Panasonic MINAS-A6B Series Specifications Download Page 10

Page: 10 / 91

No. SX-DSV03510 - 6 -

R1.0

Motion Control Business Unit, Panasonic Industry Co., Ltd.

5. Appearance and name of each part

Below figure shows linear / DD

/VCM type. Rotary type is not provided with X5

(feedback scale connector).

Summary of Contents for MINAS-A6B Series

Page 1: ...ct Name AC servo driver Product Series Name MINAS A6B series Product Model Number DC24 48 V type Motion Control Business Unit Industrial Device Business Division Panasonic Industry Co Ltd 7 1 1 Morofuku Daito City Osaka 574 0044 Japan If you have any questions please contact the seller Sales office or Distributor of the product ...

Page 2: ...No SX DSV03510 R1 0 Motion Control Business Unit Panasonic Industry Co Ltd REVISIONS Date Page Rev Description Signed July 19 2022 1 0 Newly issued ...

Page 3: ...wiring length 18 8 2 Cable Side connector 18 8 3 Precautions for wiring 19 8 3 1 Wiring to the power connector 19 8 3 2 Wiring to connectors X2A and X2B 21 8 3 3 Wiring to connector X4 22 8 3 4 Wiring to connector X5 24 8 3 5 Wiring to connector X6 26 8 4 Dynamic brake 29 8 5 Mounting direction and interval 29 9 Compliance with the international standards 30 9 1 List of compatible standards for th...

Page 4: ...DSV03510 R1 0 Motion Control Business Unit Panasonic Industry Co Ltd 14 Additional Precautions 39 15 Other notes of specification 40 16 Specifications for each model 41 Appendix List of Default Parameters 46 ...

Page 5: ... part is strictly prohibited 2 Due to product improvements this document is subject to change without notice 3 This product may be upgraded including revisions to specifications from the ETG Please note that we are not respo nsible for labor and costs associated with the version upgrade 4 This product makes use of open source software OSS Please refer to the technical documentation for details You...

Page 6: ...7 8 9 10 11 12 M V D L N 5 B B E Special specification alphanumeric Functionality E Rotary type L Linear DD VCM motor type Interface B EtherCAT Power supply voltage C DC 24 V B DC 48 V Type Servo driver Frame Size V Size V Family name L A6 series Safety function N No safety function Output category Indicates the difference in applicable motors or output ratings ...

Page 7: ...00W MQMF2JB 1 2 MHMF2JB 1 2 266W 2000r min Note 1 This is the Product code of our Servo Drive written in the ESI file Hex numeral 3 2 Linear DD VCM type Servo driver Applicable motor Model No Product Code Note 1 Size Power supply input Rated current Arms Maximum current Arms Carrier frequency 6 kHz 8 kHz 12 kHz MVDLN0CBL 60540047 V DC 24 V 0 6 0 9 MVDLN1CBL 60540048 1 5 2 MVDLN2CBL 60540044 2 5 4 ...

Page 8: ...der pulse A B phase or position comparison is output by using the line driver Communication USB USB interface to connect to computers setup software PANATERM for parameter setting or status monitoring USB cable connection is possible EtherCAT Real time operation command transmission parameter setting status monitoring etc Safety terminal Not supported Front panel Not supported Regenerative dischar...

Page 9: ...ed by parameter Pulse signal Output 3 outputs Encoder pulse A B phase or position comparison is output by using the line driver Communication USB USB interface to connect to computers setup software PANATERM for parameter setting or status monitoring USB cable connection is possible EtherCAT Real time operation command transmission parameter setting status monitoring etc Safety terminal Not suppor...

Page 10: ...X DSV03510 6 R1 0 Motion Control Business Unit Panasonic Industry Co Ltd 5 Appearance and name of each part Below figure shows linear DD VCM type Rotary type is not provided with X5 feedback scale connector ...

Page 11: ...te 1 9999 0001 9999 10000 10999 A000 A999 11000 11999 B000 B999 17000 17999 H000 H999 18000 18999 J000 J999 22000 22999 N000 N999 23000 23999 P000 P999 33000 33999 Z000 Z999 Product No I O voltage Number of I O phase Rated I O current I O frequency Rated output of applicable motor Country of origin Date of production 2 0 2 2 0 4 0 1 Date of production Month of production Year of production A D Cer...

Page 12: ...m occurs Lighting off Normally SRVON Servo ON LED Green Lighting on Servo ON Lighting off Servo OFF RUN RUN LED Green LED status indicate status of network communication For details of communication status please refer to Technical Reference EtherCAT Communication Specification ERR ERROR LED Red L A IN Link Activity IN LED Green L A OUT Link Activity OUT LED Green ...

Page 13: ...siness Unit Panasonic Industry Co Ltd 6 Outside dimensions Below figure shows linear DD VCM type Rotary type is not provided with X5 feedback scale connector Unit mm Do not use threaded screw holes that do not have description of dimensions ...

Page 14: ...2 210 Pin No Symbol Description Layout 1 P2 Line Input DC48 V or DC24 V Use stabilized DC power source with reinforced insulation 2 N2 Line There is no anti connection function on the driver Reverse connection is caused of failure Enough attention to the power supply wiring N pin of Main power supply connector XA 1 connect to control power supply connector XA 2 7 3 Motor Connector XB Servo driver ...

Page 15: ...rk output input TX RX 1 Connect to pin 1 on the RJ45 connector of communication node Network output input TX RX 2 Connect to pin 2 on the RJ45 connector of communication node Network input output RX TX 3 Connect to pin 3 on the RJ45 connector of communication node Unused 4 Connect to pin 4 on the RJ45 connector of communication node Unused 5 Connect to pin 5 on the RJ45 connector of communication ...

Page 16: ...I1 Control input 1 6 SI COM Control input common 7 SI2 Control input 2 8 SI3 Control input 3 9 SI4 Control input 4 10 SI5 Control input 5 11 SI6 Control input 6 12 SI7 Control input 7 13 SI8 Control input 8 14 No use 15 16 GND Signal ground 17 OA OCMP1 A phase output Position compare output 1 18 OA OCMP1 19 OB OCMP2 B phase output Position compare output 2 20 OB OCMP2 21 OCMP3 Position compare out...

Page 17: ...ions are allocated according to parameters For details refer to Technical reference Basic Functional Specifications Note that there are limitations on function allocation Control input 2 SI2 7 Control input 3 SI3 8 Control input 4 SI4 9 Control input 5 SI5 10 Control input 6 SI6 11 Control input 7 SI7 12 Control input 8 SI8 13 Output signal control Name Symbol Pin No Description Circuit Control ou...

Page 18: ...quency is 4 Mpps after quad edge evaluation This differential signal should be received by a line receiver AM26C32 or equivalent Connect a terminating resistor approx 330 Ω between the line receiver inputs Use a twisted pair cable with shield for wiring and connect the shield wire to the connector shell By setting bit 0 bit 2 1 of Pr4 47 Pulse output select position compare function can be availab...

Page 19: ...ted with the earth terminal inside the servo driver Note 1 The feedback scale power output EX0V is connected with the control circuit ground that is connected to connector X4 Note 2 The feedback scale power output EX5V should be 5 V 5 and 250 mA at the maximum When using an feedback scale whose consumption current exceeds this value external power supply should be prepared by the customer It may t...

Page 20: ...Pin No Description Circuit Layout CS signal input CS3 1 CS3 signal input i 2 CS2 2 CS2 signal input CS1 3 CS1 signal input CS signal power supply output E5V 4 CS signal power supply output Note 1 E0V 5 CS signal power supply output ground Note 2 Frame ground FG 6 FG Note 1 The CS signal power output E5V is connected with the control circuit ground that is connected to connector X5 inside the servo...

Page 21: ... X4 6 P P S S Equivalent of AM26C31 GND 16 Pins 17 20 21 18 19 22 Twisted pair Pins X4 1 3 14 25 X4 20 4 15 26 10 Ω VDC 12 24 V Note Connect a terminating resistor approx 330 Ω between the input terminals of the line receiver 1 kΩ 4 7 kΩ Relay Note To directly run the relay attach a diode in Parallel with the relay and in the direction shown in the figure above S G 5V i 2 Pins S X6 1 2 3 G X6 5 ...

Page 22: ...peration under the working environment of the customer The above wiring length is the maximum wiring length including tolerance of processing Note 2 It is supported for the linear DD VCM type only Note 3 For details refer to 8 3 2 Connection to connectors X2A and X2B 8 2 Cable Side connector Connector symbol Part name Part number Manufacturer XA 1 Receptacle Housing F31FSS 03V KX J S T Mfg Recepta...

Page 23: ...w figure shows a linear DD VCM type Rotary type is not provided with X5 feedback scale connector Below figure do not shows all pins of each connector P1 N1 FG P2 N2 XA 1 XA 2 U V W FG Green Red White Black XB Main Power Supply DC24 V 48 V Control Power Supply DC24 V 48 V X1 GND X2A X2B GND X4 EX0V X5 E0V X6 FG FG M Frame shell shell Servo driver ...

Page 24: ...river does not mount the inrush current limit circuit Inrush current is dependent on the characteristics and wiring impedance of the connection power please check the actual machine 4 Because this servo driver to assume a connection with a stabilized power supply is provided with reinforced insulation protective ground terminal is not available The case is functional earth FG 5 Insert the connecto...

Page 25: ...e 1 2 and 3 6 pins of the connector and do not connect anything to the 4 5 and 7 8 pins 5 The wiring length of the communication cable should be within the range that satisfies the following conditions Length between respective nodes within 50 m 6 Cable specifications including flexural property temperature range and materials used for covering are different according to manufacturers Select the c...

Page 26: ...s minimized within 3 m 3 Keep the wires away from the wiring of the power lines P1 N1 P2 N2 U V W FG as much as possible at least 30 cm Do not route the wires through the same duct and do not tie them together Control input The functions of pins SI1 SI8 should be allocated by parameters For details refer to Technical Reference Functional Specifications Servo driver 4 7 kΩ 1 kΩ 4 7 kΩ 1 kΩ 4 7 kΩ 1...

Page 27: ...by a logical circuit such as a gate be careful not to be affected by noise 4 The rated current maximum current and rush current applied to each output should be 40 mA 50 mA and 90 mA or less respectively 5 A limiting resistor 10 Ω is connected to the output circuit For the purpose of Darlington connection of the output transistor voltage between the collector and the emitter VCE SAT is approx 1 V ...

Page 28: ...driver side to the shell of X5 FG 5 Keep the wires away from the wiring of the power lines P1 N1 P2 N2 U V W FG as much as possible at least 30 cm Do not route the wires through the same duct and do not tie them together 6 Do not connect anything to the idle pin of X5 7 Power that can be supplied from X5 is max 5 V 5 and 250 mA When using a feedback scale whose consumption current exceeds this val...

Page 29: ...iring example of the serial communication type X5 EX5V 1 5V FG EX0V 2 0V 3 4 EXA 5 A EXB 7 B EXB 8 B EXZ 10 Z EXA 6 A EXZ 9 Z Regulator Cable Scale Servo driver Detectionhead Feedback scale unit X5 EX5V 1 5V FG EX0V 2 0V 3 4 EXPS 5 PS Serial signal 7 8 10 EXPS 6 PS Serial signal 9 Regulator Cable Scale Servo driver Detectionhead Feedback scale unit ...

Page 30: ...e of voltage drop 3 Be sure to connect the shield wires of the encoder cable to the FG terminal on the motor side and the shell of X6 FG on the servo driver side 4 Keep the wires away from the wiring of the power lines P1 N1 P2 N2 U V W FG as much as possible at least 30 cm Do not route the wires through the same duct and do not tie them together 5 Do not connect nothing to pin 1 When not use abso...

Page 31: ...ons of the positive and negative electrodes are correct 2 If the battery that has been used for a long period or the battery that cannot be used any more is kept set in the device troubles such as leakage may occur Replace it with a new one promptly As a guide it is recommended to replace the battery every two years The electrolytic solution of the battery is not only highly corrosive which corrod...

Page 32: ...shell and X6 FG 5 Keep away from the wiring of the power line P1 N1 P2 N2 U V W FG as much as possible 30 cm or more Please do not pass through the same duct or bind together 8 Please do not connect anything to empty pins of X6 9 The power supply that can be supplied from X6 is 5 V 5 250 mA MAX If you are using a feedback scale with more current consumption please prepare the power supply by the c...

Page 33: ...lied during operation of the dynamic brake which can cause smoking or ignition In addition the dynamic brake may be disconnected which can cause disabling the operation 3 If the dynamic brake is operated during high speed operation provide stop time for approx 10 minutes If the dynamic brake is used beyond that condition the brake may be disconnected which can cause disabling the operation 8 5 Mou...

Page 34: ...ive in order to facilitate compliance of embedded equipment and devices with the EU directive 9 2 1 Compliance with the EMC directive EN 55011 Warning Class A equipment is intended for use in an industrial environment Conductive and radioactive interference can make it difficult to ensure electromagnetic compatibility in other environments Caution This equipment is not intended for use in resident...

Page 35: ...arallel I O in compliance with the CE marking or the EN standard EN60950 9 3 3 Noise filter When using multiple units of servo drivers and installing one noise filter collectively in the power supply section consult with the noise filter manufacturer 9 3 4 Surge absorber Install a surge absorber on the primary side of the noise filter Request When performing a withstand test for the machines and d...

Page 36: ...uilt in function to protect against servo motor overload The overload protection function is operated based on the specified time limit characteristics when current has reached 115 or more of the rating The servo motor is not provided with an overheating protection function When it is necessary to satisfy the NEC implement overheating protection measures for the servo motor This servo driver has t...

Page 37: ... brake which is integrated into the servo driver resulting in smoke and dust being emitted Doing so may also cause the dynamic brake to become disconnected preventing it from functioning 4 Do not damage the cable apply undue stress to it place heavy objects on it or pinch it 5 Do not use with the cable submerged in oil or water 6 Do not install the product next to heating elements such as heaters ...

Page 38: ...re securely connected and that energized parts are insulated 23 Binding and inserting wires into a metal duct will cause the temperature to increase which will result in reduced wire current capacity and possibly lead to thermal damage Please consider the current reduction coefficient before deciding on how to wire the product 24 Make sure to install a molded case circuit breaker MCCB to the power...

Page 39: ...onnects in the event of an emergency stop 49 To perform a test run secure the motor and check its operation with it disconnected from the mechanical system then mount it onto the machine 50 Confirm that the input power supply voltage is in line with the servo driver specifications before turning it on and operating Entering a voltage higher than the rated voltage could cause smoke and dust to be e...

Page 40: ...ndent on the ambient temperature Make sure that the ambient temperature within 50 mm of the servo driver does not exceed the operating temperature range If the temperature cannot be measured from a distance of 50 mm measure at the midpoint of the gap between the obstacle preventing measurement and the servo driver Operating temperature range 0 55 C 50 mm 50 mm 50 mm Servo driver ...

Page 41: ...d life span have exceeded their respective life spans 12 2 Warranty coverage If the product fails during the warranty period for reason in which our company is at fault we will only replace or repair the defective parts of the device that were provided by us Please note that our above stated responsibility is limited to the replacement and repair of the equipment provided by us and that we do not ...

Page 42: ...vironment where only a limited number of parties are permitted access to the product This product is not to be installed in locations where the product and its accessories such as cables can be easily destroyed This product is to be used on a network that is not connected to the Internet If an external device such as a computer or tablet is connected to this product there are concerns about the ef...

Page 43: ... the product mounting screws should be chosen to avoid loosening or damage taking into account the strength of the screws used and the material to which they are mounted 8 Because noise resistance may be affected by wiring conditions e g grounding methods cable length signal wire shielding please confirm the noise resistance of your equipment 9 When disposing of the servo driver or motor treat the...

Page 44: ...SX DSV03510 40 R1 0 Motion Control Business Unit Panasonic Industry Co Ltd 15 Other notes of specification Main power supply and the control circuit are not isolated Please Insulate processing if necessary ...

Page 45: ...G14 16 AWG14 16 AWG14 16 Control power supply cable HVSF 0 5 0 75 mm2 HVSF 0 5 0 75 mm2 HVSF 0 5 0 75 mm2 HVSF 0 5 0 75 mm2 AWG18 20 AWG18 20 AWG18 20 AWG18 20 Functional Grounding cable HVSF 1 25 2 0 mm2 HVSF 1 25 2 0 mm2 HVSF 1 25 2 0 mm2 HVSF 1 25 2 0 mm2 AWG14 16 AWG14 16 AWG14 16 AWG14 16 Motor cable HVSF 1 25 2 0 mm2 HVSF 1 25 2 0 mm2 HVSF 1 25 2 0 mm2 HVSF 1 25 2 0 mm2 AWG14 16 AWG14 16 AWG...

Page 46: ...AWG14 18 AWG14 18 Control power supply cable HVSF0 5 0 75mm2 HVSF0 5 0 75mm2 HVSF0 5 0 75mm2 HVSF0 5 0 75mm2 AWG18 20 AWG18 20 AWG18 20 AWG18 20 Functional Grounding cable HVSF1 25 2 0mm2 HVSF1 25 2 0mm2 HVSF1 25 2 0mm2 HVSF1 25 2 0mm2 AWG14 16 AWG14 16 AWG14 16 AWG14 16 Motor cable HVSF0 5 2 0mm2 HVSF0 5 2 0mm2 HVSF0 75 2 0mm2 HVSF0 75 2 0mm2 AWG14 20 AWG14 20 AWG14 18 AWG14 18 Rush current suppr...

Page 47: ...5 C Main power supply cable HVSF1 25 2 0mm2 HVSF1 25 2 0mm2 AWG14 16 AWG14 16 Control power supply cable HVSF0 5 0 75mm2 HVSF0 5 0 75mm2 AWG18 20 AWG18 20 Functional Grounding cable HVSF1 25 2 0mm2 HVSF1 25 2 0mm2 AWG14 16 AWG14 16 Motor cable HVSF1 25 2 0mm2 HVSF1 25 2 0mm2 AWG14 16 AWG14 16 Rush current suppression No limit by driver No limit by driver Regenerative discharge Not supported Not su...

Page 48: ...G14 18 AWG14 18 Control power supply cable HVSF0 5 0 75mm2 HVSF0 5 0 75mm2 HVSF0 5 0 75mm2 HVSF0 5 0 75mm2 AWG18 20 AWG18 20 AWG18 20 AWG18 20 Functional Grounding cable HVSF1 25 2 0mm2 HVSF1 25 2 0mm2 HVSF1 25 2 0mm2 HVSF1 25 2 0mm2 AWG14 16 AWG14 16 AWG14 16 AWG14 16 Motor cable HVSF0 5 2 0mm2 HVSF0 5 2 0mm2 HVSF0 75 2 0mm2 HVSF0 75 2 0mm2 AWG14 20 AWG14 20 AWG14 18 AWG14 18 Rush current suppres...

Page 49: ... C Main power supply cable HVSF1 25 2 0mm2 HVSF1 25 2 0mm2 AWG14 16 AWG14 16 Control power supply cable HVSF0 5 0 75mm2 HVSF0 5 0 75mm2 AWG18 20 AWG18 20 Functional Grounding cable HVSF1 25 2 0mm2 HVSF1 25 2 0mm2 AWG14 16 AWG14 16 Motor cable HVSF1 25 2 0mm2 HVSF1 25 2 0mm2 AWG14 16 AWG14 16 Rush current suppression No limit by driver No limit by driver Regenerative discharge Not supported Not sup...

Page 50: ...anasonic Industry Co Ltd Appendix List of Default Parameters The following pages show default parameters set when the servo driver is shipped from the factory Operation must be confirmed for each customer machine before use and the optimal parameters set ...

Page 51: ...use 1 11 Output pulse counts per one motor revolution 2500 12 Reversal of pulse output logic Output source selection 0 13 2 1st torque limit 500 14 Position deviation excess setup 83886080 15 Absolute encoder setup 1 16 External regenerative resistor setup 3 17 Load factor of external regenerative resistor selection 0 18 For Manufacturer s use 0 Default value of the parameters 1 11 PARAMETER 1 Whe...

Page 52: ... use 0 13 1 Torque feed forward filter 0 00 44 For Manufacturer s use 0 75 For Manufacturer s use 0 14 2nd gain setup 1 45 For Manufacturer s use 0 76 For Manufacturer s use 0 15 Mode of position control switching 0 46 For Manufacturer s use 0 77 For Manufacturer s use 0 16 1 Delay time of position control switching 1 0 47 For Manufacturer s use 0 78 For Manufacturer s use 0 17 Level of position c...

Page 53: ...on 2 12 4th notch depth selection 0 13 Selection of damping filter switching 0 14 1 1st damping frequency 0 0 15 1 1st damping filter setup 0 0 16 1 2nd damping frequency 0 0 17 1 2nd damping filter setup 0 0 18 1 3rd damping frequency 0 0 19 1 3rd damping filter setup 0 0 20 1 4th damping frequency 0 0 21 1 4th damping filter setup 0 0 22 1 Command smoothing filter 9 2 23 1 Command FIR filter 1 0...

Page 54: ...e setup 0 15 No use 16 No use 17 Selection of speed limit 2 18 No use 19 No use 20 No use 21 For Manufacturer s use 0 22 For Manufacturer s use 0 23 External scale selection 0 24 Numerator of external scaledivision 0 25 Denominator of external scaledivision 10000 26 Reversal of direction ofexternal scale 0 27 External scale Z phase disconnection detection disable 0 28 Hybrid deviation excess setup...

Page 55: ...use 13 No use 44 1 Position comparison output pulse width setting 0 14 No use 45 Position comparison output polarity selection 0 15 No use 46 No use 16 Type of analog monitor 1 0 47 Pulse output selection 0 17 Analog monitor 1 output gain 0 48 Position comparison value 1 0 18 Type of analog monitor 2 4 49 Position comparison value 2 0 19 Analog monitor 2 output gain 0 50 Position comparison value ...

Page 56: ...speed level setup 0 44 No use 75 Deterioration diagnosis velocity setting 0 14 1 Motor working range setup 1 0 45 1 Quadrant glitch positive direction compensation value 0 0 76 Deterioration diagnosis torque average time 0 15 Control input signal reading setup 0 46 1 Quadrant glitch negative direction compensation value 0 0 77 1 Deterioration diagnosis torque upper limit 0 0 16 Alarm clear input A...

Page 57: ...ant 0 00 73 1 Load estimation filter 0 00 12 No use 43 Two stage torque filter attenuation term 1000 74 1 Torque compensation frequency 1 0 0 13 No use 44 No use 75 1 Torque compensation frequency 2 0 0 14 Emergency stop time at alarm 200 45 No use 76 Load estimation count 0 15 2nd over speed level setup 0 46 No use 77 No use 16 No use 47 Function expansion settings 2 1 78 No use 17 No use 48 1 Ad...

Page 58: ...r Manufacturer s use 0 46 No use 77 No use 108 For Manufacturer s use 7 16 Torque saturation error protection frequency 0 47 No use 78 No use 109 For Manufacturer s use 0 17 No use 48 No use 79 For Manufacturer s use 0 110 4 Communication function expansion settings 7 0 18 Backlash compensation value holding range 0 49 No use 80 No use 111 No use 19 No use 50 No use 81 No use 112 No use 20 No use ...

Page 59: ...No use 9 No use 10 For Manufacturer s use 0 11 No use 12 For Manufacturer s use 0 13 For Manufacturer s use 0 14 For Manufacturer s use 0 15 For Manufacturer s use 0 16 No use 17 Relative movement of retracting operation 0 18 Retracting operation speed 0 19 For Manufacturer s use 0 Default value of the parameters 9 11 PARAMETER MINAS A6BE SizeV series 1 When checking directly value of parameter fi...

Page 60: ...e 80 43 No use 13 For Manufacturer s use 50 44 No use 14 For Manufacturer s use 10 45 No use 15 No use 46 No use 16 No use 47 No use 17 For Manufacturer s use 0 48 For Manufacturer s use 0 18 For Manufacturer s use 0 49 For Manufacturer s use 0 19 For Manufacturer s use 0 50 For Manufacturer s use 0 20 For Manufacturer s use 0 21 For Manufacturer s use 0 22 For Manufacturer s use 200 23 For Manufa...

Page 61: ...se 7 No use 8 No use 9 No use 10 No use 11 No use 12 No use 13 No use 14 No use 15 No use 16 For Manufacturer s use 2 17 For Manufacturer s use 4 18 No use 19 No use 20 No use 21 No use 22 No use 23 No use 24 No use 25 No use 26 No use 27 No use 28 No use 29 No use 30 For Manufacturer s use 0 Default value of the parameters 11 11 PARAMETER MINAS A6BE SizeV series 1 When checking directly value of ...

Page 62: ...turer s use 1 11 Numerator of pulse output division 2500 12 Reversal of pulse output logic output source selection 0 13 2 1st torque limit 500 14 Position deviation excess setup 100000 15 For manufacturer s use 1 16 External regenerative resistor setup 3 17 Load factor of external regenerative resistor selection 0 18 For manufacturer s use 0 Default value of the parameters 1 11 MINAS A6BL SizeV se...

Page 63: ... use 0 13 1 Torque feed forward filter 0 00 44 For manufacturer s use 0 75 For manufacturer s use 0 14 2nd gain setup 1 45 For manufacturer s use 0 76 For manufacturer s use 0 15 Mode of position control switching 0 46 For manufacturer s use 0 77 For manufacturer s use 0 16 1 Delay time of position control switching 1 0 47 For manufacturer s use 0 78 For manufacturer s use 0 17 Level of position c...

Page 64: ...on 2 12 4th notch depth selection 0 13 Selection of damping filter switching 0 14 1 1st damping frequency 0 0 15 1 1st damping filter setup 0 0 16 1 2nd damping frequency 0 0 17 1 2nd damping filter setup 0 0 18 1 3rd damping frequency 0 0 19 1 3rd damping filter setup 0 0 20 1 4th damping frequency 0 0 21 1 4th damping filter setup 0 0 22 1 Command smoothing filter 9 2 23 1 Command FIR filter 1 0...

Page 65: ...eration deceleration time setup 0 15 No use 16 No use 17 Selection of speed limit 2 18 No use 19 No use 20 No use 21 For manufacturer s use 0 22 For manufacturer s use 0 23 Feedback scale selection 0 24 For manufacturer s use 0 25 For manufacturer s use 1 26 Reversal of direction of feedback scale 0 27 Feedback scale Z phase disconnection detection disable 0 28 For manufacturer s use 1 29 For manu...

Page 66: ... use 13 No use 44 Position comparison output pulse width setting 0 14 No use 45 Position comparison output polarity selection 0 15 No use 46 No use 16 Type of analog monitor 1 0 47 Pulse output selection 0 17 Analog monitor 1 output gain 0 48 Position comparison value 1 0 18 Type of analog monitor 2 4 49 Position comparison value 2 0 19 Analog monitor 2 output gain 0 50 Position comparison value 3...

Page 67: ...eed level setup 0 44 No use 75 Deterioration diagnosis velocity setting 0 14 1 Motor working range setup 1 0 45 1 Quadrant glitch positive direction compensation value 0 0 76 Deterioration diagnosis torque average time 0 15 Control input signal reading setup 0 46 1 Quadrant glitch negative direction compensation value 0 0 77 1 Deterioration diagnosis torque upper limit 0 0 16 Alarm clear input A C...

Page 68: ...t 0 00 73 1 Load estimation filter 0 00 12 No use 43 Two stage torque filter attenuation term 1000 74 1 Torque compensation frequency 1 0 0 13 No use 44 No use 75 1 Torque compensation frequency 2 0 0 14 Emergency stop time at alarm 200 45 No use 76 Load estimation count 0 15 2nd over speed level setup 0 46 No use 77 No use 16 No use 47 Function expansion settings 2 1 78 No use 17 No use 48 1 Adju...

Page 69: ...facturer s use 0 46 No use 77 No use 108 For manufacturer s use 7 16 Torque saturation error protection frequency 0 47 No use 78 No use 109 For manufacturer s use 0 17 No use 48 No use 79 For manufacturer s use 0 110 4 Communication function expansion settings 7 0 18 For manufacturer s use 0 49 No use 80 No use 111 No use 19 No use 50 No use 81 No use 112 No use 20 No use 51 No use 82 No use 113 1...

Page 70: ...No use 9 No use 10 For manufacturer s use 0 11 No use 12 For manufacturer s use 0 13 For manufacturer s use 0 14 For manufacturer s use 0 15 For manufacturer s use 0 16 No use 17 Relative movement of retracting operation 0 18 Retracting operation speed 0 19 For manufacturer s use 0 Default value of the parameters 9 11 1 When checking directly value of parameter file with a text data etc it does no...

Page 71: ...No use 46 No use 16 No use 47 No use 17 For manufacturer s use 0 48 Voltage feed forward gain 1 0 18 For manufacturer s use 0 49 Voltage feed forward gain 2 0 19 For manufacturer s use 0 50 For manufacturer s use 0 20 Magnetic poles detection method selection 0 21 CS phase setting 0 22 Thrust command time for estimating magnetic poles position 200 23 Command thrust for estimating magnetic poles po...

Page 72: ...se 7 No use 8 No use 9 No use 10 No use 11 No use 12 No use 13 No use 14 No use 15 No use 16 For manufacturer s use 2 17 For manufacturer s use 4 18 No use 19 No use 20 No use 21 No use 22 No use 23 No use 24 No use 25 No use 26 No use 27 No use 28 No use 29 No use 30 For manufacturer s use 0 Default value of the parameters 11 11 1 When checking directly value of parameter file with a text data et...

Page 73: ... Read Only Diagnosis history 00h Number of entries Read Only 01h Maximum messages Read Only 02h Newest message Read Only 03h Newest acknowledged message 0 04h New messages available Read Only 05h Flags 39 06h Diagnosis message 1 Read Only 07h Diagnosis message 2 Read Only 08h Diagnosis message 3 Read Only 09h Diagnosis message 4 Read Only 0Ah Diagnosis message 5 Read Only 0Bh Diagnosis message 6 R...

Page 74: ...th receive PDO mapped 0 0Bh 11th receive PDO mapped 0 0Ch 12th receive PDO mapped 0 0Dh 13th receive PDO mapped 0 0Eh 14th receive PDO mapped 0 0Fh 15th receive PDO mapped 0 10h 16th receive PDO mapped 0 11h 17th receive PDO mapped 0 12h 18th receive PDO mapped 0 13h 19th receive PDO mapped 0 14h 20th receive PDO mapped 0 15h 21st receive PDO mapped 0 16h 22nd receive PDO mapped 0 17h 23rd receive...

Page 75: ...pped 0 0Ah 10th receive PDO mapped 0 0Bh 11th receive PDO mapped 0 0Ch 12th receive PDO mapped 0 0Dh 13th receive PDO mapped 0 0Eh 14th receive PDO mapped 0 0Fh 15th receive PDO mapped 0 10h 16th receive PDO mapped 0 11h 17th receive PDO mapped 0 12h 18th receive PDO mapped 0 13h 19th receive PDO mapped 0 14h 20th receive PDO mapped 0 15h 21st receive PDO mapped 0 16h 22nd receive PDO mapped 0 17h...

Page 76: ... 0 0Ah 10th receive PDO mapped 0 0Bh 11th receive PDO mapped 0 0Ch 12th receive PDO mapped 0 0Dh 13th receive PDO mapped 0 0Eh 14th receive PDO mapped 0 0Fh 15th receive PDO mapped 0 10h 16th receive PDO mapped 0 11h 17th receive PDO mapped 0 12h 18th receive PDO mapped 0 13h 19th receive PDO mapped 0 14h 20th receive PDO mapped 0 15h 21st receive PDO mapped 0 16h 22nd receive PDO mapped 0 17h 23r...

Page 77: ...DO mapped 0 0Ah 10th receive PDO mapped 0 0Bh 11th receive PDO mapped 0 0Ch 12th receive PDO mapped 0 0Dh 13th receive PDO mapped 0 0Eh 14th receive PDO mapped 0 0Fh 15th receive PDO mapped 0 10h 16th receive PDO mapped 0 11h 17th receive PDO mapped 0 12h 18th receive PDO mapped 0 13h 19th receive PDO mapped 0 14h 20th receive PDO mapped 0 15h 21st receive PDO mapped 0 16h 22nd receive PDO mapped ...

Page 78: ...ed 0 0Ah 10th transmit PDO mapped 0 0Bh 11th transmit PDO mapped 0 0Ch 12th transmit PDO mapped 0 0Dh 13th transmit PDO mapped 0 0Eh 14th transmit PDO mapped 0 0Fh 15th transmit PDO mapped 0 10h 16th transmit PDO mapped 0 11h 17th transmit PDO mapped 0 12h 18th transmit PDO mapped 0 13h 19th transmit PDO mapped 0 14h 20th transmit PDO mapped 0 15h 21st transmit PDO mapped 0 16h 22nd transmit PDO m...

Page 79: ...627193376 0Ah 10th transmit PDO mapped 0 0Bh 11th transmit PDO mapped 0 0Ch 12th transmit PDO mapped 0 0Dh 13th transmit PDO mapped 0 0Eh 14th transmit PDO mapped 0 0Fh 15th transmit PDO mapped 0 10h 16th transmit PDO mapped 0 11h 17th transmit PDO mapped 0 12h 18th transmit PDO mapped 0 13h 19th transmit PDO mapped 0 14h 20th transmit PDO mapped 0 15h 21st transmit PDO mapped 0 16h 22nd transmit ...

Page 80: ...627193376 0Ah 10th transmit PDO mapped 0 0Bh 11th transmit PDO mapped 0 0Ch 12th transmit PDO mapped 0 0Dh 13th transmit PDO mapped 0 0Eh 14th transmit PDO mapped 0 0Fh 15th transmit PDO mapped 0 10h 16th transmit PDO mapped 0 11h 17th transmit PDO mapped 0 12h 18th transmit PDO mapped 0 13h 19th transmit PDO mapped 0 14h 20th transmit PDO mapped 0 15h 21st transmit PDO mapped 0 16h 22nd transmit ...

Page 81: ... 23rd transmit PDO mapped 0 18h 24th transmit PDO mapped 0 19h 25th transmit PDO mapped 0 1Ah 26th transmit PDO mapped 0 1Bh 27th transmit PDO mapped 0 1Ch 28th transmit PDO mapped 0 1Dh 29th transmit PDO mapped 0 1Eh 30th transmit PDO mapped 0 1Fh 31st transmit PDO mapped 0 20h 32nd transmit PDO mapped 0 Sync manager communication type 00h Number of used sync manager channels Read Only 01h Commun...

Page 82: ...ead Only 0Bh Cycle time too small Read Only 0Ch SM event missed Read Only 0Dh Shift time too short Read Only 0Eh RxPDO toggle failed Read Only 20h Sync error Read Only Sync manager 3 synchronization 00h Number of sub objects Read Only 01h Sync mode 2 02h Cycle time Read Only 03h Shift time 0 04h Sync modes supported Read Only 05h Minimum cycle time Read Only 06h Calc and copy time Read Only 08h Co...

Page 83: ...2h Special function start flag 2 0 03h For manufacturer s use 0 4D01h 00h Special function setting 9 0 External scale ID 00h Number of entries Read Only 01h External scale vendor ID Read Only 02h External scale model ID Read Only For manufacturer s use 00h Number of entries 01h For manufacturer s use 02h For manufacturer s use 4D12h 00h Motor serial number Read Only 4D13h 00h For manufacturer s us...

Page 84: ...Eh For manufacturer s use 0Fh For manufacturer s use 10h Overload ratio Read Only 11h Regenerative load ratio Read Only 12h Voltage across PN Read Only 13h Temperature of amplifier Read Only 14h Warning flags Read Only 15h Inertia ratio Read Only 16h For manufacturer s use 17h For manufacturer s use 18h For manufacturer s use 19h Temperature of encoder Read Only 1Ah For manufacturer s use 1Bh For ...

Page 85: ... alarm information 2 Read Only 03h Multiple alarm information 3 Read Only 04h Multiple alarm information 4 Read Only 05h For manufacturer s use 06h For manufacturer s use 07h For manufacturer s use 08h For manufacturer s use 09h For manufacturer s use 0Ah For manufacturer s use 0Bh For manufacturer s use 0Ch For manufacturer s use 0Dh For manufacturer s use 0Eh For manufacturer s use 0Fh For manuf...

Page 86: ...ead Only 4F89h 00h External scale status Read Only 4F8Ah 00h External scale Z phase counter Read Only 4F8Ch 00h External scale single turn data Read Only 4F91h 00h Estimation accuracy of magnetic pole position Read Only 4F92h 00h Execution time of estimation of magnetic pole position Read Only 4F93h 00h Maximum travel distance to plus direction when estimating magnetic pole position Read Only 4F94...

Page 87: ... For manufacturer s use For manufacturer s use 00h Number of entries Read Only 01h For manufacturer s use 02h For manufacturer s use For manufacturer s use 00h Number of entries Read Only 01h For manufacturer s use 02h For manufacturer s use 4FFDh 00h For manufacturer s use Read Only 4FFFh 00h Target position echo Read Only 4FF7h 4FF8h ...

Page 88: ...dix3 16 19 EtherCAT Object Initial value Drive profile area 5000h 5FFFh 5350h 00h Homing torque limit value 0 5351h 00h Homing detection time 0 5352h 00h Homing detection velocity value 0 Index Sub Index Name Initial value ...

Page 89: ...d Only 606Dh 00h Velocity window 52429 606Eh 00h Velocity window time 0 606Fh 00h Velocity threshold 52429 6070h 00h Velocity threshold time 0 6071h 00h Target torque 0 6072h 00h Max torque 5000 6073h 00h Max current Read Only 6074h 00h Torque demand Read Only 6075h 00h Motor rated current Read Only 6076h 00h Motor rated torque Read Only 6077h 00h Torque actual value Read Only 6078h 00h Current ac...

Page 90: ...r zero 87381 609Ah 00h Homing acceleration 1000000 60A3h 00h Profile jerk use 1 Profile jerk 00h Highest sub index supported Read Only 01h Profile jerk1 0 02h Profile jerk2 0 60B0h 00h Position offset 0 60B1h 00h Velocity offset 0 60B2h 00h Torque offset 0 60B8h 00h Touch probe function 0 60B9h 00h Touch probe status Read Only 60BAh 00h Touch probe pos1 pos value Read Only 60BBh 00h Touch probe po...

Page 91: ...13h 19th supported homing method Read Only 14h 20th supported homing method Read Only 15h 21st supported homing method Read Only 16h 22nd supported homing method Read Only 17h 23rd supported homing method Read Only 18h 24th supported homing method Read Only 19h 25th supported homing method Read Only 1Ah 26th supported homing method Read Only 1Bh 27th supported homing method Read Only 1Ch 28th supp...

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