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Discontinued
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MINAS A6 Family


Wiring Diagram

Wiring to Connector, XA, XB, XC and Terminal Block

 

Connect an external regenerative resistor.

Frame
No.
Short wire
(Accessory)
Built-in
regenerative
resistor
Connection of the connector XB Do not connect anything to N.
In case of using an external regenerative resistor In case of not using an external regenerative resistor
A-frame
B-frame
without without • Connect an external regenerative resistor between P-B. • Always open between P-B.

 

 

Note)1

Frame
No.
Short wire
(Accessory)
Built-in
regenerative
resistor
Connection of the connector XB Do not connect anything to N.
In case of using an external regenerative resistor In case of not using an external regenerative resistor
C-frame
D-frame
with with • Remove the short wire accessory from between RB-B.
• Connect an external regenerative resistor between P-B.
• Shorted between RB-B with an attached short wire

 

Note)1

Frame
No.
Short wire
(Accessory)
Built-in
regenerative
resistor
Connection of the connector XC Do not connect anything to N.
In case of using an external regenerative resistor In case of not using an external regenerative resistor
E-frame with with • Remove the short wire accessory from between RB-B.
• Connect an external regenerative resistor between P-B.
• Shorted between RB-B with an attached short wire

 

Note)1

Frame
No.
Short bar
(Accessory)
Built-in
regenerative
resistor
Connection of terminal block Do not connect anything to N.
In case of using an external regenerative resistor In case of not using an external regenerative resistor
F-frame with with • Remove the short bar accessory from between RB-B.
• Connect an external regenerative resistor between P-B.
• Shorted between RB-B with an attached short bar

 

Connection of regenerative resistor

Frame
No.
Short bar
(Accessory)
Built-in
regenerative
resistor
Connection of terminal block Do not connect anything to N.
In case of using an external regenerative resistor In case of not using an external regenerative resistor
G-frame without without • Connect an external regenerative resistor between P-B. • Always open between P-B.

 

Connection of regenerative resistor

Frame
No.
Short bar
(Accessory)
Built-in
regenerative
resistor
Connection of terminal block Do not connect anything to N.
In case of using an external regenerative resistor In case of not using an external regenerative resistor
F-frame without without • Connect an external regenerative resistor between P-B. • Always open between P-B.

 

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Safety Function

Wiring to the Connector, X3 * Excluding A6 SE, A6 SG Series

Connecting the host controller can configure a safety circuit that controls the safety functions.
When not constructing the safety circuit, use the supplied safety bypass plug.

Outline Description of Safe Torque Off (STO)

The safe torque off (STO) function is a safety function that shuts the motor current and turns off motor output torque by forcibly turning off the driving signal of the servo driver internal power transistor. For this purpose, the STO uses safety input signal and hardware (circuit).
When STO function operates, the servo driver turns off the servo ready output signal (S-RDY) and enters STO state. When the driver becomes STO state, front panel displays the “St.”. Then, when the driver's state is STO input is off and servo-on input is off, the driver automatically becomes servo-off.

Safety Precautions

When using the STO function, be sure to perform equipment risk assessment to ensure that the system conforms to the safety requirements.
Even while the STO function is working, the following potential safety hazards exist. Check safety in risk assessment.
  The motor may move when external force (e.g. gravity force on vertical axis) is exerted on it. Provide an external brake, etc., as necessary to secure the motor. Note that the purpose of motor with brake is holding and it cannot be used for braking application.
  When parameter Pr5.10 Sequence at alarm is set to free run (disable dynamic brake), the motor is free run state and requires longer stop distance even if no external force is applied. Make sure that this does not cause any problem.
  When power transistor, etc., becomes defective, the motor will move to the extent equivalent of 180 electrical angle (max.). Make sure that this does not cause any problem.
  The STO turns off the current to the motor but does not turn off power to the servo driver and does not isolate it. When starting maintenance service on the servo driver, turn off the driver by using a different disconnecting device.
External device monitor (EDM) output signal is not a safety signal. Do not use it for an application other than failure monitoring.
Dynamic brake and external brake release signal output are not related to safety function. When designing the system, make sure that the failure of external brake release during STO condition does not result in danger condition.
When using STO function, connect equipment conforming to the safety standards.

[Connector pin assignment]
(Viewed from cable)

* Do not connect anything to NC.

●System configuration

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Control Circuit Diagram

Wiring to the Connector, X4

The functions of the following pin can be changed using parameters.
 Input: 8, 9, 26, 27, 28, 29, 31, 32
 Output: 10-11, 12, 34-35, 36-37, 38-39, 40
* The above diagram is a composition of the shipment parameter.

 

The functions of the following pin can be changed using parameters.
 Input: 8, 9, 26, 27, 28, 29, 31, 32, 33
 Output: 10-11, 12, 34-35, 36-37, 38-39, 40
* The above diagram is a composition of the shipment parameter.

 

The functions of the following pin can be changed using parameters.
 Input: 8, 9, 26, 27, 28, 29, 31, 32, 33
 Output: 10-11, 12, 34-35, 36-37, 38-39, 40
* The above diagram is a composition of the shipment parameter.

 

The functions of the following pin can be changed using parameters.
 Input: 8, 9, 26, 27, 28, 29, 31, 32
 Output: 10-11, 12, 34-35, 36-37, 38-39, 40
* The above diagram is a composition of the shipment parameter.

 

Wiring to the Connector, X5 * Excluding A6 SE, A6 SG Series

Applicable External Scale

Scale Type Partner Series Resolution*1
[μm]
Max. rate*1
[m/s]
Parallel Type
(A/B/Z phase)
General
Maximum speed after4× multiplication :
4 Mpps
Serial
communication
(Absolute)
FAGOR AUTOMATION
S2AP/SV2AP/G2AP
0.01/0.05
3
LAP
0.01/0.05
3
EXA/ EXG/ EXT
0.01/0.05
8
H2AP-D200/H2AP-D90
29 bit/23 bit
750 rpm/1500 rpm
S2AP-D170,/S2AP-D90
23 bit
1500 rpm
HEIDENHAIN
LIC 2197P/LIC 2199P
0.05/0.1
10
LIC 4193P/LIC 4195P
LIC 4197P/LIC 4199P
0.001/0.005/0.01
10
LC 195P/LC 495P
0.001/0.01
3
ECA 4490P
27 bits to 29 bits
7000 rpm〜550 rpm
(Depends on drum size)
RCN 2x90P/RCN 5x90P
26 bits/28 bits
1500 rpm
RCN 8x90P
29 bit
500 rpm
RSF Electronik
MC 15P MP/MC 15P MK
0.05/0.1
10
Magnescale Co.,Ltd.
SR77
0.01 to 1
3.3
SR87
0.01 to 1
3.3
MITSUBISHI HEAVY
INDUSTRIES MACHINE TOOL CO., LTD
MPZA/MPRZ
23 bits
10000 r/min,
5000 r/min
Mitutoyo Corporation
AT573-SC/AT573-H
0.05
2.5
ST700
0.1
5
ST1300
0.001/0.01
8
Renishaw plc
RESOLUTE
0.001
A5/0.4, A6/4
0.05
A5/20, A6/100
0.1
A5/40, A6/100
Serial
communication
(Incremental)
Magnescale Co., Ltd.
SL700+PL101RP/RHP
0.1
10
SL710+PL101RP/RHP
0.1
10
SR75/SR85
0.01 to 1
3.3
BF1
0.001/0.01
0.4/1.8
SQ10+PQ11
0.05/0.1/0.5/1
3
SQ10+PQ10+MQ10
0.05/0.1/0.5/1
3
MITSUBISHI HEAVY
INDUSTRIES MACHINE TOOL CO., LTD
MPLIN
0.1
30
Nidec Sankyo Corporation
PSLH041+PSLG
0.1
6
SIKO
MSK200/1
0.5
15

*1 The maximum speed is a characteristic of the driver. It is limited by the configration of the machine and the system.

* For more information about the external scale product, please contact the manufacturer.

 

 

Wiring to the Connector, X6

 

 

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Requests to customers (Automation Control Components & Industrial Device) [Excluding specific product]
Requests to customers (Automation Control Components & Industrial Device) [For specific product]
Requests to customers (FA Sensors & Components [Excluding motors])
Requests to customers (Dedicated to industrial motors)