Panasonic MINAS-A5B Series Technical Reference Download Page 69

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No. SX-DSV02472 -

63-

5-2-3 Block diagram of torque control mode

Velocity control of MINAS-A5B series, there are two modes.

・

Profile torque mode (tq)

・

Cyclic synchronous torque mode (cst)

＋

－

Command

detection

Gain switching

2nd setup

1.14

Mode

1.24

Delay time

1.25

Level

1.26

Hysteresis

1.27

Current control

Response
setup

6.11

Main

Power

supply

Velocity detection

filter

1st

1.03

2nd

1.08

Instantaneous
speed

6.10

Notch filter

2.03

2.06

2.09

2.12

Depth

2.02

2.05

2.08

2.11

Width

1st

2.01

2nd

2.04

3rd

2.07

4th

2.10

Frequency

Velocity control

1.02

1.07

Proportion Integration

Inertia ratio

1st

1.01

2nd

1.06

0.04

Sign

Absolute value

Torque limit

Selection

5.21

MAX

6072

外部スケール

エンコーダ

モータ

Load

Encoder

Motor

6064h

<APOS>

Position actual value

[command]

60BAh

60BCh

<LPOS>

Touch probe

position value

[command]

Electronic gear

reverse conversion

6063h

Position actual

internal value

[Encoder pulse]

606Ch

<FSPD>

Velocity actual value

[commad/s]

6074h

Torque demand

[0.1

％

]

60B2h

<TFF>

Torque offset

[0.1%]

6080h

<VLIM>

Max motor speed

[r/min]

Velocity unit

conversion

Absolute value

Multiplication

＋

6071h

<TQREF>

Target torque

[0.1%]

1st

0.13

2nd

5.22

Motor speed

[r/min]

Velocity limit

[r/min]

Torque command

TRQ

[0.1%]

Sum of feedback pulses

[Encoder pulse]

Torque filter

1st

1.04

2nd

1.09

2nd

6.42 6.43

At tenuation

term

*1) The symbols in parentheses indicate the abbreviations in the servo amplifier.
*2) A slanting number shows the object number of EtherCAT.
*3) A bold letter number shows a parameter number.

Block diagram of torque control

Monitor position of PANATERM

Monitor position of CiA402 object

R1.05

Motor Business Division, Appliances Company, Panasonic Corporation

Summary of Contents for MINAS-A5B Series

Page 1: ...5B series EtherCAT communication rotation type Issued on May 08 2013 Revised on Sep 17 2014 Motor Business Division Appliances Company Panasonic Corporation 7 1 1 Morofuku Daito City Osaka 574 0044 Japan Phone 81 72 871 1212 Fax 81 72 870 3151 R1 05 Motor Business Division Appliances Company Panasonic Corporation ...

Page 2: ... on the original Japanese specification Translation is provided unofficially only for the sake of convenience of utilizing the original Japanese specification as a measure of reference It is not officially reviewed Motor Business Division Appliances Company of Panasonic Corporation is not liable for any disadvantages caused by utilizing only English specification Only the Japanese specification is...

Page 3: ...xplanations are added Jan 14 2014 1 03 Functions are added The EtherCAT communication monitor of the positioning completion INP is supported Clerical errors are corrected and Supplementary explanations are added Feb 10 2014 1 04 Clerical errors are corrected and Supplementary explanations are added Sep 17 2014 P 27 1 05 Clerical errors are corrected Note The page number Page is the current page nu...

Page 4: ...sic function 28 4 1 Rotational direction setup 29 4 2 Position control 30 4 2 1 Process of command pulse input 30 4 2 2 Electronic gear function 31 4 2 3 Positional command filtering function 34 4 2 4 Positioning complete output INP INP2 function 36 4 2 5 Pulse regeneration function Not Supported 37 4 3 Velocity Control 38 4 3 1 Attained speed output AT SPEED 38 4 3 2 Speed coincidence output V CO...

Page 5: ...n POT NOT under review 92 6 3 2 Sequence at Servo Off 94 6 3 3 Sequence at main power OFF 95 6 3 4 Sequence at alarm 97 6 3 5 Emergency stop upon occurrence of alarm 98 6 4 Torque saturation protection function 100 7 Protective function Warning function 101 7 1 List of protective function 102 7 2 Details of Protective function 105 7 3 Warning function 116 7 4 Setup of gain pre adjustment protectio...

Page 6: ...45 9 2 2 Servo ON OFF action while the motor is at stall servo lock 146 9 2 3 Servo ON OFF action while the motor is in motion 147 9 2 4 When an error alarm has occurred at Servo ON command 148 9 2 5 When an alarm has been cleared at Servo ON command 149 R1 05 Motor Business Division Appliances Company Panasonic Corporation ...

Page 7: ...No SX DSV02472 1 1 Introduction 1 1 Basic Specification 3 1 2 Function 4 １ R1 05 Motor Business Division Appliances Company Panasonic Corporation ...

Page 8: ...ithout a preliminary announcement when they are supported Item Unsupported item Device profile FoE File over EtherCAT Modes of Operation Semi closed mode Servo loop Modes of operation position ip Interpolate position mode Full closed mode All mode of operation Motion Jerk SDO message Complete Access Related data SX DSV02471 Reference specifications The specification about hardware is mainly explai...

Page 9: ...itors 1 and 2 Pulse signal Output Not supported Communication EtherCAT Communication for transmission of a real time operation command the parameter setting or the status monitoring USB USB interface to connect to computers PANATERM for parameter setting or status monitoring Safety terminal Terminal to provide functional safety Cannot be applied to standard models of A5B series compatible only wit...

Page 10: ...ration deceleration is also available Instantaneous velocity observer Available Torque control Control input CW drive inhibit CCW drive inhibit latch signal etc Control output At speed etc Torque command input Input mode Command type by EtherCAT command Speed limit function Speed limit can be set by parameter or EtherCAT Full closed control Control input Not supported Control output Not supported ...

Page 11: ...gnal 6 2 2 I O connector output signal 7 2 3 I O connector other signal 10 2 3 1 Others 10 2 4 I O signal allocation function 11 2 4 1 Input signal allocation 11 2 4 2 Assignment of output signal 15 ２ R1 05 Motor Business Division Appliances Company Panasonic Corporation ...

Page 12: ... width closed period should be 2 ms or longer EXT1 can only be assigned to S15 EXT2 can only be assigned to S16 External latch input 2 EXT2 11 SI6 General purpose monitor input 1 SI MON 1 Used as the general purpose monitor input This input does not affect the operation and can be used for monitoring through 60FDh Digital inputs General purpose monitor input 2 SI MON 2 General purpose monitor inpu...

Page 13: ...at 60FEh Digital output bit 0 Transistor will be turned off at 1 Brake will be activated See the notes 4 state the output transistor Positioning complete INP Outputs the positioning complete signal positioning complete signal Turns ON the output transistor when positioning is completed For details refer to 4 2 4 Speed arrival output AT SPEED Outputs the speed arrival signal Turns on the output tra...

Page 14: ...Outputs the speed limit signal during torque command Turns on the output transistor when velocity is limited Alarm attribute output ALM ATB The signal is output if an alarm which can be cleared is input Turns on the output transistor when an alarm occurs Velocity command ON OFF output V CMD Turns on output transistor when the velocity command is applied while the velocity is controlled Turns on th...

Page 15: ... 1 brake on set brake 1 brake on set brake 1 brake on 1 set brake 0 set brake 0 EX OUT1 bit0 0 hold 0 0 EX OUT1 0 EX OUT1 0 EX OUT1 0 EX OUT1 0 1 0 1 EX OUT1 0 EX OUT1 0 EX OUT1 0 hold EX OUT1 0 1 EX OUT1 1 EX OUT1 1 hold EX OUT1 1 bit0 1 initialization 0 0 EX OUT1 0 EX OUT1 0 EX OUT1 0 EX OUT1 0 1 0 1 EX OUT1 0 EX OUT1 0 EX OUT1 0 EX OUT1 0 1 EX OUT1 1 EX OUT1 1 5 Communication established Commun...

Page 16: ... battery input BTP I 14 Connect the battery for absolute encoder recommended ER6V 3 6 V from Toshiba Battery as follows Connect the power for multi turn data storage to the absolute encoder through BTP O pin 3 and BTN O pin 4 of encoder connector X6 Or directly connect the encode connection cable to the battery or connect the battery directly BTN I 15 To be used by the manufacturer 16 17 18 19 20 ...

Page 17: ...8282h 8553090 NOT b contact NOT b contact NOT b contact SI4 9 Pr 4 03 00222222h 2236962 HOME a contact HOME a contact HOME a contact SI5 10 Pr 4 04 00202020h 2105376 EXT1 a contact EXT1 a contact EXT1 a contact SI6 11 Pr 4 05 00212121h 2171169 EXT2 a contact EXT2 a contact EXT2 a contact SI7 12 Pr 4 06 00303030h 3158064 SI MON3 a contact SI MON3 a contact SI MON3 a contact SI8 13 Pr 4 07 00313131h...

Page 18: ...nctions to SI2 inputs Setup procedure is the same as described for Pr 4 00 4 02 C SI3 input selection 0 00FFFFFFh Assign functions to SI3 inputs Setup procedure is the same as described for Pr 4 00 4 03 C SI4 input selection 0 00FFFFFFh Assign functions to SI4 inputs Setup procedure is the same as described for Pr 4 00 4 04 C SI5 input selection 0 00FFFFFFh Assign functions to SI5 inputs Setup pro...

Page 19: ...onfigure Forced alarm input E STOP 14h 94h External latch input 1 EXT1 20h Can not configure External latch input 2 EXT2 21h Can not configure Near home input HOME 22h A2h General purpose monitor input 1 SI MON1 2Eh AEh General purpose monitor input 2 SI MON2 2Fh AFh General purpose monitor input 3 SI MON3 30h B0h General purpose monitor input 4 SI MON4 31h B1h General purpose monitor input 5 SI M...

Page 20: ...occur EXT1 can be allocated only to SI5 EXT2 only to SI6 Wrong allocation will cause Err 33 8 Latch input allocation error protection The Err33 8 Latch input allocation error protection occurs if HOME is assigned to S16 and S17 POT is assigned to S15 and S17 and NOT is assigned to S15 and S16 When latch correction pins SI5 SI6 SI7 are used set up is required for all the control modes If configurat...

Page 21: ... below If the default settings shown in Reference specification SX DSV02471 are different from values shown below the settings described in SX DSV02471 become valid standard default values Pin name Pin No Applicable parameter Default setting decimal notation Default Setup Position Full closed control Velocity control Torque control SO1 1 2 Pr 4 10 00030303h 197379 BRK OFF BRK OFF BRK OFF SO2 25 26...

Page 22: ...the same as described for Pr 4 10 1 For parameter attribute refer to Section 9 1 Function number table Title of signal Symbol Setup value External output Invalid 00h Alarm output ALM 01h Servo Ready output S RDY 02h External brake release signal BRK OFF 03h Positioning complete output INP 04h At velocity output AT SPEED 05h Torque in limit signal output TLC 06h Zero speed detection output signal Z...

Page 23: ...in the table above for setting When using external brake release signal BRK OFF or set brake output the signal should be set in all control modes If not applied to all control modes Err 33 4 Output function number error 1 protection or Err 33 5 Output function number error 2 protection will occur The output transistor is turned off during a period from when the driver s control power of a servo am...

Page 24: ...display specification 3 1 Appearance of front panel 19 3 2 7 segment LED 20 3 3 Network status LED 22 3 4 Monitor signal output function 24 3 5 Station alias 27 ３ R1 05 Motor Business Division Appliances Company Panasonic Corporation ...

Page 25: ...monitor pins X7 Pin No Symbol Description 1 AM1 Analog monitor 1 2 AM2 Analog monitor 2 3 GND Signal ground 4 5 6 Reserved Do not use NOTE Pin No 1 from the right 2 3 Order EtherCAT Indicators From a top RUN Green ERR Red L A IN Green L A OUT Green R1 05 Motor Business Division Appliances Company Panasonic Corporation ...

Page 26: ...oltage reaches the positive peak Data increments as motor turns CCW When the displayed value exceeds FF the count is reset to 0 and restarted 5 Encoder Accumulated communication error counts Display range 0 to FF hex Max accumulated communication error counts FFFF hex Only the least significant byte is displayed When the displayed value exceeds FF the count is reset to 00 and continue counting Acc...

Page 27: ...ht side dot is lit 00 right side dot is lit Alarm occurred Alarm cleared Warning occurred Latched remove the cause and clear alarm Unlatched remove the cause Alarm display Alternately blinks main and sub with a dot at the left of the alarm code in decimal number e g overload Warning display Displays warning code hexadecimal and normal display alternately at a slow rate Right dot blinks when warnin...

Page 28: ...indicators LED There are 4 patterns of LED indication in addition to ON and OFF Flickering Blinking Single flash Double flash 200ms 200ms 200ms 200ms 200ms 200ms 1000ms 1000ms 50ms 50ms ON OFF OFF ON OFF ON OFF ON R1 05 Motor Business Division Appliances Company Panasonic Corporation ...

Page 29: ...rror Double flash Application watch dog time out Flickering Initialize error ON PDI error 1 The alarm defined by AL status code is which indicate Err80 0 7 and Err81 0 7 Err85 0 7 in the EtherCAT communication related error 3 L A IN 4 L A OUT L A IN L A OUT indicator will show the LINK status and operation status of Each port s physical layer Indication is lighted in green LED Content OFF LINK not...

Page 30: ... 4 18 V Set up the output gain of analog monitor 2 For Pr 4 18 4 Torque command 1 V is output at the torque command Pr 4 19 setup value 4 21 A Analog monitor output setup 0 2 Select output format of the analog monitor 0 Signed data output 10 V to 10 V 1 Absolute value data output 0 V to 10 V 2 Data output with offset 0 V to 10 V 5 V at center 1 Refer to Section 9 1 for parameter attribute 1 Pr 4 2...

Page 31: ...0 9 Voltage across PN V 80 10 Regenerative load factor 33 11 Overload factor 33 12 Positive direction torque limit 33 13 Negative direction torque limit 33 14 Speed limit value r min 500 15 Inertia ratio 500 16 Reserved 17 Reserved 18 Reserved 19 Encoder temperature 4 C 10 20 Driver temperature C 10 21 Encoder single turn data 6 pulse Encoder unit 110000 22 Reserved 23 Travel command status 5 24 G...

Page 32: ... and set the Pr4 21 Analog monitor output setting to 1 In this case the output gain is as follows Analog output setting Pr4 17 Pr4 19 0 or 1 Pr4 21 1 Pr4 16 Pr4 18 Monitor type Output voltage 0 V 5 V 23 Travel command status Position control 250us interval Travel command 0 250us interval Travel command 0 Velocity control Velocity command 0 Velocity command 0 Torque control Torque command 0 Torque ...

Page 33: ...ID Reading the value made of object 3740h Station alias setup high and front panel rotary switch from AL Status Code 0134h Please refer to 3 8 2 clause Node addressing Setting Station alias by technical document EtherCAT communication specification SX DSV02473 for details Selection of Station alias Class No Attrib ute 1 Parameter Setting range Unit Function 7 40 Station alias setting upper 0 255 S...

Page 34: ...ion function Not Supported 37 4 3 Velocity Control 38 4 3 1 Attained speed output AT SPEED 38 4 3 2 Speed coincidence output V COIN 39 4 3 3 Velocity command acceleration deceleration setting function 40 4 4 Torque control 42 4 4 1 Speed limit function 42 4 5 Full closed control Not supported 43 4 6 Setting regenerative resistor 44 4 7 Absolute setup 45 4 7 1 Absolute encoder 45 4 7 2 External sca...

Page 35: ...h Target velocity 60B1h Velocity offset 6071h Target torque 60B2h Torque offset Monitor 6062h Position demand value 6064h Position actual value 606Bh Velocity demand value 606Ch Velocity actual value 6074h Torque demand 6077h Torque actual value External input 60FDh 00h Digital input is bit1 positive limit switch POT 60FDh 00h Digital input is bit0 negative limit switch NOT Data other than the abo...

Page 36: ...ls refer to Technical Reference SX DSV02473 Section 6 6 EtherCAT communication specification Servo driver Position command EtherCAT communication Position command generation process section EtherCAT communication processing section Host controller Positional command filtering function Position control section INP INP2 External output signal INP INP2 output function Electronic gear Polarity convers...

Page 37: ...curs When the denominator or numerator exceeds the unsigned 32 bit size in the final calculation result of electronic gear ratio Err88 3 Improper operation error protection occurs Set the electronic gear ratio with several objects An error may become large depending on the combination of settings 608Fh 01h Encoder increments is automatically set according to encoder resolution The default value of...

Page 38: ...t condition and setting 608Fh 02h Motor revolutions and 6092h 02h Driving shaft revolutions to 1 shipment condition it is possible to set 6091h 01h Motor shaft revolutions to the electronic gear numerator and 6091h 02h Driving shaft revolutions to the electronic gear denominator Electronic gear ratio A value is set automatically by the encoder resolution It can be set as an electronic gear denomin...

Page 39: ...backup it will be unnecessary to change setting each time when the control power is turned on As for the backup method refer to Section 5 6 Store parameters EEPROM writing of objects 1010h Electronic gear setting and backup by object editor It is possible to set and back up objects using the object editor of PANATERM 値を設定 1 Set a value 2 After the setting write it into EEPROM R1 05 Motor Business ...

Page 40: ...nged from 0 to a value other than 0 while the positioning complete is being output Even if the control mode is changed to position control after Pr2 22 Positional command smoothing filter setting is changed during velocity control or torque control the setting is not changed If the filter time constant is decreased and positioning complete range is increased and a many number of pulses are accumul...

Page 41: ... being input the change is not reflected until the command pulse less state has continued for the filter switching wait time Change will be reflected after the control power reset 3 Even if setting of Pr2 23 Positional command FIR filter is changed it is not immediately applied to the internal calculation If the switching as described in 2 occurs during this delay time the change of Pr2 23 will be...

Page 42: ...when there is no position command and the positional deviations smaller than Pr 4 31 Positioning complete range Subsequently ON state is maintained until Pr 4 33 INP hold time has elapsed After the hold time INP output will be turned ON OFF according to the coming positional command or condition of the positional deviation 4 Positioning completion decision starts in a delay time specified by Pr4 3...

Page 43: ...dard product is not a built in playback function pulse can not use 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 R1 05 Motor Business Division Appliances Company Panasonic Corporation ...

Page 44: ...10 20000 r min Set the detection timing of the speed arrival output AT SPEED When the motor speed exceeds this setup value the speed arrival output AT SPEED is output Detection is associated with 10 r min hysteresis 1 For parameter attribute refer to Section 9 1 Pr 4 36 10 Pr 4 36 10 Pr 4 36 10 Pr 4 36 10 The speed arrival output AT SPEED OFF ON ON OFF Time Motor velocity Speed r min Host controll...

Page 45: ... the difference between the speed command and the motor speed is equal to or smaller than the speed specified by this parameter The detection response has 10 r min hysteresis 1 For parameter attribute refer to Section 9 1 1 Because the speed coincidence detection is associated with 10 r min hysteresis actual detection range is as shown below Speed coincidence output OFF ON timing Pr 4 35 10 r min ...

Page 46: ... acceleration deceleration process when the velocity command is applied 1 For parameter attribute refer to Section 9 1 Note When the position loop is external to the driver do not use the acceleration deceleration time setting Set these values to 0 Pr 3 12 Acceleration time setup Pr 3 13 Deceleration time setup Set the time elapsing before the velocity command stepwise input reaches 1000 r min aft...

Page 47: ...oid time with time width centering the inflection point of acceleration deceleration Target speed Vc ta Velocity command after acceleration deceleration process Speed r min Time td ts ts ts ts ta Vc 1000 Pr 3 12 1 ms td Vc 1000 Pr 3 13 1 ms ts Pr 3 14 1 ms Use with the setup of ta 2 ts td 2 ts R1 05 Motor Business Division Appliances Company Panasonic Corporation ...

Page 48: ... 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 Note 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 Torque command should have the following result the motor speed is equal to the spe...

Page 49: ...machine by using an externally located scale and control its position by feeding it back the result of such detection For example it can be controlled without any influence of ball screw errors or position changes due to temperature variation By configuring a full closed control system submicron precision positioning can be realized R1 05 Motor Business Division Appliances Company Panasonic Corpor...

Page 50: ...vate regenerative over load protection 1 Use the external resistor and activate regenerative over load protection 2 Use the external resistor but do not activate regenerative over load protection 3 Do not use regenerative resistor Do not use over load protection 0 17 C Selection of load factor of external regenerative resistor 0 4 When selecting the external regenerative resistor Pr 0 16 1 2 selec...

Page 51: ...ed controlling treated as an incremental encoder setting value 1 for internal control 1 Structure of absolute system Absolute system configuration using EtherCAT communication interface example with servo driver single axis connection In the EtherCAT communication response driver host controller the absolute data is transferred to the host controller as the current position data X6 Host controller...

Page 52: ...re when you start up the machine for the first time it is required to make the multi turn data to 0 by encoder clearing at the home position after installing the battery Clearing operation of absolute encoder is made through communications USB PANATERM After clearing the absolute data turn off and on the power without fail R1 05 Motor Business Division Appliances Company Panasonic Corporation ...

Page 53: ...ware version is not supported with full closed control With full closed controlling an absolute system which does not require the return to home position sequence upon power up can be designed R1 05 Motor Business Division Appliances Company Panasonic Corporation ...

Page 54: ...trol mode 63 5 2 4 Block diagram of full closed control mode Not supported 64 5 2 5 Gain Switching Function 65 5 2 6 Notch filter 71 5 2 7 Damping Control 73 5 2 8 Feed forward function 77 5 2 9 Instantaneous Velocity Observer function 79 5 2 10 Disturbance observer function 81 5 2 11 3rd gain switching function 83 5 2 12 Friction torque compensation 84 5 2 13 Hybrid vibration damping function Not...

Page 55: ... Resonance freq estimation 1 Real time auto tuning Estimates the load characteristics based on the motor velocity and torque command and automatically sets up the basic gain related to position and velocity control based on estimated inertia Also estimates the friction torque at the same time and adds the estimated value to the torque command to shorten positioning settling time 2 Adaptive filter ...

Page 56: ... described below If not properly executed change the loading condition or operating pattern or manually set up the related parameters by referring to the manual adjustment function description Conditions which obstruct real time auto gain tuning action Load inertia The load inertia is too small or large compared to the rotor inertia less than 3 times or more than 20 times The load inertia changes ...

Page 57: ...em such as belt driven axis 5 Load characteristic measurement This mode only estimates the load characteristics without changing the basic gain setting or friction compensation setting Use these features in conjunction with the setup support software 6 Customize 4 By precisely setting combination of real time auto tuning functions through Pr 6 32 Real time auto tuning custom setup customization to...

Page 58: ...te 3 Set up update to be made based on result of the load characteristics estimation of Pr 0 04 Inertia ratio Setup value 0 Use current setup Setup value 1 Update by the estimated value 6 4 Torque compensation 4 Set up the update to be made according to the results of load characteristics estimation of Pr 6 07 Torque command additional value Pr 6 08 positive direction torque compensation value and...

Page 59: ...is set excluding 0 At this time you can be set whether to inertia ratio update to be effective with bit 1 0 Load characteristics estimation Caution This parameter should be setup bit by bit Because the operation is not guaranteed when the setting is wrong use of the setup support software is recommended for parameter editing Caution Do not change while the motor is operating With this parameter is...

Page 60: ...ant of velocity loop integration 1 10000 0 1 ms When stiffness setup is valid updates the parameter based on the setup value 1 04 B 1st time constant of torque filter 0 2500 0 01 ms When stiffness setup is valid updates the parameter based on the setup value 1 05 B 2nd gain of position loop 0 30000 0 1 s When stiffness setup is valid updates the parameter based on the setup value 1 06 B 2nd gain o...

Page 61: ...urrent setting is not maintained 1 23 B Hysteresis at velocity control switching 0 20000 Sets to 0 if the current setting is not maintained 1 24 B Mode of torque control switching 0 3 Sets to 0 if the current setting is not maintained 1 25 B Delay time of torque control switching 0 10000 0 1 ms Sets to 0 if the current setting is not maintained 1 26 B Level of torque control switching 0 20000 Sets...

Page 62: ...direction compensation value and Pr 6 09 Negative direction compensation value to 0 2 When abnormal noise and oscillation occur Pr 0 04 Inertia ratio or Pr 6 07 Torque command additional value Pr 6 08 Positive direction torque compensation value Pr 6 09 Negative direction torque compensation value might have changed to extreme values Take the same measures as described in the setp 3 above in these...

Page 63: ...65 4 15 720 400 140 57 840 400 10000 57 5 16 900 500 120 45 1050 500 10000 45 6 17 1080 600 110 38 1260 600 10000 38 7 18 1350 750 90 30 1570 750 10000 30 8 19 1620 900 80 25 1880 900 10000 25 9 20 2060 1150 70 20 2410 1150 10000 20 10 21 2510 1400 60 16 2930 1400 10000 16 11 22 3050 1700 50 13 3560 1700 10000 13 12 23 3770 2100 40 11 4400 2100 10000 11 13 24 4490 2500 40 9 5240 2500 10000 9 14 25...

Page 64: ...nent is generated due to non linear factors such as backlash Command Acceleration deceleration is rapid such as 30000 r min per 1 s 3 Parameters Set the operation of the adaptive filter to the following parameter Class No At trib ute 1 Title Range Unit Function 2 00 B Adaptive filter mode setup 0 4 Select the operation mode of adaptive filter Setup value 0 Adaptive filter invalid The adaptive filt...

Page 65: ...city parameters of 3rd notch filter and or 4th notch filters are automatically set according to the number of adaptive filters 5 Other cautions 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 o...

Page 66: ...ethod by each control mode and function 1 Block diagram of position control mode 5 2 1 2 Block diagram of velocity control mode 5 2 2 3 Block diagram of torque control mode 5 2 3 4 Block diagram of full closed control mode 5 2 4 5 Gain switching function 5 2 5 6 Notch filter 5 2 6 7 Damping control 5 2 7 8 Feed forward function 5 2 8 9 Instantaneous velocity observer 5 2 9 10 Disturbance observer ...

Page 67: ...e mo de 2 00 Velocity control 1 02 1 07 Proportion Integration Inertia ratio 1st 1 01 2nd 1 06 0 04 External load Encoder Motor 6064h APOS Position actual value command 60BAh 60BDh LPOS Touch probe position value command Trajectory generator 606Ch FSPD Velocity actual value command s 60B1h VFF Velocity offset command s Velocity FF unit conversion 60FCh Position demand internal value pulse 60B2h TF...

Page 68: ...06 0 04 Acceleration Deceleration limit Accelera tion 3 12 Decelera tion 3 13 Sigmoid 3 14 Speed unit conversion 60FFh VREF TSPD Target velocity command s 6074h Torque demand 0 1 6064h APOS Position actual value command 60BAh or 60BCh LPOS Touch probe position value command 606Ch FSPD Velocity actual value command s 60B2h TFF Torque offset 0 1 60B1h VFF Velocity offset command s Torque limit Selec...

Page 69: ...tion actual value command 60BAh or 60BCh LPOS Touch probe position value command Electronic gear reverse conversion 6063h Position actual internal value Encoder pulse 606Ch FSPD Velocity actual value commad s 6074h Torque demand 0 1 60B2h TFF Torque offset 0 1 6080h VLIM Max motor speed r min Velocity unit conversion Absolute value Multiplication 6071h TQREF Target torque 0 1 1st 0 13 2nd 5 22 Mot...

Page 70: ...DSV02472 64 5 2 4 Block diagram of full closed control mode Not supported This software version is not supported with full closed control R1 05 Motor Business Division Appliances Company Panasonic Corporation ...

Page 71: ... 2 9 Actual speed 10 Position command exists Actual speed 1 16 B Delay time of position control switching 0 10000 0 1 ms For position controlling When shifting from the 2nd gain to the 1st gain with Pr 1 15 Position control gain switching mode set at 3 5 6 7 8 9 or 10 set up the delay time from trigger detection to the switching operation 1 17 B Level of position control switching 0 20000 Mode dep...

Page 72: ...l to level 1 24 B Mode of torque control switching 0 3 For torque controlling Set the condition to trigger gain switching Setup value Switching condition 0 Fixed to 1st gain 1 Fixed to 2nd gain 2 For manufacturer s use 3 Torque command 1 25 B Delay time of torque control switching 0 10000 0 1 ms For torque controlling When shifting from the 2nd gain to the 1st gain with Pr 1 24 Torque control swit...

Page 73: ...ay time previously with the 2nd gain The 1st gain is fixed while the velocity control is not applied 5 Velocity command is large Valid for position velocity and full closed controls Shift to the 2nd gain when the absolute value of the velocity command exceeded level hysteresis r min previously with the 1st gain Return to the 1st gain when the absolute value of the velocity command was kept below l...

Page 74: ... time with the 2nd gain 9 Actual speed is large Valid for position and full closed controls Shift to the 2nd gain when the absolute value of the actual speed exceeded level hysteresis r min previously with the 1st gain Return to the 1st gain when the absolute value of the actual speed was kept below level hysteresis r min previously during delay time with the 2nd gain 10 Position command exists Ac...

Page 75: ...switching Pr 1 24 Mode of torque control switching Select the 1st gain regardless of the status Select the 2nd gain regardless of the status Switch with the gain switching input Gain_SW 0 1st gain 1 2nd gain 2 1 0 4 3 9 10 8 6 7 2 1 0 3 4 2 1 0 3 Positioning complete OFF ON ON Positional deviation Set in Pr 1 24 Set in Pr 1 20 Set in Pr 1 15 Torque control Position control Velocity control Positio...

Page 76: ...ally to avoid any trouble caused by a rapid change to a higher gain while the velocity loop gain time constant of velocity loop integration velocity detection filter and time constant of torque filter can be switched instantaneously When Pr 1 19 Position loop gain switching time is 0 When Pr 1 19 Position loop gain switching time is 5 1st gain 2nd gain 1st gain Level Hysterisis 1st gain 2nd gain 1...

Page 77: ...notch filter 2 06 B 2nd notch depth selection 0 99 Set the depth of notch at the center frequency of the 2nd notch filter 2 07 B 3rd notch frequency 2 50 5000 Hz Set the center frequency of the 3rd notch filter The notch filter function will be invalidated by setting up this parameter to 5000 2 08 B 3rd notch width selection 2 0 20 Set the width of notch at the center frequency of the 3rd notch fi...

Page 78: ... depth I O ratio dB MINAS A4 reference MINAS A5B Series 0 0 41 0 50 0 0 00 1 0 56 0 59 1 0 01 40 0 2 0 71 0 71 2 0 02 34 0 3 0 86 0 84 3 0 03 30 5 4 1 01 1 00 4 0 04 28 0 5 1 19 5 0 05 26 0 6 1 41 6 0 06 24 4 7 1 68 7 0 07 23 1 8 2 00 8 0 08 21 9 9 2 38 9 0 09 20 9 10 2 83 10 0 10 20 0 11 3 36 15 0 15 16 5 12 4 00 20 0 20 14 0 13 4 76 25 0 25 12 0 14 5 66 30 0 30 10 5 15 6 73 35 0 35 9 1 16 8 00 4...

Page 79: ...Driver PLC Vibration measurement with displacement sensor 1 Applicable Range Damping control is activated under the following conditions Conditions under which the damping control is activated Control mode Control mode to be either or both position control or and full closed control Not supported 2 Caution This function does not work properly or no effect is obtained under the following conditions...

Page 80: ... 2nd damping frequency 0 2000 0 1 Hz You can set up the 2nd damping frequency of the damping control which suppresses vibration at the load edge The driver measures vibration at load edge Setup unit is 0 1 Hz The setup frequency is 1 0 to 200 0 Hz Setup of 0 to 9 becomes invalid 2 17 B 2nd damping filter setup 0 1000 0 1 Hz If torque saturation occurs with damping frequency 2nd enabled decrease th...

Page 81: ...responding damping frequency or 2000 damping frequency whichever is smaller 2 20 B 4th damping frequency 0 2000 0 1 Hz You can set up the 4th damping frequency of the damping control which suppresses vibration at the load edge The driver measures vibration at load edge Setup unit is 0 1 Hz The setup frequency is 1 0 to 200 0 Hz Setup of 0 to 9 becomes invalid 2 21 B 4th damping filter setup 0 1000...

Page 82: ...n You can reduce the settling time by setting up larger value however the torque ripple increases at the command changing point as the right fig shows Setup within the range where no torque saturation occurs under the actual condition If torque saturation occurs damping control effect will be lost Torque command Damping filter setup is appropriate Damping filter setup is too large Torque saturatio...

Page 83: ...ording to the internal positional command by the ratio of this parameter and add the result to the velocity command resulting from the positional control process 1 11 B Velocity feed forward filter 0 6400 0 01 ms Set the time constant of 1st delay filter which affects the input of velocity feed forward 1 12 B Torque feed forward gain 0 1000 0 1 Multiply the torque command calculated according to t...

Page 84: ...n deceleration can be minimized close to 0 by increasing the torque forward gain This means that positional deviation can be maintained at near 0 over entire operation range while driving in trapezoidal speed pattern under ideal condition where disturbance torque is not active Command speed Motor velocity Positional deviation Positional deviation in the region where acceleration is constant can be...

Page 85: ...Motor position Position control Load Total inertia Estimate velocity value 1 Applicable Range Following conditions have to be satisfied to apply this function Conditions under which the instantaneous velocity observer is activated Control mode Control mode to be either or both position control semi close control or and velocity control Others Should be in servo on condition Parameters except for c...

Page 86: ... Pr 0 04 setup value When the inertia ratio is already known through calculation enter this calculated value When the inertia ration is not known execute the normal mode auto gain tuning and measure the inertia ratio 2 Adjustment at normal position control Adjust the position loop gain velocity loop gain etc 3 Setup of instantaneous velocity observer Pr 6 10 By enabling instantaneous velocity obse...

Page 87: ...nce observer is activated Control model Control mode to be either or both position control semi closed control or and velocity control Others Should be in servo on condition Parameters except for controls such as torque limit setup are correctly set assuring that the motor can run smoothly Real time auto tuning should be disabled Pr 0 02 0 Instantaneous velocity observer should be disabled Pr 6 10...

Page 88: ...ion enhancement setup set observer enable disable and operation mode always enable enable only when 1st gain is selected 2 Setup of Pr 6 24 Disturbance observer filter First set up Pr 6 24 to a larger value and check the operation with Pr 6 23 Disturbance torque compensating gain set to a low value and then gradually decrease the setup value of Pr 6 24 A low filter setup value assures disturbance ...

Page 89: ...mal gain switching functions set the 3rd gain application time to Pr 6 05 Position 3rd gain enable time and set the 3rd gain scale factor with reference to 1st gain to Pr 6 06 Position 3rd gain magnification ratio If 3rd gain is not used set Pr 6 05 to 0 and Pr 6 06 to 100 The 3rd gain is enabled only for position control or full closed control Not supported During the 3rd gain period only positio...

Page 90: ...t assuring that the motor can run smoothly 2 Parameters Combine the following 3 parameters to setup appropriate friction torque compensation Class No At trib ute 1 Title Range Unit Function 6 07 B Torque command additional value 100 100 Set up the offset load compensation value usually added to the torque command in a control mode except for the torque control mode 6 08 B Positive direction torque...

Page 91: ...namic friction torque which lengthens positioning setting time or varies positioning accuracy These problems can be minimized by setting the friction torque of every rotating direction into individual parameters Pr 6 08 Positive direction torque compensation value and Pr 6 09 Negative direction torque compensation value can be used for this purpose The offset load compensation and dynamic friction...

Page 92: ...ersion is not supported with Hybrid vibration damping function 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 R1 05 Motor Business Division Appliances Company Panasonic Corporation ...

Page 93: ...ay be generated Change the value while the motor is stopped 3 Parameters Class No At trib ute 1 Title Range Unit Function 6 42 B 2 stage torque filter time constant 0 2500 0 01ms Sets 2 stage torque filter time constant The time constant is invalid if 0 is specified When used for the secondary filter as Pr6 43 50 The time constants that can be used are 5 159 0 05 1 59 ms Equivalent to 100 3000 Hz ...

Page 94: ... 92 6 3 1 Sequence upon inputting of over travel inhibition POT NOT under review 92 6 3 2 Sequence at Servo Off 94 6 3 3 Sequence at main power OFF 95 6 3 4 Sequence at alarm 97 6 3 5 Emergency stop upon occurrence of alarm 98 6 4 Torque saturation protection function 100 ６ R1 05 Motor Business Division Appliances Company Panasonic Corporation ...

Page 95: ...et up the 1st limit value of the motor output torque 5 21 B Selection of torque limit 1 4 You can set up the torque limiting method Setup value Negative direction Positive direction 1 Pr0 13 2 Pr5 22 Pr0 13 3 Pr0 13 4 Pr5 22 Pr0 13 5 22 B 2nd torque limit 0 500 You can set up the 2nd limit value of the motor output torque 1 For parameter attribute refer to Section 9 1 Note CCW direction is positiv...

Page 96: ...mand When this software limit protection is activated the motor decelerates and stops according to 605Eh Fault reaction option code The work load may collide to the machine end and be damaged depending on the load during this deceleration hence set up the range of Pr 5 14 including the deceleration movement This motor working range setup protection will be disabled during the frequency response fu...

Page 97: ... occurrence range Error occurrence range Motor Load 3 When the load moves to the left at Servo ON When the position command to the left direction the position command input range will be expanded further Position command input range Pr 5 14 P r5 14 Motor movable range Error occurrence range Error occurrence range Motor Load Condition under which the position command input range is cleared The posi...

Page 98: ... be set to 1 0 Deceleration stop on servo MINAS A5 side sequence at time of run inhibition input POT inhibits CW drive NOT inhibits CCW drive When POT is input during CW driving stops the drive according to Pr 5 05 Sequence at over travel inhibit The similar function NOT is applied in reverse direction Regardless of operating condition torque in over travel inhibition direction is 0 1 CoE CiA402 s...

Page 99: ...nning motor to speed down to 30 r min Once the motor speed drops below 30 r min it is treated as in stop state regardless of its speed Detail of CoE CiA402 side deceleration stop Pr5 04 1 Pr5 04 control mode 3 During deceleration 2 After stalling about 30 or less r min Stopping method Operation after a stopping 1 Common Hold a servo on condition 4 Bit 11 Internal limit active of 6041h Statusword i...

Page 100: ... Forcibly controls the position 1 Forcibly stops position command generation 1 0 4 Dynamic brake action Clear 2 Dynamic brake action Clear 2 1 5 Free run DB OFF Clear 2 Dynamic brake action Clear 2 2 6 Dynamic brake action Clear 2 Free run DB OFF Clear 2 3 7 Free run DB OFF Clear 2 Free run DB OFF Clear 2 8 Emergency stop 3 Torque limit Pr 5 11 Clear 2 Dynamic brake action Clear 2 9 Emergency stop...

Page 101: ...n the CoE CiA402 side 1 Parameters Class No At trib ute 1 Title Range Unit Function 5 07 B Sequence at main power OFF 0 9 Specify the status during deceleration after main power interrupt or after stoppage 5 08 B L V trip selection upon main power off 0 3 Select LV trip or servo OFF upon occurrence of main AC power alarm Setup the condition to detect main AC power OFF alarm when the main AC power ...

Page 102: ...ation of internal position command 2 During deviation clearing process the system causes the internal command position to follow up the feedback position When executing the interpolation feed system command after servo ON re set the command coordinate of the host controller The motor may operate sharply 3 Emergency stop refers to a controlled immediate stop with servo on The torque command value i...

Page 103: ...top 3 Torque limit Pr 5 11 Clear 2 Dynamic brake action Clear 2 Action B 3 Free run DB OFF Clear 2 6 Action A 3 Emergency stop 3 Torque limit Pr 5 11 Clear 2 Free run DB OFF Clear 2 Action B 3 Dynamic brake action Clear 2 7 Action A 3 Emergency stop 3 Torque limit Pr 5 11 Clear 2 Free run DB OFF Clear 2 Action B 3 Free run DB OFF Clear 2 1 During deceleration sequence or at the stop during alarm o...

Page 104: ...te refer to Section 9 1 2 Description Emergency stop sequence upon occurrence of an alarm requiring emergency stop Torque limit Speed r mn Time Alarm state operation after stop DB free run Emergency stop Operation Normal operation according to the command from the host device Velocity instruction Motor velocity Pr5 11 For normal operation For normal operation Alarm requiring emergency stop occurs ...

Page 105: ...1 may be detected In this case Err26 0 will be displayed However because Err26 1 is also activated internally priority is given to the alarm that does not require emergency stop and emergency stop is not executed Furthermore if the Pr6 15 setting is smaller than the Pr5 13 setting Err26 1 occurs prior to Err26 0 Thus emergency stop is not executed Operation according to sequence at alarm operation...

Page 106: ...000 Err16 1 will be activated if torque saturated has continued for about 7 5 seconds When torque is controlled this function is disabled and Err 16 1 will not be activated If the immediate stop alarm is activated this function is disabled and Err 16 1 will not be activated Torque command Torque in limit signal output TLC Alarm output ALM Err16 1 will not be activated if thrust saturated has not c...

Page 107: ...on Warning function 7 1 List of protective function 102 7 2 Details of Protective function 105 7 3 Warning function 116 7 4 Setup of gain pre adjustment protection 119 ７ R1 05 Motor Business Division Appliances Company Panasonic Corporation ...

Page 108: ...rotection Not supported 26 0 Over speed protection 1 2nd over speed protection 27 1 Absolute clear protection 4 Directive error protection 6 Operation command contention protection 7 Position information initialization error protection 28 0 Limit of pulse replay error protection Not supported 29 2 Deviation counter overflow protection 2 30 0 Safety detection Only special product supports this feat...

Page 109: ...ts error protection 3 Incomplete PLL error protection 4 PDO watchdog error protection 6 PLL error protection 7 Synchronization signal error protection 81 0 Synchronization cycle error protection 1 Mailbox error protection 4 PDO watchdog error protection 5 DC error protection 6 SM event mode error protection 7 SyncManager2 3 error protection 84 3 Synchronous establishment initialization error prote...

Page 110: ...that an alarm clearance is not carried out normally Example If the input A CLR was performed alarm clear communication from state ON In this case perform an alarm clearance from communication after once turning OFF an input A CLR Please be sure to perform an alarm clearance during a stop after ensuring safety Please refer to section 8 4 Clear error alarm Clear warning of Technical Document EtherCA...

Page 111: ...r failure has occurred 1 Increase the power capacity Change the power supply Remove the causes of the shutdown of the magnetic contactor or the main power supply then re enter the power 1 Main power supply undervoltage protection AC 2 Instantaneous power failure has occurred 2 Set up the longer time to Pr 5 09 Main power off detecting time Set up each phase of the power correctly 3 Lack of power c...

Page 112: ...saturation error protection Torque saturated has continued for the period set to Pr 7 16 Torque saturation error protection frequency Check the operating state of the amplifier Take the same measure as done against Err16 0 18 0 Over regeneration load protection Regenerative energy has exceeded the capacity of regenerative resistor 1 Due to the regenerative energy during deceleration caused by a la...

Page 113: ...et up a larger value to Pr 0 14 1 Speed deviation excess protection The difference between the internal positional command speed and actual speed speed deviation exceeds the setup vale of Pr 6 02 Note If the internal positional command speed is forcibly set to 0 due to instantaneous stop caused by the CW CCW over travel inhibit input the speed deviation rapidly increases at this moment Pr 6 02 set...

Page 114: ...ion pulse unit electronic gear ratio exceeded 231 2147483648 Check the operation range at the position of absolute encoder absolute scale and electronic gear ratio 2 Counter overflow protection 2 Position deviation in unit of pulse has exceeded 229 536870912 Check that the motor runs as per the position command pulses Check that the output toque has not saturated in torque monitor Make a gain adju...

Page 115: ...e of the control power supply 12 to 24 VDC is not slow 1 Over travel inhibit input protection 2 An operation command e g test run FFT has been received through USB communication PANATERM while EtherCAT communication is OFF with Pr 5 04 over travel inhibition input setting 0 or 1 and either POT or NOT is ON Or POT or NOT is turned ON while the system is operating according to the command given thro...

Page 116: ...e external scale cables are long Separate the external scale cable and the motor cable if they are bound together Connect the shield to FG refer to wiring diagram of external scale in Reference specication SX DSV02471 51 0 External scale status 0 error protection Not supported Bit 0 of the external scale error code ALMC has been turned to 1 Check the specifications of the external scale After remo...

Page 117: ...tes bit10 of AL Event Request 0220h did not turn on the conditions by which an increment is carried out at the time set up in the ESC register addresses 0400h and 0420h It is checked whether the transmitting timing of PDO from higher rank equipment is constant not stop Increase the timeout value of the PDO watchdog detection Check whether there is any problem in wiring of an EtherCAT telecommunica...

Page 118: ...t 2 0 000b Bit 2 0 011b Check setting of DC mode 6 SM event mode error protection SM event mode which is not supported was set up It was set to 1C32h 01h Sync mode at values other than 00h FreeRun 01h SM2 and 02h DC SYNC0 A value other than 00h FreeRun 02h DC SYNC0 or 22h SM2 was set to 1C33h 01h Sync mode 000b was set to bit 2 0 of 0981h of the ESC register and SM2 was set to only either 1C32h 01...

Page 119: ... is changed The cause by which the magnetic contactor of the main power supply fell is removed and a power supply is switched on again Each phase L1 L2 L3 of a power supply is connected correctly The single phase 100V and the single phase 200V should use L1 and L3 It replaces with new servo amplifier 1 Control mode setting error protection The PDS state was changed to Operation enabled when the va...

Page 120: ...xceeds acceptable range Check the parameter setting value External scale ratio must be in the range 1 40 to 160 3 External scale connection error protection Not supported The communication type of the connected external scale serial communication model does not match the type selected through Pr 3 23 External scale selection Set Pr 3 23 to the type of external scale connected 7 Parameter setup err...

Page 121: ...r the S T characteristics see REFERENCE SPECIFICATIONS motor characteristics S T characteristics MSME 50 W MSME 100 W 100 V MSME 100 W 200 V MSME 200 W MSME 400 W MSME 750 W MGME 900 W 3 0 kW MSME 1 0 kW 5 0 kW MDME 1 0 kW 5 0 kW Time characteristics of overload protection R1 05 Motor Business Division Appliances Company Panasonic Corporation ...

Page 122: ...arning output 1 WARN1 Setup value 0 ORed output of all warnings For 1 and subsequent see the table below 4 41 A Selection of Warning output 2 0 14 Select the type of warning issued as the warning output 2 WARN2 Setup value 0 ORed output of all warnings For 1 and subsequent see the table below 6 37 B Oscillation detecting level 0 1000 0 1 Set up the oscillation detecting level Upon detection of a t...

Page 123: ...cillation detection level is non zero it is detected that the torque oscillation oscillation state than that specified in Pr6 37 7 bit 13 A7 Lifetime detection warning Life expectancy of capacitor or fan becomes short 8 bit 2 A8 External scale error warning Not supported The external scale detects the warning 9 bit 8 A9 External scale communication warning Not supported The number of successive ex...

Page 124: ...detection can be disabled through Pr 6 38 Warning mask setting by setting the bit shown below to 1 For extended warning warning detection can be disabled by parameter settings Also note that bit arrangements of these masks are different from those of general purpose type MINAS A5 series 3 Effective only with 20 bit incremental encoder 4 Warning can be cleared by alarm clear If warning cause is not...

Page 125: ...quired during the actual application the following two protective features will be triggered over speed protection when overshoot occurs and excess positional deviation protection when response to the command delays By allocating the torque in limit output TLC of interface specification to the output signal torque limit condition can be detected externally 3 Setup of over speed protection Generate...

Page 126: ...he encoder unit or external scale units pulse s Kp Position loop gain 1 s Coefficients in parentheses are margins of protection to prevent frequent excessive position deviation Notes When switching position loop gain Kp select the smallest value for calculation When switching from the velocity control to position control position deviation correcting function is used which will increase calculatio...

Page 127: ...safety controller 128 8 4 4 Example of connection when using multiple axes 129 8 5 Safety precautions 130 Standard specification parts When the last two digits of the part number are alphabetical characters or the second last digit is an alphabetical character and the last digit is numeric Excluding C1 to C9 can t be used due to no safety function incorporated This chapter deals with special speci...

Page 128: ...r 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 Safety input EDM output Servo driver Contact output 0V 24V SF1 SF2 SF2 EDM EDM Safety switch M SF1 Safety input When STO function operates the servo driver turns off the servo ready output signal S RDY and enters safety stat...

Page 129: ...ay so that the photocoupler of this input circuit turns off to activate STO function SF2 X3 5 Safety input 1 or 2 enables STO to operate within 5 ms causing motor output torque to turn off Caution Safety equipment self diagnosis L pulse Safety output signal from the safety controller and safety sensor may include L pulse for self diagnosis To prevent the L pulse from mis triggering STO function th...

Page 130: ...of 2 safety input channels are active the photocoupler in EDM output circuit turns on Signal Symbol Photocoupler logic Safety input SF1 ON ON OFF OFF SF2 ON OFF ON OFF EDM output EDM OFF OFF OFF ON By monitoring the logics all 4 states of photocoupler shown in the table above the external device can determine the status normal or abnormal of safety input circuit and EDM output circuit That is when...

Page 131: ...tocoupler is OFF STO Safety input 1 Safety input 2 3 Not energized Energized Max 5 ms Motor energization Dynamic brake 2 External brake release output BRK OFF Servo Ready output S RDY Servo Alarm output ALM Servo ON input SRV ON Photocoupler is ON Servo ON command Photocoupler is OFF Servo OFF command Photocoupler is ON Photocoupler is OFF max 6 ms EDM output 0 5 5 ms 1 t1 is the value set to Pr 4...

Page 132: ... ON 1 External brake release output BRK OFF Motor energization Servo Ready output S RDY Servo Alarm output ALM Servo Clear intput A CLR 1 Dynamic brake EDM output output coupler ON Photocoupler is OFF Photocoupler is ON Servo ON command Max 2ms 1 Photocouplers for safety input 1 and 2 should be turned on again with servo on input turned off Otherwise alarm occurs and should be cleared Alarm clear ...

Page 133: ...t output 0V 24V SF1 SF2 SF2 EDM EDM Safety switch M SF1 Safety input 8 4 2 Example of connection to safety sensor EDM output Servo driver SF1 SF2 SF2 EDM EDM M SF1 Safety output source Safety sensor Control output 1 Control output 2 0 V 24 V EDM input Safety input R1 05 Motor Business Division Appliances Company Panasonic Corporation ...

Page 134: ...fety controller EDM output Servo driver SF1 SF2 SF2 EDM EDM M SF1 PWR ERR G9SX AD EI T2 ED T1 FB S14 S24 T31 T33 Safety outoput source 0V A2 EDM input Safety controller Safety input 1 R1 05 Motor Business Division Appliances Company Panasonic Corporation ...

Page 135: ...onnectable axes 8 1 1 It is a reference value When EDM output is connected in series the maximum No of connectable axes is limited because the collector saturation voltage of the built in photocoupler Vce sat is approx 1 V This Vce sat value varies depending on the collector current Because approx 5 mA flows into each circuit during SF input the current is increased proportionally as the number of...

Page 136: ... that this does not cause any problem When power transistor etc becomes defective the motor will move to the extent equivalent of 180 electrical angle max Make sure that this does not cause any problem The STO turns off the current to the motor but does not turn off power to the servo driver and does not isolate it When starting maintenance service on the servo driver turn off the driver by using ...

Page 137: ...SV02472 131 Safety Circuit Block Diagram Motor M Power ASIC EDM EDM SF2 SF2 SF1 SF1 CN8 3 6 5 8 7 4 6 3 3 3 3 PWM Power section interface R1 05 Motor Business Division Appliances Company Panasonic Corporation ...

Page 138: ...5 9 2 2 Servo ON OFF action while the motor is at stall servo lock 146 9 2 3 Servo ON OFF action while the motor is in motion 147 9 2 4 When an error alarm has occurred at Servo ON command 148 9 2 5 When an alarm has been cleared at Servo ON command 149 ９ R1 05 Motor Business Division Appliances Company Panasonic Corporation ...

Page 139: ...atio 0 10000 2 You can set up the ratio of the load inertia against the rotor of the motor inertia B All 08 For manufacturer s use 4 Permanently set at 0 09 For manufacturer s use 4 Permanently set at 1 10 For manufacturer s use 4 Permanently set at 1 11 Number of output pulses per motor revolution Not supported pulse r 1 262144 4 Set A B phase output counts per motor revolution Permanently set at...

Page 140: ...orward gain B Position Velocity Full close 5 2 8 13 Torque feed forward filter 0 01 ms 0 6400 2 Set up the torque feed forward filter B Position Velocity Full close 5 2 8 14 2nd gain setup 0 1 2 Using the gain select function set this parameter for the best tuning B All 5 2 5 15 Mode of position control switching 0 10 2 Set up the condition of gain switching for position control B Position Full cl...

Page 141: ...tch filter Automatically set when the adaptive notch is enabled B All 5 2 6 5 1 2 13 Selection of damping filter switching 0 3 2 Select the filters to be used for damping control B Position Full closed 5 2 7 14 1st damping frequency 0 1 Hz 0 2000 2 You can set up the 1st damping frequency of the damping control which suppresses vibration at the load edge Setting value of 10 1 Hz or higher is valid...

Page 142: ...ncremental version 2 Serial communication type absolute version Permanently set at 0 R Full closed 4 5 1 24 Numerator of external scale division Not supported 0 220 4 Set up the numerator of the external scale dividing setup Permanently set at 0 R Full closed 4 5 2 25 Denominator of external scale division Not supported 1 220 4 Set up the denominator of the external scale dividing setup Permanentl...

Page 143: ...anufacturer s use 2 Permanently set at 0 31 Positioning complete In position range pulse 0 262144 4 Set up allowable the number of pulses for positioning complete signal INP A Position Full closed 4 2 4 32 Positioning complete In position output setup 0 4 2 Set up the condition for positioning complete output A Position Full closed 4 2 4 33 INP hold time ms 0 30000 2 Set up the hold time A Positio...

Page 144: ... for emergency stop 0 500 2 Set up the torque limit at emergency stop When setup value is 0 the torque limit for normal operation is applied B All 6 3 1 6 3 2 6 3 3 6 3 5 12 Over load level setup 0 500 2 You can set up the over load level It becomes 115 by setting up this to 0 The setup value of this parameter is limited by 115 of the motor rating A All 13 Over speed level setup r min 0 20000 2 Se...

Page 145: ...it4 Current response improvement 0 Invalid 1 Valid bit5 For manufacturer s use Always se to 0 bit6 8 unused Always set to 0 bit9 For manufacturer s use Always set to 0 bit 0 LSB B All 5 2 9 5 2 10 11 Current response setup 50 100 2 Fine tune the current response with respect to default setup 100 B All 14 Emergency stop time at alarm ms 0 1000 2 Set up the time allowed to complete emergency stop in...

Page 146: ...1 ms 0 6400 2 Set up the time constant of the hybrid vibration suppression filter for full closed controlling Permanently set at 10 B Full closed 5 2 13 37 Oscillation detecting level 0 1 0 1000 2 Set up the oscillation detecting level Upon detection of a torque vibration whose level is higher than this setup value the oscillation detection alarm will be issued If set to 0 oscillation detection wa...

Page 147: ...that Pr 7 14 becomes smaller than Pr 5 09 in order for the warning detection is performed before shut down detection If the voltage between P and N of the main power convertor is decreased to below a specified value before the warning is detected because the setting value is long the main power low voltage error Err13 0 occurs before the warning C All 7 3 15 For manufacturer s use 4 Permanently se...

Page 148: ...er Init PreOP changes When either Port0 or Port1 carries out this parameter setup time progress in the state Port which is Lost link removes from an Init PreOP changes time where it was set to Lost link Err85 2 Lost link detection unusual protection occurs When 0 is set up detection of Err85 2 Lost link detection unusual protection is repealed R All 44 Software version 2147483648 2147483647 4 The ...

Page 149: ...ufacturer s use 2 Permanently set at 0 04 For manufacturer s use 4 Permanently set at 0 05 For manufacturer s use 2 Permanently set at 0 10 For manufacturer s use 4 Permanently set at 0 12 For manufacturer s use 2 Permanently set at 0 13 For manufacturer s use 4 Permanently set at 0 14 For manufacturer s use 4 Permanently set at 0 15 For manufacturer s use 4 Permanently set at 0 19 For manufacture...

Page 150: ...r manufacturer s use 2 Permanently set at 60 15 For manufacturer s use 2 Permanently set at 0 16 For manufacturer s use 2 Permanently set at 1 17 For manufacturer s use 2 Permanently set at 2 19 For manufacturer s use 2 Permanently set at 3 21 For manufacturer s use 4 Permanently set at 252703711 22 For manufacturer s use 4 Permanently set at 251920595 23 For manufacturer s use 4 Permanently set a...

Page 151: ...especially for protective function for example over travel inhibit input POT NOT or external scale input so as to decide their logic until this term The lapse time can be changed with Pr 6 18 Wait time after power up 4 A brake release output BRK OFF is output by a release request from the EtherCAT communication set brake of 60FEh Control power supply OFF ON L1C L2C Approx 100 to 300 ms Internal co...

Page 152: ...d Approx 2 ms 1 to 6 ms t1 1 2 Not energize 3 Approx 4 ms Output Tr OFF Brake engage OFF 1 t1 depends on the setup value of Pr 4 37 Setup of mechanical brake action at stalling 2 The operation of dynamic brake during servo off depends on the setup value of Pr 5 06 Sequence at Servo Off 3 Servo ON will not be activated until the motor speed falls below approx 30 r min 4 A brake release output BRK O...

Page 153: ... ofPr4 39 OFF Output Tr OFF Brake engage Output Tr ON Brake release Output Tr OFF Brake engage 1 t1 will be a shorter time of either the setup value of Pr 4 38 Mechanical brake action at running setup or elapsing time for the motor speed to fall below Pr 4 39 Brake release speed setup 2 Even when the servo ON command is turned on again while the motor is decelerating transition to servo ON is not ...

Page 154: ...ot Alarm Servo Alarm output ALM Value ofPr4 38 t1 1 Not ready Alarm Output Tr OFF Brake engage Output Tr ON Brake release Output Tr OFF Brake engage Alarm Ready 1 t1 will be a shorter time of either the setup value of Pr 4 38 Mechanical brake action at running setup or elapsing time for the motor speed to fall below Pr 4 39 Brake release speed setup 2 When an alarm is generated the dynamic brake o...

Page 155: ...FF Engaged Not energized Output Tr OFF Brake release Energized Servo Ready Servo Alarm output ALM Approx 60 ms Approx 4 ms No input entry Input enabled Position Speed Torque instruction 100 ms or longer Approx 2 ms Released Clear Output Tr ON Brake engage Not ready Ready Alarm Not alarm 16 ms or longer R1 05 Motor Business Division Appliances Company Panasonic Corporation ...

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Panasonic MINAS-A5B Series, Technical Reference

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