Page 1 AC Servo Motor & Driver MINAS A5-series * This product image is 200W type of A5-series. • Thank you for purchasing this Panasonic product. • Before operating this product, please read the instructions carefully, and save this manual for future use.
Page 2 Thank you for purchasing Digital AC Servo Motor & Driver, MINAS A5-series. This instruction manual contains information necessary to correctly and safely use the MINAS A5-series motor and driver. By reading this instruction manual, you will learn how to identify the model of the motor and driver that will be best suitable your application, how to wire and set up them, how to set parameters, and how to locate possible cause of symptom and to take corrective action.
Page 3: When In Trouble
Organization of this manual Before Using the Products Check of the Driver Model ... Installation Describes how to identify and select the desired product and components, how to read the specifications, and how to install the equipment. Preparation Operating requirements and procedure Shows the timing chart and the list of parameters, and describes how to make wiring and to use the front panel.
Page 4 Contents page Organization of this manual .................... Safety Precautions ......................6 Conformance to international standards ..............10 Maintenance and Inspections ..................11 Guideline for Parts Replacement ................. 12 1. Before Using the Products ..............1-1 1. Introduction ....................... 1-2 2.
Page 5: Table Of Contents
page 4. Setup ........................-1 1. Describes parameters ....................-2 2. JOG running ......................-58 5. Adjustment ......................5-1 1. Gain Adjustment ......................5-2 2. Real-Time Auto-Gain Tuning ..................5- . Adaptive Filter ......................5-10 . Manual Auto-Gain Tuning (Basic) ................5-1 5.
Page 6: Safety Precautions
Safety Precautions Please observe safety precautions fully. The following explanations are for things that must be observed in order to prevent harm to people and damage to property. • Misuses that could result in harm or damage are shown as follows, classified according to the degree of potential harm or damage.
Page 7 In the case of the motor with shaft end keyway, do Failure to observe this instruc- not touch the keyway with bare hands. tion could result in personal Do not touch the rotating portion of the motor injury. while it is running. Do not touch the motor, servo driver, heat sink Failure to observe this instruc- and regenerative resistor, since they become very...
Page 8 Safety Precautions Please observe safety precautions fully. Caution Do not hold the motor cable or motor shaft during Failure to observe this instruc- the transportation. tion could result in injuries. Failure to observe this instruc- Don't drop or cause topple over of something dur- tion could result in injuries and ing transportation or installation.
Page 9 Failure to heed these require- Observe the specified mounting method and di- ments will result in personal rection. injury or malfunction. Use the eye bolt of the motor for transportation of Using it for transportation of the the motor only, and never use this for transporta- machine will cause personal tion of the machine.
Page 10 : Underwriters Laboratories CSA : Canadian Standards Association Pursuant to the directive 200/108/EC, article 9(2) Panasonic Testing Centre Panasonic Service Europe, a division of Panasonic Marketing Europe GmbH Winsbergring 15, 22525 Hamburg, F.R. Germany Note For details on compatibility with international standard, refer to P.2-2 Conformance to...
Page 11 Maintenance and Inspections Routine maintenance and inspection of the driver and motor are essential for the proper and safe operation. Notes on Maintenance and Inspection 1) Turn on and turn off should be done by operators or inspectors themselves. 2) Internal circuit of the driver is kept charged with high voltage for a while even after power-off.
Page 12 Maintenance and Inspections Guideline for Parts Replacement Use the table below for a reference. Parts replacement cycle varies depending on the ac- tual operating conditions. Defective parts should be replaced or repaired when any error have occurred. Disassembling for inspection and repair should be carried out only by authorized dealers or service Prohibited company.
Page 13 . Before Using the Products 1. Introduction Outline ......................1-2 On Opening the Product Package ...............1-2 2. Driver Check of the Model ..................1- Parts Description (A to E-frame) ..............1- Parts Description (F-frame) .................1-5 Specifications....................1-6 Block Diagram .....................1-8 3. Motor Check of the Model ..................1-10 Parts Description ..................1-12 4.
Page 14: Introduction
Before Using Outline the Products The AC Servo Motor & Driver, MINAS A5-series is the latest servo system that meets all demands from a variety of machines which require high speed, high precision and high performance or which require simplified settings.
Page 15: Driver
2. Driver Before Using Check of the Model the Products Contents of Name Plate Model number Serial Number e.g.) : P09 0 4 0 0 0 1 N Input/output voltage Lot number Number of phase Month of production Rated input/output current Year of production (Lower 2 digits of AD year) Input/output frequency...
Page 16 2. Driver Before Using Parts Description the Products A to D-frame Front panel Connector XA: Connector X7: Monitor connector for main power connection 05JFAT-SAXGF (JST) Connector X1: USB connector Main power Connector X2: for Serial bus input terminals Connector X3: Safety function connector Control power input terminals Connector X4: Parallel I/O connector...
Page 17: Parts Description (A To E-Frame)
2. Driver Parts Description E-frame Front panel Connector X7: Monitor connector Connector X1: USB connector Main power Connector X2: for Serial bus input terminals Connector X3: Safety function connector Control power input terminals Connector X4: Parallel I/O connector Terminals for external Connector X5: regenerative resistor for feedback scale...
Page 18: Specifications
2. Driver B efore Using Specifications the Products +10% Main circuit Single phase, 100 to 120V 50/60Hz –15% 100V +10% Control circuit Single phase, 100 to 120V 50/60Hz –15% +10% A to Single/3-phase, 200 to 240V 50/60Hz D-frame –15% Main circuit +10% E to 3-phase, 200 to 230V 50/60Hz F-frame...
Page 19 2. Driver Specifications (1) Deviation counter clear (2) Command pulse inhibition Control input (3) Command dividing gradual increase switching (4) Damping control switching etc. Control output Positioning complete (In-position) etc. Max. command Exclusive interface for Photo-coupler: 500kpps pulse frequency Exclusive interface for line driver : 4Mpps Input pulse Differential input.
Page 20: Block Diagram
2. Driver Before Using Block Diagram the Products A, B-frame Fuse Fuse Voltage detection Fuse ±12V Gate drive DC/DC PS for gate drive PS for RE Front panel Error Sequence control detection Display Protective operation Parameter control EEPROM curcuit control Serial Safety function Alarm...
Page 21 2. Driver Block Diagram E-frame Fuse Fuse Voltage detection Gate drive Fuse ±12V DC/DC PS for gate drive PS for RE Front panel Error Sequence control detection Display Protective operation Parameter control EEPROM curcuit control Serial Safety function Alarm signal Position Pulse train Division/...
Page 22: Motor
3. Motor Before Using Check of the Model the Products Contents of Name Plate Serial Number Model e.g.) : 09 04 0001N Rated input voltage/current Lot number Month of production Rated output Year of production (Lower 2 digits of AD year) Rated frequency Manufacture date Rated...
Page 23 3. Motor Check of the Model Model Designation M S M E 5 A Z S 1 S 1 to 4 11 to 12 5 to 6 Special specifications Motor rated output Motor structure Symbol Output Design order 1: Standard 100W Type 200W...
Page 24: Parts Description
3. Motor Before Using Parts Description the Products • MSME 50W to 750W Connector for encoder Connector for motor Flange Motor frame Mounting holes (X4) [with Brake] Connector for encoder Connector for brake Connector for motor Flange Motor frame Mounting holes (X4) e.g.) : Low inertia type (MSME series, 50W) •...
Page 25: Check Of The Combination Of The Driver And The Motor
4. Check of the Combination of the Driver and the Motor Before Using Incremental Specifications, 20-bit the Products This driver is designed to be used in a combination with the motor which are specified by us. Check the series name of the motor, rated output torque, voltage specifications and encoder specifications.
Page 26 4. Check of the Combination of the Driver and the Motor Before Using Absolute Specifications, 17-bit the Products This driver is designed to be used in a combination with the motor which are specified by us. Check the series name of the motor, rated output torque, voltage specifications and encoder specifications.
Page 27: Incremental Specifications, 20-Bit
4. Check of the Combination of the Driver and the Motor Before Using Junction cable for motor the Products Encoder cable Detail Incremental Specifications, 20-bit Note)1 Note)1 Motor series Absolute Specifications, 17-bit page MSME 50W to 750W MFECA0**0MJD MFECA0**0MJE 7-76 MSME 1.0kW to 5.0kW MFECA0**0ETD MFECA0**0ETE...
Page 28 5. Installation Before Using Driver the Products Install the driver properly to avoid a breakdown or an accident. Installation Place 1) Install the driver in a control panel enclosed in noncombustible material and placed in- door where the product is not subjected to rain or direct sunlight. The products are not waterproof.
Page 29 5. Installation Driver Mounting Direction and Spacing • Reserve enough surrounding space for effective cooling. • Install fans to provide uniform distribution of temperature in the control panel. • D/E/F frame is provided with a cooling fan at the bottom. •...
Page 30 5. Installation Driver Recommended Electric Wires for Driver • For the main circuit, use electric wire that withstands at least 600 VAC with tempera- ture rating 75℃ or higher. • When using bundled wires running through metallic conduit, the amounts of current determined according to the reduction rate must be subtracted from the nominal allow- able current.
Page 31: Junction Cable For Motor
5. Installation Driver <Supplement> • The current correction coefficient is determined using the following formula: (Max. permissible temp. – ambient temp.) ÷ 30 The current correction coefficient is determined according to the cable. Check the specifi- Caution cation of the cable used. •...
Page 32: Installation
5. Installation Before Using Motor the Products Install the motor properly to avoid a breakdown or an accident. Installation Place 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.
Page 33 5. Installation Motor Oil/Water Protection 1) Don't submerge the motor cable to water or oil. 2) Install the motor with the cable outlet facing downward. ) Avoid a place where the motor is always subject- Motor Cable ed to oil or water. ) Use the motor with an oil seal when used with the gear reducer, so that the oil may not enter to the Oil / Water...
Page 34 5. Installation Motor Wiring Precautions on Movable Section 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. The minimum radius: R > =20 mm. For finish outside diameter, refer to P.1-18 How to Install, “Relationship between Wire Diameter and Permissible Current”...
Page 35: Permissible Load At Output Shaft
6. Permissible Load at Output Shaft Before Using Motor the Products Radial load (P) direction Thrust load (A and B) direction Unit : N (1kgf=9.8N) At assembly During running Motor Thrust load Thrust load A Motor output series Radial thrust Radial thrust A-direction B-direction B-direction...
Page 36 MEMO 1-2...
Page 37 . Preparation 1. Conformance to international standards EC Directives .....................2-2 Composition of Peripheral Equipments ............2-4 2. System Configuration and Wiring Driver and List of Applicable Peripheral Equipments .........2-6 Overall Wiring (Connector type) ..............2-8 Wiring of the Main Circuit (Connector type) ..........2-10 Wiring Diagram (Connector type).............2-12 Overall Wiring (Terminal block type) ............2-14 Wiring of the Main Circuit (Terminal block type) ........2-16 Wiring Diagram (Terminal block type) ............2-17 Specifications of Motor connector ............2-18...
Page 38: Conformance To International Standards
1. Conformance to international standards EC Directives Preparation EC Directives The EC Directives apply to all such electronic products as those having specific functions and have been exported to EU and directly sold to general consumers. Those products are required to conform to the EU unified standards and to furnish the CE marking on the products.
Page 39 : Underwriters Laboratories CSA : Canadian Standards Association Pursuant to the directive 2004/108/EC, article 9(2) Panasonic Testing Centre Panasonic Service Europe, a division of Panasonic Marketing Europe GmbH Winsbergring 15, 22525 Hamburg, F.R. Germany Installation Environment Use the servo driver in the environment of Pollution Degree 1 or 2 prescribed in IEC-60664-1 (e.g.
Page 40: Composition Of Peripheral Equipments
1. Conformance to international standards Composition of Peripheral Equipments Preparation Power Supply +10% +10% 100V type : Single phase, 100V 120V 50/60Hz –15% –15% (A to C-frame) +10% +10% 200V type : Single/3-phase, 200V 240V 50/60Hz –15% –15% (A to D-frame) +10% +10% 200V type : 3-phase, 200V 230V 50/60Hz (E, F-frame)
Page 41 1. Conformance to international standards Composition of Peripheral Equipments Surge Absorber Voltage specifications Manufacturer’s Option part No. Manufacturer for driver part No. DV0P1450 3-phase 200V RAV-781BXZ-4 Okaya Electric Ind. DV0P4190 Single phase 100V/200V RAV-781BWZ-4 Okaya Electric Ind. Noise Filter for Signal Lines Manufacturer’s Option part No. Manufacturer part No. DV0P1460 ZCAT3035-1330 TDK Corp. Residual current device Install a type B Residual current device (RCD) at primary side of the power supply. Grounding (1) Connect the protective earth terminal ( ) of the driver and the protective earth ter-...
Page 42: System Configuration And Wiring
2. System Configuration and Wiring Driver and List of Applicable Peripheral Equipments Preparation Cable Circuit Cable Required Noise Applicable Rated breaker Noise Surge Magnetic diameter diameter Driver Voltage Power filter for Connection motor output (rated filter absorber contactor (main (control (at the rated load) signal current) circuit) circuit) Single 50W to approx.
Page 43 2. System Configuration and Wiring Driver and List of Applicable Peripheral Equipments • Select peripheral equipments for single/3phase common specification according to the power source. [For details of peripheral equipments] Noise filter ......P.7-72 Surge absover ....P.7-74 Noise filter for signal lines . P.7-75 • About circuit breaker and magnetic contactor To comply to EC Directives, install a circuit breaker between the power and the noise filter without fail, and the circuit breaker should conform to IEC Standards and UL recognized (Listed and marked).
Page 44: Overall Wiring (Connector Type)
2. System Configuration and Wiring Overall Wiring (Connector type) Preparation Connecting Example of A to D-frame • Wiring of Main Connector (XA) Mains Residual Circuit Breaker (MCCB) current device To protect power supply line from overloading, install a wiring circuit breaker rated to the capacity of the power supply. Noise Filter (NF) Wiring to Connector, XA P.2-10...
Page 45: Wiring Of The Main Circuit (Connector Type)
*1 Do not make displacement, wiring or inspection (to be supplied by customer) while the LED is lit - cause of electric shock. Related page • P.2-10 “Wiring of the Main Circuit (Connector type)” • P.2-18 “Specifications of Motor connector” Motor Company's WEBsite URL: http://industrial.panasonic.com/jp/i/fa_motor.html...
Page 46 2. System Configuration and Wiring Wiring of the Main Circuit (Connector type) Preparation A to D-frame, 100 V / 200 V type • Wiring should be performed by a specialist or an authorized personnel. • Do not turn on the power until the wiring is completed. • Tips on Wiring 1) Wire connector (XA and XB). 2) Connect the wired connector to the driver. •...
Page 47 2. System Configuration and Wiring Wiring of the Main Circuit (Connector type) E-frame, 200 V type • Wiring should be performed by a specialist or an authorized personnel. • Do not turn on the power until the wiring is completed. • Tips on Wiring 1) Wire connector (XA, XB and XC). 2) Connect the wired connector to the driver. •...
Page 48: Wiring Diagram (Connector Type)
2. System Configuration and Wiring Wiring Diagram (Connector type) Preparation Compose the circuit so that the main circuit power will be shut off when an error occurs. In Case of Single Phase, A to D-frame, 100 V / 200 V type +10% +10% +10% +10% Power supply Single phase, 100V to 120V Single phase, 200V to 240V –15% –15% –15%...
Page 49 2. System Configuration and Wiring Wiring Diagram (Connector type) In Case of 3-Phase, E-frame, 200 V type +10% +10% Power supply 3-phase, 200V to 230V –15% –15% Built-in thermostat of an external regenerative resistor (light yellow) Coil surge suppression units MCCB Main power supply Control power supply External regenerative resistor Remove the short wire when you connect the external regenerative resistor.
Page 50: Overall Wiring (Terminal Block Type)
2. System Configuration and Wiring Overall Wiring (Terminal block type) Preparation Connecting Example of F-frame • Wiring of Main Mains Circuit Breaker (MCCB) Residual current device To protect power supply line from overloading, install a wiring circuit breaker rated to the capacity of the power supply. Noise Filter (NF) Removes external noise from the Connection with input power lines.
Page 51: Wiring Of The Main Circuit (Terminal Block Type)
(to be supplied by customer) *1 Do not make displacement, wiring or inspection while the LED is lit - cause of electric shock. Related page • P.2-16 “Wiring of the Main Circuit (Terminal block type)” • P.2-18 “Specifications of Motor connector” Motor Company's WEBsite URL: http://industrial.panasonic.com/jp/i/fa_motor.html 2-15...
Page 52 2. System Configuration and Wiring Wiring of the Main Circuit (Terminal block type) Preparation F-frame, 200 V type • Wiring should be performed by a specialist or an authorized personnel. • Do not turn on the power until the wiring is completed. • Tips on Wiring 1) Take off the cover fixing screws, and detach the terminal cover. 2) Make wiring Use clamp type terminals of round shape with insulation cover for wiring to the terminal block.
Page 53: Wiring Diagram (Terminal Block Type)
2. System Configuration and Wiring Wiring Diagram (Terminal block type) Preparation Compose the circuit so that the main circuit power will be shut off when an error occurs. In Case of 3-Phase, F-frame, 200 V type +10% +10% Power supply 3-phase, 200V to 230V –15% –15% Built-in thermostat of an external regenerative resistor (light yellow) Coil surge suppression units Terminal block...
Page 54: Specifications Of Motor Connector
2. System Configuration and Wiring Specifications of Motor connector Preparation • When the motors of <MSME (50 W to 750 W)> are used, they are connected as shown below. Connector: Made by Japan Aviation Electronics Industry, Ltd. (The figures below show connectors for the motor.) 20-bit Incremental 17-bit Absolute Tightening...
Page 55: Wiring Method To Connector
2. System Configuration and Wiring Wiring method to connector Preparation • Follow the procedures below for the wiring connection to the Connector How to connect 1. Peel off the insulation cover of the cable. 8 to 9 mm • For single wire (Please obey the length in figure.) •...
Page 56: Wiring To The Connector, X1
3. Wiring to the connector, X1 Connecting host computer Preparation This is used for USB connection to a personal computer. It is possible to change the pa- rameter setting and perform monitoring. Connector Application Symbol Contents Pin No. VBUS Use for communication with personal D− computer. USB signal terminal —...
Page 57 4. Wiring to the connector, X2 Connecting host computer • This servo driver features 2 kinds of communication function, RS232 and RS485, and you can use in 3 connecting methods. To communicate with a single driver through RS232 Connect the host (PC or controller) to an driver through RS232. [How to connect] Cable prepared Shut off both powers of by the user the PC andthe driver before inserting/pulling...
Page 58: Wiring To The Connector, X3
5. Wiring to the connector, X3 Safety function connector Preparation A safety by-pass plug is supplied as standard equipment. Do not disconnect it in normal times. When controlling the safety function from the connected host controller, accessory con- nector cannot be used. Prepare and wire the connector (option) as specified below. Since the standard connector cannot be used when controlling the safety function from the host controller, purchase the optional connector and make connection as shown be- low.
Page 59: Wiring To The Connector, X4
6. Wiring to the connector, X4 Connection to Host Controller Preparation Tips on wiring Peripheral apparatus such as host controller should be located or shorter within3m. Controller 30cm or longer Separate the main circuit at least 30cm away. Power supply Don't pass them in the same duct, nor bind them together. Motor Power supply for control signals (V ) between COM+ and...
Page 60: Wiring To The Connector, X5
7. Wiring to the connector, X5 Connect on to External Scale Preparation Provide a power supply for the external scale on your part or use the following power out- put (250mA or less). Connector Application Symbol Contents Pin No. Supply the power of external scale or A, B, EX5V Power supply out- Z phase encoder.
Page 61 7. Wiring to the connector, X5 Connect on to Feedback Scale Wiring Diagram of X5 Connector X5 EX5V EX5V EX0V EX0V EXPS EXPS EXPS EXPS Twisted pair MUF-PK10-X (J.S.T. Mfg. Co., Ltd.) Shell of X5 (FG) Detection head Junction cable External scale unit External scale Servo driver side How to Wiring Wire the signals from the external scale to the external scale connector, X5. 1) Cable for the external scale to be the twisted pair with bundle shielding and to hav- ing the twisted core wire with diameter of 0.18mm 2) Cable length to be max.
Page 62: Wiring To The Connector, X6
8. Wiring to the connector, X6 Connection to Encoder Preparation Tips on Wiring Maximum cable length between the driver and the motor to be Power supply 20m. Consult with a dealer or distributor if you want to use the longer cable than 20m. (Refer to the back cover.) Encoder 30cm or more Motor Keep this wiring away from the main circuit by 30 cm or more.
Page 63 8. Wiring to the connector, X6 Connection to Encoder Wiring Diagram • In case of 20-bit incremental encoder MSME 50W to 750W Shell (FG) Twisted pair Cable connector: JN6FR07SM1 (by Japan Aviation Electronics Ind.) Motor Encoder cable Driver Tighten the motor connector mounting screw (M2) [Connector pin assignment] with a torque between 0.19 and 0.21 N m.
Page 64 8. Wiring to the connector, X6 Connection to Encoder • In case of 17-bit absolute encoder MSME 50W to 750W battery BAT+ BAT− Shell (FG) Twisted pair Cable connector: JN6FR07SM1 (by Japan Aviation Electronics Ind.) Motor Encoder cable Driver Tighten the motor connector mounting screw (M2) [Connector pin assignment] with a torque between 0.19 and 0.21 N m.
Page 65: Wiring To The Connector, X7
9. Wiring to the connector, X7 Monitor output Preparation The connector X7 of the front panel is for monitor output. Analogue output : 2 systems Digital output : 1 systems In both cases, it is possible to switch the output signal by setting parameters. Connector X7 Manufacturer’s part No.: 530140610 Manufacturer: Japan Molex Inc.
Page 66: Timing Chart
10. Timing Chart Timing on power-up Preparation Servo-on signal accept timing on power-up Control power supply (L1C,L2C) approx.100 to 300 ms Internal control established power supply approx.2s approx.1.5s Action of reset (initialization) usually operation driver CPU 0s or longer Main power supply (L1,L2,L3) 10ms or longer Servo-Ready output 10ms or longer output Tr OFF output Tr ON...
Page 67: Alarm
10. Timing Chart Alarm Preparation When an Error (Alarm) Has Occurred (at Servo-ON Command) Alarm normal alarm 0.5 to 5 ms Dynamic brake engaged *2 released non-energized energized Motor energization output Tr ON output Tr OFF (not ready) Servo-Ready output (not ready) (S-RDY) output Tr ON output Tr OFF (Alarm) Servo-Alarm output (Alarm) (ALM)
Page 68: Servo-Lock
10. Timing Chart Servo-Lock Preparation Servo-ON/OFF Action While the Motor Is at Stall (Servo-Lock) Remarks To turn on/off the servo during normal operation, first stop the motor. Servo-ON input input coupler input coupler input coupler ON (SEV-ON) approx.2ms 1 to 6ms engaged *3 released engaged *2 Dynamic brake t1 *1 Motor energization energized not-energized not-energized approx.60ms approx.4ms External brake output Tr OFF output Tr OFF release output output Tr ON...
Page 69: Servo-On/Off
10. Timing Chart Servo-ON/OFF Preparation Servo-ON/OFF Action While the Motor Is in Motion Remarks Timing at emergency stop or trip. Do not repeat this sequence. at Servo-ON at Servo-OFF Servo-ON input input coupler input coupler input coupler ON (SEV-ON) 1 to 5ms Dynamic brake engaged *3 released engaged *3 not-energized energized not-energized *5 Motor energization approx.60ms approx.4ms Setup value of Pr4.38 External brake engaged...
Page 70: Built-In Holding Brake
11. Built-in Holding Brake Outline Preparation In the applications where the motor drives the vertical axis, this brake would be used to hold and prevent the work (moving load) from falling by gravity while the power to the servo is shut off. Caution Use this built-in brake for "Holding" purpose only, that is to hold the stalling status. Never use this for "Brake" purpose to stop the load in motion.
Page 71: Specifications
11. Built-in Holding Brake Specifications Preparation Static Exciting Permissible Rotor Engaging Releasing Permissible Permissible Motor Motor friction current Releasing angular inertia time time work (J) per total work series output torque DC A voltage acceleration x 10 kg·m one braking x 10 –4 N·m (at cool-off) rad/s 0.29 50W, 100W 0.002 20 or less 39.2 or more...
Page 72: Dynamic Brake
12. Dynamic Brake Outline Preparation This driver is equipped with a dynamic brake for emergency stop. Pay a special attention to the followings. Caution 1. Dynamic brake is only for emergency stop. Do not start/stop the motor by turning on/off the Servo-ON signal (SRV-ON).
Page 73 12. Dynamic Brake Condition setting chart Preparation 1) Setup of driving condition from deceleration to after stop by main power-off (Pr5.07) Contents of Driving condition Sequence at main deviation power-off (Pr5.0) During deceleration After stalling counter Setup value of Pr5.07 Clear Free-run Clear Free-run Clear Free-run Free-run Clear Hold Free-run Hold Free-run Hold Free-run Free-run Hold Emergency stop Clear Emergency stop Free-run...
Page 74: Condition Setting Chart
12. Dynamic Brake Condition setting chart 3) Setup of driving condition from deceleration to after stop by activation of protective function (Pr5.10) Contents of Driving condition Sequence at over-travel deviation inhibit input (Pr5.10) During deceleration After stalling counter Setup value of Pr5.10 Clear Free-run Clear Free-run Clear Free-run Free-run Clear Engaged A: Emergency stop Hold Engaged B: DB Engaged A: Emergency stop Hold Engaged B: Free-run Engaged A: Emergency stop...
Page 75: Setup Of Parameter And Mode
13. Setup of Parameter and Mode Outline / Setup / Connection Preparation Outline of Parameter This driver is equipped with various parameters to set up its characteristics and functions. This section describes the function and purpose of each parameter. Read and compre- hend very well so that you can adjust this driver in optimum condition for your running requirements.
Page 76: Composition And List Of Parameters
13. Setup of Parameter and Mode Composition and List of Parameters Preparation • The parameter No. is displayed in the form of PrX.YY (X: Classification, YY: No.). • For the details on the parameters, refer to the Operating Instructions (Overall). Parametr No. Class name Group page Class No.* 00 to 17 Basic setting Parameter for Basic setting P.2-41 00 to 27 Gain adjustment Parameter for Gain adjustment P.2-42 00 to 23 Damping control Parameter for Damping control...
Page 77: List Of Parameters
13. Setup of Parameter and Mode List of Parameters Preparation [Class 0] Basic setting Parametr Related Default Attribute Control Mode Detail Title Range Unit page D,E,F Class No. INI RO -frame -frame -frame Rotational direction setup 0 to 1 − Control mode setup 0 to 6 − Real-time auto-gain tuning setup 0 to 6 −...
Page 78 13. Setup of Parameter and Mode List of Parameters [Class 1] Gain adjustment Parametr Related Default Attribute Control Mode Detail Title Range Unit page D,E,F Class No. INI RO -frame -frame -frame 00* 1st gain of position loop 0 to 30000 0.1/s 01* 1st gain of velocity loop 1 to 32767 0.1Hz 1st time constant of velocity loop 1 to 10000...
Page 79 13. Setup of Parameter and Mode List of Parameters [Class 2] Damping control Parametr Related Default Attribute Control Mode Detail Title Range Unit page D,E,F Class No. INI RO -frame -frame -frame Adaptive filter mode setup 0 to 4 − 1st notch frequency 50 to 5000 5000 1st notch width selection 0 to 20 −...
Page 80 13. Setup of Parameter and Mode List of Parameters [Class 3] Verocity/ Torque/ Full-closed control Parametr Related Default Attribute Control Mode Detail Title Range Unit page D,E,F Class No. INI RO -frame -frame -frame Speed setup, Internal/External switching 0 to 3 − 4-24 Speed command rotational direction 0 to 1 − selection (r/min)/ Input gain of speed command 10 to 2000 4-25...
Page 81 13. Setup of Parameter and Mode List of Parameters [Class 4] I/F monitor setting Parametr Related Default Attribute Control Mode Detail Title Range Unit page D,E,F Class No. INI RO -frame -frame -frame SI1 input selection 0 to 00FFFFFFh 8553090 − 4-32 SI2 input selection 0 to 00FFFFFFh 8487297 − SI3 input selection 0 to 00FFFFFFh 9539850 −...
Page 82 13. Setup of Parameter and Mode List of Parameters Parametr Related Default Attribute Control Mode Detail Title Range Unit page D,E,F Class No. INI RO -frame -frame -frame Command Positioning complete (In-position) range 0 to 262144 unit 4-38 Positioning complete (In-position) output 0 to 3 − setup INP hold time 0 to 30000 4-39 Zero-speed...
Page 83 13. Setup of Parameter and Mode List of Parameters Parametr Related Default Attribute Control Mode Detail Title Range Unit page D,E,F Class No. INI RO -frame -frame -frame Over-load level setup 0 to 500 Over-speed level setup 0 to 20000 r/min 14* Motor working range setup 0 to 1000 4-46 revolution I/F reading filter...
Page 84 13. Setup of Parameter and Mode List of Parameters [Class 6] Special setting Parametr Related Default Attribute Control Mode Detail Title Range Unit page D,E,F Class No. INI RO -frame -frame -frame Analog torque feed forward conversion 0 to 100 0.1V/100% gain Velocity deviation excess setup...
Page 85: Setup Of Torque Limit
13. Setup of Parameter and Mode Setup of Torque Limit Preparation Torque limit setup range is 0 to 300 and default is 300 except the combinations of the motor and the driver listed in the table below. Max. value of Max. value of Frame Model No. Applicable motor Frame Model No. Applicable motor torque limit torque limit MGME092G** MGME302G** MDDHT5540 MFDHTB3A2...
Page 86: Setup Of Command Division And Multiplication Ratio (Electronic Gear Ratio)
Setup of command division and multiplication ratio (electronic gear ratio) Preparation Relation between Electronic Gear and Position Resolution or Traveling Speed Driver Electronic gear ratio Rotational speed : N[r/min] Pulse train position Pr0.09 command Motor Gear Machine Pr0.10 Travel distance : P1 [P] – Traveling speed : F [PPS] Reduction ratio : R Encoder Encoder pulse counts : E [P/r] * 1,048,576 (=20bit) * 131,072 (=17bit) Example of ball screw drive by servo motor...
Page 87 14. Division Ratio for Parameters Relation between Electronic Gear and Position Resolution or Traveling Speed ΔM×E×R Pr0.09 Electronic gear ratio Pr0.10 Lead of ball screw, L =10mm Gear reduction ratio, R = 1 Pr0.09 = 655360 0.0005×2 ×1 5×2 655360 Position resolution, ΔM =0.005mm 10×10 100000 Pr0.10 = 100000 Encoder, 17-bit (E= 2 P/r) Lead of ball screw, L =20mm Gear reduction ratio, R = 1...
Page 88: How To Use The Front Panel
15. How to Use the Front Panel Setup Preparation Setup with the Front Panel Display LED (6-digit) Switch to error display screen when error occurs, and LED will flash (about 2Hz). LED will flash slowly (about 1Hz) when warning occurs. Mode switching button (valid at SELECTION display) Press this to switch 4 kinds of mode. 1) Monitor Mode 2) Parameter Set up Mode 3) EEPROM Write Mode...
Page 89: Setup
15. How to Use the Front Panel Setup Initial Status of the Front Panel Display (7 Segment LED) Status Front panel display shows the following after turning on the power of the driver. approx. 2 sec approx. 0.6 sec approx. 0.6 sec Initial display of LED (Determined by the setup of Parameter, Pr5.28 "Initial status of LED".) Upon Occurrence of an Alarm If a driver alarm is generated, the front panel display shows the following repeatedly.
Page 90: Structure Of Each Mode
15. How to Use the Front Panel Structure of Each Mode Preparation Use each button on the touch panel to select the structure and switch the mode. SELECTION display Monitor mode Initial status of P.2-57 (SET button) the Console LED (Mode switching button) Parameter set up mode P.2-72 (Mode switching button) EEPROM writing mode P.2-73...
Page 91 15. How to Use the Front Panel Structure of Each Mode EXECUTION display ..P.2-58 to 69 (SET button) ..P.2-72 • For details of parameters, refer to (SET button) P.4-2 "Parameter setup"..P.2-73 (SET button) ..P.2-75 • Alarm clear ..P.2-76 • Auto-offset adjustment (AI1 to 3) (SET button) ..P.2-77 • Trial run (JOG) ..P.2-79 •...
Page 92: Setup Of Front Panel Lock
15. How to Use the Front Panel Setup of front panel lock Preparation Outline To prevent operational error e.g. unintentional parameter modification, the front panel may be locked. Once locked, operations on the panel are limited as follows: Mode Locked panel conditions Monitor Mode No limitation: all monitored data can be checked. Parameter Set up Mode No parameter can be changed but setting can be checked.
Page 93: Monitor Mode Selection Display
15. How to Use the Front Panel Monitor Mode (SELECTION display) Preparation To change the monitor display setting, select the display option to be changed from “ SELECTION display”, and press to change to “ EXECUTION display”. After completion of changing, press to return to the selection display, SELECTION display Monitor Mode Display Pages to...
Page 94 15. How to Use the Front Panel Monitor Mode (EXECUTION display) Preparation (1) Display of positional command deviation [command unit] Displays positional deviation of the command unit in High order or Low order. Positional command deviation ..Low order ..High order • To switch between Low order (L) and High order (H), press (2) Display of motor speed, positional command speed, velocity control command and torque command • Motor speed (r/min) Displays the motor speed (r/min).
Page 95 15. How to Use the Front Panel Monitor Mode (EXECUTION display) (3) Display of Feedback Pulse Sum, Command Pulse Sum and External Scale Feedback Pulse Sum • Feedback Pulse Sum [Encoder pulse] Feedback Pulse Sum ..Low order ..High order • To switch between Low order (L) and High order (H), press • Command Pulse Sum [Command Pulse] Command Pulse Sum ..Low order ..High order •...
Page 96: Monitor Mode (Execution Display)
15. How to Use the Front Panel Monitor Mode (EXECUTION display) (5) Display of I/O Signal Status Displays the control input and output signal to be connected to connector X4. Use this function to check if the wiring is correct or not..Active (This signal is valid) ..Inactive (This signal is invalid) Pin No..Input signal ..Output signal •...
Page 97 15. How to Use the Front Panel Monitor Mode (EXECUTION display) (6) Display of Analog Input Value Input voltage value [V] Input signal •Select the signal No. to be monitored by pressings Displays the value after (Analog input 1 value, unit [V]) offset correction. (Analog input 2 value, unit [V]) (Analog input 3 value, unit [V]) Caution Voltage exceeding ±...
Page 98 15. How to Use the Front Panel Monitor Mode (EXECUTION display) (7) Display of Error Factor and Reference of History Error code No. ( appears if no error occurs) • You can refer the last 14 ..Present error error factors (including ..History 0 (latest error) present one) Press to select ..History 13 (oldest error) the factor to be referred. <List of error code No.>...
Page 99 15. How to Use the Front Panel Monitor Mode (EXECUTION display) Error code Attribute Protective function Can be Immediate Main History cleared stop Software limit protection 0 to 2 EEPROM parameter error protection 0 to 2 EEPROM check code error protection Over-travel inhibit input protection Analog input1 excess protection Analog input2 excess protection Analog input3 excess protection Absolute system down error protection Absolute counter over error protection...
Page 100 15. How to Use the Front Panel Monitor Mode (EXECUTION display) (8) Alarm Display ..No alarm occurred ..High priority alarm Alarm number • To display the alarm occurrence condition, press button. alarm Latched Alarm Content time Overload protection Load factor is 85% or more the protection level. 1 to 10s or ∞ Over-regeneration Regenerative load factor is 85% or more the 10s or ∞...
Page 101 15. How to Use the Front Panel Monitor Mode (EXECUTION display) (9) Display of Regenerative Load Factor, Over-load Factor and Inertia Ratio • Regenerative Load Factor Display the ratio (%) against the alarm trigger level of regenerative protection. This is valid when Pr0.16 (External regenerative resistor setup) is 0 or 1. • Over-load Factor Displays the ratio (%) against the rated load. Refer to P.6-13, "Overload Protection Time Characteristics"...
Page 102 15. How to Use the Front Panel Monitor Mode (EXECUTION display) 10) Display of the Factor of No-Motor Running Displays the factor of no-motor running in number..Position control ..Torque control ..Velocity control ..Full-closed control Factor No. Control mode • Explanation of factor No. Related Factor Control Mode Factor Content P S T Occurrence of flashing An error is occurring, and an alarm is triggered. error/alarm No factor is detected for No-motor run.
Page 103 15. How to Use the Front Panel Monitor Mode (EXECUTION display) (11) Display of No. of changes in I/O signals No. of changes in I/O signals (the signal is invalid) Pin No..Input signal ..Output signal • Shift the flashing decimal point with (Left side of decimal point : Pin No. selection) (Right side of decimal point : Input/Output Pin No. selection) •...
Page 104 15. How to Use the Front Panel Monitor Mode (EXECUTION display) (13) Display of absolute external scale position • Displays the absolute position of serial absolute scale. • If a serial incremental scale, displays the scale position relative to the power on position which is defined as 0. External scale data ..Absolute external scale position -Low order ..Absolute external scale position -High order •...
Page 105 15. How to Use the Front Panel Monitor Mode (EXECUTION display) (17) Display of External Scale Deviation [External Scale Unit] External Scale Deviation [External scale unit] ..Low order ..High order • To switch between Low order (L) and High order (H), press (18) Display of hybrid deviation [Command unit] Hybrid deviation [Command unit] ..Low order ..High order • To switch between Low order (L) and High order (H), press (19) Display of voltage across PN [V] Displays the voltage across PN [V] (only for reference not an instrument)
Page 106 15. How to Use the Front Panel Monitor Mode (EXECUTION display) (22) Display of motor serial number Motor serial number ..Motor serial number- Low order ..Motor serial number- High order • To switch between Low order (L) and High order (H), press (Example of display: Serial number 09040001) (23) Display of accumulated operation time Displays accumulated operation time [h]..Low order ..High order •...
Page 107 15. How to Use the Front Panel Monitor Mode (EXECUTION display) (26) Display of safety condition monitor : Safety condition : Servo-off condition Dot information : Servo-on condition : Alarm condition Flashing Normal change is possible Servo ready condition OFF: Dot unlit ON: Dot lit • Select desired monitor option by pressing button..Input photocoupler OFF ...Input photocoupler ON ...Input photocoupler OFF ...Input photocoupler ON...
Page 108: Parameter Setup Mode
15. How to Use the Front Panel Parameter Setup Mode Preparation Monitor Mode SELECTION display (Mode switch button) EXECUTION display Parameter Setup Mode SELECTION display You can change the value which digit has Parameter No. a flashing decimal (Hexadecimal No.) Parameter value point. Class • Press to set up the value of Note parameter.
Page 109: Eeprom Writing
15. How to Use the Front Panel EEPROM Writing Preparation Parameter Setup Mode SELECTION display (Mode switch button) EXECUTION display EEPROM Writing SELECTION display • To write the parameter to EEPROM, press • Keep pressing until the display to change to EXECUTION display. changes to when you execute writing.
Page 110: Auxiliary Function Mode Selection Display
15. How to Use the Front Panel Auxiliary Function Mode (SELECTION display) Preparation EEPROM Writing SELECTION display (Mode switch button) EXECUTION display Auxiliary Function Mode SELECTION display • To select the desired auxiliary function, Display Pages to press Description example refer Alarm Clear (Alarm Clear) P.2-75 (1) Pressing Alarm clear starts. Alarm clear completes A1 Automatic (A1 Automatic...
Page 111: Auxiliary Function Mode (Execution Display)
15. How to Use the Front Panel Auxiliary Function Mode (EXECUTION display) Preparation 1) Alarm Clear Screen This function releases the current alarm status. Certain alarms will persist. If this is the case, refer to P.6-3 “When in Trouble - Protective Function”. SELECTION display EXECUTION display • Keep pressing until the display changes to •...
Page 112 15. How to Use the Front Panel Auxiliary Function Mode (EXECUTION display) (2) Analog inputs 1 to 3 automatic offset adjustment This function automatically adjusts offset setting of analog input. Analog input 1 (AI1)..Pr4.22 (Analog input 1 (AI1) offset setup) Analog input 2 (AI2)..Pr4.25 (Analog input 2 (AI2) offset setup) Analog input 3 (AI3)..Pr4.28 (Analog input 1 (AI3) offset setup) SELECTION display EXECUTION display * Example of Analog input1(AI1).
Page 113 15. How to Use the Front Panel Auxiliary Function Mode (EXECUTION display) (3) Motor trial run You can make a trial run (JOG run) without connecting the Connector, Connector X4 to the host controller such as PLC. Remarks • Separate the motor from the load, detach the Connector, Connector X4 before the trial run.
Page 114 15. How to Use the Front Panel Auxiliary Function Mode (EXECUTION display) • Procedure for Trial Run SELECTION display EXECUTION display • Keep pressing until the display changes to • Press to call for (SET button) when you execute Motor trial run. EXECUTION display. “ ” increases while keep pressing (for approx. 5sec) as the right fig. shows. Preparation step 1 Not a servo-ready status.
Page 115 15. How to Use the Front Panel Auxiliary Function Mode (EXECUTION display) 4) Clearing of Absolute Encoder You can clear the multi-turn data of the absolute encoder. SELECTION display EXECUTION display • Keep pressing until the display changes to • Press to call for (SET button) when you execute Clearing of Absolute Encoder. EXECUTION display. “...
Page 116 15. How to Use the Front Panel Auxiliary Function Mode (EXECUTION display) (5) Initialization of parameter Initialize the parameter. SELECTION display EXECUTION display • Keep pressing until the display changes to • Press to call for (SET button) when you execute Initialization of parameter. EXECUTION display. “ ” increases while keep pressing (for approx. 5sec) as the right fig.
Page 117 15. How to Use the Front Panel Auxiliary Function Mode (EXECUTION display) (6) Release of front panel lock Release the front panel lock setting. SELECTION display EXECUTION display • Keep pressing until the display changes to • Press to call for (SET button) when you execute Release of front panel lock. EXECUTION display. “ ” increases while keep pressing (for approx.
Page 118 MEMO 2-82...
Page 119 . Connection 1. Outline of mode Position Control Mode ................3-2 Velocity Control Mode .................3-6 Torque Control Mode ..................3-9 Full-closed Control Mode ................3-12 2. Control Block Diagram Position Control Mode ................3-14 Velocity Control Mode ................3-15 Torque Control Mode ................3-16 Full-closed Control Mode ................3-17 3. Wiring Diagram to the connector, X4 Example of control mode specific wiring ...........3-18 Connecting Example to Host Controller ............3-19 4. Inputs and outputs on connector X4 Interface Circuit (Input) ................3-28...
Page 120: Connection
1. Outline of mode Position Control Mode Connection Outline You can perform position control based on the positional command (pulse train) from the host controller. This section describes the fundamental setup to be used for the position control. Positional command Servo driver (pulse train) Command pulse Electronic Positional command input section...
Page 121 1. Outline of mode Position Control Mode (2) Electronic gear function This function multiplies the input pulse command from the host controller by the pre- determined dividing or multiplying factor and applies the result to the position control section as the positional command. By using this function, desired motor rotations or movement distance per unit input command pulse can be set;...
Page 122 1. Outline of mode Position Control Mode (4) Pulse regeneration function The information on the amount of movement can be sent to the host controller in the form of A- and B-phase pulses from the servo driver. When the output source is the encoder, Z-phase signal is output once per motor revolution; or if the feedback scale, the signal is output at absolute zero position.
Page 123 1. Outline of mode Position Control Mode (6) Positioning complete output (INP) function The completion of positioning can be verified by the positioning complete output (INP). When the absolute value of the positional deviation counter at the position control is equal to or below the positioning complete range by the parameter, the output is ON. Presence and absence of positional command can be specified as one of judgment conditions.
Page 124: Velocity Control Mode
1. Outline of mode Velocity Control Mode Connection Outline You can control the speed according to the analog speed command from the host con- troller or the speed command set in the servo driver. Analog Servo driver speed command Process of analog speed command input (±10V) Internal speed command settings...
Page 125 1. Outline of mode Velocity Control Mode (2) Velocity control by internal speed command You can control the speed by using the internal speed command set to the parameter. By using the internal speed command selections 1, 2, 3 (INTSPD1, 2, 3), you can select best appropriate one among up to 8 internal speed command settings. Default setting uses the analog speed command.
Page 126 1. Outline of mode Velocity Control Mode (5) Speed coincidence output (V-COIN) This signal is output when the motor speed is equal to the speed specified by the speed command. The motor speed is judged to be coincident with the specified speed when the difference from the speed command before/after acceleration/deceleration is within the range specified by Pr4.35 “Speed coincident range”...
Page 127: Torque Control Mode
1. Outline of mode Torque Control Mode Connection Outline The torque control is performed according to the torque command specified in the form of analog voltage. For controlling the torque, the speed limit input is required in addition to the torque command to maintain the motor speed within the speed limit. With the A5 series, 3 torque control modes are available, each requires different torque command and speed limit as shown in the table below.
Page 128 1. Outline of mode Torque Control Mode Function (1) Process of analog torque command input This process converts the analog torque command input (voltage) to the equivalent digital torque command having the same effect. You can set the filter or adjust the off- set to eliminate noise. • Relevant parameters <Selection of torque command 1, 3> Parameter Title Range Unit Function Torque command...
Page 129 1. Outline of mode Torque Control Mode (2) Speed limit function The speed limit is one of protective functions used during torque control. This function regulates the motor speed so that it does not exceed the speed limit while the torque is controlled. Caution While the speed limit is used to control the motor, the torque command applied to the motor is not directly proportional to the analog torque command.
Page 130: Full-Closed Control Mode
1. Outline of mode Full-closed Control Mode Connection Full-closed Control Mode In this full-closed control, you can make a position control by using a external scale mounted externally which detects the position directly and feeds it back. With this control, you can control without being affected by the positional variation due to the ball screw error or temperature and you can expect to achieve a very high precision positioning in sub-micron order.
Page 131 1. Outline of mode Full-closed Control Mode 6) Set up appropriate value of hybrid deviation excess (Pr3.25) in 16 pulse unit of the external scale resolution, in order to avoid the damage to the machine. * A5-series driver calculates the difference between the encoder position and the external scale position as hybrid deviation, and is used to prevent the machine runaway or damage in case of the external scale breakdown or when the motor and the load is disconnected.
Page 132: Control Block Diagram
2. Control Block Diagram Position Control Mode Connection Sum of command pulses Positional command Internal positional [Command unit] speed [r/min] command speed [r/min] Pulse train Input setup Electric gear Smoothing Damping control PULS filter Gain switching Input SIGN Switching revolu- numerator numerator selection Primary selection tion delay setup...
Page 133: Velocity Control Mode
2. Control Block Diagram Velocity Control Mode Connection Gain switching setup Mode Delay time Level Al1 input voltage Hysteresis Analog input 1 Torque Friction Analog input Scaling 16bit A/D compensation feed forward additional Gain value Offset Gain Positive Filter direction Filter Reversal Negative direction Velocity control command [r/min] Notch filter Velocity control...
Page 134: Torque Control Mode
2. Control Block Diagram Torque Control Mode Connection Al2 input voltage Gain switching Analog input 2 setup Analog input Scaling 12bit A/D Mode Delay time Offset Gain Level Torque command Filter Reversal selection Hysteresis Internal/External Absolute value switching Direction Scaling selection Torque command Gain Analog input 1 Analog input Reversal...
Page 135: Full-Closed Control Mode
2. Control Block Diagram Full-closed Control Mode Connection Internal positional command speed [r/min] External scale dividing Numera- Sum of command pulses Positional command [Command unit] speed [r/min] Denomi- nator Pulse train Input setup Electric gear Smoothing Damping control PULS filter Gain switching Input SIGN Switching revolu- numerator numerator...
Page 136: Wiring Diagram To The Connector, X4
3. Wiring Diagram to the connector, X4 Example of control mode specific wiring Connection Wiring Example of Position Control Mode In case of open collector I/F (1) When you use the external 2.2kΩ COM+ OPC1 resistor with 12V and 24V Command pulse 4.7kΩ 2.2kΩ inhibition input PULS1 power supply Deviation counter 220Ω clear input PULS2 2.2kΩ PULS1 Servo-ON input Command...
Page 137 3. Wiring Diagram to the connector, X4 Example of control mode specific wiring Wiring Example of Torque Control Mode COM+ 4.7kΩ Servo-ON input SRV-ON Gain switching input GAIN Speed zero clamp DIV1 input A-phase ZEROSPD Control mode output switching input C-MODE Alarm clear input B-phase A-CLR Positive direction output over-travel inhibition input Negative direction Z-phase over-travel inhibition input output Servo-Ready output S-RDY+...
Page 138: Connecting Example To Host Controller
3. Wiring Diagram to the connector, X4 Connecting Example to Host Controller Connection Connection between MINAS A5 and FP2-PP22 AFP2434 (Panasonic Electric Works) Driver FP2-PP22 AFP2434 A5-series (Panasonic Electric Works) * Process of shield wire varies with equipment. CW pulse command Command pulse input 2 output CCW pulse command Command sign input 2 output Z-phase output Origin input Counter clear input...
Page 139 3. Wiring Diagram to the connector, X4 Connecting Example to Host Controller Connection between MINAS A5 and FPG-PP12 AFPG432 (Panasonic Electric Works) Driver FPG-PP12 AFPG432 A5-series (Panasonic Electric Works) * Process of shield wire varies with equipment. CW pulse command Command pulse input 2 output CCW pulse command Command sign input 2 output Z-phase output Origin input Counter clear input...
Page 140 3. Wiring Diagram to the connector, X4 Connecting Example to Host Controller Connection between MINAS A5 and FP2-PP22 AFP2434 (Panasonic Electric Works) Driver FP2-PP2 AFP2430 A5-series (Panasonic Electric Works) * Process of shield wire varies with equipment. CW pulse command Command pulse input 2 output CCW pulse command Command sign input 2 output Z-phase output Origin input Counter clear input...
Page 141 3. Wiring Diagram to the connector, X4 Connecting Example to Host Controller Connection between MINAS A5 and FPG-C32T (Panasonic Electric Works) Driver FPG-C32T A5-series (Panasonic Electric Works) * Process of shield wire varies with equipment. CW pulse command Command pulse input 2 output CCW pulse command Command sign input 2 output Z-phase output Origin input Counter clear input...
Page 142 3. Wiring Diagram to the connector, X4 Connecting Example to Host Controller Connection between MINAS A5 and F3YP14-ON/F3YP18-ON (Yokogawa Electric Corp.) Driver F3YP14-ON/F3YP18-ON A5-series (Yokogawa Electric Corp.) * Process of shield wire varies with equipment. CW pulse command Command pulse input 2 output CCW pulse command...
Page 143 3. Wiring Diagram to the connector, X4 Connecting Example to Host Controller Connection between MINAS A5 and F3NC32-ON/F3NC34-ON (Yokogawa Electric Corp.) Driver F3NC32-ON/F3NC34-ON A5-series (Yokogawa Electric Corp.) * Process of shield wire varies with equipment. Command pulse Pulse output A input 2 Command sign Pulse output B...
Page 144 3. Wiring Diagram to the connector, X4 Connecting Example to Host Controller Connection between MINAS A5 and CJ1W-NC113 (Omron Corp.) Driver CJ1W-NC113 A5-series (Omron Corp.) * Process of shield wire varies with equipment. CW pulse command Command pulse input 2 output CCW pulse command Command sign input 2 output Origin line driver Z-phase output input Power supply for output Counter clear input Deviation counter...
Page 145 3. Wiring Diagram to the connector, X4 Connecting Example to Host Controller Connection between MINAS A5 and CJ1W-NC133 (Omron Corp.) Driver Driver CJ1W-NC133 CJ1W-NC113 A5-series A5-series (Omron Corp.) (Omron Corp.) * Process of shield wire varies with equipment. CW pulse command Command pulse input 2 output Command sign CCW pulse command input 2 output Origin line driver Z-phase output input 24V power supply...
Page 146 3. Wiring Diagram to the connector, X4 Connecting Example to Host Controller Connection between MINAS A5 and QD75D1 (Mitsubishi Electric Corp.) Driver QD75D1 A5-series (Mitsubishi Electric Corp.) * Process of shield wire varies with equipment. CW pulse command Command pulse input 2 output CCW pulse command Command sign input 2 output Zero point signal Z-phase output Counter clear input Deviation counter clear Servo-ON input Gain switching input...
Page 147 3. Wiring Diagram to the connector, X4 Connecting Example to Host Controller Connection between MINAS A5 and KV-5000/3000 (keyence Corp.) Driver KV-5000/3000 A5-series (keyence Corp.) * Process of shield wire varies with equipment. Command pulse Origin sensor input input 2 X axis limit switch CW Command sign X axis limit switch CCW input 2 Z-phase output X axis CW Counter clear input X sxis deviation counter clear...
Page 148: Inputs And Outputs On Connector X4
Inputs and outputs on connector X4 Interface Circuit (Input) Connection Input Circuit Related Connection to sequence input signals control mode • Connect to contacts of switches and relays, or open collector output transistors. • When you use contact inputs, use the switches and relays for micro current to avoid contact failure. • Make the lower limit voltage of the power supply (12 to 24V) as 11.4V or more in order to secure the primary current for photo-couplers.
Page 149 4. Inputs and outputs on connector X4 Interface Circuit (Input) Connection to sequence input signals Related control mode (Pulse train interface exclusive to line driver) Line driver I/F (Input pulse frequency : max. 4Mpps) • This signal transmission method has better noise immunity. We recommend this to secure the signal transmission when line driver I/F is used. 2kΩ 20kΩ...
Page 150: Interface Circuit (Output)
Inputs and outputs on connector X4 Interface Circuit (Output) Connection Output Circuit Related SO1/SO2 Sequence output circuit control mode • The output circuit is composed of open collector transistor outputs in the Darlington connection, and connect to relays or photo-couplers. • There exists collector to emitter voltage, V (SAT) of approx. 1V at transistor-ON, due to the Darlington connection of the output or.
Page 151 4. Inputs and outputs on connector X4 Interface Circuit (Output) Related Open collector output control mode • Feeds out the Z-phase signal among the encoder signals in open collector. This output is not insulated. • Receive this output with high-speed photo couplers at the host side, since the pulse width of the Z-phase signal is narrow.
Page 152 Inputs and outputs on connector X4 Input Signal and Pin No. Connection Input Signals (common) and Their Functions Title of Related Power supply for control signal (+) signal control mode COM+ — Symbol I/F circuit • Connect + of the external DC power supply (12 to 24V). • Use the power supply voltage of 12V ± 5% – 24V ± 5% Title of Related Power supply for control signal (-)
Page 153: Input Signal And Pin No
4. Inputs and outputs on connector X4 Input Signal and Pin No. Input Signals (Pulse Train) and Their Functions You can select appropriate interface out of two kinds, depending on the command pulse specifications. • Pulse train interface exclusive for line driver Title of Related Command pulse input 1 signal control mode PULSH1 Pin No.44: PI2 3-31 Symbol I/F circuit page PULSH2 Pin No.45: Title of Related Command pulse sign input 1 signal...
Page 154 4. Inputs and outputs on connector X4 Input Signal and Pin No. • Input format command pulse Pr0.06 setup value Pr0.07 setup value Command pulse Command pulse Command Signal Positive direction Negative direction rotational input mode pulse format title command command direction setup setup 90˚ phase A-phase difference PULS 0 or 2 2-phase pulse B-phase SIGN...
Page 155 4. Inputs and outputs on connector X4 Input Signal and Pin No. Control Input Control signal having the desired function can be applied to any input pin of I/F connector. The logic can be changed. • Default assignment Default Default Setup parameter Applicable Position/ Full-closed control Verocity control Torque control setting parameter ( ): decimal Signal Logic Signal...
Page 156 4. Inputs and outputs on connector X4 Input Signal and Pin No. Function allocatable to control input Title of Related Servo-ON input signal control mode SRV-ON SI 3-30 Symbol Default assignment I/F circuit page • This signal turns on/off the servo (motor). Title of Related Positive direction over-travel inhibition input signal control mode SI 3-30 Symbol Default assignment I/F circuit page •...
Page 157 4. Inputs and outputs on connector X4 Input Signal and Pin No. Title of Related Alarm clear input signal control mode A-CLR SI 3-30 Symbol Default assignment I/F circuit page • Clears the alarm condition. • This input cannot clear some alarms. • For details, refer to P.6-3 When in Trouble “Protective function”, P.2-63 “(8) Alarm Display” and P.7-25 “Display of Battery Alarm”.
Page 158 4. Inputs and outputs on connector X4 Input Signal and Pin No. Title of Related Gain switching input signal control mode GAIN SI 3-30 Symbol Default assignment I/F circuit page • Select 1st or 2nd gain. Title of Related Torque limit switching input signal control mode — TL-SEL SI 3-30 Symbol Default assignment I/F circuit page •...
Page 159 4. Inputs and outputs on connector X4 Input Signal and Pin No. Title of Related Selection 1 input of internal command speed signal control mode SI10 INTSPD1 SI 3-30 Symbol Default assignment I/F circuit page Title of Related Selection 2 input of internal command speed signal control mode INTSPD2 SI 3-30 Symbol Default assignment I/F circuit page Title of Related Selection 3 input of internal command speed signal control mode INTSPD3 SI 3-30...
Page 160 4. Inputs and outputs on connector X4 Input Signal and Pin No. Title of Related Forced alarm input signal control mode E-STOP — SI 3-30 Symbol Default assignment I/F circuit page • Generates Err87.0 “Forced alarm input error”. Title of Related Inertia ratio switching input signal control mode — J-SEL SI 3-30 Symbol Default assignment I/F circuit page •...
Page 161 4. Inputs and outputs on connector X4 Input Signal and Pin No. Title of Related Speed command input signal control mode AI 3-31 Symbol I/F circuit page • Input the speed command in the form of analog voltage. • The table below shows relationship between the combination of Pr3.00 “Switching between internal and external speed setup”, Pr3.01 “Speed command direction selection”, Pr3.03 “Speed command input inversion”, analog speed command (SPR) of I/F connector and speed command sign selection (VC-SIGN) and the motor rotational direction;...
Page 162 Inputs and outputs on connector X4 Output Signal and Pin No. Connection Output Signals (Common) and Their Functions Control output signal of desired function can be assigned to I/F connector. Logic of the output pin cannot be changed. Default Setup Default parameter Applicable Position/ Full- setting Verocity control Torque control parameter closed control ( ): decimal notation Signal Signal...
Page 163 4. Inputs and outputs on connector X4 Output Signal and Pin No. Title of Related External brake release signal signal control mode BRK-OFF SO1 3-32 Symbol Default assignment I/F circuit page • Feeds out the timing signal which activates the electromagnetic brake of the motor. • Turns the output transistor ON at the release timing of the electro-magnetic brake. Title of Related Positioning complete...
Page 164 4. Inputs and outputs on connector X4 Output Signal and Pin No. Title of Related Alarm output 2 signal control mode WARN2 — SO1 3-32 Symbol Default assignment I/F circuit page • Outputs the warning output signal set to Pr4.41 “Warning output select 2”. • Turns ON the output transistor upon occurrence of warning condition. • Selection of alarm 1 output and 2 output Pr6.38 Pr4.40/...
Page 165 4. Inputs and outputs on connector X4 Output Signal and Pin No. Title of Related Speed command ON/OFF output signal control mode V-CMD — SO1 3-32 Symbol Default assignment I/F circuit page • Turns on output transistor when the speed command is applied while the speed is controlled. Output Signals (Pulse Train) and Their Functions Title of Related A-phase output signal control mode Pin No.21:...
Page 166 4. Inputs and outputs on connector X4 Output Signal and Pin No. Output Signals (Analog) and Their Functions Title of Related Torque monitor output signal control mode AO 3-33 Symbol I/F circuit page • Definition of the output signal varies with the output of Pr4.18 (analog monitor 2 type). • The output signal is identical to the analog monitor 2 on the front monitor. Title of Related Speed monitor output...
Page 167 4. Inputs and outputs on connector X4 Output Signal and Pin No. Output Signals (Others) and Their Functions Title of Related Signal ground 13, 15 signal control mode 17, 25 — Symbol I/F circuit • Signal ground • This output is insulated from the control signal power (COM–) inside of the driver. Title of Related Frame ground signal control mode —...
Page 168 MEMO 3-50...
Page 169 . Setup 5. Details of parameter List of Parameters ..................4-2 [Class 0] Basic setting ................4-4 [Class 1] Gain adjustment ................4-12 [Class 2] Damping control ................4-19 [Class 3] Verocity/ Torque/ Full-closed control .........4-24 [Class 4] I/F monitor setting ..............4-32 [Class 5] Enhancing setting ..............4-42 [Class 6] Special setting ................4-51 2.Trial Run (JOG run) Inspection Before Trial Run ..............4-56...
Page 170: Details Of Parameter
1. Details of parameter List of Parameters Setup Related Control Mode Parametr No. Related Control Mode Parametr No. Detail Detail Title Title page P S T F Class No. page P S T F Class No. Rotational direction setup P S T F P S T F 2nd notch width selection Control mode setup P S T F 2nd notch depth selection...
Page 171: List Of Parameters
1. Details of parameter List of Parameters Related Control Mode Parametr No. Related Control Mode Parametr No. Detail Detail Title Title page page P S T F Class No. P S T F Class No. SI1 input selection Over-speed level setup P S T F P S T F 4-32 P S T F SI2 input selection Motor working range setup 4-46...
Page 172: [Class 0] Basic Setting
1. Details of parameter [Class 0] Basic setting Setup Related Rotational direction setup Title control mode Pr0.00 * 0 to 1 — Range Unit Default Setup the relationship between the direction of command and direction of motor rotation. 0: Motor turns CW in response to positive direction command (CW when viewed from load side shaft end) 1: Motor turns CCW in response to positive direction command (CCW when viewed from load side shaft end)
Page 173 1. Details of parameter [Class 0] Basic setting Related Real-time auto-gain tuning setup Title control mode Pr0.02 0 to 6 — Range Unit Default You can set up the action mode of the real-time auto-gain tuning. Setup Mode Varying degree of load inertia in motion value Invalid Real-time auto-gain tuning function is disabled. Basic mode. Do not use unbalanced load, friction compensation or Standard gain switching.
Page 174 1. Details of parameter [Class 0] Basic setting Related Inertia ratio Title control mode Pr0.04 250 * 0 to 10000 Range Unit Default Set 1st inertia ratio. You can set up the ratio of the load inertia against the rotor (of the motor) inertia. Pr0.04 = (load inertia/ rotor inertia) × 100 [%] The inertia ratio will be estimated at all time while the real-time auto-gain tuning is valid, and its result will be saved to EEPROM every 30 min.
Page 175 1. Details of parameter [Class 0] Basic setting Related Command pulse rotational direction setup Title control mode Pr0.06 * 0 to 1 — Range Unit Default Related Command pulse input mode setup Title Pr0.07 * control mode 0 to 3 — Range Unit Default You can set up the rotational direction against the command pulse input, and the command pulse input format.
Page 176 1. Details of parameter [Class 0] Basic setting Related Command pulse counts per one motor revolution Title control mode Pr0.08 * 0 to 1048576 pulse 10000 Range Unit Default Set the command pulses that causes single turn of the motor shaft. When this setting is 0, Pr0.09 1st numerator of electronic gear and Pr0.10 Denominator of electronic gear become valid.
Page 177 1. Details of parameter [Class 0] Basic setting Related Output pulse counts per one motor revolution Title control mode Pr0.11 * 1 to 262144 2500 Range Unit Default You can set up the output pulse counts per one motor revolution for each OA and OB with the Pr0.11 setup. Therefore the pulse output resolution after quadruple can be obtained from the formula below.
Page 178 1. Details of parameter [Class 0] Basic setting Related Reversal of pulse output logic Title control mode Pr0.12 * 0 to 3 — Range Unit Default You can set up the B-phase logic and the output source of the pulse output. With this parameter, you can reverse the phase relation between the A-phase pulse and the B-phase pulse by reversing the B-phase logic.
Page 179 1. Details of parameter [Class 0] Basic setting Related External regenerative resistor setup Title control mode Pr0.16 * A,B-frame 0 to 3 — Range Unit Default C to F-frame With this parameter, you can select either to use the built-in regenerative resistor of the driver, or to separate this built-in regenerative resistor and externally install the regenerative resistor (between B1 and B2 of Connector XB in case of A to D-frame, between B1 and B2 of terminal block in case of E, F-frame).
Page 180: Adjustment
You can set up the time constant of the 1st delay filter inserted in the torque command portion. You might expect suppression of oscillation caused by distortion resonance. Caution • To Panasonic MINAS users: A4 and higher series CAUTION: Parameter settings shown in this manual may differ from those applied to your product (s).
Page 181: Gain Adjustment
1. Details of parameter [Class 1] Gain adjustment Related 2nd gain of position loop Title control mode Pr1.05 A,B,C-frame 0 to 30000 0.1/s Range Unit Default D,E,F-frame Related 2nd gain of velocity loop Title control mode Pr1.06 A,B,C-frame 1 to 32767 0.1Hz Range Unit Default D,E,F-frame Related 2nd time constant of velocity loop integration Title control mode Pr1.07 1 to 10000 0.1ms 10000 Range Unit Default Related 2nd filter of speed detection Title...
Page 182: [Class 1] Gain Adjustment
1. Details of parameter [Class 1] Gain adjustment Related Torque feed forward gain Title control mode Pr1.12 0 to 1000 0.1% Range Unit Default • Multiply the torque command calculated according to the velocity control command by the ratio of this parameter and add the result to the torque command resulting from the velocity control process.
Page 183 1. Details of parameter [Class 1] Gain adjustment Related Mode of position control switching Title control mode Pr1.15 0 to 10 — Range Unit Default Set up the triggering condition of gain switching for position control. Setup Switching Gain switching condition value condition Fixed to 1st gain Fixed to the 1st gain (Pr1.00 to Pr1.04). Fixed to 2nd gain Fixed to the 2nd gain (Pr1.05 to Pr1.09).
Page 184 1. Details of parameter [Class 1] Gain adjustment Related Delay time of position control switching Title control mode Pr1.16 0 to 10000 0.1ms Range Unit Default For position controlling : When shifting from the 2nd gain to the 1st gain with Pr1.15 Position control switching mode set at 3, 5, 6, 7, 8, 9 or 10, set up the delay time from trigger detection to the switching operation.
Page 185 1. Details of parameter [Class 1] Gain adjustment Related Mode of velocity control switching Title control mode Pr1.20 0 to 5 — Range Unit Default For velocity controlling: Set the condition to trigger gain switching. Setup value Switching condition Fixed to the 1st gain. Fixed to the 2nd gain. Gain switching input Torque command Speed command variation is larger.
Page 186 1. Details of parameter [Class 1] Gain adjustment Related Mode of torque control switching Title control mode Pr1.24 0 to 3 — Range Unit Default For torque controlling: Set the condition to trigger gain switching. Setup value Switching condition Fixed to the 1st gain. Fixed to the 2nd gain. Gain switching input Torque command Related Delay time of torque control switching Title...
Page 187: [Class 2] Damping Control
1. Details of parameter [Class 2] Damping control Setup Related Adaptive filter mode setup Title control mode Pr2.00 0 to 4 — Range Unit Default Set up the resonance frequency to be estimated by the adaptive filter and specify the operation after estimation. Setup value Content Adaptive filter: Parameters related to the 3rd and 4th notch filter hold the invalid current value.
Page 188 1. Details of parameter [Class 2] Damping control Related 2nd notch width selection Title control mode Pr2.05 0 to 20 — Range Unit Default Set the width of notch at the center frequency of the 2nd notch filter. Caution Higher the setup, larger the notch width you can obtain. Use with default setup in normal operation.
Page 189 1. Details of parameter [Class 2] Damping control Related 4th notch width selection Title control mode Pr2.11 0 to 20 — Range Unit Default Set the width of notch at the center frequency of the 4th notch filter. Caution Higher the setup, larger the notch width you can obtain. Use with default setup in normal operation.
Page 190 1. Details of parameter [Class 2] Damping control Related 1st damping frequency Title control mode Pr2.14 0 to 2000 0.1Hz Range Unit Default Related 2nd damping frequency Title control mode Pr2.16 0 to 2000 0.1Hz Range Unit Default Related 3rd damping frequency Title control mode Pr2.18 0 to 2000 0.1Hz Range Unit Default Related 4th damping frequency Title control mode Pr2.20 0 to 2000 0.1Hz...
Page 191 1. Details of parameter [Class 2] Damping control Related Positional command smoothing filter Title control mode Pr2.22 0 to 10000 0.1ms Range Unit Default • Set up the time constant of the 1st delay filter in response to the positional command. • When a square wave command for the target speed Vc is applied, set up the time constant of the 1st delay filter as shown in the figure below.
Page 192: [Class 3] Verocity/ Torque/ Full-Closed Control
1. Details of parameter [Class 3] Verocity/ Torque/ Full-closed control Setup Related Speed setup, Internal/External switching Title control mode Pr3.00 0 to 3 — Range Unit Default This driver is equipped with internal speed setup function so that you can control the speed with contact inputs only. Setup value Speed setup method Analog speed command (SPR) Internal speed command 1st to 4th speed (Pr3.04 to Pr3.07) Internal speed command 1st to 3rd speed (Pr3.04 to Pr3.06), Analog speed command (SPR)
Page 193 1. Details of parameter [Class 3] Verocity/ Torque/ Full-closed control Related Input gain of speed command Title control mode Pr3.02 10 to 2000 (r/min)/V Range Unit Default Based on the voltage applied to the analog speed command (SPR), set up the conversion gain to motor command speed. • You can set up a "slope" of the relation between the command input voltage and the motor speed, with Pr3.02.
Page 194 1. Details of parameter [Class 3] Verocity/ Torque/ Full-closed control Related 1st speed of speed setup Title control mode Pr3.04 −20000 to 20000 r/min Range Unit Default Related 2nd speed of speed setup Title control mode Pr3.05 −20000 to 20000 r/min Range Unit Default Related 3rd speed of speed setup Title control mode Pr3.06 −20000 to 20000 r/min Range Unit Default Related 4th speed of speed setup...
Page 195 1. Details of parameter [Class 3] Verocity/ Torque/ Full-closed control Related Sigmoid acceleration/ deceleration time setup Title control mode Pr3.14 0 to 1000 Range Unit Default Set S-curve time for acceleration/deceleration process when the speed command is applied. According to Pr3.12 Acceleration time setup and Pr3.13 Deceleration time setup, set up sigmoid time with time width centering the inflection point of acceleration/deceleration. Speed command after Speed acceleration/deceleration...
Page 196 1. Details of parameter [Class 3] Verocity/ Torque/ Full-closed control Related Selection of torque command Title control mode Pr3.17 0 to 2 — Range Unit Default You can select the input of the torque command and the speed limit. Setup value Torque command input Velocity limit input Analog input 1 Parameter value (AI1, 16-bit resolution) (Pr3.25) Analog input 2 Analog input 1 (AI2, 12-bit resolution) (AI1, 16-bit resolution)
Page 197 1. Details of parameter [Class 3] Verocity/ Torque/ Full-closed control Related Speed limit value 1 Title control mode Pr3.21 0 to 20000 r/min Range Unit Default Set up the speed limit used for torque controlling. During the torque controlling, the speed set by the speed limit value cannot be exceeded. When Pr3.17 = 2, the speed limit is applied upon receiving positive direction command. Related Speed limit value 2 Title...
Page 198 1. Details of parameter [Class 3] Verocity/ Torque/ Full-closed control Related Numerator of external scale division Title control mode Pr3.24 * 0 to 2 — Range Unit Default Set up the numerator of the feedback scale dividing setup. When setup value = 0, encoder resolution is used as numerator of the division. Related Denominator of external scale division Title control mode Pr3.25 *...
Page 199 1. Details of parameter [Class 3] Verocity/ Torque/ Full-closed control Related Hybrid deviation excess setup Title control mode Pr3.28 * Unit Command 1 to 2 16000 Range Default unit You can setup the permissible gap (hybrid deviation) between the present motor position and the present feedback scale position. Related Hybrid deviation clear setup Title control mode Pr3.29 * 0 to 100 Revolution...
Page 200 1. Details of parameter [Class 4] I/F monitor setting Setup Related SI1 input selection Title control mode Pr4.00 * 00828282h 0 to 00FFFFFFh — Range Unit Default (8553090) Assign functions to SI1 inputs. These parameters are presented in hexadecimals. Hexadecimal presentation is followed by a specific control mode designation. 0 0 – – – * * h : position/full-closed control 0 0 –...
Page 201: [Class 4] I/F Monitor Setting
1. Details of parameter [Class 4] I/F monitor setting Related SI2 input selection Title control mode Pr4.01 * 00818181h 0 to 00FFFFFFh — Range Unit Default (8487297) Related SI3 input selection Title control mode Pr4.02 * 0091910Ah 0 to 00FFFFFFh — Range Unit Default (9539850) Related SI4 input selection Title control mode Pr4.03 * 00060606h 0 to 00FFFFFFh — Range Unit Default...
Page 202 1. Details of parameter [Class 4] I/F monitor setting Related SO1 output selection Title control mode Pr4.10 * 00030303h 0 to 00FFFFFFh — Range Unit Default (197379) Assign functions to SO1 outputs. These parameters are presented in hexadecimals. Hexadecimal presentation is followed by a specific control mode designation. 0 0 – – – – * * h : position/full-closed control 0 0 –...
Page 203 1. Details of parameter [Class 4] I/F monitor setting Related Type of analog monitor 1 Title control mode Pr4.16 0 to 21 — Range Unit Default Select the type of monitor for analog monitor 1. *See the table shown on the next page. Related Type of analog monitor 2 Title control mode Pr4.18 0 to 21 — Range Unit Default Select the type of monitor for analog monitor 2.
Page 204 1. Details of parameter [Class 4] I/F monitor setting Output gain for setting Pr4.16/Pr4.18 Type of monitor Unit Pr4.17/Pr4.19 = 0 Motor speed r/min Positional command speed r/min Internal positional command speed r/min Velocity control command r/min Torque command Command positional deviation pulse (Command unit) 3000 Encoder positional deviation pulse (Encoder unit) 3000 Full-closed deviation pulse (External scale unit) 3000 Hybrid deviation...
Page 205 1. Details of parameter [Class 4] I/F monitor setting Related Analog monitor output setup Title control mode Pr4.21 0 to 2 — Range Unit Default Select output format of the analog monitor. Setup value Output format Signed data output –10 V to 10 V Absolute value data output 0 V to 10 V Data output with offset 0 V to 10 V (5 V at center) Related Analog input 1 (AI1) offset setup...
Page 206 1. Details of parameter [Class 4] I/F monitor setting Related Analog input 3 (AI3) offset setup Title control mode Pr4.28 −342 to 342 5.86mV Range Unit Default Set up the offset correction value applied to the voltage fed to the analog input 3. Related Analog input 3 (AI3) filter Title control mode Pr4.29 0 to 6400 0.01ms Range Unit Default Set up the time constant of 1st delay filter that determines the lag time behind the voltage...
Page 207 1. Details of parameter [Class 4] I/F monitor setting Related INP hold time Title control mode Pr4.33 0 to 30000 Range Unit Default Set up the hold time when Pr4.32 Positioning complete output setup = 13. Setup value State of positioning complete signal The hold time is maintained definitely, keeping ON state until the next positional command is received.
Page 208 1. Details of parameter [Class 4] I/F monitor setting Related Speed coincidence range Title control mode Pr4.35 10 to 20000 r/min Range Unit Default Set the speed coincidence (V-COIN) output detection timing. Output the speed coincidence (V-COIN) when the difference between the speed command and the motor speed is equal to or smaller than the speed specified by this parameter. Speed command after acceleration/deceleration Pr4.35...
Page 209 1. Details of parameter [Class 4] I/F monitor setting Related Mechanical brake action at stalling setup Title control mode Pr4.37 0 to 10000 Range Unit Default You can set up the time from when the brake release signal (BRK-OFF) turns off to when the motor is de-energized (Servo-free), when the motor turns to Servo-OFF while the motor is at stall.
Page 210 1. Details of parameter [Class 4] I/F monitor setting Related Selection of alarm output 1 Title control mode Pr4.40 0 to 10 — Range Unit Default Related Selection of alarm output 2 Title control mode Pr4.41 0 to 10 — Range Unit Default Select the type of alarm issued as the alarm output 1 or 2. Setup Alarm Content value —...
Page 211: [Class 5] Enhancing Setting
1. Details of parameter [Class 5] Enhancing setting Setup Related 2nd numerator of electronic gear Title control mode Pr5.00 0 to 2 — Range Unit Default Related 3rd numerator of electronic gear Title control mode Pr5.01 0 to 2 — Range Unit Default Related 4th numerator of electronic gear Title control mode Pr5.02 0 to 2 — Range Unit Default Set the 2nd to 4th numerator of division/multiplication operation made according to the command pulse input.
Page 212 1. Details of parameter [Class 5] Enhancing setting Related Sequence at Servo-Off Title control mode Pr5.06 0 to 9 — Range Unit Default Specify the status during deceleration and after stop, after servo-off. Positional deviation/ Setup During deceleration After stalling feedback scale value deviation Dynamic Brake (DB) action Dynamic Brake (DB) action Clear Free-run (DB OFF) Dynamic Brake (DB) action Clear Dynamic Brake (DB) action...
Page 213 1. Details of parameter [Class 5] Enhancing setting Related LV trip selection at main power OFF Title control mode Pr5.08 0 to 1 — Range Unit Default You can select whether or not to activate Err13 (Main power under-voltage protection) function while the main power shutoff continues for the setup of Pr5.09 (Main power-OFF detection time).
Page 214 1. Details of parameter [Class 5] Enhancing setting Related Torque setup for emergency stop Title control mode Pr5.11 0 to 500 Range Unit Default Set up the torque limit at emergency stop. Note When setup value is 0, the torque limit for normal operation is applied. Related Over-load level setup Title control mode Pr5.12 0 to 500 Range Unit...
Page 215 1. Details of parameter [Class 5] Enhancing setting Related Counter clear input mode Title control mode Pr5.17 0 to 4 — Range Unit Default You can set up the clearing conditions of the counter clear input signal. Setup value Clear condition Invalid Clear at a level (no reading filter) Clear at a level (with reading filter) Clear at an edge (no reading filter) Clear at an edge (with reading filter) Note...
Page 216 1. Details of parameter [Class 5] Enhancing setting Related Selection of torque limit Title control mode Pr5.21 0 to 6 — Range Unit Default You can set up the torque limiting method. Setup value Positive direction Negative direction P-ATL (0 to 10V) N-ATL (−10 to 0V) 1st torque limit (Pr0.13) 1st torque limit (Pr0.13) 2nd torque limit (Pr5.22) TL-SEL OFF 1st torque limit (Pr0.13)
Page 217 1. Details of parameter [Class 5] Enhancing setting Related External input negative direction torque limit Title control mode Pr5.26 0 to 500 Range Unit Default Set up negative direction torque limit upon receiving TL-SEL with Pr5.21 Selection of torque limit set at 6. The value of parameter is limited to the maximum torque of the applicable motor. Note For details of torque limit value, refer to P.2-49.
Page 218 1. Details of parameter [Class 5] Enhancing setting Related Baud rate setup of RS485 communication Title control mode Pr5.30 * 0 to 6 — Range Unit Default You can set up the communication speed of RS485. Setup value Baud rate Setup value Baud rate 2400bps 38400bps 4800bps 57600bps 9600bps 115200bps 19200bps Baud rate error is ±0.5% for 2400 to 38400 bps, and ±2% for 57,600 to 115,200 bps. Related Axis address Title...
Page 219 1. Details of parameter [Class 6] Special setting Setup Related Analog torque feed forward conversion gain Title control mode Pr6.00 0 to 100 0.1V/100% Range Unit Default • Set the input gain of analog torque feed forward. 0 to 9 are invalid. <Usage example of Analog torque feed forward> • Setting bit 5 place of Pr6.10 Function expansion setup to 1 enables the analog torque feed forward.
Page 220 1. Details of parameter [Class 6] Special setting Related Positive direction torque compensation value Title control mode Pr6.08 −100 to 100 Range Unit Default • Set up the dynamic friction compensation value to be added to the torque command when forward positional command is fed. • Update this parameter when the friction compensation mode for real time auto-tuning is valid. Related Negative direction torque compensation value Title...
Page 221 1. Details of parameter [Class 6] Special setting Related Emergency stop time at alarm Title control mode Pr6.14 0 to 1000 Range Unit Default Set up the time allowed to complete emergency stop in an alarm condition. Exceeding this time puts the system in alarm state. When setup value is 0, immediate stop is disabled and the immediate alarm stop is enabled. Related 2nd over-speed level setup Title...
Page 222 1. Details of parameter [Class 6] Special setting Related Serial absolute external scale Z phase setup Title control mode Pr6.21 * 0 to 2 pulse Range Unit Default Full-closed control using serial absolute feedback scale. When outputting pulses by using the feedback scale as the source of the output, set the Z phase output interval in units of A phase output pulses of the feedback scale (before multiplied by 4).
Page 223 1. Details of parameter [Class 6] Special setting Related Real time auto tuning estimation speed Title control mode Pr6.31 0 to 3 — Range Unit Default Set up the load characteristics estimation speed with the real time auto tuning being valid. A higher setup value assures faster response to a change in load characteristics but increases variations in disturbance estimation.
Page 224 1. Details of parameter [Class 6] Special setting Set up the update to be made according to the results of load characteristics estimation of Pr6.07 Torque command additional value, Pr6.08 positive direction torque compensation value and Pr6.09 negative direction torque compensation value. Setup value Function Compensation setup Use current setup Pr6.07 Pr6.08 Pr6.09...
Page 225: [Class 6] Special Setting
1. Details of parameter [Class 6] Special setting Related Hybrid vibration suppression gain Title control mode Pr6.34 0 to 30000 0.1/s Range Unit Default Set up the hybrid vibration suppression gain for full-closed controlling. First set it to the value identical to that of poison loop gain, and then fine tune as necessary. Related Hybrid vibration suppression filter Title...
Page 226: Trial Run (Jog Run)
2.Trial Run (JOG run) Inspection Before Trial Run Setup (1) Inspection on wiring (1) Inspection on wiring • Miswiring ? (Especially power input and motor output) • Miswiring ? (Especially power input and motor output) • Short or grounded ? • Short or grounded ? • Loose connection ? •...
Page 227: Trial Run By Connecting The Connector, Cn X4
2.Trial Run (JOG run) Trial Run by Connecting the Connector, CN X4 Setup Trial Run (JOG run) at Position Control Mode (1) Connect the Connector X4. (2) Enter the power (DC12 to 24V) to control signal (COM+, COM–) (3) Enter the power to the driver. (4) Confirm the default values of parameters. (5) Match to the output format of the host controller with Pr0.07 (Command pulse input mode setup).
Page 228 2.Trial Run (JOG run) Trial Run by Connecting the Connector, CN X4 Trial Run (JOG run) at Velocity Control Mode 1) Connect the Connector X4. 2) Enter the power (DC12 to 24V) to control signal (COM+, COM–) 3) Enter the power to the driver. 4) Confirm the default values of parameters. 5) Connect the Servo-ON input (SRV-ON, Connector X4, Pin-29) and COM– (Connector X4, Pin-14) to turn to Servo-ON and energize the motor.
Page 229 2.Trial Run (JOG run) Trial Run by Connecting the Connector, CN X4 Trial Run (JOG run) at Torque Control Mode 1) Connect the Connector X4. 2) Enter the power (DC12-24V) to control signal (COM+, COM–) 3) Enter the power to the driver. 4) Confirm the default values of parameters. 5) Set a lower value to Pr3.07 (4th speed of speed setup). 6) Energize the motor by connecting the Servo-ON input (SRV-ON, Connector X4, Pin-29) and COM–...
Page 230: Setup Of Motor Rotational Speed And Input Pulse Frequency
2.Trial Run (JOG run) Setup of Motor Rotational Speed and Input Pulse Frequency Setup Input pulse Motor Pr0.08 frequency rotational (pps) speed (r/min) 17-bit 20-bit 3000 40000 40000 500K 3000 10000 10000 250K 3000 5000 5000 100K 3000 2000 2000 500K 1500 20000 20000 Note When setting Pr0.08, and encoder resolution is automatically set up as numerators. •...
Page 231 . Adjustment 1. Gain Adjustment Outline ......................5-2 2. Real-Time Auto-Gain Tuning Basic ......................5-4 3. Adaptive filter Adaptive filter ....................5-10 4. Manual Gain Tuning (Basic) Outline ......................5-13 Adjustment in Position Control Mode ............5-14 Adjustment in Velocity Control Mode ............5-15 Adjustment in Torque Control Mode ............5-15 Adjustment in Full-Closed Control Mode ..........5-16 Gain Switching Function ................5-17 Suppression of Machine Resonance ............5-20 5. Manual Gain Tuning (Application) Damping Control ..................5-24...
Page 232: Gain Adjustment
1. Gain Adjustment Outline Adjustment Purpose It is required for the servo driver to run the motor in least time delay and as faithful as possible against the commands from the host controller. You can make a gain adjustment so that you can run the motor as closely as possible to the commands and obtain the op- timum performance of the machine.
Page 233 1. Gain Adjustment Outline Type Pages Function Explanation to refer Estimates the load inertia of the machine in real time, and auto- Real-time auto-gain tuning P.5-4 matically sets up the optimum gain corresponding to this result. Reduces the resonance vibration point by automatically setting up the notch filter coefficient which removes the resonance compo- Adaptive filter nent from the torque command while estimating the resonance...
Page 234: Real-Time Auto-Gain Tuning Basic
2. Real-Time Auto-Gain Tuning Basic Adjustment Outline The system estimates the load characteristics in real time, and automatically performs basic gain setting and friction compensation by referring to stiffness parameter. Basic gain automatic Adaptive Friction torque Position/ Torque setting compensation process Velocity command Motor command Position/...
Page 235 2. Real-Time Auto-Gain Tuning Basic How to Operate 1) Bring the motor to stall (Servo-OFF). 2) Set up Pr0.02 (Setup of real-time auto-gain tuning mode) to 1-7. Default is set to 1. *1 Velocity and torque controls are the Setup Real-time auto-gain tuning value same as in the standard mode. *2 Torque control is the same as in the Invalid standard mode.
Page 236 2. Real-Time Auto-Gain Tuning Basic Parameters set/changed by real-time auto-gain tuning • Parameters which are updated The real-time auto-tuning function updates the following parameters according to Pr0.02 Real-time auto-tuning setup and Pr6.32 Real-time auto-tuning custom setup and by using the load characteristic estimate values. Class No. Title Function Updates this parameter when the real-time auto- 04 Inertia ratio tuning inertia ratio update is enabled.
Page 237 2. Real-Time Auto-Gain Tuning Basic • Parameters which are set in response to gain switching setup The real-time auto-tuning function sets the following parameters as the gain is switched. Class No. Title Function Sets to 1 if the current setting is not 2nd gain setup maintained. Sets to 10 to enable the gain switching. Mode of position control switching Sets to 0 to disable the gain switching.
Page 238 2. Real-Time Auto-Gain Tuning Basic Caution (1) Immediately after the first servo-on upon start up; or after increasing Pr0.03 Real-time auto-tuning stiffness setup, abnormal sound or oscillation may be gener- ated until the load characteristics estimation is stabilized. If such abnormality lasts or repeats for 3 or more reciprocating operations, take the following countermeasures.
Page 239 Stiffness setting of A4 series refers to the setup value (0-15) of A4 series parameter Pr22 Real-time auto-tuning machine stiffness selection. When 17-bit absolute encoder, limited by the minimum value 10. Note • For details of parameters, refer to P.4-12 “Details of parameter”. • Download the A4 series manual from the web site shown below. http://industrial.panasonic.com/jp/i/25000/motor_fa/motor_fa.html...
Page 240: Adaptive Filter Adaptive Filter
3. Adaptive filter Adaptive filter Adjustment Outline Estimates the resonance frequency out of vibration component presented in the motor speed in motion, then removes the resonance component from the torque command by setting up the notch filter coefficient automatically, hence reduces the resonance vibra- tion.
Page 241 3. Adaptive filter Adaptive filter How to Operate Enter the action command with Pr2.00 Adaptive filter mode set to a value other than 0. If the resonance point affects the motor speed, parameters of 3rd notch filter and/or 4th notch filters are automatically set according to the number of adaptive filters. et the operation of the adaptive filter to the following parameter.
Page 242 3. Adaptive filter Adaptive filter Caution (1) Immediately after the first servo-on at start up; or after increasing stiffness setting with the real-time auto-tuning enabled, abnormal sound or oscillation may be generated until the adaptive filter stabilizes. If such abnormality lasts or repeats for 3 or more re- ciprocating operations, take the following countermeasures.
Page 243: Manual Gain Tuning (Basic) Outline
4. Manual Gain Tuning (Basic) Outline Adjustment As explained previously, MINAS-A4 series features the automatic gain tuning function, however, there might be some cases where this automatic gain tuning cannot be adjust- ed properly depending on the limitation on load conditions. Or you might need to readjust the tuning to obtain the optimum response or stability corresponding to each load.
Page 244: Adjustment In Position Control Mode
4. Manual Gain Tuning (Basic) Adjustment in Position Control Mode Adjustment Position control of MINAS-A5 series is described in Block diagram of P.3-40. Make adjustment in position control per the following procedures. (1) Set up the following parameters to the values of the table below. Parameter Parameter Standard Standard Title of parameter Title of parameter...
Page 245: Adjustment In Velocity Control Mode
4. Manual Gain Tuning (Basic) Adjustment in Velocity Control Mode Adjustment Velocity control of MINAS-A5 series is described in Block Diagram of P.3-15 of Velocity Control Mode. Adjustment in velocity control is almost same as that in position control described in "Ad- justment in Position Control Mode", and make adjustments of parameters per the proce- dures except the gain setup of position loop and the setup of velocity feed forward.
Page 246: Adjustment In Full-Closed Control Mode
4. Manual Gain Tuning (Basic) Adjustment in Full-Closed Control Mode Adjustment Full-closed control of MINAS-A5 series is described in Block diagram of P.3-17 of Full- Closed Control. Adjustment in full-closed control is almost same as that in position control described in P.3-12 “Adjustment in Position Control Mode”, and make adjustments of parameters per the procedures except cautions of P.5-14, “Outline of Full-Closed Control”...
Page 247: Gain Switching Function
4. Manual Gain Tuning (Basic) Gain Switching Function Adjustment By selecting appropriate gain based on internal data or external signal, the following ef- fects can be obtained. • Decrease the gain at the time of stoppage (servo lock) to reduce vibration. • Increase the gain at the time of stoppage (setting) to shorten the settling time. •...
Page 248 4. Manual Gain Tuning (Basic) Gain Switching Function Setup of Gain Switching Condition • Positing control mode, Full-closed control mode ( : Corresponding parameter is valid, – : invalid) Setup parameters at position control, full-closed control Setup of gain switching condition Delay time Level Hysteresis Switching condition to Pr1.15 Fig. 2nd gain Pr1.16 Pr1.17 Pr1.18 Fixed to 1st gain – – – Fixed to 2nd gain – – – Gain switching input – – – Torque command Invalid (Fixed to 1st gain) –...
Page 249 4. Manual Gain Tuning (Basic) Gain Switching Function Fig.A Fig. B speed N command speed S ΔS level level switching level switching level delay 1st gain 1st gain Fig. C Fig. D motor speed or commanded speed N speed level delay deviation pulse 2nd gain level delay 2nd gain Fig.
Page 250 4. Manual Gain Tuning (Basic) Suppression of Machine Resonance Adjustment In case of a low machine stiffness, you cannot set up a higher gain because vibration and noise occur due to oscillation caused by axis distortion or other causes. By suppressing the resonance peak at the notch filter, higher gain can be obtained or the level of vibra- tion can be lowered.
Page 251: Suppression Of Machine Resonance
4. Manual Gain Tuning (Basic) Suppression of Machine Resonance Machine characteristics at resonance Resonance gain Anti-resonance Notch filter frequency characteristics gain Notch frequency width width torque torque command command after filtering Depth frequency automatic following frequency frequency Adaptive filter 1st notch filter 2nd to 4th notch filter Copying of the setup from Adjustment of frequency, Suppress resonance point...
Page 252 4. Manual Gain Tuning (Basic) Suppression of Machine Resonance Notch width and depth The width of the notch filter is the ratio of the width of –3dB attenuation frequency band with respect to the notch frequency at its center when depth is 0, and the value is as shown in the table below. The notch filter depth indicates I:O ratio where the input at the center frequency is com- pletely shut with setup value 0 but fully received with setup value 100.
Page 253 You cannot setup a higher response of the servo system to the machine with a low resonance frequency (machine stiffness is low). Note Please download the Setup support software “PANATERM”from our web site anduse after http://industrial.panasonic.com/jp/i/fa_motor.html install to the PC. Related page • P.7-26 “Outline of Setup support software “PANATERM”...
Page 254: Manual Gain Tuning (Application) Damping Control
5. Manual Gain Tuning (Application) Damping Control Adjustment Outline This function reduces the vibration at the top or on whole of the equipment by removing the vibration frequency components specified by the positional command. Up to 2 among 4 frequency settings can be used at the same time. Front edge vibrates.
Page 255 5. Manual Gain Tuning (Application) Damping Control How to Use (1) Setup of damping frequency (1st: Pr2.14, 2nd: Pr2.16, 3rd: Pr2.18, 4th: Pr2.20)) Measure the vibration frequency of the front edge of the machine. When you use such instrument as laser displacement meter, and can directly measure the load end vibra- tion, read out the vibration frequency from the measured waveform and enter it. Position deviation Command speed...
Page 256: Feed Forward Function
5. Manual Gain Tuning (Application) Feed forward function Adjustment Outline When position control or full closed control is used, positional deviation can be further reduced when compared with deviation where control is made only by feedback, and response is also improved, by calculating the velocity control command necessary for operation based on the internal positional command, and by adding velocity feed forward to the speed command calculated by comparison with position feedback.
Page 257 5. Manual Gain Tuning (Application) Feed forward function With the gain set at 100%, calculatory positional deviation is 0, but significant overshoot occurs during acceleration/deceleration. If the updating cycle of the positional command input is longer than the driver control cycle, or the pulse frequency varies, the operating noise may increase while the velocity feed forward is active.
Page 258: Instantaneous Speed Observer
5. Manual Gain Tuning (Application) Instantaneous Speed Observer Adjustment Outline This function enables both realization of high response and reduction of vibration at stop- ping, by estimating the motor speed using a load model, hence improving the accuracy of the speed detection. Torque Velocity Motor command command current Velocity...
Page 259 5. Manual Gain Tuning (Application) Instantaneous Speed Observer Related Parameter Class No. Title Function Speed observer enable bit (bit 0) valid/invalid the Function expansion function. setup bit0 0: Invalid 1: Valid * bit 0 = LSB How to Use (1) Setup of inertia ratio (Pr0.04) Set up as exact inertia ratio as possible. • When the inertia ratio (Pr20) is already obtained through real-time auto-gain tuning and is applicable at normal position control, use this value as Pr20 setup value.
Page 260: Disturbance Observer
5. Manual Gain Tuning (Application) Disturbance observer Adjustment Outline This function uses the disturbance torque determined by the disturbance observer to re- duce effect of disturbance torque and vibration. Disturbance torque – Torque command Motor + load Added in the direction to cancel the disturbance Torque command Motor speed –...
Page 261 5. Manual Gain Tuning (Application) Disturbance observer Related Parameter Class No. Title Function Sets bits related to disturbance observer. bit1 0: Invalid 1: Valid bit2 0: Always valid 1: alid only when 1st gain is selected. * bit 0 = LSB Example) Function To use the disturbance observer in the enabled mode only expansion setup when 1st gain is selected: Setup value = 6...
Page 262: 3Rd Gain Switching Function
5. Manual Gain Tuning (Application) 3rd gain switching function Adjustment Outline In addition to the normal gain switching function described on P.5-17, 3rd gain switching function can be set to increase the gain just before stopping. The higher gain shortens positioning adjusting time. Applicable Range This function can be applicable only when the following conditions are satisfied. Conditions under which the 3rd gain switching function is activated •...
Page 263 5. Manual Gain Tuning (Application) 3rd gain switching function How to Use While in the condition under which the normal gain switching functions, set the 3rd gain application time to Pr6.05 Position 3rd gain enable time, and set the 3rd gain (scale fac- tor with reference to 1st gain) to Pr6.06 Position 3rd gain magnification ratio. •...
Page 264: Friction Torque Compensation
5. Manual Gain Tuning (Application) Friction torque compensation Adjustment Outline To reduce effect of friction represented by mechanical system, 2 types of friction torque compensation can be applied: offset load compensation that cancels constant offset torque and the dynamic friction compensation that varies direction as the operating direc- tion varies.
Page 265 5. Manual Gain Tuning (Application) Friction torque compensation How to Use The friction torque compensation will be added in response to the entered positional command direction as shown below. [Positive direction] Pr6.08 Command speed Positive direction torque compensation value Pr6.07 Pr6.09 Torque command Negative direction torque additional value compensation value Time [Negative direction]...
Page 266: Inertia Ratio Switching Function
5. Manual Gain Tuning (Application) Inertia ratio switching function Adjustment Outline Inertia ratio can be switched between No.1 and No.2 by the switching input (J-SEL). This feature is useful in application where the load inertia changes in two steps. Applicable Range This function can be applicable only when the following conditions are satisfied. Conditions under which the Inertia ratio switching function is activated •...
Page 267 5. Manual Gain Tuning (Application) Inertia ratio switching function Related Parameter Combine the following 3 parameters to setup appropriate inertia ratio switching function. Class No. Title Function Sets bits related to inertia ratio switching function. bit1 0: Invalid 1: Valid bit2 0: Always valid 1: alid only when 1st gain is selected. Function * bit 0 = LSB expansion setup...
Page 268: Hybrid Vibration Damping Function
5. Manual Gain Tuning (Application) Hybrid vibration damping function Adjustment Outline This function suppresses vibration due to amount of twist between the motor and load in the full closed control mode. This function enables high gain setting. Outline This function can be applicable only when the following conditions are satisfied. Conditions under which the Hybrid vibration damping function is activated Control mode •...
Page 269: About Homing Operation
6. About Homing Operation Caution on Homing Operation Adjustment • In homing action by using the host controller, stop position might not be stabilized if the origin input (Z-phase of the encoder) is entered while the motor is not decelerated enough after the proximity input is turned on. Set up the ON-positions of proximity input and the position of origin point, considering the necessary pulse counts for decelera- tion.
Page 270 6. About Homing Operation Homing with Hit & Stop Adjustment You can set up the homing position with "Hit & Stop" where it is not easy to install a sen- sor due to environment. (1) when you make a point where the (2) when you stop the work (load) using work (load) hits as an origin Z-phase after making a hitting point as a starting point, then make that...
Page 271: Press & Hold Control
6. About Homing Operation Press & Hold Control Adjustment Application example Parameter Setup Press fit Title example machine 5.21 Setup of 2nd torque limit 0.13 Setup of 1st torque limit 5.22 Setup of 2nd torque limit 0.14 Excess setup of position deviation 25000 5.13 Setup of over-speed level Pin-27 (GAIN/TL, SEL) : Torque limit switching input Pin-40 (TLC)
Page 272 MEMO 5-42...
Page 273: When In Trouble
. When in Trouble 1. When in Trouble What to Check ? ..................6-2 Protective Function (What is Error Code ?) ..........6-3 Protective function (Detail of error code) ............6-4 2. Setup of gain pre-adjustment protection ........6-15 3. Troubleshooting Motor Does Not Run .................6-17 Unstable Rotation (Not Smooth) , Motor Runs Slowly Even with Speed Zero at Velocity Control Mode ..6-19 Positioning Accuracy Is Poor ..............6-20 Origin Point Slips ..................6-21 Abnormal Motor Noise or Vibration ............6-21...
Page 274: When In Trouble
1. When in Trouble What to Check ? When in Trouble Isn't error code No. is displayed ? Aren't the parameter setups wrong ? Doesn't the power voltage vary ? Is the power turned on ? Any loose connection ? Motor does not run. Check the cause by referring to P.2-64, Is the connecting portion “Display of Factor of No Motor Running”...
Page 275 1. When in Trouble Protective Function (What is Error Code ?) <List of error code No.> Error code Attribute Error code Attribute Detail Detail Protective function Protective function History Can be Immediate History Can be Immediate page page Main Sub Main Sub cleared stop cleared stop Control power supply under- EEPROM parameter error pro- 0 to voltage protection tection Over-voltage protection 0 to EEPROM check code error...
Page 276: Protective Function (What Is Error Code ?)
1. When in Trouble Protective function (Detail of error code) When in Trouble Protective Error code No. Causes Measures function Main Sub Control Voltage between P and N of the converter Measure the voltage between lines of power portion of the control power supply has connector and terminal block (L1C - L2C) . supply fallen below the specified value.
Page 277 1. When in Trouble Protective function (Detail of error code) Protective Error code No. Causes Measures function Main Sub Current through the converter portion has exceeded the specified value. Over-current 1) Failure of servo driver (failure of the 1) Turn to Servo-ON, while disconnecting the protection circuit, IGBT or other components) motor.
Page 278: Protective Function (Detail Of Error Code)
1. When in Trouble Protective function (Detail of error code) Protective Error code No. Causes Measures function Main Sub Regenerative energy has exceeded the Check the load factor of the regenerative capacity of regenerative resistor. resistor from the front panel or via communi- Over- cation. regeneration Do not use in the continuous regenerative load 1) Due to the regenerative energy during brake application.
Page 279 1. When in Trouble Protective function (Detail of error code) Protective Error code No. Causes Measures function Main Sub Position Deviation pulses have exceeded the deviation setup of Pr0.14. excess 1) The motor movement has not followed 1) Check that the motor follows to the position protection the command. command pulses. Check that the output toque has not saturated in torque monitor.
Page 280 1. When in Trouble Protective function (Detail of error code) Protective Error code No. Causes Measures function Main Sub Command The frequency of command pulse input is Check the command pulse input for pulse input more than 1.2 times the setting in Pr5.32. frequency. frequency error protection Electronic Division and multiplication ratio which are Check the setup value of electronic gear.
Page 281 1. When in Trouble Protective function (Detail of error code) Protective Error code No. Causes Measures function Main Sub Output signals (SI1, SI2, SI3) are Allocate correct function to each connector I/F output assigned with undefined number. pin. function number error 1 protection Output signals (SI4) are assigned with I/F output undefined number. function number error 2 protection Counter clear function is assigned to a...
Page 282 1. When in Trouble Protective function (Detail of error code) Protective Error code No. Causes Measures function Main Sub Analog Higher voltage has been applied to the • Set up Pr4.24 correctly. Check the input 1 (AI1) analog input 1 than the value that has connecting condition of the connector X4. excess been set by Pr4.24.
Page 283 1. When in Trouble Protective function (Detail of error code) Protective Error code No. Causes Measures function Main Sub Encoder has been running at faster Arrange so as the motor does not run at Absolute speed than the specified value at power- power-on. status error protection *1 Missing pulse of Z-phase of serial Replace the motor.
Page 284 1. When in Trouble Protective function (Detail of error code) Protective Error code No. Causes Measures function Main Sub Bit 4 of the external scale error code Remove the causes of the error, then clear External (ALMC) has been turned to 1. the external scale error from the front panel. scale status Check the specifications of the external And then, shut off the power to reset.
Page 285 1. When in Trouble Protective function (Detail of error code) Time characteristics of Error code No.16.0 (Overload protection) Overload protection time characteristics Time MSME 50W MSME 100W 100V MSME 100W 200V MSME 200W MSME 400W MSME 750W MSME 1.0kW 5.0kW MDME 1.0kW 5.0kW MHME 1.0kW 5.0kW MGME 900W 3.0kW Torque [%] Caution Use the motor so that actual torque stays in the continuous running range shown in “S-T characteristic”...
Page 286 1. When in Trouble Protective function (Detail of error code) 4) Example of movement (1) When no position command is entered (Servo-ON status), The motor movable range will be the travel range which is set at both sides of the motor with Pr26 since no position command is entered. When the load enters to the Err34 occurrence range (oblique line range), software limit protection will be activated.
Page 287: Setup Of Gain Pre-Adjustment Protection
2. Setup of gain pre-adjustment protection When in Trouble Before starting gain adjustment, set the following parameters based on the conditions of use, to assure safe operation. 1) Setup of over-travel inhibit input By inputting the limit sensor signal to the driver, the bumping against mechanical end can be prevented. Refer to interface specification, positive/negative direction over- travel inhibit input (POT/NOT).
Page 288 2. Setup of gain pre-adjustment protection 4) Setup of the excess positional deviation protection During the position control or full-closed control, this function detects potential exces- sive difference between the positional command and motor position and issues Err24.0 Excess positional deviation protection. Excess positional deviation level can be set to Pr0.14 Setup of positional deviation excess.
Page 289 2. Setup of gain pre-adjustment protection 6) Setup of hybrid deviation excess error protection At the initial operation with full-closed control, operation failure may occur due to re- verse connection of external scale or wrong external scale division ratio. To indicate this type of defect, Err25.0 Hybrid deviation excess error protection is is- sued when the deviation of motor position (encoder unit) and load position (external scale unit) exceed Pr3.28 Setup of hybrid deviation excess.
Page 290: Troubleshooting
3. Troubleshooting Motor Does Not Run When in Trouble When the motor does not run, refer to P.2-64, "Display of Factor of No-Motor Running" of Preparation as well. Classification Causes Measures Parameter Setup of the Check that the present 1) Set up Pr0.01 again. control mode is control mode is correct 2) Check that the input to control mode switching not correct...
Page 291 3. Troubleshooting Motor Does Not Run When the motor does not run, refer to P.2-64, "Display of Factor of No-Motor Running" of Preparation as well. Classification Causes Measures Wiring Speed command Check that the velocity 1) Check the setups of Pr3.02 to Pr3.03 again by is invalid command input method setting up Pr3.00 to 0, when you use the external...
Page 292: Unstable Rotation (Not Smooth), Motor Runs Slowly Even With Speed Zero At Velocity Control Mode
3. Troubleshooting Unstable Rotation (Not Smooth), When in Trouble Motor Runs Slowly Even with Speed Zero at Velocity Control Mode Classification Causes Measures Parameter Setup of the control mode is not If you set up Pr0.01 to 1(Velocity control mode) by mistake at correct. position control mode, the motor runs slowly at servo-ON due to speed command offset. Change the setup of Pr0.01 to 0. Adjustment Gain adjustment is not proper.
Page 293: Positioning Accuracy Is Poor
3. Troubleshooting Positioning Accuracy Is Poor When in Trouble Classification Causes Measures System Position command is not correct. Count the feedback pulses with a monitor function of the PANATERM or feedback pulse monitor mode of the console while repeating the movement of the same distance. If the value does not return to the same value, review the controller.
Page 294: Origin Point Slips
3. Troubleshooting Origin Point Slips When in Trouble Classification Causes Measures System Z-phase is not detected. Check that the Z-phase matches to the center of proximity dog. Execute the homing matching to the controller correctly. Homing creep speed is fast. Lower the homing speed at origin proximity. Or widen the origin sensor.
Page 295: Overshoot/Undershoot, Overheating Of The Motor (Motor Burn-Out)
3. Troubleshooting Overshoot/Undershoot, When in Trouble Overheating of the Motor (Motor Burn-Out) Classification Causes Measures Adjustment Gain adjustment is not proper. Check with graphic function of PANATERM or velocity monitor (SP) or torque monitor (IM). Make a correct gain adjustment. Refer to “Adjustment”. Installation Load inertia is large. Check with graphic function of PANATERM or monitor (Connector X7).
Page 296 3. Troubleshooting Parameter Returns to Previous Setup When in Trouble Classification Causes Measures Parameter No writing to EEPROM has been Refer to P.2-71, “How to Operate-EEPROM Writing” of Preparation. carried out before turning off the power. 6-24...
Page 297: Supplement
. Supplement 1. Safety function Outline ......................7-2 Input & output signals .................7-3 Safety Circuit Block Diagram ..............7-5 Timing Chart ....................7-6 Example of connection ................7-8 2. Absolute system Outline ......................7-10 Configuration ....................7-11 Battery (for Backup) Installation ..............7-12 Setup (Initialization) of Absolute Encoder ..........7-16 Transferring absolute data ................7-16 Transferring external scale absolute data ..........7-21 Display of Battery Alarm ................7-25 3.Outline of Setup Support Software, “PANATERM”...
Page 298 1. Safety function Outline Supplement 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).
Page 299 1. Safety function Input & output signals Supplement Safety input/output signal For list of connector pin numbers, refer to P.2-22, Control Signal Symbol Pin No. Contents mode • Input 1 that triggers STO function. This input turns SF1+ off the upper arm drive signal of power transistor. Safety •...
Page 300 1. Safety function Input & output signals External device monitor (EDM) output signal The monitor output signal is used by the external device to monitor the state of the safety input signal. Connect the monitor output to the external device monitor terminal of the safety devices such as safety controller and safety sensor. Control Signal Symbol...
Page 301 1. Safety function Safety Circuit Block Diagram Supplement Power Control Circuit SF1+ IL_EMG ASIC I_SF1 IL_ERR1 µC analog input SF1− LPF (3ms) SF2+ I_SF2 µC analog input SF2− EDM+ µC port 3.3V level shifter O_EDM +5V PS EDM− Voltage Monitor Motor...
Page 302: Timing Chart
1. Safety function Timing Chart Supplement Operating timing for safety status input coupler OFF Servo-ON input input coupler ON (Servo-OFF command) (SEV-ON) (Servo-ON command) Safety input 1 input coupler ON input coupler OFF (STO) Safety input 2 max 5ms Motor energization energized not-energized max 6ms EDM output output coupler OFF output coupler ON 0.5 to 5ms...
Page 303 1. Safety function Timing Chart Return timing from safety state input coupler OFF Servo-ON input input coupler ON (Servo-OFF command) (SEV-ON) (Servo-ON command) Safety input 1 input coupler OFF input coupler ON Safety input 2 Motor energization not-energized max 6ms Once the servo EDM output output coupler ON output coupler OFF on command is input, the...
Page 304: Example Of Connection
1. Safety function Example of connection Supplement Example of connection to safety switch Safety switch Servo driver Contact output SF1+ Safety input SF1− SF2+ Safety input SF2− EDM+ EDM output EDM− Example of connection to safety sensor Safety sensor Sefety output (source) Servo driver Control output 1 SF1+ Safety input SF1− Control output 2 SF2+ Safety input SF2−...
Page 305 1. Safety function Example of connection Example of connection when using multiple axes Safety sensor Sefety output (source) Control output 1 Servo driver SF1+ Control output 2 SF1− SF2+ SF2− EDM input EDM+ EDM− output Servo driver SF1+ SF1− SF2+ SF2− EDM+ EDM− output Servo driver SF1+ SF1− SF2+ SF2− EDM+ EDM−...
Page 306: Absolute System
2. Absolute system Outline Supplement Outline of Absolute System When you compose an absolute system using an absolute encoder, you are not required to carry out homing operation at the power-on, and this function suits very well to such an application as a robot. Connect the host controller with the Minas A5 with absolute specifications. (motor with absolute encoder and driver with absolute spec) and set up the parameter, Pr0.15 to 0 or 2, then connect the battery for absolute encoder to compose an absolute system with which you can capture the exact present position information after the power-ON.
Page 307: Configuration
2. Absolute system Configuration Supplement Configuration of absolute system of scale using RS232 interface Host controller Servo driver RS232 or equivalent SN751701 interface RS485+ Relay RS485− connector Motor RS485+ RS485 can be RS485− connecter to either terminal pair. Relay Detection connector head Positioning controller Linear scale unit...
Page 308 2. Absolute system Battery (for Backup) Installation Supplement First Installation of the Battery After installing and connecting the back-up battery to the motor, execute an absolute en- coder setup. Refer to P.7-16, "Setup (initialization) of Absolute Encoder ". It is recommended to perform ON/OFF action once a day after installing the battery for refreshing the battery.
Page 309: Battery (For Backup) Installation
2. Absolute system Battery (for Backup) Installation 3) Install the battery to the battery box. Place the battery with Connect + facing downward. the connector. 4) Close the cover of the battery box. Close the cover not to pinch the connector cable. • Be absolutely sure to follow the precautions below since improper use of the battery can Caution cause electrolyte to leak from the battery, giving rise to trouble where the product may be- come corroded, and/or the battery itself may rupture.
Page 310 2. Absolute system Battery (for Backup) Installation Life of the battery Following example shows the life calculation of the back-up battery used in assumed ro- bot operation. 2000[mAh] of battery capacity is used for calculation. Note that the following value is not a guaranteed value, but only represents a calculated value.
Page 311 2. Absolute system Battery (for Backup) Installation When you make your own cable for 17-bit absolute encoder When you make your own cable for 17-bit absolute encoder, connect the optional battery for absolute encoder, DV0P2060 or DV0P2990 as per the wiring diagram below. Connec- tor of the battery for absolute encoder shall be provided by customer as well. Caution Install and fix the battery securely.
Page 312: Setup (Initialization) Of Absolute Encoder
2. Absolute system Setup (Initialization) of Absolute Encoder Supplement Absolute multi-turn data will be maintained by the absolute encoder battery. When operating the machine for the first time after installing the battery to the absolute en- coder, clear the encoder data (multi-turn data) to 0 at the origin by following the procedure described below.
Page 313 2. Absolute system Transferring absolute data RS232 Communication Protocol Refer to the instruction manual of the host for the transmission/reception method of com- mand. Data of *1 and *2 are determined by the setup Transmission starts of Pr5.31 “Axis address” of the front panel. Axis address Data of *1 Data of *2 05h transmission (example)
Page 314 2. Absolute system Transferring absolute data RS485 Communication Protocol Refer to the instruction manual of the host for the transmission/reception method of com- mand. Following shows the communication example of the driver to Pr5.31 “Axis address = 1”. Data of *1, *2 and *3are determined by the setup of Pr5.31 “Axis address”...
Page 315 2. Absolute system Transferring absolute data Composition of Absolute Data Absolute data consists of singe-turn data which shows the absolute position per one revolution and multi-turn data which counts the number of revolution of the motor after clearing the encoder. 131071 0,1,2 … 13107 1 0,1,2 … 131071 0,1, Single-turn data –1 0...
Page 316 2. Absolute system Transferring absolute data • Encoder status (L)-----1 represents error occurrence. Encoder status (L) bit7 bit6 bit5 bit4 bit3 bit2 bit1 bit0 (1) Over-speed Err42 (Absolute over-speed error protection) (2) Full absolute status Err47 (Absolute status error protection) (3) Counter error Err44 (Absolute single-turn counter error protection) (4) Counter overflow Err41 (Absolute counter over error protection) (5) Multi-turn error...
Page 317: Transferring External Scale Absolute Data
2. Absolute system Transferring external scale absolute data Supplement External scale RS232 communication procedure Refer to the instruction manual of the host for the transmission/reception method of com- mand. Following shows the communication example of the driver to Pr5.31 “Axis address = 1”. Data of *1 and *2 are determined by the setup Transmission starts of Pr5.31 “Axis address”...
Page 318 2. Absolute system Transferring external scale absolute data External scale RS485 communication procedure Refer to the instruction manual of the host for the transmission/reception method of com- mand. Following shows the communication example of the driver to Pr5.31 “Axis address = 1”. Data of *1, *2 and *3are determined by the setup of Pr5.31 “Axis address”...
Page 319 2. Absolute system Transferring external scale absolute data Composition of external scale absolute data Using 15-character data received through RS232/RS485, organize 1-turn data and multi- turn data. Setup value of Pr5.31 “Axis address”. Axis address *1 Undefined *2 Depends on external scale. 31h: Mitsutoyo made AT573 32h: Mitsutoyo made ST771A, ST773A External scale status (L) 41h: Sony Manufacturing Systems made External scale status (H)
Page 320 2. Absolute system Transferring external scale absolute data • External scale status (L)-----1 represents error occurrence. External scale status (L) bit7 bit6 bit5 bit4 bit3 bit2 bit1 bit0 (1) Alarm No. A8 “External scale error alarm” (2) Alarm No. A8 “External scale error alarm” (3) Err51.0 “External scale status 5 error protection” (4) Err51.0 “External scale status 4 error protection”...
Page 321 2. Absolute system Display of Battery Alarm Supplement Following alarm will be displayed when making the front panel to alarm execution mode of monitor mode..No alarm condition ..Highest priority alarm Alarm number • Press to scroll alarm conditions. • Kinds of alarm alarm Latched Alarm Content time Overload protection...
Page 322: Outline Of Setup Support Software, "Panaterm
3.Outline of Setup Support Software, “PANATERM” Setup on the PC Supplement Connector X1 of MINAS A5 can be connected to your PC through USB cable for computer. Once you download the setup support software PANATERM from our web site and install it to your PC, the following tasks can be easily performed. Outline of PANATERM With the PANATERM, you can execute the followings.
Page 323: Communication
4. Communication Outline Supplement You can connect up to 32 MINAS-A5 series with your computer or NC via serial commu- nication based on RS232 and RS484, and can execute the following functions. (1) Change over of the parameters (2) Referring and clearing of alarm data status and history (3) Monitoring of control conditions such as status and I/O. (4) Referring of the absolute data (5) Saving and loading of the parameter data • Merits • You can write parameters from the host to the driver in batch when you start up the machine.
Page 324 4. Communication Specifications Supplement Connection of Communication Line MINAS-A5 series provide 2 types of communications ports of RS232 and RS485, and support the following 3 types of connection with the host. • RS232 communication Connect the host and the driver in one to one with RS232, and communicate accord- ing to RS232 transmission protocol.
Page 325 4. Communication Specifications • RS485 communication Connect the host to multiple MINAS-A5s with RS485 communication, set up the Pr5.31 of each front panel of MINAS-A5 to 1 to 127. RS485 RS485 RS485 RS485 Module ID=0 Host ... Max. 31 axis Pr5.31=1 Pr5.31=2 Pr5.31=3 Pr5.31=4...
Page 326: Specifications
4. Communication Specifications Interface of Communication Connector • Connection to the host with RS232 Host controller Servo driver RS232 or equivalent SN751701 interface RS485+ Relay RS485− connector Motor RS485+ RS485 can be RS485− connecter to either terminal pair. Relay Detection connector head Positioning controller Linear scale unit * No connection to X5 when no or equivalent external scale is used.
Page 327 4. Communication Specifications List of User Parameters for Communication Setup Class No. Title Function value 0 to Set the axis number for serial communication. Axis address This parameter setup value has no effect on servo operation. Set up the communication speed of RS232 communication. Baud rate 0 to 0 : 2400[bpps], 1 : 4800[bps], 2 : 9600[bps], 3 : 19200[bps], setup of RS232...
Page 328 4. Communication Specifications Transmission Sequence • Transmission protocol • In case of RS232 Host MINAS-A5 1) ENQ(05h) 2) EOT(04h) Receiving 3) Data block data 4) ACK(06h) (or NAK (15h)) 5) ENQ(05h) 6) EOT(04h) Transmitting 7) Data block data 8) ACK(06h) (or NAK (15h)) • In case of RS485 Host MINAS-A5 Module ID : 0...
Page 329 4. Communication Specifications • Data Block Composition Below shows the composition of data block which is transmitted in physical phase. (1 byte) axis mode command Parameter (N byte) check sum : Command byte counts (0 to 240) Shows the number of parameters which are required by command. axis : Sets up the value of Pr5.31.(0 to 127) command : Control command (0 to 15)
Page 330 4. Communication Specifications Example of Data Communication • e.g. Reference of Absolute Data When you connect the host to one driver with RS232 communication, and connect multiple MINAS-A5s with RS485 communication. Following flow chart describes the actual flow of the communication data when you want to capture the absolute data of the module ID=1.
Page 331 4. Communication Specifications • Example of Parameter Change Following shows the communication data in time series when you change parameters. Communication in general will be carried out in sequence of (1) Request for captur- ing of execution right, (2) Writing of individual parameter, and (3) Writing to EEPROM when saving of data is required, and (4) Release of execution right.
Page 332 4. Communication Specifications Status Transition Chart • RS232 Communication Transmitter Reception of EOT Size Command bytes+3 Transmission of T2 stop one character Size Command bytes–1 Ready for EOT Block transmission Reception of ENQ and at slave Enquiry for Return ENQ to reception T2 time out transmission, and buffer(reception processing) Size becomes 0...
Page 333 4. Communication Specifications • RS485 Communication Transmitter Transmission of Module identification byte one character Reception of EOT of transmitter is the module Size Size - 1 ID | 80h of the counterpart. Module ID of opponent Size Command bytes +3 T2 stop T1 start Ready for ID Ready for EOT...
Page 334 4. Communication Specifications Timing of Data Communication • In case of RS485 (RS232 to follow) Host to driver Enquiry for transmission Data block Driver to host ACK/ Permission for 0 to 2ms 0 to 2ms 0 to 2ms 0 to 2ms transmission RS485 bus occupation Host to driver Permission for...
Page 335 4. Communication List of Communication Command Supplement command Content mode Read out of CPU version Read out of driver model Read out of motor model INIT Capture and release of execution right Setup of RS232 protocol parameter Setup of RS485 protocol parameter POS, STATUS, I/O Read out of status Read out of command pulse counter Read out of feedback pulse counter...
Page 336: Details Of Communication Command
4. Communication Details of Communication Command Supplement command mode • Read out of CPU version Reception data Transmission data axis axis axis Model of ,motor (upper) checksum Version (upper) Version (lower) Model of motor (lower) Error code Error code checksum checksum Error code bit7 0 : Normal Command error RS485 error...
Page 337: Capture And Release Of Execution Right
4. Communication Details of Communication Command command mode • Capture and release of execution right Reception data Transmission data axis axis mode Error code checksum checksum Error code bit7 0 : Normal Command error RS485 error mode error in use 1 : Error • Capture the execution right to prevent the conflict of the operation via communication and that with the front panel. •...
Page 338: Read Out Of Status
4. Communication Details of Communication Command command mode • Read out of status Reception data Transmission data axis axis checksum control mode status error code checksum status bit7 Positive direction Negative direction Slower than DB Torque in-limit permission running running Error code bit7 0 : Normal Command error RS485 error 1 : Error...
Page 339: Read Out Of Feedback Pulse Counter
4. Communication Details of Communication Command command mode • Read out of feedback pulse counter Reception data Transmission data axis axis checksum counter value L error code checksum Error code bit7 0 : Normal Command error RS485 error 1 : Error • Module returns the present position of feedback pulse counter in absolute coordinates from the staring point. •...
Page 340: Read Out Of Present Deviation Counter
4. Communication Details of Communication Command command mode • Read out of present deviation counter Reception data Transmission data axis axis checksum data (deviation) L Error code checksum Error code bit7 0 : Normal Command error RS485 error 1 : Error • Reads out the present deviation counter value. (Unit : [pulse] •...
Page 341: Read Out Of Output Signal
4. Communication Details of Communication Command command mode • Read out of output signal Reception data Transmission data axis axis checksum data L data H alarm data L error code checksum error code bit7 0 : Normal Command error RS485 error 1 : Error Data bit7 Positioning...
Page 342: Read Out Of Present Speed, Torque And Deviation Counter
4. Communication Details of Communication Command command mode • Read out of present speed, torque and deviation counter Reception data Transmission data axis axis data L checksum (speed) H data L (torque) H data L (deviation) H error code checksum Error cod bit7 0 : Normal Command error RS485 error 1 : Error...
Page 343 4. Communication Details of Communication Command command mode • Read out of feedback scale Reception data Transmission data 11 (0Bh) axis axis checksum encoder ID (L) status (L) absolute position data (48bit) error code checksum Encoder ID Encoder ID (L) Encoder ID (H) ST771 Address "0"...
Page 344: D Read Out Of Absolute Encoder
4. Communication Details of Communication Command command mode • Read out of absolute encoder Reception data Transmission data 11 (0Bh) axis axis checksum encoder ID (L) status single-turn data multi-turn data (L) Error code checksum Encoder ID (L) Encoder ID (H) 17bit absolute Status (L) bit7 Battery alarm System down...
Page 345: Individual Read Out Of Parameter
4. Communication Details of Communication Command command mode • Individual read out of parameter Reception data Transmission data axis axis parameter type parameter No. parameter value checksum error code checksum Error code bit7 0 : Normal Command error RS485 error No.Error 1 : Error •...
Page 346: Individual Read Out Of User Parameter
4. Communication Details of Communication Command command mode • Individual read out of user parameter Reception data Transmission data 17 (11h) axis axis parameter type parameter type parameter No. parameter No. checksum parameter value MIN value MAX value Property L Error code checksum Property bit7 Parameter Display inhibited...
Page 347: Read Out Of Two Or More User Parameter
4. Communication Details of Communication Command command mode • Read out of two or more user parameter Reception data Transmission data 10h (16) 129 (81h) axis axis (1) parameter type (1) parameter type (1) parameter No. (1) parameter No. (2) parameter type (2) parameter No. (1) parameter value (8) parameter type (8) parameter No.
Page 348: Writing Of Two Or More User Parameter
4. Communication Details of Communication Command command mode • Writing of two or more user parameter Reception data Transmission data 30h(48) 17(11h) axis axis (1) parameter type (1) parameter type (1) parameter No. (1) parameter No. (2) parameter type (1) parameter value (2) parameter No. (8) parameter type (8) parameter No.
Page 349: Batch Read Out Of Alarm History
4. Communication Details of Communication Command command mode • Individual read out of user alarm history Reception data Transmission data 29 (1Dh) axis axis 1st. latest checksum alarm No. (Main) alarm No. (Sub) 2nd. latest alarm No. (Main) alarm No. (Sub) 14th. latest alarm No. (Main) alarm No.
Page 350: B Absolute Clear
4. Communication Details of Communication Command command mode • Absolute clear Reception data Transmission data axis axis checksum Error code checksum Error code bit7 0 : Normal Command error RS485 error 1 : Error • Clears absolute encoder error and multi-turn data • Command error will be returned when you use other encoder than 17bit absolute encoder. 7-54...
Page 351 MEMO 7-55...
Page 352: Motor Characteristics (S-T Characteristics)
5. Motor Characteristics ( Characteristics MSME series Supplement (50W to 100W) • Note that the motor characteristics may vary due to the existence of oil seal or brake. • Continuous torque vs. ambient temperature characteristics have been measured with an aluminum flange attached to the motor (approx.
Page 353 5. Motor Characteristics ( Characteristics MSME series Supplement (200W) MSME series ( 200W to 750W ) Without oil seal With oil seal • MSME021 * 1 * • MSME021 * 1 * Input voltage to driver: AC100V Input voltage to driver: AC100V (Dotted line represents torque at 10% less voltage.) (Dotted line represents torque at 10% less voltage.) * Continuous torque vs.
Page 354 5. Motor Characteristics ( Characteristics MSME series Supplement (400W to 750W) MSME series ( 200W to 750W ) Without oil seal With oil seal • MSME041 * 1 * • MSME041 * 1 * Input voltage to driver: AC100V Input voltage to driver: AC100V (Dotted line represents torque at 10% less voltage.) (Dotted line represents torque at 10% less voltage.) * Continuous torque vs.
Page 355 5. Motor Characteristics ( Characteristics MSME series Supplement (1.0kW to 5.0kW) MSME series ( 1.0kW to 5.0kW ) With oil seal • MSME102 * 1 * • MSME152 * 1 * Input voltage to driver: AC200V Input voltage to driver: AC200V (Dotted line represents torque at 10% less voltage.) (Dotted line represents torque at 10% less voltage.) * Continuous torque vs.
Page 356 5. Motor Characteristics ( Characteristics MDME series Supplement (1.0kW to 5.0kW) MDME series ( 1.0kW to 5.0kW ) With oil seal • MDME102 * 1 * • MDME152 * 1 * Input voltage to driver: AC200V Input voltage to driver: AC200V (Dotted line represents torque at 10% less voltage.) (Dotted line represents torque at 10% less voltage.) * Continuous torque vs.
Page 357 5. Motor Characteristics ( Characteristics MHME series Supplement (1.0kW to 5.0kW) MHME series ( 1.0kW to 5.0kW ) With oil seal • MHME102 * 1 * • MHME152 * 1 * Input voltage to driver: AC200V Input voltage to driver: AC200V (Dotted line represents torque at 10% less voltage.) (Dotted line represents torque at 10% less voltage.) * Continuous torque vs.
Page 358 5. Motor Characteristics ( Characteristics MGME series Supplement (0.9kW to 3.0kW) MGME series ( 0.9kW to 3.0kW ) With oil seal • MGMA092 * 1 * • MGMA202 * 1 * Input voltage to driver: AC200V Input voltage to driver: AC200V (Dotted line represents torque at 10% less voltage.) (Dotted line represents torque at 10% less voltage.) * Continuous torque vs.
Page 359: Dimensions
6. Dimensions Driver Supplement A-frame 132.9 22.4 Mounting bracket (Option) Mounting bracket Name plate (Option) Rack mount type Base mount type (Standard : Back-end mounting) (Option : Front-end mounting) Mass: 0.8kg B-frame 132.9 22.4 Mounting bracket (Option) Mounting bracket Name plate (Option) Rack mount type Base mount type...
Page 360 6. Dimensions Driver C-frame 172.9 22.4 Mounting bracket (Option) Name plate Mounting bracket (Option) Rack mount type Base mount type (Standard : Back-end mounting) (Option : Front-end mounting) Mass: 1.6kg D-frame (86) 172.7 22.2 Mounting bracket (Option) Name plate Mounting bracket (Option) Base mount type (Standard : Back-end mounting)
Page 361 6. Dimensions Driver E-frame (86) 195.9 17.5 Mounting bracket 33.1 42.5 (deviation from shipping specification) Mounting bracket (to shipping specification) Name plate Mounting bracket (to shipping specification) Mounting bracket 42.5 (deviation from shipping specification) 17.5 Mass: 2.7kg F-frame Mounting bracket 42.7 (deviation from shipping specification) Mounting bracket (to shipping specification)
Page 362 6. Dimensions Motor Supplement MSME Connector type 50W to 750W Encoder connector Motor connector (Key way dimensions) 4-φLZ [With brake] Encoder connector Brake connector Motor connector (Key way dimensions) 4-φLZ * Dimensions are subject to change without notice. Contact us or a dealer for the latest information. MSME series (Low inertia) Motor output 100W...
Page 363: Motor
6. Dimensions Motor MSME 1.0kW to 5.0kW <MSME 1.0kW to 2.0kW> Motor/Brake connector (Key way dimensions) Encoder connector LF LE M3 through 4-φLZ <MSME 3.0kW to 5.0kW> * All sizes are identical to those of MSME 1.0 to 2.0 kW versions except for LF. * Dimensions are subject to change without notice.
Page 364: Motor
6. Dimensions Motor MDME 1.0kW to 5.0kW Encoder connector Motor/Brake connector (Key way dimensions) 4-φLZ M3 through * Dimensions are subject to change without notice. Contact us or a dealer for the latest information. MDME series (Middle inertia) Motor output 1.0kW 1.5kW 2.0kW 3.0kW 4.0kW 5.0kW 10 * * 1 15 * * 1 20 * * 1 30 * * 1...
Page 365 6. Dimensions Motor MGME 900W to 3.0kW Encoder connector Motor/Brake connector (Key way dimensions) 4-φLZ M3 through * Dimensions are subject to change without notice. Contact us or a dealer for the latest information. MGME series (Middle inertia) Motor output 900W 2.0kW 3.0kW 09 * * 1 20 * * 1 30 * * 1 Motor model...
Page 366 6. Dimensions Motor MHME 1.0kW to 5.0W Encoder connector Motor/Brake connector (Key way dimensions) 4-φLZ M3 through * Dimensions are subject to change without notice. Contact us or a dealer for the latest information. MHME series (High inertia) Motor output 1.0kW 1.5kW 2.0kW 3.0kW 4.0kW 5.0kW 10 * * 1 * 15 * * 1 * 20 * * 1 * 30 * * 1 *...
Page 367 MEMO 7-71...
Page 368: Options
7. Options Noise Filter Supplement When you install one noise filter at the power supply for multi-axes application, contact to a manufacture of the noise filter. If noise margin is required, connect 2 filters in series to emphasize effectiveness. • Options Voltage Option Manufacturer's Applicable specifications...
Page 369 7. Options Noise Filter Voltage Option Manufacturer's Applicable specifications Manufacturer part No. part No. driver (frame) for driver DV0P3410 3-phase 200V 3SUP-HL50-ER-6B F-frame Okaya Electric Ind. Circuit diagram 286±3.0 255±1.0 2-ø5.5 2-ø5.5 x 7 6-6M Label [Unit: mm] • Recommended components Voltage Current rating part No. specifications Manufacturer for driver RTHN-5010 RTHN-5020 RTHN-5030 3-phase 200V...
Page 370: Surge Absorber
7. Options Surge Absorber Supplement Provide a surge absorber for the primary side of noise filter. Voltage Option Manufacturer's specifications Manufacturer part No. part No. for driver DV0P1450 3-phase 200V RAV-781BXZ-4 Okaya Electric Ind. [Unit: mm] φ4.2±0.2 Circuit diagram (1) (3) UL-1015 AWG16 41±1 Voltage Option Manufacturer's specifications...
Page 371: Noise Filter For Signal Lines
7. Options Noise Filter for Signal Lines Supplement Install noise filters for signal lines to all cables (power cable, motor cable, encoder cable and interface cable) Option Manufacturer's Manufacturer part No. part No. DV0P1460 ZCAT3035-1330 TDK Corp. 39±1 34±1 Mass: 62.8g [Unit: mm] Remarks Fix the signal line noise filter in place to eliminate excessive stress to the cables. 7-75...
Page 372: Junction Cable For Encoder
7. Options Junction Cable for Encoder Supplement Compatible MFECA0 * * 0MJD 50W to 750W Part No. motor output For 20-bit incremental encoder (Without battery box) Specifications Title Part No. Manufacturer L (m) Part No. Connector 55100-0670 Molex Inc MFECA0030MJD Connector JN6FR07SM1 MFECA0050MJD Japan Aviation Electronics Ind. Connector pin LY10-C1-A1-10000 MFECA0100MJD Cable...
Page 373 7. Options Junction Cable for Encoder Compatible MFECA0 * * 0ETD 0.9kW to 5.0kW Part No. motor output For 20-bit incremental encoder (Without battery box) Specifications Title Part No. Manufacturer L (m) Part No. Connector 55100-0670 Molex Inc MFECA0030ETD Connector JN2DS10SL1-R MFECA0050ETD Japan Aviation Electronics Ind. Connector pin JN1-22-22S-PKG100 MFECA0100ETD Cable 0.2mm...
Page 374: Junction Cable For Motor (Without Brake)
7. Options Junction Cable for Motor (Without brake) Supplement ROBO-TOP 105˚C 600V • DP ROBO-TOP is a trade mark of Daiden Co.,Ltd. ® ® Applicable MFMCA0 * * 0NJD MSME 50W to 750W Part No. model (28.8) (50) Title Part No. Manufacturer L (m) Part No.
Page 375 7. Options Junction Cable for Motor (Without brake) Applicable MFMCE0 * * 2ECD MHME 2.0kW Part No. model (50) Title Part No. Manufacturer L (m) Part No. Straight plug JL04V-6A22-22SE-EB-R MFMCE0032ECD Japan Aviation Electronics Ind. Cable clamp JL04-2022CK(14)-R MFMCE0052ECD Rod terminal AI2.5-8BU Phoenix Contact MFMCE0102ECD Nylon insulated N2-M4 J.S.T Mfg. Co., Ltd. MFMCE0202ECD round terminal Cable...
Page 376: Junction Cable For Motor (With Brake)
7. Options Junction Cable for Motor (With brake) Supplement ROBO-TOP 105˚C 600V • DP ROBO-TOP is a trade mark of Daiden Co.,Ltd. ® ® MSME 1.0kW to 2.0kW, MDME 1.0kW to 2.0kW Applicable MFMCA0 * * 2FCD Part No. model MHME 1.0kW to 1.5kW, MGME 900W (50) Title Part No.
Page 377 7. Options Junction Cable for Motor (With brake) MSME 3.0kW to 5.0kW, MDME 3.0kW to 5.0kW Applicable MFMCA0 * * 3FCT Part No. model MHME 3.0kW to 5.0kW, MGME 2.0kW to 3.0kW (50) Title Part No. Manufacturer L (m) Part No. Straight plug JL04V-6A24-11SE-EB-R MFMCA0033FCT Japan Aviation Electronics Ind. Cable clamp JL04-2428CK(17)-R MFMCA0053FCT Earth...
Page 378: Junction Cable For Brake
7. Options Junction Cable for Brake Supplement ROBO-TOP 105˚C 600V • DP ROBO-TOP is a trade mark of Daiden Co.,Ltd. ® ® Applicable MFMCB0 * * 0PJT MSME 50W to 750W Part No. model (26.6) (50) Title Part No. Manufacturer L (m) Part No. Connector JN4FT02SJMR MFMCB0030PJT Japan Aviation Electronics Ind.
Page 379: Connector Kit
7. Options Connector Kit Supplement Connector Kit for Interface DV0P4350 Part No. • Components Title Part No. Number Manufacturer Note Connector 54306-5019 For Connector X4 Molex Inc (50-pins) Connector cover 54331-0501 • Pin disposition (50 pins) (viewed from the soldering side) SO2– SO3– SO4– PULSH1 SIGNH1 SI10 SO2+ SO3+ SO4+ PULSH2...
Page 380 7. Options Connector Kit Connector Kit for Communication Cable (for RS485, RS232) DV0PM20024 Part No. • Components Title Part No. Manufacturer Note Connector 2040008-1 Tyco Electronics AMP For Connector X2 (8-pins) • Pin disposition of connector, connector X2 • Dimensions 485+ 485+ Shell: FG 8 6 4 2 7 5 3 1 485−...
Page 381 7. Options Connector Kit Connector Kit for Encoder DV0PM20010 Part No. • Components Title Part No. Manufacturer Note Connector 55100-0670 Molex Inc For Connector X6 Connector Kit for Analog Monitor Signal DV0PM20031 Part No. • Components Title Part No. Number Manufacturer Note Connector 510040600 Molex Inc For Connector X7 (6-pins) Connector pin 500118100 • Pin disposition of connector, connector X7 •...
Page 382 7. Options Connector Kit Connector Kit for Regenerative Resistor Connection (E-frame) DV0PM20045 Part No. • Components Title Part No. Number Manufacturer Note Connector 04JFAT-SAXGSA-L J.S.T Mfg. Co., Ltd. For Connector XC Handle lever J-FAT-OT-L Connector Kit for Motor Connection DV0PM20034 (For A to D-frame) Part No. • Components Title Part No. Number Manufacturer Note Connector 06JFAT-SAXGF J.S.T Mfg. Co., Ltd. For Connector XB Connector pin J-FAT-OT...
Page 383 7. Options Connector Kit MSME 1.0kW to 2.0kW, MDME 1.0kW to 2.0kW Without Applicable DV0PM20036 Part No. model brake MHME 1.0kW to 1.5kW, MGME 0.9kW • Components Title Part No. Number Manufacturer Note Connector 55100-0670 Molex Inc For Connector X6 (6-pins) Encoder connector JN2DS10SL1-R Japan Aviation For junction cable to Electronics Ind.
Page 384 7. Options Connector Kit Connector Kit for Motor/Brake Connection DV0PM20040 Part No. • Components Title Part No. Number Manufacturer Note Connector JN4FT02SJM-R Japan Aviation Electronics Ind. Handle lever ST-TMH-S-C1B-3500 7-88...
Page 385: Battery For Absolute Encoder
7. Options Battery For Absolute Encoder Supplement Battery For Absolute Encoder DV0P2990 Part No. • Lithium battery: 3.6V 2000mAh Lead wire length 50mm DV0P2990 0 0 0 9 0 0 0 1 ZHR-2 (J.S.T Mfg. Co., Ltd.) 14.5 BAT+ BAT– Paper insulator Caution This battery is categorized as hazardous substance, and you may be required to present an application of hazardous substance when you transport by air (both passenger and cargo airlines).
Page 386: Mounting Bracket
7. Options Mounting Bracket Supplement Frame symbol of DV0PM20027 A-frame M4 × L6 Pan head 4pcs Part No. Mounting screw applicable driver 2-M4, Pan head 2-M4, Pan head 11 ± 0.2 11 ±0.2 Frame symbol of DV0PM20028 B-frame M4 × L6 Pan head 4pcs Part No. Mounting screw applicable driver 2-M4, Pan head 2-M4, Pan head 18 ±...
Page 387: Reactor
7. Options Reactor Supplement Fig.1 X Y Z R S T F: Center-to-center distance (Mounting pitch) (Mounting pitch) on outer circular arc Fig.2 F: Center-to-center distance (Mounting pitch) (Mounting pitch) on slotted hole Rated Inductance Part No. current (Max) (mH) DV0P220 65±1 125±1 (93) 70+3/−0...
Page 388 7. Options Reactor Harmonic restraint On September, 1994, “Guidelines for harmonic restraint on heavy consumers who re- ceive power through high voltage system or extra high voltage system” and “Guidelines for harmonic restraint on household electrical appliances and general-purpose articles” established by the Agency for Natural Resources and Energy of the Ministry of Economy, Trade and Industry (the ex-Ministry of International Trade and Industry).
Page 389: External Regenerative Resistor
7. Options External Regenerative Resistor Supplement Specifications Activation Rated power (reference) * Manufacturer's cable core Part No. Resistance temperature of outside Mass Free air with fan [W] part No. diameter built-in thermostat Ω 1m/s 2m/s 3m/s DV0P4280 RF70M 140±5˚C DV0P4281 RF70M B-contact φ1.27 DV0P4282 RF180B Open/Close capacity...
Page 390 7. Options Recommended components Supplement Surge absorber for motor brake Motor Part No. Manufacturer MSME 50W to 750W Z15D271 Ishizuka Electronics Co. MHME 2.0kW to 5.0kW MGME 0.9kW to 2.0kW MSME 1.0kW to 5.0kW Z15D151 Ishizuka Electronics Co. MDME 4.0kW to 5.0kW MGME 3.0kW MDME 1.0kW to 3.0kW TND09V-820KB00AAA0 Nippon Chemi_Con Co.
Page 391 7. Options List of Peripheral Equipments Supplement Manufacturer Tel No. / Home Page Peripheral components Automation Controls Company 81-6-6908-1131 Circuit breaker http://panasonic-denko.co.jp/ac Panasonic Electric Works, Co.,Ltd Surge absorber 81-44-833-4311 Iwaki Musen Kenkyusho Co., Ltd. Regenerative resistor http://www.iwakimusen.co.jp/ 81-3-5436-7711 Nippon Chemi-Con Co. http://www.chemi_con.co.jp/ Surge absorber for holding brake 81-3-3621-2703 Ishizuka Electronics Corp.
Page 392: Warranty
Warranty Warranty period • The warranty period is one year from the date of purchase or 18 months from the month of manufacture in our plant. For a motor with brake, the axis accelerated and decelerated more times than the specified limit is not covered by warranty. Warranty information •...
Page 393: Cautions For Proper Use
The user is also responsible for complying with applicable laws and regulations. Marketeing Group, Motor Company, Panasonic Corporation Tokyo: Kyobashi MID Bldg, 2-13-10 Kyobashi, Chuo-ku, Tokyo 104-0031 TEL (03)3538-2961 FAX (03)3538-2964...
Page 394 The model number and serial number of this product can be found on either the back or the bottom of the unit. Please note them in the space provided and keep for future reference. Model No. Serial No. Date of purchase Name Dealer Address Phone 7-1-1 Morofuku, Daito, Osaka, 574-0044, Japan Phone : +81-72-871-1212 © Panasonic Corporation 2009 IME10 A1009-0...

Panasonic MINAS A5-series Operating Instructions Manual

4. Setup

1 1 . before Using the Products

1 Introduction

2 Driver

3 Motor

4 Check of the Combination of the Driver and the Motor

5 Installation

6 Permissible Load at Output Shaft

2 1 . Preparation

1 Conformance To International Standards

2 System Configuration And Wiring

3 Wiring To The Connector, X1

4 Wiring To The Connector, X2

5 Wiring To The Connector, X3

6 Wiring To The Connector, X4

7 Wiring To The Connector, X5

8 Wiring To The Connector, X6

9 Wiring To The Connector, X7

10 Timing Chart

11 Built-In Holding Brake

12 Dynamic Brake

13 Setup Of Parameter And Mode

14 Setup of Command Division and Multiplication Ratio (Electronic Gear Ratio)

15 How To Use The Front Panel

3 . Connection 1

Connection

1 Outline of Mode Position Control Mode

2 Control Block Diagram

3 Wiring Diagram To The Connector, X4

4 Inputs And Outputs On Connector X4

4 1 . Setup 2

Details Of Parameter

Adjustment

Trial Run (Jog Run)

5 1 . Adjustment

1 Gain Adjustment

2 Real-Time Auto-Gain Tuning Basic

3 Adaptive Filter Adaptive Filter

4 Manual Gain Tuning (Basic) Outline

5 Manual Gain Tuning (Application) Damping Control

6 About Homing Operation

6 . When in Trouble 1

When in Trouble

When in Trouble What to Check

1 When in Trouble

2 Setup of Gain Pre-Adjustment Protection

3 Troubleshooting

7 1 . Supplement

Supplement

2 Absolute System

4 Communication

7 4. Communication 1 List of Communication Command Supplement

Communication

Command Mode

5 Motor Characteristics (S-T Characteristics)

6 Dimensions

7 Options

Quick Links

Chapters

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Summary of Contents for Panasonic MINAS A5-series