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Keywords:Panasonic A6 Servo Motor, Panasonic A6 Servo Motor Driver, Panasonic A6 Servo Motor setting instruction

Introduction of Panasonic A6 Series Motor & Driver -- 5. Installation/Driver

Abstract

The correct installation of the servo and motor will ensure the safety of the system and the life of the Panasonic A6 series of AC servo motor and driver. Here in this chapter you'll have a detailed instruction of the Panasonic A6 series AC servo motor and driver and the safety notification while installating.

Install the driver properly to avoid a breakdown or an accident.

1. Install the driver in a control panel enclosed in noncombustible material and placed indoor where the product is not subjected to rain or direct sunlight. The products are not water proof.
2. Where the products are not subjected to corrosive atmospheres such as hydrogen sulfide, sulfurous acid, chlorine, ammonia, sulfur, chloric gas, sulfuric gas, acid, alkaline and salt and so on, and are free from splash of inflammable gas.
3. Where the motor is free from grinding oil, oil mist, iron powder or chips.
4. Well-ventilated and low humidity and dust-free place.
5. Vibration-free place.
6. Do not use benzine, thinner, alcohol, acidic cleaner and alkaline cleaner because they can discolor or damage the exterior case.

*1 Extreme temperatures are permissible only for short period such as during transportation.

*2 Air containing water vapor will become saturated with water vapor as the temperature falls, causing dew.

1. Rack-mount type. Install in vertical position, and reserve enough space around the servo driver for ventilation.
2. Base mount (rear mount) is standard for A/B/C/D-frame driver.
3. To change the mounting surface of A/B/C/D-frame driver, use the optional mounting bracket. For choosing the correct optional mounting bracket, refer to P.7-141 "Mounting BBracket".
4. In consideration of strength of the screws and the material of the mounting base, select appropriate fastening torque for the product mounting screws, so that the screws will not be loosened or damaged.
   
   Example) To tighten a steel screw into a steel base
   A to Frame: M5 2.7 N-m to 3.3 N-m
   

• Reserve enough surrounding space for effective cooling.
• Install fans to provide uniform distribution of temperature in the control panel.
• D to F-frame is provided with a cooling fan at the bottom.
• Observe the environmental conditions of the control panel described in the previous page.

Note → It is recommended to use the conductive paint when you make your own mounting brack-et, or repaint after peeling off the paint on the machine for installing the products, in order to make noise countermeasure.

Caution →

• We have been making the best effort to ensure the highest quality, however, application of exceptionally large external noise disturbance and static electricity, or failure in input power, wiring and components may result in unexpected action. It is highly recommended that you make a fail-safe design and secure the safety in the operative range.
• If standed wires are used as the cable, bunch the conductors of the cable using a rod terminals or a round terminals. If standed wires are used as they are, unexpected accidents such as an electric shock and short circuit or injury may result.
• There might be a chance of smoke generation due to the failure of these products. Pay an extra attention when you apply these products in a clean room environment.
• Be sure to install a circurt breaker (MCCB) in the power supply. In addition, be sure to ground the grounding terminal or groundidng wire provided. (In order to prevent electric shock and malfunctions, Class D grounding [Grounding resistance of 100Ω or less] is recommended.)
  If the product is grounded insufficiently, not only the driver may not deliver its performance sufficiently, but also safety hazards such as a malfunction due to an electrification or a disturbance may be caused.
• If electric wires are bound and run through metal duct, they cannot carry the rated current due to temperature rise. If they are forced to carry the rated current, they may burn. When determining size of the wire.
• Do not use or store the product in a place subject to 5.88 m/s² or more vibration or shock, foreign materials such as dust, metallic powder and oilmist, liquids such as water, oil and grinding fluid, close to flammable materials, or in an atmosphere of corrosive gas (H₂S, SO₂, NO₂, CI₂, etc.) or inflammable gas under any circumstance.
• Be sure to conduct wiring properly and securely. Insecure or improper wiring may cause the motor running out of control or being damaged from overheating. In addition, pay attention not to allow conductive materials, such as wire chips, entering the driver during the installation and wiring.
• Secure the screws and earth screw on the terminal block with the torque specified in the specification.
• When establishing a system using safety functions, completely understand the applicable safety standards and the operating instruction manual or technical applicable safety standards and the operating instruction manual or technical documents for the product.
• Never make an approach to the motor and the machines driven by the motor while power is applied because they may become failure or malfunction.
• Do not use servo-on signal (SRV-ON) as the start/stop signal. Doing so may damage the built-in dynamic brake circuit in the driver.
• Pay attention to the heat dissipation. The driver will generate heat while the motor is in operation. Using the driver in a sealed control box may cause an abnormal heating of the control box. A proper consideration should be given to cool the driver so that the ambient temperature matches the specified operating temperature range.
• There is a possiblility that the motor will be damaged by heat or emit smoke or dust due to a fault in the motor itself or the driver coupled with it. A proper consideration should be given if the motor is used in a clean room or similar environment.
• If the dynamic brake is applied during operation at a high speed, provide approx. 10-minute dwell period.
  Restarting the motor earlier may cause a broken wire in the dynamic brake making the brake inoperable.
• The capacitance of capacitor in the power supply rectifier circuit decreases its capacitance with age.
  To prevent a secondary accident due to malfunction, it should be replaced with new one after 5-year use.
  Replacement should be performed by us or our authorized distributor.
• Before using the product, be sure to read the instruction manual (Safety part).

Related page → •P. 1-7 "Specifications" • P.1-24 "Installation of motor"
• P.7-78 "Dimensions of driver" •P.7-141 "Mounting bracket"

• For the main circuit, use electric wire that withstands at least 600VAC with temperature rating 75 °C or higher.
• When using bundled wires running through metallic conduit, the amounts of current determined according to the reduction rate must be subtraced from the nominal allowable current.
• Electric wires
  <In high ambient temperature>
  Use heat resistant wire.
  Common polyvinyl chloride wires will deteriorate by heat at a higher rate.
  <In low ambient temperature>
  The surface of vinyl chloride insulation becomes hardened and brittle at low temperature and needs specific protective measure when used in cold region.
• Bend radius of the cable must be 10 times or more its finish outside diameter.
• Cables cannot be used for continuous regeneration because they are not designed for such application.

• When selecting a cable, refer to the following selection guide showing relationship between cable specification and current carrying capacity.

  Example: Power supply 3-phase, 200 V, 35 A, ambient temperature 30 °C

  Determine the fundamental permissible current according to the cable conductor material (example: stranded copper wire). (For the purpose of the example, the ampere indicated by █ is selected from the table right.)
  Next, determine the number of conductors. (In this example, the cable contains 4 conductors (3 + ground).) Determin the applicable permissible current using the following formula.

  Applicable permissible current

  = funcamental permissible current x current reduction coefficient x current correction coefficient
  = 37 x 0.7 x 1.414
  = 36.6(A)

  This permissible value is larger than 35A to be carried though the cable. Therefore, according to the list of recommended eco-cables, the cable to be selected for the cable with nominal cross section 3.5 mm² is a polyethylene-insulatd heat-resistant 4-conductor power cable having 13.5mm finish O.D. (approx. 14.5 mm with shield).

  •Fundamental permissible current

  Stranded conductor (nominal cross section: mm2)	Copper wire (unit: A)
  2 to 3.5 (excl.)	27
  █ 3.5 to 5.5 (excl.)	37
  5.5 to 8 (excl.)	49
  8 to 14 (excl.)	61
  14 to 22 (excl.)	88
  11 to 30 (excl.)	115
  30 to 38 (excl.)	139
  38 to 60 (excl.)	162
  60 to 100 (excl.)	217
  100 to 150 (excl.)	298
  150 to 200 (excl.)	395

  <Supplemenet>

• The current correction coefficient is determined using the following formula:√(Max. permissible temp.-ambient temp.)/30
  Caution → The current correction coefficient is determined according to the cable. Check the specification of the cable used.
• The current reduction coefficient is provided for the case where the cable (4-conductor cable in the case of example), is housed in plastic race/sheath, plastic tube, metal race/sheath, metal tube or flexible conduit.
  Caution → Because the neutral conductor is not counted as a wire, the current reduction coefficient for "3 or less" is applied as indicated by (©) in the table right.

  • Current reduction coefficient 0.49

  No. of wires in a tube	Coefficient
  ©Up to 3	0.70
  4	0.63
  5 or 6	0.56
  7 to 15
  16 to 40	0.43
  41 to 60	0.39
  61 or more	0.34

• Recommended eco-cable

  Wire category: 4-conductor polyethylene-insulated power cable with heat-resistant polyethylene sheath (Standard: EM JIS C 3605) Maximum permissible temperature: 90 °C

  Conductor			Insulation thickness (mm)	Sheath thickness (mm)	(Reference) Finished O.D.(mm)	Max conductor resistance (20 °C)(W/km)	Test voltage (V/1 min.)	Minimum insulation resistance (MW.km)	(Reference) Approx. mass (kg/km)
  Nominal cross section (mm2)	Structure or shape (wires/mm2)	Outside diameter (mm)
  2	7/0.6	1.8	0.8	1.5	12.0	9.42	1500	2500	170
  3.5	7/0.8	1.8	0.8	1.5	13.5	5.30	1500	2500	250
  5.5	7/1.0	3.0	1.0	1.5	16.0	3.40	1500	2500	360
  8	7/1.2	3.6	1.0	1.5	17.0	2.36	1500	2000	475
  14	Circular compression	4.4	1.0	1.5	19.0	1.34	2000	1500	730
  22	Circular compression	5.5	1.2	1.6	23	0.849	2000	1500	1100
  38	Circular copmpression	7.3	1.2	1.8	28	0.419	2500	1500	1800
  60	Circular compression	9.3	1.5	2.0	35	0.311	2500	1500	2790
  100	Circular compression	12.0	2.0	2.4	44	0.187	2500	1500	4630
  150	Circular compression	14.7	2.0	2.6	51	0.124	3000	1000	6710
  200	Circular compression	17.0	2.5	2.9	60	0.0933	3000	1500	8990

Caution → Shield will increase finish outside diameter by approx. 1mm.
Note → • Appropriate cable should be selected to have sufficient allowace of parameters such as operating ambient temperature and current.

• Current reduction coefficient, fundamental permissible current, etc., stated on this page are subject to change due to e.g. standard revision. Consult cable manufacturers for the latest information.

Introduction of Panasonic A6 Series Motor & Driver -- 5. Installation/Motor

Install the motor properly to avoid a breakdown or an accident.

Since the conditions of location affect a lot to the motor life, select a place which meets the conditions below.

1. Indoors, where the products are not subjected to rain or direct sun beam. The products are not waterproof.
2. Where the products are not subjected to corrosive atmospheres such as hydrogen sulfide, sulfurous acid, chlorine, ammonia, sulfur, chloric gas, sulfuric gas, acid, alkaline and salt and so on, and are free from splash of inflammable gas.
3. Where the motor is free from grinding oil, oil mist, iron powder or chips.
4. Well-ventilated and humid and dust-free place, far apart from the heat source such as a furnace.
5. Easy-to-access place for inspection and cleaning
6. Vibration-free place.
7. Avoid enclosed place. Motor may gets hot in those enclosure and shorten the motor life.

*1 Ambient temperature to be measured at 5 cm away from the motor.
*2 Permissible temperature for short duration such as transportation.
*3 These motors conform to the test conditions specified in EN standards (EN60529, EN60034-5), Do not use these motors in application where water proof performance is required such as continuous wash-down operation.
*4 Air containing water vapor will become saturated with water vapor as the temperature falls, causing dew.

1. Don't submerge the motor cable to water or oil.
2. Install the motor with the cable outlet facing downward.
3. Avoid a place where the motor is always subjected to oil or water.
4. Use the motor with an oil seal when used with the gear reducer, so that the oil may not enter to the motor through shaft.

1. Avoid a stress application to the cable outlet and connecting portion by bending or self-weight.
2. Especially in an application where the motor itself travels, fix the junction cable into the bearer so that the stress by bending can be minimized.
3. Take the cable bending radius as large as possible. (When you use our optional cables, minimum R20mm)

1. Design the mechanical system so that the applied radial load and/or thrust load to the motor shaft at installation and at normal operation can meet the permissible value specified to each model.
2. Pay an extra attention when you use a rigid coupling. (Excess bending load may damage the shaft or deteriorate the bearing life.)
3. Use a flexible coupling with high stiffness designed exclusively for servo application in order to make a radial thrust caused by micro misalignment smaller than the permissible value.

Note → For permissible load of each model, refer to P.1-26, "Permissible Load at Output Shaft".

1. Do not apply direct impact to the shaft by hammer while attaching/detaching a coupling to and from the motor shaft. (Or it may damage the encoder mounted on the other side of the shaft.)
2. Make a full alignment. (Incomplete alignment may cause vibration and damage the bearing.)
3. If the motor shaft is not electrically grounded, it may cause electrolytic corrosion to the bearing depending on the condition of the machine and its mounting environment, and may result in the bearing noise. Check and verification by customer is required.

Related page → • P.1-20 "Installation of driver"    • P.1-24 "Permissible Load at Output Shaft"     • P.7-84 "Dimensions of motor"

When wiring cable bear, take the following precautions:

• Cable bear wiring

  The bend radius of the cable must be 10 times or more its finish outside diameter. (For finish outside diameter, refer to P.1-19 how to Install, "Relationship between Wire Diameter and Permissible Current" and associated tables.)
  Do not fix or bundle wires in the cable bear.
  When securing the cable, fix it only at non-movable ends of the cable bear where the cable is free from any stress (e.g. tension). (Avoid tight lock.)

  [Recommended cable bear wiring]
  

  Caution → Do not keep the cable loosened (too long) or under tension (too short). Otherwise, the sheath will be cracked by internal wall of the cable bear, tangled by other cable, etc., Causing unpredictable troubles.

• Cable distortion

  Keep the cable free from twists or kinks. Distorted cable will cause loose connection, lowering performance and reliability.

• Lamination factor of cable in cable bear

  Place cables on a flat surface in parallel without bringing them into contact with each other and measure the dimension necessary to cover these cables. Then select a cable bear which is wider than the measured dimension.
  The lamination factor of cables should be lower than 60% (Recommended factor is 30% or below).
  Do not run smaller and larger size cables in the same cable bear. Thin cables may break under the pressure of thick cables. If it is necessary to mix cables of different size, isolate them by using suitable seperating material such as partition.

  [Wiring arrangement in cable bear - example]