Panasonic MINAS A6 Series Technical Reference Download Page 114

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Auto Tuning Functions

5-30

5.2.4 Block diagram of full-closed control mode

Full-closed control of MINAS A6 Multi series, there are three modes.



Profile position mode (pp)



Cyclic synchronous position mode (csp)



Homing mode (hm)

Interpolated position mode (ip) is not supported.



Block diagram of full-closed control

*1 A slanting number shows (ex: 607Ah) the object number of EtherCAT.

*2 A bold letter number shows (ex:1.00) a parameter number.

*3 Polarity was omitted.

*4 The method to calculate the positional deviation on PANATERM for Multi and Analog monitor varies depending on the setting of bit14

of Pr 7.23 (Communication function extended setup 2).

*5 The position command on PANATERM for Multi can be switched depending on the setting of the bit3 (Command pulse accumulation

value) of Pr7.99(Communication function extended setup 6).

Summary of Contents for MINAS A6 Series

Page 1: ...o MINAS A6 Multi series EtherCAT communication rotation type Issued on Jun 16 2020 Revised on Industrial Device Solution Business Unit Industrial Device Business Division Industrial Solutions Company...

Page 2: ...ence of utilizing the original Japanese specification as a measure of reference It is not officially reviewed Industrial Device Solution Business Unit Panasonic Corporation is not liable for any disad...

Page 3: ...iii Revisions Date Page Rev Description Signed Jun 16 2020 1 7 NEWLY ISSUED Note The page number Page is the current page number at the time of revision...

Page 4: ...signal 2 4 2 3 I O connector other signal 2 8 2 3 1 Position comparison output signal 2 8 2 3 2 Other signals 2 8 2 4 I O signal allocation function 2 9 2 4 1 Input signal allocation 2 9 2 4 1 1 Using...

Page 5: ...5 4 4 Torque control 4 17 4 4 1 Speed limit function 4 18 4 5 Full closed control 4 19 4 5 1 Selection of external scale type 4 20 4 5 2 Setting of external scale division ratio 4 21 4 5 3 Setting of...

Page 6: ...reedom control mode with full closed control 5 63 5 2 19 Two degree of freedom control mode with torque control 5 66 5 2 20 High response current control 5 66 6 Application Functions 6 1 6 1 Torque li...

Page 7: ...8 3 8 3 Safety input and output signals 8 4 8 3 1 Safety input 8 4 8 3 2 Safety output 8 4 8 3 3 Testpulse outputs 8 4 8 4 Connection example 8 5 8 4 1 Safety input for source output connection 8 5 8...

Page 8: ...15 For manufacturer s use 9 36 10 Timing Chart 10 1 10 1 Servo drive system startup timing diagram on control power up 10 2 10 2 Driver module servo ON OFF action while the motor is at stall servo loc...

Page 9: ...ve control function 11 9 11 4 3 Main power off detection function 11 9 11 5 Protective functions 11 10 11 5 1 List of protective functions 11 10 11 5 2 Details of protective functions 11 11 11 5 3 War...

Page 10: ...Table of contents x Blank page...

Page 11: ...1 Introduction...

Page 12: ...r module can control motors of 2 axes Axis A Axis B or 1 axis Axis A only Chapters 1 to 10 of this document describe the basic functional specifications of the driver module Advanced safety function b...

Page 13: ...cstca Full closed control Rotary scale Function Two degree of freedom control Position Velocity Torque Note 1 Full closed Safety function STO Advanced safety function Pulse regeneration function Damp...

Page 14: ...to EtherCAT communication specification Check the safety CPU1 CPU2 version by 202Ch 01h 02h Reference to EtherCAT communication specification or the safety function setting software PANATERM for Safet...

Page 15: ...s with one driver module and has two encoder connectors two external scale connectors and two motor connectors Using the product with an incorrect connection of the encoder cable external scale cable...

Page 16: ...ut signal to each axis possible Output Each 2 output can be assigned by the parameter Mechanical brake output 1 output for each axis selection between BRK OFF signal and set brake signal possible with...

Page 17: ...Load variation suppression function Available 3rd gain switching function Available Friction torque compensation Available Hybrid vibration damping function Not available Quadrant projection suppress...

Page 18: ...ot available Feed forward function Available torque Load variation suppression function Available 3rd gain switching function Not available Friction torque compensation Available Hybrid vibration damp...

Page 19: ...ain switching function Not available Friction torque compensation Not available Hybrid vibration damping function Not available Quadrant projection suppression function Not available Two degree of fre...

Page 20: ...thin the range indicated above Damping control Available Up to 3 frequency settings can be used simultaneously Model type damping filter Not available Feed forward function Available speed torque Load...

Page 21: ...troller or setup support software PANATERM for Multi The gain is set automatically in accordance with the rigidity setting Notch filter Available 5 filters available Gain switching function Available...

Page 22: ...anel configuration configuration 2 digits 7 segment LED 4 EtherCAT Indicators LED RUN ERR L A IN L A OUT 2 rotary switches for station alias setting USB connector for DM PSM 2 digits 7 segment LED 4 E...

Page 23: ...lable 6 10 Backlash correction function Availability Available Not available 7 1 List of protective functions Err17 x Not available Available 7 2 Details of protective function Err31 x Err31 0 Err31 2...

Page 24: ...1 Not available Retraction operation function Available Pr6 85 Pr6 86 Pr8 01 Pr8 04 Pr8 17 Pr8 18 Not available 10 1 Timing chart on power up Timing chart Described as servo driver Described in commbi...

Page 25: ...r 23 PSM Err 24 PSM Err 26 self check function PSM Err 11 PSM Err 15 PSM Err 16 PSM Err 17 Monitor with both driver modle and power supply module Err11 0 Err12 0 Err15 0 Err72 0 Err36 0 to Err36 2 Err...

Page 26: ...Introduction 1 16 Blank page...

Page 27: ...2 Interface Specifications...

Page 28: ...ase keep in mind that it cannot guarantee this value Negative direction over travel inhibition input NOT Axis A 13 SI7 Axis B 3 SI3 Negative direction over travel inhibit input The operation with this...

Page 29: ...B 4 SI4 General purpose monitor input 5 SI MON5 A or B 14 SI8 External alarm clear input A CLR Dis arm inputs the alarm There are alarms that cannot be disarmed by this input Dynamic brake DB switchi...

Page 30: ...gnal BRK OFF Feeds out the timing signal which activates the electromagnetic brake of the motor Transistor is turned ON when electromagnetic brake is released This output needs to be assigned to every...

Page 31: ...Turns on the output transistor when a selected alarm occurs Positional command ON OFF output P CMD Outputs the position command ON OFF signal Turns on the output transistor when the positioning comma...

Page 32: ...24 Setting value of 60FEh 68FEh State of output transistor SO1 SO2 01h Physical outputs 02h Bit mask Reset Communication established Note 5 Communication intercepted Note 5 Communication re establish...

Page 33: ...ontactor output MC OUT This setting is valid only for the Axis A parameter of the driver module whose module communication node address is 1 When the control power is turned on with the above settings...

Page 34: ...by default For more information refer to 2 4 2 Output signal allocation Note 2 It is possible to monitor the condition of the signals where is attached to the EtherCAT communication monitor on the tab...

Page 35: ...2h 2236962 Axis A HOME a contact SI6 12 Pr 4 05 00818181h 8487297 Axis A POT b contact SI7 13 Pr 4 06 00828282h 8553090 Axis A NOT b contact SI8 14 Pr 4 07 60323232h 1613902386 A or B SI MON5 a contac...

Page 36: ...ith the function number Refer to the Input function number table Both signal and logic are involved a function number 2 Set axis selection to input in 4bit bit31 to 28 of n n 0 Axis A Only the Axis A...

Page 37: ...edure is the same as described for Pr 4 00 This pin has a latch correction function for Axis A Axis A 4 06 C S SI7 input selection 2147483648 to 2147483647 Assign functions to SI7 inputs Setup procedu...

Page 38: ...d closed loop characteristic mode and torque speed vertical mode are speed control torque speed normal mode is torque control Test run of the setup support software Forcibly position control The state...

Page 39: ...0313131h 1613836593 A or B SI MON4 a contact 60313131h 1613836593 A or B SI MON4 a contact SI5 11 Pr 4 04 00222222h 2236962 Axis A HOME a contact 00222222h 2236962 Axis A HOME a contact SI6 12 Pr 4 05...

Page 40: ...llocation For the output signals any functions can be assigned to the output pins of the I O connector Some assignments may be restricted Refer to 2 4 2 2 Reallocation of input signal 2 4 2 1 Using th...

Page 41: ...8 Pr 4 10 00010101h 65793 Axis A ALM SO2 9 19 Pr 4 11 20010101h 536936705 Axis B ALM Note 1 Axis selection sets which axis s output status is actually output Axis A Axis A output state is output Axis...

Page 42: ...ynthesis method of Axis A output and Axis B output in 4bit bit31 to 28 of n n 0 Axis A Axis A output state is output n 2 Axis B Axis B output state is output n 6 A or B The result of logical OR of Axi...

Page 43: ...affected Use only the values shown 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...

Page 44: ...the mechanical brake output BRK BRK It will not change the output signal from the I O connector To control the mechanical brake from the I O connector assign the desired brake release signal Depending...

Page 45: ...amaged and result in a damage to the motor bearing or encoder Pr4 59 is a parameter of always effective attribute When changing the setting value employ caution not to cause abnormal operation of the...

Page 46: ...Interface Specifications 2 20 Blank page...

Page 47: ...3 Front Panel Specifications...

Page 48: ...Front Panel Specifications 3 2 3 1 Front panel configuration Front panel cover opened Front panel cover closed...

Page 49: ...o the power supply module Setup procedure for node address in Inter module communications Assign a node address to each driver module and set it with the DIP switch Switch the DIP switch ON OFF and se...

Page 50: ...gister Reading the value of rotary switch from AL Status Code Explicit Device ID Reading the value made of object 3740h Station alias setup high and front panel rotary switch from AL Status Code 0134h...

Page 51: ...onal ON ESM Operational ERR ERR Indicator will show the state of the alarm defined by AL status code Indication is lighted in red LED Content OFF With no generating of the alarm defined by AL Status c...

Page 52: ...1 Setting the Pr6 18 values of adjacent servo drivers to different values example 0 0 s and 0 1 s Relevant parameters Class No Attribute Title Range Unit Function 6 18 R Power up wait time 0 to 100 0...

Page 53: ...3 57 segment LED display 3 7 3 5 7 segment LED display The 7 segment LED on the front panel has 3 information display modes...

Page 54: ...OFF 00 servo ON The states of Axis A and Axis B are displayed See the figure section 3 5 7 segment LED display 1 65 Mechanical angle Range 0 to FFF hex 0 zero position of 1 revolution data of encoder...

Page 55: ...ition information monitor function enabled nA is indicated 10 74 Over load factor Display range 0 to FF hex The ratio to the rated load is displayed If the Over load factor is100 64 is displayed If th...

Page 56: ...s Axis A alarm Axis B alarm The display is repeated in the order of below Mode display about 2 s Axis name about 2 s Alarm number When the safety status is normal alarm number is displayed 4 for about...

Page 57: ...4 Basic Functions...

Page 58: ...a transfer between a CoE CiA402 process division and a motor control process division Instructions setting 607Ah 687Ah Target position 60B0h 68B0h Position offset 60FFh 68FFh Target velocity 60B1h 68B...

Page 59: ...characteristics mode is position control the speed closed loop characteristic mode and torque speed vertical mode are speed control torque speed normal mode is torque control Test run of the setup su...

Page 60: ...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...

Page 61: ...on cycle is 500 s and the electronic gear ratio is a power of 2 Err88 3 Improper operation error protection occurs if the RxPDO size for either Axis A or Axis B is set larger than 25 bytes while the c...

Page 62: ...tomatically from the connected encoder resolution By setting 6092h 01h Feed to the encoder resolution the same value as 608F 01h Encoder increments and in the case of the 23bit r encoder the shipment...

Page 63: ...re reflected to actual objects and setting of electronic gear ratio is reflect to actual behavor at following timing same as previously via EtherCAT At the time of the control power supply ON When est...

Page 64: ...th velocity control 5 2 18 Two degree of freedom control mode with full closed control 1 Actual filter time constant setup value x 0 1 ms has the maximum absolute error of 0 4 ms for a time constant b...

Page 65: ...ter switching wait time will be setup value x 0 1 ms 0 25 ms when the setup time is below 10 ms or setup value x 0 1 ms x 1 05 when the setup time is over 10 ms If Pr 2 23 is changed during the comman...

Page 66: ...of a position deviation differ as follows according to the setting for the command position deviation output switching bit 14 of Pr7 23 Communication function Extended setup 2 Pr7 23 bit14 0 Deviatio...

Page 67: ...itional 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 acco...

Page 68: ...attention The positional deviation value can be changed to after or before position command filter by Pr7 23 bit14 5 20 C Position setup unit select 0 to 1 Specify the unit to determine the range of p...

Page 69: ...ts operating status irrespective of the command from the host device This operation has an effect on input signal processing Conditions that the control mode is switched forcibly inside the driver Whe...

Page 70: ...udged to be coincident with the specified speed when the difference from the velocity command before after acceleration deceleration is within the range specified by Pr 4 35 Speed coincident range Rel...

Page 71: ...ime in response to the velocity command input 3 14 B Sigmoid acceleration deceler ation time setup 0 to 1000 ms Set S curve time for acceleration deceleration process when the velocity command is appl...

Page 72: ...14 Sigmoid acceleration deceleration time setup According to Pr 3 12 Acceleration time setup and Pr 3 13 Deceleration time setup set up sigmoid time with time width centering the inflection point of...

Page 73: ...l tq and Cyclic synchronous torque control cst For details refer to TECHNICAL REFERENCE EtherCAT Communication Specification SX DSV03256 The control mode is switched forcibly inside the driver dependi...

Page 74: ...ne specified by the torque command given by the host controller due to disturbance including gravity the speed will not be within the limit If this matters set the speed at which the motor needs to be...

Page 75: ...the full closed control the velocity control is implemented by the encoder feedback and the position control by the external scale feedback Make sure to set Pr3 28 Hybrid deviation excess setup and Pr...

Page 76: ...dless of the type of scale connected 3 26 B Reversal of direction of external scale 0 to 3 Sets the direction inversion of the external scale feedback counter 0 Non inversion 1 Inversion 2 For manufac...

Page 77: ...ven with the full closed control the overspeed protection occurs if the motor axis rotation speed exceeds the maximum speed Note 4 Others please contact the Company for supporting external scales 4 5...

Page 78: ...nction operation becomes possible even with uses with which an accumulation of hybrid deviation occurs due to slippage or other reasons Note The rotation speed for hybrid deviation clear setting is de...

Page 79: ...4 5Full closed control 4 23 4 5 4 Full closed control function Rotary scale Not supported MINAS A6 Multi does not support pulse regeneration function...

Page 80: ...Basic Functions 4 24 4 6 Setting regenerative resistor This function has been moved to the power supply module Refer to section 11 4 2 Regenerative control function...

Page 81: ...unter over error protection Err42 0 Absolute over speed error protection Err45 0 Absolute multi turn counter error protection 2 Use under absolute system Absolute mode but multi rotation counter overf...

Page 82: ...fer to REFERENCE SPECIFICATIONS Driver module section SX DSV03454 Clearing of absolute data Multi turn data of the absolute data is hold by the battery Therefore when you start up the machine for the...

Page 83: ...E communication When battery refreshment is executed battery warning may occur In that case clear the battery warning Do not refresh the battery with a batteryless absolute encoder 4 7 2 External scal...

Page 84: ...asic Functions 4 28 4 8 External scale position information monitor function Not supported MINAS A6 Multi does not support external scale position information monitor function under semi closed contro...

Page 85: ...5 Auto Tuning Functions...

Page 86: ...tion 5 1 1 Real time auto tuning The system estimates the load characteristics in real time and automatically performs basic gain setting and friction compensation by referring to stiffness parameter...

Page 87: ...the following parameters to set up the operation of Real time auto tuning Relevant parameters Class No Attribute Title Range Unit Function 0 02 B Real time auto gain tuning setup 0 to 6 You can set u...

Page 88: ...n is enabled by the support software the setup value 3 is used 6 32 B Real time auto tuning custom setup 32768 to 32767 When the operation mode of real time auto tuning is set to the customize Pr 0 02...

Page 89: ...bit 3 2 Inertia ratio update to 1 enable If neither is effective the inertia ratio is not updated The torque compensation alone cannot be updated Note 5 Set bit3 2 Inertia ratio update to 1 enable whe...

Page 90: ...Relevant parameters Class No Attribute Title Range Unit Function 1 00 B 1st gain of position loop 0 to 30000 0 1 s When stiffness setup is valid updates the parameter based on the setup value 1 01 B...

Page 91: ...ing 0 to 3 Sets to 0 if the current setting is not maintained 1 25 B Delay time of torque control switching 0 to 10000 0 1 ms Sets to 0 if the current setting is not maintained 1 26 B Level of torque...

Page 92: ...orque command addition value Pr 6 08 Positive direction compensation value and Pr 6 09 Negative direction compensation value to 0 When abnormal noise and oscillation occur Pr 0 04 Inertia ratio or Pr...

Page 93: ...400 200 220 140 10000 200 1140 11 320 180 310 126 380 180 10000 126 880 12 390 220 250 103 460 220 10000 103 720 13 480 270 210 84 570 270 10000 84 590 14 630 350 160 65 730 350 10000 65 450 15 720 4...

Page 94: ...ameters Set the operation of the adaptive filter to the following parameter Relevant parameters Class No Attribute Title Range Unit Function 2 00 B Adaptive filter mode setup 0 to 6 Select the operati...

Page 95: ...the resonance point affects the motor velocity parameters of 3rd notch filter and or 4th notch filters are automatically set according to the number of adaptive filters Other cautions Immediately afte...

Page 96: ...rned on estimate value following may become quicker regardless of Pr6 31 Real time auto tuning estimation speed until operation data effective for the estimation of load characteristics is sufficientl...

Page 97: ...esponse mode 2 In addition Parameters of Pr6 08 Positive direction torque compensation value Pr6 09 Negative direction torque compensation value and Pr6 50 Viscous friction compensation gain are updat...

Page 98: ...3 Pr0 02 3 for Real time auto tuning is selected The Real time auto tuning function updates the following basic gain setup parameters according to Pr0 03 Real time auto tuning machine stiffness setup...

Page 99: ...de of position control switching 0 to 10 For the standard response mode Pr0 02 1 set the parameter to 0 For high response mode 1 to 3 Pr0 02 2 to 4 set the parameter to 7 1 16 B Delay time of position...

Page 100: ...e observer filter 10 to 2500 0 01 ms When set to Pr 6 10 bit14 1 updates to match rigidity When set to Pr 6 10 bit14 0 value is held 6 73 B Load estimation filter 0 to 2500 0 01 ms When set to Pr 6 10...

Page 101: ...h as Pr0 04 Inertia ratio Pr6 07 Torque command additional value Pr6 08 Positive direction torque compensation value Pr6 09 Negative direction torque compensation value and Pr6 50 Viscous friction com...

Page 102: ...75 60 900 400 496 198 44 2500 7 95 75 700 300 394 158 34 2120 8 115 90 600 300 327 131 34 1770 9 140 110 500 200 268 107 24 1450 10 175 140 400 200 212 85 23 1140 11 320 180 310 126 139 55 16 880 12...

Page 103: ...ned on estimate value following may become quicker regardless of Pr6 31 Real time auto tuning estimation speed until operation data effective for the estimation of load characteristics is sufficiently...

Page 104: ...changed and load characteristic estimation only is made This is used in combination with setup support software 6 Load change support mode Use this mode to make robust adjustments in load change 0 03...

Page 105: ...p 1 to 32767 0 1 Hz In the case of the synchronization mode synchronous friction compensation mode stiffness setup mode or load change support mode Pr0 02 1 to 3 6 updates the parameter based on the s...

Page 106: ...tiffness setup mode or load change support mode Pr0 02 1 to 3 6 set the parameter to bit4 1 6 49 B Adjust Torque command attenuation term 0 to 99 In the case of the synchronization mode synchronous fr...

Page 107: ...ness setup mode or load change support mode Pr0 02 1 to 3 6 1 27 B Hysteresis at torque control switching 0 to 20000 Sets to 0 if the case of the synchronization mode synchronous friction compensation...

Page 108: ...the first servo on upon start up or after increasing Pr0 03 Real time auto tuning machine stiffness setup abnormal sound or oscillation may be generated until the load characteristics estimation is st...

Page 109: ...nsation frequency H 0 1 Hz 0 20 15 3700 1500 155 2500 15 1330 25 7 1 25 20 2800 1100 115 2500 20 990 34 10 2 30 25 2200 900 94 2500 25 800 42 12 3 40 30 1900 800 84 2500 30 660 51 15 4 45 35 1600 600...

Page 110: ...ock diagram of torque control mode 5 2 4 Block diagram of full closed control mode 5 2 5 Gain switching function 5 2 6 Notch filter 5 2 7 Damping control 5 2 8 Model type damping filter Not supported...

Page 111: ...00 a parameter number 3 Polarity was omitted 4 The method to calculate the positional deviation on PANATERM for Multi monitor varies depending on the setting of bit14 of Pr7 23 Communication function...

Page 112: ...ity mode csv Block diagram of velocity control 1 A slanting number shows ex 607Ah the object number of EtherCAT 2 A bold letter number shows ex 1 00 a parameter number 3 Polarity was omitted 4 When pe...

Page 113: ...anting number shows ex 607Ah the object number of EtherCAT 2 A bold letter number shows ex 1 00 a parameter number 3 Polarity was omitted 4 When performing Frequency characteristic measurement Torque...

Page 114: ...slanting number shows ex 607Ah the object number of EtherCAT 2 A bold letter number shows ex 1 00 a parameter number 3 Polarity was omitted 4 The method to calculate the positional deviation on PANAT...

Page 115: ...ion 7 Position command exists 8 Not in positioning complete 9 Actual speed 10 Position command exists Actual speed 1 16 B Delay time of position control switching 0 to 10000 0 1 ms For position contro...

Page 116: ...ontrol gain switching mode is set at 3 4 or 5 Unit of setting varies with switching mode When level hysteresis the hysteresis is internally adjusted so that it is equal to level 1 24 B Mode of torque...

Page 117: ...absolute value of the positional deviation exceeded level hysteresis pulse previously with the 1st gain Return to the 1st gain when the absolute value of the positional deviation was kept below level...

Page 118: ...s as the figure below shows Hereunder we explain how to set up the relevant parameters when you use the gain switching function 1 Set up the conditions for gain switching with the following parameters...

Page 119: ...switching from the 2nd to the 1st 4 Set up the switching time of position gain Switch the position loop gain gradually to avoid any trouble caused by a rapid change to a higher gain while the velocit...

Page 120: ...requency Note 1 50 to 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 Note...

Page 121: ...ed with setup value 100 The table below shows this value in dB on the right Notch width Notch depth I O ratio dB 0 0 50 0 0 00 1 0 59 1 0 01 40 0 2 0 71 2 0 02 34 0 3 0 84 3 0 03 30 5 4 1 00 4 0 04 28...

Page 122: ...is activated under the following conditions Conditions under which the damping control is activated Control Mode Position control mode or Full closed control mode Caution This function does not work...

Page 123: ...hing between the damping frequency and damping filter setting is performed at the rising edge of the command that causes the number of command pluses per command detection period 0 125 ms at upstream...

Page 124: ...at load edge Setup unit is 0 1 Hz The setup frequency is 0 5 to 300 0 Hz Setup of 0 to 4 becomes invalid 2 17 B 2nd damping filter setup 0 to 1500 0 1 Hz If torque saturation occurs with damping freq...

Page 125: ...easures vibration at load edge Setup unit is 0 1 Hz The setup frequency is 0 5 to 300 0 Hz Setup of 0 to 4 becomes invalid 2 21 B 4th damping filter setup 0 to 1500 0 1 Hz If torque saturation occurs...

Page 126: ...ping filter 1st Pr 2 15 2nd Pr 2 17 3rd Pr 2 19 4th Pr 2 21 First set to 0 and check the torque waveform during operation You can reduce the settling time by setting up larger value however the torque...

Page 127: ...5 2Manual adjusting function 5 43 5 2 8 Model type damping filter Not supported MINAS A6 Multi does not support model type damping filter...

Page 128: ...given through EtherCAT communication is added to the feed forward value internally calculated according to the parameter setting Relevant parameters For MINAS A6 Multi series the velocity feed forwar...

Page 129: ...ilter 1st delay or FIR smoothing or increase the velocity forward filter setup value Usage example of torque feed forward To use the torque feed forward correctly set the inertia ratio Use the value t...

Page 130: ...uning Functions 5 46 If the control mode is changed from other than torque control mode to torque control mode while the motor is in operation torque feed forward may be applied even if torque control...

Page 131: ...rward which can setup by EtherCAT communication corresponds to the following control mode csp pp ip Not supported hm csv pv cst tq 60B1h 68B1h Velocity offset Valid Valid Valid Valid Valid Valid Inval...

Page 132: ...cy range of 10 Hz or below The load shows a clear non linear trend with friction and backlash Relevant parameters Relevant parameters Class No Attribute Title Range Unit Function 6 10 B Function expan...

Page 133: ...it14 to 1 in Pr 6 10 Function expansion setup to enable the load variation suppression function automatic adjustment As a result Pr6 10 bit1 becomes 1 And check disturbance suppression effect with the...

Page 134: ...Pr 2 22 to 10ms 3 Set Real time auto tuning to load variation support mode and operate the motor in a pattern as large as possible load variation occurs in this state As a result Pr6 10 bit1 and bit2...

Page 135: ...ition 3rd gain scale factor 50 to 1000 Set up the 3rd gain by a multiplying factor of the 1st gain 3rd gain 1st gain x Pr 6 06 100 How to use While in the condition under which the normal gain switchi...

Page 136: ...Attribute Title Range Unit Function 6 07 B Torque command additional value 100 to 100 Set up the offset load compensation value usually added to the torque command in a control mode except for the tor...

Page 137: ...ime of acceleration by setting a torque command value against viscous load Because of its properties the compensation is proportional to the speed command value The offset load compensation and dynami...

Page 138: ...e twist amount is small there are cases in which the effect may be small Relevant parameters Combining the following parameters hybrid vibration suppression function is set Relevant parameters Class N...

Page 139: ...or is stopped Relevant parameters Relevant parameters Class No Attribute Title Range Unit Function 6 42 B 2 stage torque filter time constant 0 to 2500 0 01ms Sets 2 stage torque filter time constant...

Page 140: ...unt of compensation to be added to torque command when the position command is in positive direction and quadrant projection compensation function is enabled 5 46 B Quadrant glitch negative direction...

Page 141: ...ower supply after enabling quadrant projection suppression function Pr 6 47 bit14 1 2 Set initial values to Pr 5 47 0 Pr 5 48 Pr 1 04 Pr 5 49 0 3 Measure the magnitude of quadrant projection and condu...

Page 142: ...Refer to Section 5 1 35 1 3Real time auto tuning Two degree of freedom control mode standard type or 5 1 4 Real time auto tuning Two degree of freedom control mode synchronization type Only when furt...

Page 143: ...command filter and the second digit sets the adjust filter Each target digit of the set value 0 to 4 No attenuation term operated as primary filter 5 to 9 Secondary filter Attenuation terms will be 1...

Page 144: ...calculate the positional deviation on PANATERM for Multi monitor screen standard varies depending on the setting of the command positional deviation output change bit 14 of Pr7 23 Communication funct...

Page 145: ...5 1 3 Real time auto tuning Two degree of freedom control mode standard type Only when further improvement is required manually finely adjust the following parameters while confirming responses Releva...

Page 146: ...wo degree of freedom control mode with velocity control block diagram 1 A slanting number shows ex 607Ah the object number of EtherCAT 2 A bold letter number shows ex 1 00 a parameter number 3 Polarit...

Page 147: ...egree of freedom control mode enabled by resetting the control power supply Thereafter adjust by the real time auto tuning See 5 1 3 Real time auto tuning Two degree of freedom control mode standard t...

Page 148: ...command filter and the second digit sets the adjust filter Each target digit of the set value 0 to 4 No attenuation term operated as primary filter 5 to 9 Secondary filter Attenuation terms will be 1...

Page 149: ...607Ah the object number of EtherCAT 2 A bold letter number shows ex 1 00 a parameter number 3 Polarity was omitted 4 The method to calculate the positional deviation on PANATERM for Multi monitor scr...

Page 150: ...This function works under the following condition Operating conditions for high response current control Control Mode Can be used in all control modes Others The software version shall be function ex...

Page 151: ...6 Application Functions...

Page 152: ...to 500 You can set up the 1st limit value of the motor output torque 5 21 B Selection of torque limit 0 to 5 You can set up the torque limiting method Setup value Negative direction Positive directio...

Page 153: ...for the purpose of only to control velocity or torque do not use this function Instead use software limit function or drive inhibit input When any of the following values encoder pulse or external sc...

Page 154: ...motor operating range abnormal protection 0 Invalid 1 Valid Operation example When no position command is entered Servo ON status The motor movable range will be the travel range which is set at both...

Page 155: ...POT NOT inputs Normally it should be set to 1 0 Deceleration stop on servo MINAS A6 side sequence at time of run inhibition input POT positive direction drive inhibit NOT negative direction drive inhi...

Page 156: ...torque limitation may be output To allow a stop with the torque specified in the Emergency stop torque setup continue to send the normal command at least 4 ms after the input of the signal Note 5 Dece...

Page 157: ...Note 2 3 7 Free run DB OFF Clear Note 2 Free run DB OFF Clear Note 2 8 Emergency stop Note 3 Note 5 Note 7 Torque limit Pr 5 11 Clear Note 2 Dynamic brake DB Note 6 Clear Note 2 9 Emergency stop Note...

Page 158: ...e 5 08 B L V trip selection upon main power off 0 to 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 i...

Page 159: ...e interpolation feed system command after servo ON re set the command coordinate of the host controller The motor may operate sharply Note 3 Emergency stop refers to a controlled immediate stop with s...

Page 160: ...ake DB Note 6 Clear Note 2 2 Dynamic brake DB Note 6 Clear Note 2 Free run DB OFF Clear Note 2 3 Free run DB OFF Clear Note 2 Free run DB OFF Clear Note 2 4 Action A Note3 Emergency stop Note 3 Note 5...

Page 161: ...ers Class No Attribute Title Range Unit Function 5 10 B Sequence at alarm 0 to 7 Specify the status during deceleration and after stop after occurrence of alarm Setting the parameter to one of 4 to 7...

Page 162: ...vel setup as shown in the figure below the motor velocity may increase if normal control cannot be accomplished even after the start of emergency stop operation As a safety measure in case of this cas...

Page 163: ...ke refer to 2 5 Mechanical brake output Relevant parameters Relevant parameters Class No Attribute Title Range Unit Function 5 10 B Sequence at alarm 0 to 7 Specify the status during deceleration and...

Page 164: ...vo off Fall prevention function in the event of Servo ON 0 Clear 1 Updated with the set value of 60B2h 68B2h When this setting value is set to 1 set the value of 60B2h 68B2h Torque offset to a value s...

Page 165: ...nhibition POT NOT When the Slow Stop function is enabled set up emergency stop 5 06 B Sequence at Servo Off 0 to 9 Specify the status during deceleration and after stop after servo off When the Slow S...

Page 166: ...stop function valid setting Servo OFF with slow stop function valid setting Main power OFF with slow stop function valid setting Emergency stop response alarm triggered with slow stop function valid...

Page 167: ...pproximately the following formula Please confirm its influence on the actual machine operations when using In case of linear deceleration Pr5 57 0 Linear decelerating time s Linear deceleration brake...

Page 168: ...ue limit excluding torque command value 7 16 B Frequency of torque saturation protection 0 to 30000 time If torque saturated is continued during a preset frequency Err 16 1 Torque saturation protectio...

Page 169: ...as been established ESM state is more than PreOP Home position return has been completed The elements other than control parameters are correctly set assuring that the motor can run smoothly Other tha...

Page 170: ...Pulse output selection 0 to 1 Set 1 to use the position comparison output signal COMP1 COMP2 0 OCMP1 OCMP2 disabled 1 OCMP1 OCMP2 enabled 4 48 A Position comparison value 1 2147483648 to 2147483647 Co...

Page 171: ...ted to SO1 OCMP1 0010b Allocated to SO2 OCMP2 Other than above For manufacturer s use Do not set Operation When the actual position of the encoder passes a position comparison value Pr4 48 to Pr4 55 a...

Page 172: ...ith the case of passage The position comparison output function sends outputs while automatically compensating based on the previous motor speed the errors caused by the time of delay of encoder seria...

Page 173: ...er over error protection Err42 0 Absolute over speed error protection and Err45 0 Absolute multi turn counter error protection and battery alarms are not detected Relevant parameters Relevant paramete...

Page 174: ...range of the single turn is as follows CCW Positive direction electronic gear ratio 1 1 607Ch 687Ch Home offset 0 CCW Positive direction electronic gear ratio 1 2 607Ch 687Ch Home offset 0 CCW Positi...

Page 175: ...is the single turn data range from the power ON position 2 When the power is turned off at the position in Figure 1 and then turned on again after the motor is moved to the position in the figure belo...

Page 176: ...smoothly Relevant parameters Relevant parameters Class No Attribute Title Range Unit Function 0 15 C Absolute encoder setup 0 to 4 Select the use method of the absolute encoder Note 1 0 Use as an abs...

Page 177: ...aparound process refer to TECHNICAL REFERENCE EtherCAT Communication Specification SX DSV03456 When using absolute positioning for pp control or this function for csp control set the movable position...

Page 178: ...up 4 Err 92 3 Multi turn data upper limit value disagreement error protection occurs 5 Re power on the driver control power 6 The multi turn data upper limit value is enabled and the actual position i...

Page 179: ...lute home position offset is as follows CCW Positive direction electronic gear ratio 1 1 Pr6 88 Absolute encoder multi turn data upper limit value 2 607Ch 687Ch Home offset 10000 CW Positive direction...

Page 180: ...l be in units of 0 2 5 70 A Deterioration diagnosis unbalanced load lower limit value 5 71 A Deterioration diagnosis dynamic friction upper limit value 1000 to 1000 0 1 Sets the upper and lower limit...

Page 181: ...d load dynamic friction and viscous friction coefficient can be used in case real time auto tuning load characteristics estimate is valid Refer to items 5 1 1 Real time auto tuning 5 1 3 Real time aut...

Page 182: ...iagnosis judgment by torque command average will become effective This will continue while deterioration diagnosis velocity output V DIAG remains output ON however will return to invalid condition whe...

Page 183: ...Application Functions 6 26 6 9 Retracting operation function Not supported MINAS A6 Multi does not support retracting operation function...

Page 184: ...6 10Backlash correction function Not supported 6 27 6 10 Backlash correction function Not supported MINAS A6 Multi does not support retracting operation function...

Page 185: ...7 Protective Functions...

Page 186: ...circuit voltage error protection 1 Mechanical brake circuit overload protection 21 0 Encoder communication disconnect error protection 1 Encoder communication error protection 23 0 Encoder communicat...

Page 187: ...protection 0 1 External scale status error protection 1 2 External scale status error protection 2 3 External scale status error protection 3 4 External scale status error protection 4 5 External sca...

Page 188: ...ement error protection 93 2 Parameter setting error protection 2 3 External scale connection error protection 8 Parameter setting error protection 6 94 3 Home position return error protection 2 95 0 4...

Page 189: ...fer to 6 3 4 Sequence at alarm Note 7 About EtherCAT communication related error Err80 Err81 Err85 Err88 front panel indication or alarm indication of PANATERM for Multi is delayed from actual occurre...

Page 190: ...ower supply voltage of the driver module exceeded the acceptable input voltage range Voltage between P and N of the converter portion of the control power supply has exceeded the specified value Sourc...

Page 191: ...an instantaneous power outage or phase loss 1 Instantaneous power failure has occurred 1 Set up the longer time to PSM Pr 02 Main power off detecting time Set up each phase of the power correctly 2 Fa...

Page 192: ...e load 3 Failure of driver module Failure of the temperature detection circuit 3 Replace the driver module 1 Encoder over heat error protection The driver module detected that the temperature of each...

Page 193: ...ed or the load has gotten heavy Machine has been distorted 7 Remove machine distortion Reduce the load Replace the machine 8 Operate the motor while the electromagnetic brake is operating 8 Check the...

Page 194: ...Contact failure occurred 3 Remove the BRK and BRK terminals of motor connector X105 Check and if it is loose or missing fix it securely 4 Failure of driver module Failure of mechanical brake output c...

Page 195: ...the cause of excessive speed deviation Alternatively the speed deviation excess determination threshold is increased Increase the setup value of Pr 6 02 Lengthen the acceleration deceleration time of...

Page 196: ...ntroller during test run or FFT when Pr7 99 bit0 1 is set 7 Position information initialization error protection In the driver module perform return to origin for each axis in hm mode then return to o...

Page 197: ...ng error Functions that can be used in multiple control modes are assigned to input signals with different logic A CLR was assigned to the input signal with b connection Not assigned to all control mo...

Page 198: ...on or command position crossed motor working range encoder 1 revolution data Check the working range of an absolute encoder absolute scale position including 607Ch 687Ch Home offset Reconsider electro...

Page 199: ...n particular check whether the rising time of drive inhibit signal power DC12 to 24V to supply servo control I O connector X4 of the driver module is not slow 2 Over travel inhibit input protection 3...

Page 200: ...f the external scale as per the wiring diagram Correct the miswiring of the connector pins 1 External scale communication error protection The driver module received communication data from the 2nd en...

Page 201: ...B phase connection error protection In the driver module B phase connection in 2nd encoder for each axis A B Z external scale is defective e g discontinued In the driver module check the B phase conne...

Page 202: ...power supply failure on PANATERM for Multi and remove the cause of the error referring to 11 5 Protective functions warning action of the power supply module and turn on the control power supply agai...

Page 203: ...tate 8 Request Operational State Check the change state request of host controller 2 Bootstrap requests error protection In the EtherCAT communication of the driver module the following change state r...

Page 204: ...ntrol power 7 Synchronization signal error protection In the EtherCAT communication of the driver module more than the threshold value that the omission of the interruption processing by SYNC0 or IRQ...

Page 205: ...ssion reception of Mailbox overlaps the area for transmission reception of SyncManager2 3 Address specification of the area for transmission reception of Mailbox is odd number Length ESC register 0802...

Page 206: ...river module a setup of SyncManager2 3 was set to the incorrect value Physical Start Address ESC register 0810h setting of SyncManager2 is incorrect The area for reception overlaps the area for transm...

Page 207: ...on Axis A side was set to exceed 32 bytes The data size of the RxPDO map on Axis B side was set to exceed 32 bytes An object for Axis B was set in 1600h to 1603h for Axis A An object for Axis A was se...

Page 208: ...the following incorrect settings was detected for each axis The PDS state was changed to Operation enabled when 6060h 6860h Modes of operation was set to 0 and 6061h 6861h Modes of operation display...

Page 209: ...ctronic gear ratio was set to a power of 2 and TxPDO size for either Axis A or Axis B was set to exceed 25 bytes When the synchronization mode is DC or SM2 and the communication cycle is set to 250us...

Page 210: ...ement between the upper limit value of encoder multi turn data and the upper limit value of driver module multi turn data Check the parameter setting value 93 2 Parameter setup error protection 2 The...

Page 211: ...to the dealer or manufacturer 3 Control unit error protection 2 4 Control unit error protection 3 5 Control unit error protection 4 6 Control unit error protection 5 7 Control unit error protection 6...

Page 212: ...erload preventive time characteristics MDMF10 MDMF15 MDMF20 MDMF30 Overload preventive time characteristics MDMF40 MDMF50 Use the motor so that actual torque stays in the continuous running range show...

Page 213: ...tive time characteristics MGMF09 MGMF13 MGMF18 Overload preventive time characteristics MGMF29 MGMF44 Use the motor so that actual torque stays in the continuous running range shown in S T characteris...

Page 214: ...characteristics MHMF10 MHMF15 MHMF20 Overload preventive time characteristics MHMF30 MHMF40 MHMF50 Use the motor so that actual torque stays in the continuous running range shown in S T characteristic...

Page 215: ...n 7 31 Large type MSMF Overload preventive time characteristics Use the motor so that actual torque stays in the continuous running range shown in S T characteristic of each motor Check the motor spec...

Page 216: ...rning issued as the warning output 2 WARN2 Setup value 0 ORed output of all warnings For 1 and subsequent see the table below Warning types 6 27 C Warning latch state setup 0 to 3 Set the latching sta...

Page 217: ...detection is performed under conventional conditions 85 of overload protection level 6 97 B Function expansion setup 3 2147483648 to 2147483647 bit 1 Deterioration diagnosis warning function 0 Invali...

Page 218: ...warning Regenerative load factor exceeded 85 of protection level 2 Pr 6 38 bit 5 A2 Battery warning Note 4 Battery voltage is 3 2 V or lower Latch fixed 3 Pr 6 38 bit 0 A3 Fan warning Fan has stopped...

Page 219: ...it shown above to 1 Also note that bit arrangements of these masks are different from MINAS A6S series ex MINAS A6SE Note 4 When the single turn absolute function is enabled a battery warning is not d...

Page 220: ...Setup of over speed protection Generates Err 26 0 Over speed protection when the motor speed is excessively high Default setting is the applicable motor over speed level If your application operates...

Page 221: ...n switching from the velocity control to position control position deviation correcting function is used which will increase calculation value and error To cope with these problems increase the margin...

Page 222: ...f Err94 3 If the above value is not set for the parameter detection of inputting of over travel inhibition POT NOT during returning to the Z phase detection position which is treated as the origin whe...

Page 223: ...nd Pr5 04 0 or 1 Pr5 04 is ignored under pp mode POT or NOT has become ON while return operation to detected Z phase position at homing with Z phase The return amount to the detected Z phase position...

Page 224: ...Protective Functions 7 40 Blank page...

Page 225: ...8 Advanced Safety Functions...

Page 226: ...unctions STO SBC SS1 SS2 SSM SSR SLS SOS SLA SAR SLI SDI SLP SCA SIL3 PLe Cat4 Note 1 Note 2 SIL3 PLe Cat3 Note 2 SIL2 PLd Cat3 Note 1 A test pulse needs to be used to satisfy Cat4 Note 2 Encoder dupl...

Page 227: ...l Performance level Category Encoder configuration Conf 1 Conf 2 Conf 3 Position control Speed control Torque control Position control Speed control Torque control Note 5 Full closed control Position...

Page 228: ...B system for safety output signal The maximum rated current value is 75 mA Duplex safety output 2 SDO2A X5 5 Connects to the A system for safety output signal The maximum rated current value is 75 mA...

Page 229: ...of safety input connection for source output connection are shown in the figure below When connecting the source output circuit to the safety input connect the negative terminal of the external power...

Page 230: ...Advanced Safety Functions 8 6 When test pulse is used Duplex safety input Safety input...

Page 231: ...input connection for sink output connection are shown in the figure below When connecting the sink output circuit to the safety input connect the positive terminal of the external power supply DC 24 V...

Page 232: ...When test pulse is used Duplex safety input Safety input 8 4 3 Safety output Examples of safety output connection are shown in the figure below 8 4 4 Brake output Examples of brake output connection...

Page 233: ...It monitors whether the emergency stop sequence of the motor stops safely SSX It goes into safety torque off state if the motor stops STO SS2 Safe Stop 2 SSX SOS It monitors whether the emergency sto...

Page 234: ...tate within the range of the specified threshold SDI Safe Direction Indication It monitors the driving direction of the motor SLI Safe Limited Increment It monitors whether the amount of motor movemen...

Page 235: ...he output signal It uses a dedicated brake output When a hardware have an error alarm will occur SLP Safety Limited Position It monitors whether the speed and position that can be stopped at the speci...

Page 236: ...l position data to the position information in the servo amplifer It verificate whether the position information in the servo amplifier does not deviate from the physical position SRS Safe Referencing...

Page 237: ...STO alarm and Alarm clear 8 5 3 2 Outline of safe torque off STO function The safe torque off STO function is a safety function that shuts the motor current and turns off motor output torque by forci...

Page 238: ...c brake operates to the setting of Pr5 10 Sequence at alarm During STO state sequence at alarm will be applied even though no alarm is generated NOTE 3 When you use redundant safety input to activate...

Page 239: ...1 and 2 to ON will automatically reset it to Servo ready mode There is no need to conduct alarm clear NOTE 2 This is an STO state and the dynamic brake operates according to Pr5 10 Sequence at alarm D...

Page 240: ...ble range for position monitoring and speed monitoring vary in the safety monitoring program depending on the inertia ratio filter settings gain settings and operating speed specify appropriate settin...

Page 241: ...nce following the single digit alphabet A indicating the alarm type For details refer to Chapter 3 5 3 Safety information display mode of this document 8 7 2 Safety fatal error status If a fatal error...

Page 242: ...Advanced Safety Functions 8 18 For details on these object specifications refer to TECHNICAL REFERENCE EtherCAT Communication Specification SX DSV03456...

Page 243: ...one of the following methods to reset the safety alarm Execution of alarm clear with safety input Execution of alarm clear from controller via EtherCAT communication CoE Execution of alarm clear from...

Page 244: ...distance even if no external force is applied Make sure that this does not cause any problem In safety state even if an alarm does not occur Sequence at alarm is applied The motor may move at electric...

Page 245: ...9 List of Parameters...

Page 246: ...attribute is written even if some of the axes are disabled by Pr0 20 Axis limit setting 9 1 1 Class 0 Basic setting No Title Unit Range Size byte Function Contents Attribute Related control mode Refe...

Page 247: ...se per rotation is 23 bits A Position Full closed 7 4 15 Absolute encoder setup 0 to 4 2 Select the use method of the absolute encoder 0 Use as an absolute mode 1 Use as an incremental mode 2 Use as a...

Page 248: ...9 2nd torque filter time constant 0 01 ms 0 to 2500 2 Set the time constant of the 2nd torque filter B All 5 2 10 Velocity feed forward gain 0 1 0 to 4000 2 Set the velocity feed forward gain B Positi...

Page 249: ...ng 0 to 20000 2 Set the hysteresis at gain switching B Velocity 5 2 5 24 Mode of torque control switching 0 to 3 2 Set the condition of gain switching for torque control B Torque 5 2 5 25 Delay time o...

Page 250: ...ter B All 5 2 6 06 2nd notch depth selection 0 to 99 2 Set the notch depth of 2nd resonance suppression notch filter B All 5 2 6 07 3rd notch frequency Hz 50 to 5000 2 Set the notch frequency of 3rd r...

Page 251: ...oad edge Setting value of 5 0 5 Hz or higher is valid B Position Full closed 5 2 7 17 2nd damping filter setup 0 1 Hz 0 to 1500 2 Fine tune the 2nd filter damping control Decrease the setting value to...

Page 252: ...24 5th notch frequency Hz 50 to 5000 2 Set the notch frequency for the 5th resonance suppression notch filter Set the notch frequency to the resonance frequency of the machine B All 5 2 6 25 5th notc...

Page 253: ...0 A B phase output type 1 Serial communication type incremental specification 2 Serial communication type absolute specification 3 to 6 For manufacturer s use R All 4 8 24 Numerator of external scale...

Page 254: ...4 Set function and logic of SI8 C S All 2 4 1 10 SO1 output selection 2147483648 to 2147483647 4 Set SO1 function allocation C S All 2 4 2 11 SO2 output selection 2147483648 to 2147483647 4 Set SO2 fu...

Page 255: ...of warning issued as the alarm output 1 A All 7 3 41 Selection of alarm output 2 0 to 40 2 Select the type of warning issued as the alarm output 2 A All 7 3 42 Positioning complete In position range...

Page 256: ...rison value 7 Command unit 2147483648 to 2147483647 4 Set the comparison value for position comparison output 7 A All 6 5 55 Position comparison value 8 Command unit 2147483648 to 2147483647 4 Set the...

Page 257: ...ze byte Function Contents Attribute Related control mode Reference 59 Mechanical brake signal setup 0 to 2 2 Sets the mechanical brake signal which is output from the mechanical brake output BRK 0 BRK...

Page 258: ...07h Abort connection option code or Pr5 07 1 Trip with Err 13 1 Main power undervoltage protection bit1 0 Detect main AC power OFF alarm only when servo is in ON state 1 Always detect main AC power OF...

Page 259: ...set at 1 20 Position setup unit select 0 to 1 2 Specify the unit to determine the range of positioning complete and excessive positional deviation 0 Command unit 1 Encoder unit External scale unit Po...

Page 260: ...r s use 4 Permanently set at 0 52 For manufacturer s use 4 Permanently set at 0 53 For manufacturer s use 4 Permanently set at 0 54 For manufacturer s use 4 Permanently set at 0 55 For manufacturer s...

Page 261: ...onvergence when deterioration diagnosis warning is valid Pr6 97 bit 1 1 When the upper limit value is set at 1000 max value judgment of the upper limit becomes invalid When the lower limit value is se...

Page 262: ...n deterioration diagnosis warning is valid Pr6 97 bit 1 1 Deterioration diagnosis velocity output has a 10 r min hysteresis A All 6 8 76 Deterioration diagnosis torque average time ms 0 to 10000 2 Set...

Page 263: ...xtended shared setup 1 4 Permanently set at 0 89 Function extended shared setup 2 4 Permanently set at 0 90 Function extended shared setup 3 2147483648 to 214748364 4 Sets up permission prohibition of...

Page 264: ...o 100 2 Set up the value to be added to the torque command for negative direction operation B Position Full closed 5 2 12 10 Function expansion setup 32768 to 32768 2 Set up the function in unit of bi...

Page 265: ...etup value Err26 1 2nd over speed protection occurs When the setting value is 0 the over speed level becomes the over speed protection level The internal value is limited to the over speed level of ap...

Page 266: ...ed 5 2 13 36 Dynamic brake operation input setup 0 to 1 2 Set enable or disable dynamic brake DB operation input by I O 0 Disabled 1 Enabled This function is available only when the main power is turn...

Page 267: ...nchronization type bit4 to 7 Not used Permanently set at 0 bit8 For manufacturer s use Permanently set at 0 bit9 to 11 Not used Permanently set at 0 bit12 to 13 For manufacturer s use Permanently set...

Page 268: ...orque 0 1 10000 r min B Position Velocity Full closed 5 2 16 5 2 17 5 2 18 51 Wait time for emergency stop ms 0 to 10000 2 Set the time to maintain the motor energization after the brake release outpu...

Page 269: ...Full closed 5 2 10 76 Load estimation count 0 to 8 2 Set the number of times regarding load estimation B Position Velocity Full closed 5 2 10 85 For manufacturer s use 2 Permanently set at 0 86 For ma...

Page 270: ...xpansion setup 3 2147483648 to 2147483647 4 Set various functions on a bit basis B All 4 5 4 5 2 15 6 2 6 8 Ether CAT bit0 Enables Disables quadrant projection compensation function extended 0 Disable...

Page 271: ...t setting of Multi turn data 0 16bit 1 9bit bit4 to 7 For manufacture use Permanently set at 0 bit8 Control mode switching function expansion 0 Conventional specification 1 hm operation expansion spec...

Page 272: ...se 2 Permanently set at 0 07 For manufacturer s use 2 Permanently set at 0 08 For manufacturer s use 2 Permanently set at 0 09 Correction time of latch delay 1 25 ns 2000 to 2000 2 Set the correction...

Page 273: ...ently set at 0 R All 4 8 bit5 6080h 6880h Max motor speed on csp mode Amount of change saturation function of command position 0 Invalid on csp 1 Valid on csp bit6 Homing return speed limit function e...

Page 274: ...facturer s use Permanently set at 0 bit7 Internal value state selection of objects 60B2h 68B2h Torque offset in servo off Fall prevention function in the event of Servo ON 0 Clear 1 Updated with the s...

Page 275: ...ec 44 Software version 2147483648 to 2147483647 4 The software versions 1 and 2 of a product are displayed X All EtherCAT Spec bit31 to 28 Reserved Permanently set at 0 bit27 to 16 Software version 1...

Page 276: ...nverted into command unit s during internal computation The converted value is limited within the following range 00000001h to 7FFFFFFFh 1 to 2147483647 If 0 is set for this parameter 1 is internally...

Page 277: ...d Operation command by PANATERM for Multi test run FFT etc execution enabled 0 Disabled 1 Enabled bit1 to 31 For manufacturer s use Set all to 0 117 Communication function shared setup 2 2147483648 to...

Page 278: ...e 2 Permanently set at 0 04 For manufacturer s use 4 Permanently set at 1 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...

Page 279: ...facturer s use 2 Permanently set at 0 18 For manufacturer s use 2 Permanently set at 0 19 For manufacturer s use 2 Permanently set at 0 20 For manufacturer s use 2 Permanently set at 0 21 For manufact...

Page 280: ...e 2 Permanently set at 0 16 For manufacturer s use 2 Permanently set at 2 17 For manufacturer s use 2 Permanently set at 4 30 For manufacturer s use 2 Permanently set at 0 31 For manufacturer s use 2...

Page 281: ...10 Timing Chart...

Page 282: ...ve system from when the control power is turned on until the control command is input Connect the control power supply DC24V and main power supply AC400V to the power supply module connector Servo on...

Page 283: ...nal allocation function The figure shows the case when brake release output BRK OFF is selected for SO1 or SO2 8 Object operation from the host controller is required for the PDS state transition of E...

Page 284: ...brake release output in the above figure to the mechanical brake output motor connector X105 BRK BRK pin set Pr4 59 Mechanical brake signal setting Refer to 2 4 I O signal allocation function when ass...

Page 285: ...e 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...

Page 286: ...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...

Page 287: ...105 BRK BRK pin set Pr4 59 Mechanical brake signal setting Refer to 2 4 I O signal allocation function when assigning the brake release output in the above figure to a general purpose output servo con...

Page 288: ...length of time set for Pr4 38 elapses but the brake operates at the time of transition to non energizing 5 The mechanical brake does not follow the brake release output BRK OFF but operates at the ti...

Page 289: ...is canceled once when an alarm is generated perform PSD transition from EtherCAT communication at the timing of section 10 2 Driver module servo ON OFF action while the motor is at stall servo lock wh...

Page 290: ...Timing Chart 10 10 Blank page...

Page 291: ...11 Power Supply Module...

Page 292: ...e power can be consumed by installing a regenerative resistor outside the power supply module Protective functions Control power supply monitoring Undervoltage Main power supply monitoring Overvoltage...

Page 293: ...o the same power supply module For details refer to 3 2 Node address setup in Inter module communication in this document Set the inter module communication node address ID to 1 for one of the driver...

Page 294: ...ommunication By replacing the Axis A side general purpose output 1 EX OUT1 with the contactor output MC OUT of the power supply module the contactor output can be controlled via EtherCAT communication...

Page 295: ...module parameters PSM Pr Name Setting range Shipping setting Unit Content 04 Contactor feedback monitoring setting 32768 to 32767 0 Sets up the function setting for each bit bit Content Logic 0 Monit...

Page 296: ...put circuit refer to the REFERENCE SPECIFICATIONS Power supply module section SX DSV03452 Name of signal Signal Connector pin No Content Contactor control 1 MC1 1 Magnetic contactor contactor control...

Page 297: ...ge exceeded the main power supply establishment voltage and the main power supply establishment wait time had elapsed OFF Main power shut off or power supply module alarm occurrence status Main power...

Page 298: ...r X103 3 Connect the control power supply common to the power supply module and driver module to the control power supply connector X11 and supply it to multiple driver modules through the control pow...

Page 299: ...d factor selection 0 to 4 0 Selects the operation method for the regenerative resistor load factor when an external regenerative resistor is selected PSM Pr 00 1 2 0 Regenerative overload protection i...

Page 300: ...ge alarm 02 69 2 PSM main power supply overvoltage alarm 05 PSM main power supply open phase alarm 06 PSM main power supply overcurrent alarm 07 69 3 PSM regenerative overload alarm 08 69 2 PSM regene...

Page 301: ...age of the converter section exceeded the specified value 1 Measure the line voltage of the connectors X102 terminal L1 L2 L3 and check for abnormal voltage fluctuations 2 Voltage jumps with phase adv...

Page 302: ...time Reduce the motor speed Change to a regenerative resistor with high regenerative processing capability Increased power supply module capacity 2 The regenerative overload protection function limits...

Page 303: ...fied value 1 Improve the power supply module ambient temperature and cooling conditions 2 Use in overload 2 Check the operation pattern of all motors connected to the driver module that supplies power...

Page 304: ...FICATIONS Power supply module section SX DSV03452 23 PSM inter module communication timeout alarm Replies to driver modules connected via inter module communication were not received more than the spe...

Page 305: ...M warning shown in the table below is detected on all axes of all driver modules connected to the power supply module by inter module communication Warning number Warning name Cause of warning PSM Dec...

Page 306: ...02 Main power off detection time 0 to 2000 70 ms Sets up the main power off detection time Main power off is not detected if the setting value is set smaller than 20 or is set to 2000 03 Main power of...

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Panasonic MINAS A6 Series, Technical Reference

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