, Storing temperature: –20 to +85˚C Humidity Operating/storing humidity: 90% RH or less (no condensation) Environment 1000 m or lower level above the sea Altitude 2 Vibration 5.88 m/s 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 *, Control mode 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, Protective function 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 Control input /Smoothing filter switching, 6) CCW overtravel inhibit /Command pulse scale switching 2, 7) Command pulse scale switching 1 Max. command pulse frequency 500 kpps Input pulse signal form 1) RS422 line drive signal, 2) Open-collector signal (from controller) Input pulse type 1) CW/CCW pulse signal, 2) Pulse signal/rotating direction signal, 3) 90˚phase difference signal Electronic gear (0 to 17) (1 to 10000) x 2 Command pulse scale input = Command pulse frequency x (Command pulse scaling) 1 to 10000 Control input 1) Error counter clear, 2) Command pulse inhibit 1:5000 Velocity control range Acceleration/deceleration time setting 0 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 External analog velocity command default setting) and direction of motor rotation can be specified with parameters . Internal velocity setting Four-level velocities can be specified with parameters. Control input 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 External analog torque command default setting) and direction of motor rotation can be specified with parameters. CW/CCW torque limit 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) Control 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 (par : ameter setting) Scale output 17-bit absolute/incremental encoder 1 to 16384 p/r (par : ameter setting) Encoder signal scale Signal output 1) Line drive output (phases A, B and Z), 2) Open-collector output (phase Z) Digital display 6-digit, 7-segment LED Monitor output SP terminal: Selection of actual motor speed or command velocity, and scale can be specified with parameters. Analog output IM terminal: Selection of torque command, position error, and scale can be specified with parameters. Regenerative discharge Type 1 ~ Type 5: Built-in regenerative discharge resistor, Type 6 : External regenerative discharge resistor Dynamic brake Operation sequence at power off, servo off, activation of protective function and overtravel inhibit input can be specified. Unused wiring masking function 1) Overtravel inhibit input, 2) Torque limit input, 3) Command pulse inhibit input, 4) Speed zero clamp input Normal Estimates load inertia, and defines proper servo gain. Auto tuning function Real-time Adaptive to load inertia fluctuations during operation. Manual Five pushbutton switches on front panel MODE SET Setup Setup support software PANATERM (Applicable OS: Windows95, Windows98, Windows2000, WindowsNT and WindowsME) 8 Built-in function Signal output Signal input Power supply Torque Velocity control Position control control Motion Control Solution 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 9 Motion Control Solution Specifications Motors 30 W to 100 W 200 VAC 3AZA1* 5AZA1* 5AZC1* 012A1* 012C1* Motor model MSMA MSDA 3A5A1A 5A5A1A 5A5D1A 015A1A 013D1A Applicable amplifier Type Type 1 Power supply capacity (kVA) 0.3 0.3 0.3 (W) 30 50 100 Rated output • (N m) 0.095 0.16 0.32 Rated torque • (N m) 0.28 0.48 0.95 Maximum instantaneous torque (Arms) 1.0 1.0 1.0 Rated current (Ao-p) 4.3 4.3 4.3 Maximum current Regenerative discharge Without optional parts No limitation Note 2) brake frequency DV0P1981 No limitation Note 2) (Times/min) Note 1) –1 Rated rpm 3000 (min ) –1 Maximum rpm (min ) 5000 0.016 0.025 0.035 0.062 0.072 Without brake Moment of rotor inertia –4 2 (x 10 kg•m ) With brake 0.020 0.030 0.040 0.066 0.076 Recommended ratio of moment of load Note 3) 30 or less inertia to moment of rotor inertia 2500 p/r 2500 p/r 17-bit absolute/ 2500 p/r 17-bit absolute/ Position/velocity (Encoder) detector incremental incremental incremental incremental incremental Resolution per revolution 10000 10000 131072 10000 131072 Enclosure rating IP65 (excluding through hole for motor shaft, and cable connector) Ambient temperature 0° to 40° C (no freezing), Storing temperature: –20° to +80° C Ambient humidity 85 % RH or less (no condensation) Environment Installation location Indoors (no direct sunlight), free from corrosive gas, inflammable gas, oil mist or dust Altitude 1000 m or lower level above the sea 2 2 2 2 2 49 m/s max. 24 m/s max. Vibration resistance 49 m/s max. 24 m/ s max. 49 m/s max. 0.27 (0.47) 0.34 (0.53) 0.40 (0.59) 0.56 (0.76) 0.62 (0.82) Weight, ( ): with Holding Brake (kg) 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 (N •m) (Min.) 0.29 Engaging time (ms) (Max.) 25 Release time (ms) (Max.) (Note 4) 20 (30) Exciting current (DC) (A) 0.26 Release voltage 1 VDC or more Exciting voltage 24VDC ±10% Allowable load Radial load (direction P)(N) 147 During Thrust load (direction A)(N) 88 assembly Thrust load (direction B)(N) 117 Radial load (direction P)(N) 49 68 During Thrust load (direction A)(N) 29 58 operation Thrust load (direction B)(N) 29 58 Note) This amplifier model uses single-phase/3-phase 200 V power supply. 10 Rated torque ratio [%] Rated torque ratio [%] Rated torque ratio [%] Rated torque ratio [%] Rated torque ratio [%] Rated torque ratio [%] Motion Control Solution Tourque Characteristics Amplifier power supply voltage: 200 VAC MSMA3AZ*1* MSMA5AZ*1* Torque Torque * Continuous torque vs. * Continuous torque vs. • • [N m] [N m] ambient temperature ambient temperature With brake 0.3 100 0.5 100 90 Instantaneous Instantaneous operation range 0.15 50 operation range 0.25 50 Continuous operation range Continuous operation range 40 0 1000 2000 3000 4000 5000 010 20 30 0 1000 2000 3000 4000 5000 010 203040 –1 Motor rpm [min ] Ambient temperature [ C] –1 Motor rpm [min ] Ambient temperature [ C] Torque * Continuous torque vs. * Continuous torque vs. Torque • [N m] ambient temperature Without brake ambient temperature • [N m] Without brake With brake 0.5 100 0.3 100 With brake 70 Instantaneous Instantaneous 60 60 operation range operation range 50 0.25 50 0.15 45 Continuous operation range Continuous operation range 0 1000 2000 3000 4000 5000 010 203040 0 1000 2000 3000 4000 5000 010 203040 –1 –1 Motor rpm [min ] Ambient temperature [ C] Motor rpm [min ] Ambient temperature [ C] MSMA012*1* Torque * Continuous torque vs. • [N m] ambient temperature With brake 100 1.0 95 Instantaneous operation range 0.5 50 Continuous operation range 0 1000 2000 3000 4000 5000 010 203040 –1 Motor rpm [min ] Ambient temperature [ C] Note) 1. The regenerative discharge brake frequency indicates the allowable frequency for braking a motor without load, from rated rpm to Torque * Continuous torque vs. deceleration to stop. • Without brake [N m] ambient temperature • If a load is connected to the motor, the brake frequency is defined With brake 1.0 100 as 1/(m+1) from the value given in the table. (m= moment of load 75 Instantaneous 70 inertia/moment of rotor inertia) operation range 0.5 50 • If the motor rpm exceeds the rated value, the regenerative Continuous operation range discharge brake frequency is inversely proportional to the square of [operating rpm / rated rpm]. 0 1000 2000 3000 4000 5000 010 203040 –1 • The power supply voltage is 230 VAC (when amplifier power Motor rpm [min ] Ambient temperature [ C] 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 Radial load (P) L table. • If the operating rpm frequently changes, or the regenerative discharge brake is frequently activated (e.g. in vertical feed Shaft operation), contact us for detailed information. 2. There is no limitation on the regenerative discharge brake L/2 frequency, if the effective (root-mean square) torque is within the P rated torque range. Thrust load (A or B) 3. If the ratio of load inertia moment exceeds the specified value, A contact us for detailed information. 4. The specified release time applies to the case where the surge Motor absorber for motor brake (Ishizuka: C-5A2/Z15D151 or equivalent) is used. B ( ) indicates the data measured with diode (200V 1A or equivalent). 11 With Oil Seal Without Oil Seal With Oil Seal Without Oil Seal With Oil Seal Without Oil Seal Motion Control Solution Specifications, Motors (200 W to 750 W) 200 VAC Motor model MSMA 022A1* 022C1* 042A1* 042C1* 082A1* 082C1* 023A1A 023D1A 043A1A 043D1A MSDA 083A1A 083D1A Applicable amplifier Type 1 Type 2 Type Type 3 Note) Type 2 Type 3 0.5 0.9 1.3 Power supply capacity (kVA) 200 400 750 Rated output (W) • Rated torque (N m) 0.64 1.3 2.4 Maximum instantaneous torque • 1.91 3.8 7.1 (N m) Rated current (Arms) 1.6 2.5 4.3 Maximum current (Ao-p) 6.9 10.5 18.3 Without optional parts No limitation Note 2) Regenerative discharge brake frequency DV0P1981 x 1 No limitation Note 2) No limitation Note 2) (Times/min) Note 1) DV0P1983 x 1 No limitation Note 2) –1 3000 Rated rpm (min ) –1 5000 4500 Maximum rpm (min ) Without brake 0.17 0.18 0.36 0.37 1.31 1.32 Moment of rotor inertia –4 2 (x • 10 kg m ) With brake 0.20 0.21 0.39 0.40 1.39 1.40 Recommended ratio of moment of load 30 or less 20 or less Note 3) inertia to moment of rotor inertia Position/velocity (Encoder) 2500 p/r 17-bit absolute/ 2500 p/r 17-bit absolute/ 2500 p/r 17-bit absolute/ detector incremental incremental incremental incremental incremental incremental Resolution per revolution 10000 131072 10000 131072 10000 131072 Enclosure rating IP65 (excluding through hole for motor shaft, and cable connector) Ambient temperature 0° to 40° C (no freezing), Storing temperature: -20° to +80° C Ambient humidity 85 % RH or less (no condensation) Environment Installation location Indoors (no direct sunlight), free from corrosive gas, inflammable gas, oil mist or dust Altitude 1000 m or lower level above the sea 2 2 2 2 2 2 Vibration resistance 49 m/s max. 24 m/s max. 49 m/s max. 24 m/s max. 49 m/s max. 24 m/s max. Weight, ( ): with Holding Brake (kg) 1.0 (1.4) 1.1 (1.5) 1.6 (2.0) 1.7 (2.1) 3.2 (3.9) 3.3 (4.0) Brake specifications (The brake will be released when the holding brake is energized. It cannot be used for braking motor in operation.) • 1.27 2.45 Static friction torque (Nm) (Min.) Engaging time (ms) (Max.) 50 60 Release time (ms) (Max.) (Note 4) 15 (100) 15 (100) Exciting current (DC) (A) 0.36 0.43 Release voltage 1 VDC or more Exciting voltage 24VDC ±10% Allowable load 392 Radial load (direction P)(N) 686 During Thrust load (direction A)(N) 147 294 assembly 196 Thrust load (direction B)(N) 392 Radial load (direction P)(N) 245 392 During 98 Thrust load (direction A)(N) 147 operation Thrust load (direction B)(N) 98 147 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. 12 Rated torque ratio [%] Rated torque ratio [%] Rated torque ratio [%] Rated torque ratio [%] Rated torque ratio [%] Rated torque ratio [%] Motion Control Solution Tourque Characteristics Amplifier power supply voltage: 200 VAC (The dotted line indicates the data obtained at 10% power supply voltage drop.) MSMA022*1* MSMA042*1* Torque Torque * Continuous torque vs. * Continuous torque vs. • • [N m] [N m] ambient temperature ambient temperature 2.0 100 100 4.0 90 90 Instantaneous Instantaneous 1.0 operation range operation range 50 2.0 50 Continuous operation range Continuous operation range 0 1000 2000 3000 4000 5000 010 203040 0 1000 2000 3000 4000 5000 010 203040 –1 –1 Motor rpm [min ] Ambient temperature [ C] Motor rpm [min ] Ambient temperature [ C] Torque Torque * Continuous torque vs. * Continuous torque vs. • [N•m] [N m] ambient temperature ambient temperature Without brake 2.0 100 4.0 100 With brake 80 75 Instantaneous 70 Instantaneous 1.0 operation range 2.0 operation range 50 Continuous operation range Continuous operation range 0 1000 2000 3000 4000 5000 010 203040 0 1000 2000 3000 4000 5000 010 203040 –1 –1 Motor rpm [min ] Ambient temperature [ C] Motor rpm [min ] Ambient temperature [ C] MSMA082*1* Torque * Continuous torque vs. • [N m] ambient temperature 8.0 100 Instantaneous 4.0 operation range 50 Continuous operation range 0 1000 2000 3000 4000 5000 010 2030 40 –1 Motor rpm [min ] Ambient temperature [ C] Note) 1. The regenerative discharge brake frequency indicates the allowable frequency for braking a motor without load, from rated rpm to Torque * Continuous torque vs. deceleration to stop. [N•m] ambient temperature • If a load is connected to the motor, the brake frequency is defined 100 8.0 as 1/(m+1) from the value given in the table. (m= moment of load Instantaneous inertia/moment of rotor inertia) operation range 4.0 50 • If the motor rpm exceeds the rated value, the regenerative Continuous operation range discharge brake frequency is inversely proportional to the square of [operating rpm / rated rpm]. 0 1000 2000 3000 4000 5000 010 20 30 40 –1 • The power supply voltage is 230 VAC (when amplifier power Motor rpm [min ] Ambient temperature [ C] 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 Radial load (P) L table. • If the operating rpm frequently changes, or the regenerative discharge brake is frequently activated (e.g. in vertical feed Shaft operation), contact us for detailed information. There is no limitation on the regenerative discharge brake 2. L/2 frequency, if the effective (root-mean square) torque is within the P rated torque range. Thrust load (A or B) 3. If the ratio of load inertia moment exceeds the specified value, A contact us for detailed information. 4. The specified release time applies to the case where the surge Motor absorber for motor brake (Ishizuka: C-5A2/Z15D151 or equivalent) is used. B ( ) indicates the data measured with diode (200V 1A or equivalent). 13 With Oil Seal Without Oil Seal With Oil Seal Without Oil Seal With Oil Seal Without Oil Seal Motion Control Solution Specifications, Motors (1 kW to 2 kW) 200 VAC 102A1* 152A1* 202A1* Motor model MSMA MSDA 103A1A 153A1A 203A1A Applicable amplifier Type Type 4–2 Type 4–2 Type 4–3 (kVA) 1.8 2.3 3.3 Power supply capacity (W) 1000 1500 2000 Rated output • (N m) 3.18 4.77 6.36 Rated torque • (N m) 9.5 14.3 19.1 Maximum instantaneous torque (Arms) 7.2 9.4 13.0 Rated current (Ao-p) 30 40 56 Maximum current Regenerative discharge No limitation Note 2) Without optional parts brake frequency No limitation Note 2) (Times/min) DV0P1983 x 1 Note 1) –1 Rated rpm 3000 (min ) –1 Maximum rpm (min ) 5000 Without brake 1.69 2.59 3.46 Moment of rotor inertia –4 2 (x • 10 kg m ) With brake 1.88 2.84 3.81 Recommended ratio of moment of load 15 or less Note 3) inertia to moment of rotor inertia 2500 p/r 2500 p/r 2500 p/r Position/velocity (Encoder) detector incremental incremental incremental Resolution per revolution 10000 10000 10000 IP65 (excluding through hole for motor shaft, and cable connector) Enclosure rating 0° to 40° C (no freezing), Storing temperature: –20° to +80° C Ambient temperature 85 % RH or less (no condensation) Ambient humidity Environment Indoors (no direct sunlight), free from corrosive gas, inflammable gas, oil mist or dust Installation location 1000 m or lower level above the sea Altitude 2 49 m/s max. Vibration resistance Weight, ( ): with Holding Brake (kg) 4.5 (5.1) 5.1 (6.5) 6.5 (7.9) Brake specifications (The brake will be released when the holding brake is energized. It cannot be used for braking motor in operation.) • 4.9 7.8 Static friction torque (Nm) (Min.) 50 50 Engaging time (ms) (Max.) 15 (100) 15 (100) Release time (ms) (Max.) (Note 4) 0.74 0.81 Exciting current (DC) (A) Release voltage 2 VDC or more Exciting voltage 24VDC ±10% Allowable load Radial load (direction P)(N) 686 980 During Thrust load (direction A)(N) 392 588 assembly Thrust load (direction B)(N) 490 686 Radial load (direction P)(N) 392 490 During Thrust load (direction A)(N) 147 196 operation Thrust load (direction B)(N) 147 196 14 Rated torque ratio [%] Rated torque ratio [%] Rated torque ratio [%] Motion Control Solution Tourque Characteristics Amplifier power supply voltage: 200 VAC (The dotted line indicates the data obtained at 10% power supply voltage drop.) MSMA102*1* MSMA152*1* * Continuous torque vs. * Continuous torque vs. Torque Torque ambient temperature ambient temperature Without brake • [N m] [N•m] With brake 15 10 100 100 85 Instantaneous Instantaneous operation range 50 7.5 operation range 50 5 Continuous operation range Continuous operation range (3500) 010 2030 40 010 203040 0 1000 2000 3000 4000 5000 0 1000 2000 3000 4000 5000 –1 –1 Ambient temperature [ C] Motor rpm [min ] Motor rpm [min ] Ambient temperature [ C] MSMA202*1* * Continuous torque vs. Torque ambient temperature Without brake • [N m] With brake 20 100 85 Instantaneous 70 operation range 10 50 Continuous operation range 0 1000 2000 3000 4000 5000 010 203040 –1 Motor rpm [min ] Ambient temperature [ C] 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]. Radial load (P) L • 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 Shaft value in the table. • If the operating rpm frequently changes, or the regenerative discharge brake is frequently L/2 activated (e.g. in vertical feed operation), contact us for detailed information. P 2. There is no limitation on the regenerative discharge brake frequency, if the effective (root- Thrust load (A or B) mean square) torque is within the rated torque range. A 3.If the ratio of load inertia moment exceeds the specified value, contact us for detailed information. Motor 4. The specified release time applies to the case where the surge absorber for motor brake (Ishizuka: C-5A2/Z15D151 or equivalent) is used. B ( ) indicates the data measured with diode (200V 1A or equivalent). 15 Motion Control Solution Specifications, Motors (2.5 kW to 3.5 W) 200 VAC 252A1* 302A1* 352A1* Motor model MSMA MSDA 253A1A 303A1A 353A1A Applicable amplifier Type Type 4–3 Type 5 Type 5 3.8 4.5 5.3 Power supply capacity (kVA) 2500 3000 3500 Rated output (W) • 7.94 9.54 11.0 Rated torque (N m) • 23.8 28.6 33.2 Maximum instantaneous torque (N m) 15.9 18.6 21.6 Rated current (Arms) 68 80 92 Maximum current (Ao-p) No limitation Note 2) No limitation Note 2) Without optional parts Regenerative discharge brake frequency DV0P1983 x 1 No limitation Note 2) (Times/min) Note 1) DV0P1983 x 2 No limitation Note 2) –1 3000 Rated rpm (min ) –1 Maximum rpm (min ) 5000 Without brake 4.31 6.77 7.90 Moment of rotor inertia –4 2 (x • 10 kg m ) With brake 4.74 7.54 8.69 Recommended ratio of moment of load 15 or less Note 3) inertia to moment of rotor inertia 2500 p/r 2500 p/r 2500 p/r Position/velocity (Encoder) detector incremental incremental incremental Resolution per revolution 10000 10000 10000 IP65 (excluding through hole for motor shaft, and cable connector) Enclosure rating 0° to 40° C (no freezing), Storing temperature: –20° to +80° C Ambient temperature 85 % RH or less (no condensation) Ambient humidity Environment Indoors (no direct sunlight), free from corrosive gas, inflammable gas, oil mist or dust Installation location 1000 m or lower level above the sea Altitude 2 Vibration resistance 49 m/s max. Weight, ( ): with Holding Brake (kg) 7.5 (8.9) 9.3 (11.0) 10.9 (12.6) Brake specifications (The brake will be released when the holding brake is energized. It cannot be used for braking motor in operation.) • 7.8 11.8 Static friction torque (Nm) (Min.) 50 80 Engaging time (ms) (Max.) Release time (ms) (Max.) (Note 4) 15 (100) 15 (100) Exciting current (DC) (A) 0.81 0.81 Release voltage 2 VDC or more Exciting voltage 24VDC ±10% Allowable load Radial load (direction P)(N) 980 During Thrust load (direction A)(N) 588 assembly Thrust load (direction B)(N) 686 Radial load (direction P)(N) 490 During Thrust load (direction A)(N) 196 operation Thrust load (direction B)(N) 196 16 Rated torque ratio [%] Rated torque ratio [%] Rated torque ratio [%] Motion Control Solution Tourque Characteristics Amplifier power supply voltage: 200 VAC (The dotted line indicates the data obtained at 10% power supply voltage drop.) MSMA252*1* MSMA302*1* * Continuous torque vs. * Continuous torque vs. ambient temperature ambient temperature Torque Without brake [N•m] Torque Without brake • [N m] (23.8) With brake With brake 30 20 100 100 90 Instantaneous Instantaneous 85 70 operation range operation range 15 50 10 50 Continuous operation range Continuous operation range 0 1000 2000 3000 4000 5000 010 203040 0 1000 2000 3000 4000 5000 010 203040 –1 –1 Motor rpm [min ] Ambient temperature [ C] Motor rpm [min ] Ambient temperature [ C] MSMA352*1* * Continuous torque vs. ambient temperature Torque • Without brake [N m] With brake 30 100 90 Instantaneous 85 operation range 15 50 Continuous operation range 0 1000 2000 3000 4000 5000 010 203040 –1 Motor rpm [min ] Ambient temperature [ C] 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]. Radial load (P) L • 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 Shaft value in the table. • If the operating rpm frequently changes, or the regenerative discharge brake is frequently L/2 activated (e.g. in vertical feed operation), contact us for detailed information. P 2. There is no limitation on the regenerative discharge brake frequency, if the effective (root- Thrust load (A or B) mean square) torque is within the rated torque range. A 3.If the ratio of load inertia moment exceeds the specified value, contact us for detailed information. Motor 4. The specified release time applies to the case where the surge absorber for motor brake (Ishizuka: C-5A2/Z15D151 or equivalent) is used. B ( ) indicates the data measured with diode (200V 1A or equivalent). 17 Motion Control Solution Specifications, Motors (4 kW to 5 W) 200 VAC 402A1* 452A1* 502A1* Motor model MSMA MSDA 403A1A 453A1A 503A1A Applicable amplifier Type Type 5 (kVA) 6.0 6.8 7.5 Power supply capacity (W) 4000 4500 5000 Rated output • (N m) 12.6 14.3 15.8 Rated torque • (N m) 37.9 42.9 47.6 Maximum instantaneous torque (Arms) 24.7 28.0 28.5 Rated current (Ao-p) 105 118 120 Maximum current Regenerative discharge Without optional parts No limitation Note 2) 326 brake frequency No limitation Note 2) No limitation Note 2) (Times/min) DV0P1983 x 2 Note 1) –1 Rated rpm 3000 (min ) –1 Maximum rpm (min ) 4500 Without brake 12.70 15.30 17.80 Moment of rotor inertia –4 2 (x • 10 kg m ) With brake 14.10 17.00 19.70 Recommended ratio of moment of load 15 or less Note 3) inertia to moment of rotor inertia 2500 p/r 2500 p/r 2500 p/r Position/velocity (Encoder) detector incremental incremental incremental Resolution per revolution 10000 10000 10000 IP65 (excluding through hole for motor shaft, and cable connector) Enclosure rating 0° to 40° C (no freezing), Storing temperature: –20° to +80° C Ambient temperature 85 % RH or less (no condensation) Ambient humidity Environment Indoors (no direct sunlight), free from corrosive gas, inflammable gas, oil mist or dust Installation location 1000 m or lower level above the sea Altitude 2 49 m/s max. Vibration resistance Weight, ( ): with Holding Brake (kg) 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.) • 16.1 Static friction torque (Nm) (Min.) 110 Engaging time (ms) (Max.) 50 (130) Release time (ms) (Max.) (Note 4) 0.90 Exciting current (DC) (A) Release voltage 2 VDC or more Exciting voltage 24VDC ±10% Allowable load Radial load (direction P)(N) 980 During Thrust load (direction A)(N) 588 assembly Thrust load (direction B)(N) 686 Radial load (direction P)(N) 784 During Thrust load (direction A)(N) 343 operation Thrust load (direction B)(N) 343 18 Rated torque ratio [%] Rated torque ratio [%] Rated torque ratio [%] Motion Control Solution Tourque Characteristics Amplifier power supply voltage: 200 VAC (The dotted line indicates the data obtained at 10% power supply voltage drop.) MSMA402*1* MSMA452*1* * Continuous torque vs. * Continuous torque vs. ambient temperature ambient temperature Torque Torque Without brake Without brake • • [N m] [N m] With brake 40 50 With brake 100 100 90 85 85 Instantaneous Instantaneous 70 operation range operation range 20 50 25 50 Continuous operation range Continuous operation range 0 1000 2000 3000 4000 5000 010 203040 0 1000 2000 3000 4000 5000 010 203040 –1 –1 Motor rpm [min ] Ambient temperature [ C] Motor rpm [min ] Ambient temperature [ C] MSMA502*1* * Continuous torque vs. ambient temperature Torque • [N m] 50 100 70 Instantaneous operation range 25 50 Continuous operation range 0 1000 2000 3000 4000 5000 010 203040 –1 Motor rpm [min ] Ambient temperature [ C] 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]. Radial load (P) L • 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 Shaft value in the table. • If the operating rpm frequently changes, or the regenerative discharge brake is frequently L/2 activated (e.g. in vertical feed operation), contact us for detailed information. P 2. There is no limitation on the regenerative discharge brake frequency, if the effective (root- Thrust load (A or B) mean square) torque is within the rated torque range. A 3. If the ratio of load inertia moment exceeds the specified value, contact us for detailed information. Motor 4. The specified release time applies to the case where the surge absorber for motor brake (Ishizuka: C-5A2/Z15D151 or equivalent) is used. B ( ) indicates the data measured with diode (200V 1A or equivalent). 19 Motion Control Solution Dimensions, Motors Dimensions, Motors (30 W to 750 W) Servo Motors rated LL [mm] LR S LA LB LC LF LH LZ [mm] [mm] [mm] [mm] [mm] [mm] [mm] [mm] Product No. output [W] brake no yes MSMA3AXA1X 30 65 97 25 7 45 30 38 6 32 3.4 MSMA5AZA1X 50 73 105 25 8 45 30 38 6 32 3.4 MSMA5AZC1C 50 89.5 121.5 MSMA012A1X 100 103 135 25 8 45 30 38 6 32 3.4 MSMA012C1X 100 119.5 151.5 MSMA022A1X 200 94 127 30 11 70 50 60 7 43 4.5 MSMA022C1A 200 109 142 MSMA042A1X 400 123.5 156.5 30 14 70 50 60 7 43 4.5 MSMA042C1A 400 138.5 171.5 MSMA082A1X 750 142.5 177.5 35 19 90 70 80 8 53 6 MSMA082C1A 750 157.5 192.5 20 Motion Control Solution Dimensions, Motors Dimensions, Motors (1 kW to 5 kW) Servo Motors rated LL [mm] LR S LA LB LC LF LH LZ [mm] [mm] [mm] [mm] [mm] [mm] [mm] [mm] Product No. output [W] brake no yes MSMA102A1X 1000 175 200 55 19 100 80 98 90 7 6.6 MSMA152A1X 1500 180 205 55 19 115 103 95 100 10 9 MSMA202A1X 2000 205 230 55 19 115 103 95 100 10 9 MSMA252A1X 2500 230 255 55 19 115 103 95 100 10 9 130/145 MSMA302A1X 3000 217 242 55 22 110 120 12 111 9 (Slot) 130/145 MSMA352A1X 3500 237 262 55 22 111 110 120 12 9 (Slot) MSMA402A1X 4000 240 265 65 24 145 110 130 12 118 9 MSMA452A1X 4500 260 285 65 24 145 110 130 12 118 9 MSMA502A1X 5000 280 305 65 24 145 110 130 12 118 9 21 Motion Control Solution Motion Control Library for FPWIN Pro PLCopen, an independent international organisation, defined a Motion Control Library. Their goal was to have unified programming for different hardware systems with equivalent Function Blocks. The Matsushita Motion Cotrol Library includes Function Blocks programmed according to the PLCopen´s specifications. It is easy to use and understand and efficient in design. Example Single-Axis Function Blocks MC_MoveAbsolute Single-axis motion to a specified absolute position. MC_MoveRelative Single-axis motion to a specified distance relative to the actual position. 1) MC_MoveAdditive Adds a relative motion to a single axis motion. The distance is added to the target position of the previously executed FB. 1) MC_MoveSuperimposed Superimposes a relative motion to a running single-axis motion. MC_MoveVelocity Single-axis motion at a specified velocity. MC_Home Single-axis motion to the home position. 1) If executed, the current motion is briefly interrupted due to hardware reasons. 22 Motion Control Solution Motion Control Library for FPWIN Pro MC_Stop Stops a single-axis motion using a specified modus (ramp to stop, emergency stop). MC_ReadStatus 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 23 Motion Control Solution 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 24 Motion Control Solution Accessories / Cables / Options Encoder Cables Part No. For MSMA up to 750 W, 5 m CDE3751 For MSMA up to 750 W, 10 m CDE3752 For MSMA up to 750 W, 15 m CDE3753 For MSMA up to 750 W, 20 m CDE3754 For MSMA from 1 to 5 kW, 5 m CDE1501 For MSMA from 1 to 5 kW, 10 m CDE1502 For MSMA up to 750 W, 5 m, usable for drag chain CDE3751PM For MSMA up to 750 W, 10 m, usable for drag chain CDE3752PM For MSMA up to 750 W, 15 m, usable for drag chain CDE3753PM For MSMA up to 750 W, 20 m, usable for drag chain CDE3754PM For MSMA from 1 to 5 KW, 5 m, usable for drag chain CDE1501PM For MSMA from 1 to 5 kW, 10 m, usable for drag chain CDE1502PM Motor Cables For MSMA up to 750 W without brake, 5 m CDM3751 For MSMA up to 750 W without brake, 10 m CDM3752 For MSMA up to 750 W without brake, 15 m CDM3753 For MSMA up to 750 W without brake, 20 m CDM3754 For MSMA up to 750 W with brake, 5 m CFM3751 For MSMA up to 750 W with brake, 10 m CFM3752 For MSMA up to 750 W with brake, 15 m CFM3753 For MSMA up to 750 W with brake, 20 m CFM3754 For MSMA from 1 to 2,5 KW without brake, 5 m CDM1251 For MSMA from 1 to 2,5 KW without brake, 10 m CDM1252 For MSMA up to 750 W without brake, 5 m, usable for drag chain CDM3751PM For MSMA up to 750 W without brake, 10 m, usable for drag chain CDM3752PM For MSMA up to 750 W without brake, 15 m, usable for drag chain CDM3753PM For MSMA up to 750 W without brake, 20 m, usable for drag chain CDM3754PM For MSMA up to 750 W with brake, 5 m, usable for drag chain CFM3751PM For MSMA up to 750 W with brake, 10 m, usable for drag chain CFM3752PM For MSMA up to 750 W with brake, 15 m, usable for drag chain CFM3753PM For MSMA up to 750 W with brake, 20 m, usable for drag chain CFM3754PM For MSMA from 1 to 2,5 KW without brake, 5 m, usable for drag chain CDM1251PM For MSMA from 1 to 2,5 KW without brake, 10 m, usable for drag chain CDM1252PM For MSMA from 1 to 2,5 KW with brake, 5 m, usable for drag chain CFM1251PM For MSMA from 3 to 2,5 KW with brake, 10 m, usable for drag chain CFM1252PM Other Accessories and Cables Connector for PLC connection, 50 pins, without cable DVOP0980 Connector Kit for Motor and Encoder MSMA 30 W..750 W 2500p/r encoder DVOP0490 Connector Kit for Motor and Encoder MSMA 1 kW..2.5 kW, without brake DVOP0960 Connector Kit for Motor and Encoder MSMA 3 kW..5 kW, without brake DVOP1510 RS232C Communication cable to PC 9 pin Sub-D, 2 m DVOP1960 RS485 Communication Cable Mini-DIN8Pin -MD connector, 1 m DVOP1972 EMC 1-phase filter 250VAC, 50/60 Hz, 6A FS5739-6/07 Cable MSDA to FP-Series, 50-pins / open ends, 0.25 m (2 pieces) AFP3510 Cable MSDA to FP-Series, 50-pins / open ends, 0.5 m (2 pieces) AFP3511 Cable MSDA to FP-Series, 50-pins / open ends, 1.5 m (2 pieces) AFP3513 Cable MSDA to FP-Series, 50-pins / open ends, 5 m (2 pieces) AFP35110 I/F Connector Terminal for FP2 - MSDA, 1 axis AFP8501 I/F Connector Terminal for FP2 - MSDA, 2 axis AFP8502 Cable for connection of FP2 to I/F Terminal, 0.5 m AFP85100 Cable for connection of FP2 to I/F Terminal, 1 m AFP85101 Cable for connection of MSDA - I/F Terminal, 1 m AFP85111 Cable for connection of MSDA - I/F Terminal, 2 m AFP85112 25 Motion Control Solution Typical Applications Machine for ceramic tube cutting Stitching machine FP ∑ (Sigma) controls the whole machine and offers FP0T32CP controls 2 MINAS A servos, one for feeding high flexibility for production of tubes with variable the cloth, one for the needle. Both servos are sychronized length and quantity. accurately by the PLC for achieving good quality. Control cabinet Leather cutting machine with FP0T32CP, MSDA203A1A and MSDA083A1A FP2 with positioning module and MINAS A servo control the cutting process with high speed and an accuracy of 10 µm. 26 Motion Control Solution Typical Applications Quality control in automotive industry Labelling machine MINAS A 400W type tooth belt Machine for cutting paper 750W Panasonic servo controls the cutting blade transmission Other application examples: ■Packaging machines with several axes ■Winding machines ■Textile machines ■Gate and door control 27 Global Network Services Global Network North America Europe Asia Pacific China Japan Aromat Matsushita Matsushita Matsushita Matsushita Corporation Electric Works Electric Works Electric Works Electric Works, Ltd. (Europe) AG (Asia Pacific) Pte. Ltd. (China) Co., Ltd. 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(01908) 231555, Fax (01908) 231599, www.matsushita.co.uk 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 Asia Pacific / China / Japan � China Matsushita Electric Works (China) Co., 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 � Hong Kong Matsushita Electric Works (Hong Kong), Ltd. Rm1601, 16/F, Tower 2, The Gateway, 25 Canton Road, Tsimshatsui, Kowloon, Hong Kong, Tel. (852) 2956-3118, Fax (852) 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 Matsushita Electric Works (Asia Pacific) Pte. Ltd. 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