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LIQI

Page 5

Pr1.11 Velocity feed forward filter

Range

Default

Unit

0 – 6400

50

0.01ms

Pr1.12 Torque feed forward gain

Range

Default

Unit

0 – 1000

0

0.10%

Pr1.13 Torque feed forward filter

Range

Default

Unit

0 – 6400

0

0.01ms

Pr1.14

Range

Default

Unit

0 – 1

1

-

Pr1.15 Mode of position control switching

Range

Default

Unit

0 – 10

0

-

Pr1.16 Delay time of position control switching

Range

Default

Unit

0 – 10000

50

0.1ms

Pr1.17 Level of position control switching

Range

Default

Unit

0 – 20000

50

-

Pr1.18

Range

Default

Unit

0 – 20000

33

-

Pr1.19 Position gain switching time

Range

Default

Unit

0 – 10000

33

0.1ms

* for more detail please refer Panasonic A5 manual

2

nd

 Gain setup

Hysteresis at position control switching 

Содержание LIQI

Страница 1: ...Panasonic LIQI ...

Страница 2: ...travel inhibition input CCW over travel inhibition input COM Servo Alarm output Servo ready output Brake release output 8 9 10 11 26 20 21 22 23 Command Pulse Input 13 14 15 16 17 18 PULS1 PULS2 SIGN1 SIGN2 OA OA OB OB OZ OZ CZ Open collector Z phase output CNX5 Output Pulses Interface wiring diagram GND Signal Ground insulated from COM 12 19 ...

Страница 3: ...A 10 10A 20 20A 30 30A Power supply rating 2 Single phase 220V T2 15A T3 30A Model Designation Code Motor M H M J 0 4 2 P 1 1 2 3 4 5 6 7 8 9 Motor type Rated Output Power supply rating 2 Single phase 220V A 10 MHMJ High Inertia type 04 400W 08 750W 10 1 0kW 12 1 2kW Rotary Encoder Specifications P Incremental 2500 PPR Design Order 1 Standard B Size B C Size C ...

Страница 4: ...de Position command Response frequency 1kHz Pulse command up to 500kHz Advanced PANATERM software Real time auto gain tuning USB interface for PANATERM software Gain setting through RSW or software Vibration filters and notch filters for smooth operation IP65 protection Ambient temperature 0 to 50 C Basic Features ...

Страница 5: ...ration noise 2 Minimize vibration noise 3 Offer serviceable accessary 3 Offer serviceable accessary MINAS LIQI can 1䋰䋰䋰䌫䌈䌺䋣 Response frequency 2500ppr Encoder Lower cogging torque ᝄ ᝄ Notch Filter Adaptive Filter 500KPPS Input Output pulse 䌐䌁䌎䌁䌔䌅䌒䌍 New PANATERM Selection software CAD data Real auto tuning ...

Страница 6: ... O pulses 500kHz 2 Intelligent Highly functional Real time Auto Gain tuning Manual Auto Damping filters Manual Auto Notch filters 3 Compact New Structure Innovative Core Innovation Encoder 4 Easy Set up support software PANATERM Motor Selection Software RSW on front panel for Stiffness setting ...

Страница 7: ...ct Line up Rated Voltage Size Partᴾ Number Rated Output Motor 50W MSMD5AZJ1 100W MSMD012J1 MSMD022J1 MBDJT2207 200W MHMD022J1 MSMD042J1 Typeᴾ B MBDJT2210 400W MHMJ042P1 MSMD082J1 MCDJT3220 750W MHMJ082P1 MHMD102J1 1000W MHMJ102P1 1 AC220 240V Typeᴾ C MCDJT3230 1200W MHMJ122P1 ...

Страница 8: ...ctor output also available for Z or EXZ signal Communication USB USB interface to connect to computers for parameter setting or status monitoring digit 7 segment LEDˈ digit 56 External regen resistor only Dynamic Brake Built in Basic Dimensions Control Mode position control Digital Input Deviation counter clear Command pulse inhibition Command scaling switch Anti vibration switch Digital Output In...

Страница 9: ...ection 01234 X1 USB Connection 56 7869 7 4 X2 Parallel I O Connection 8 2 74 X3 Encoder Connection 2 1 74 9ABCDE FGHBIJ 29 K7L 2K24 0CMN OCBN URQW 3DQHO DVH 6FUHZ DUWK 7HUPLQDO U V W 0RWRU Connection Terminal B1 B2 5HJHQHUDWLYH LVFKDUJH 5HVLVWRU RQQHFWLRQ 7HUPLQDO L1C L2C RQWURO Power Supply Input Terminal L1 L2 0DLQ Power Supply Input Terminal ...

Страница 10: ...ly Connection 01234 X1 USB Connection 56 7869 7 4 X2 Parallel I O Connection 8 2 74 X3 Encoder Connection 2 1 74 9ABCDE FGHBIJ 29 K7L 2K24 DVH 6FUHZ DUWK 7HUPLQDO B1 B2 5HJHQHUDWLYH LVFKDUJH 5HVLVWRU RQQHFWLRQ 7HUPLQDO L1 L2 L1C L2C U V W 0DLQ Power Supply Input Terminal 0RWRU Connection Terminal RQWURO Power Supply Input Terminal ...

Страница 11: ...istory Name Symbol Connector Pin No Description VBUS 1 D 2 USB signal D 3 Communicate with a computer or a controller For manufacturer use 4 Do not connect Signal ground GND 5 Signal ground 6 I O Connector X Common Digital Inputs Name Symbol Connect or Pin Description Interface Circuit Multi function input 1 SI1 Multi function input 2 SI2 Multi function input 3 SI3 Multi function input 4 SI4 Multi...

Страница 12: ...h 2 VS SEL2 This is vibration suppression switch input Gain switch GAIN This is gain switch input Alarm clear A CLR Alarm condition is released DIV1 Command scaling switch DIV2 Switch the command pulse electric gear numerator 12 3 4 56 7 89 89 5 5 A BC 43 B D BB 6 E Command pulse inhibition INH This is command pulse input prohibit input INH Torque command sign input FGHIJG H Set up the torque limi...

Страница 13: ...ng input 1 VS SEL1 0Ah 8Ah Damping control switching input 2 VS SEL2 0Bh 8Bh Electronic gear switching input 1 DIV1 0Ch 8Ch Electronic gear switching input 2 DIV2 0Dh 8Dh Donotsetup 0EhN13h 8EhN93h Forced alarm input E STOP 14h 94h Donotsetup 15h 95h Attention ODo not setup to value other than that specified in the table ODo not assign specific function to 2 or more signals Duplicated assignment w...

Страница 14: ...ector Pin No Description Circuit PULSH1 Command pulse input 1 PULSH2 SIGNH1 Command direction input 1 SIGNH2 Input terminal for the position command pulse It can be selected by setting corresponding parameters Disabled in such control modes as the speed control or the torque control which does not require position commands The maximum allowable input frequency is 500kpps Di Output signals Common a...

Страница 15: ... Name Symbol 3LQ Description Servo alarm ALM Digital output to indicate alarm status Servo ready S RDY 10 AMP turn on electricity signal Motor holding break release BRK OFF Digital output to provide the timing signal to control the motor holding brake Zero speed ZSP Digital output to indicate the zero speed status Torque limited TLC Digital output to indicate the torque is limited In INP P Digital...

Страница 16: ...output P ON 10h Attention OSame function can be assigned to 2 or more output signals OControl output pin set to invalid always has the output transistor turned OFF ODo not change the setup value shown in the table Others Name Symbol Connector Pin No Description Circuit COM Connect to the W terminal of an external DC power supply 12 to 24 V Use a 12 V 5 to 24 V 5 power supply Power supply input COM...

Страница 17: ...nterface X Q Y Q or 2 3 4 5 6 7 pin 8 9 10pin 11pin Note0 If you want to directlydrivera relay In parallel with the relay Please install the diode in the direction shown above VCEsat 1 2V 123456 7 48 9 Equi val ent 12 15 17pin 14 16 18 pin R For open collector 2 21 23 20 22 0 123 345 604677 89 R ...

Страница 18: ... U U phase V V phase W W phase B1 gray B2 gray Regen resistor connection If the drive gets over regeneration alarm connect an external regen resistor prepared by customer between B1 and B2 L1C red 5 L2C red Control power supply input 220V Single phase 220 240 10 50 60Hz input L1 black 5 X4 L2 black Main power supply input 220V Single phase 220 240 10 50 60Hz input Earth Earth terminal for groundin...

Страница 19: ...8 8 71 91 88 88 7 9 8 8 7 9 81 81 7 9 8 8 7 9 8 8 5 3 3 8 8 1 1 1 1 8 8 Impossible Operation method When power is turned on after the show check pattern and displays the following normal If you operate the RSW LED displays a real time stiffness after adjustment for the RSW However in the event that an alarm occurs alarm codes main and sub display ADuring warnings occur the display will flash slowl...

Страница 20: ...mode 5 6 Customized for more detail please refer Panasonic A5 manual Setup the relation between the direction of command and direction of motor rotation 1 Motor runs in CCW in response to positive direction command Setup Value Basic mode Do not use unbalanced load friction compensation or gain switching With additional features to the positioning mode use this mode to positively and effectively co...

Страница 21: ...Denominator of electronic gear Range Default Unit 10000 Pr0 11 Range Default Unit 0 262144 2500 Pulses Pr0 12 Reversal of pulse output logic Range Default Unit 0 3 0 1 or 3 Reversal Pr0 13 Range Default Unit 0 500 300 for more detail please refer Panasonic A5 manual Selection of machine stiffness at real time auto tuning setup Command pulse rotational direction setup Command pulse counts per motor...

Страница 22: ...lute encoder setup Range Default Unit 0 2 1 Pulses 0 Use as an absolute encoder Pr0 16 External regenerative resistor setup Range Default Unit 0 3 for more detail please refer Panasonic A5 manual 0 134 217 728 1 Use as an incremental encoder 2 Use as an absolute encoder but ignore multi turn count over ...

Страница 23: ... 0 10000 600 0 1ms Pr1 08 Range Default Unit 0 5 0 Pr1 09 Range Default Unit 0 2500 300 0 01ms Pr1 10 Velocity feed forward gain Range Default Unit 0 1000 300 0 10 for more detail please refer Panasonic A5 manual 1st Gain of position loop 1st Gain of velocity loop 1st Time constant of velocity loop integration 1st Filter of speed detection 1st time constant of torque filter 2nd Gain of position lo...

Страница 24: ... 0 1 1 Pr1 15 Mode of position control switching Range Default Unit 0 10 0 Pr1 16 Delay time of position control switching Range Default Unit 0 10000 50 0 1ms Pr1 17 Level of position control switching Range Default Unit 0 20000 50 Pr1 18 Range Default Unit 0 20000 33 Pr1 19 Position gain switching time Range Default Unit 0 10000 33 0 1ms for more detail please refer Panasonic A5 manual 2nd Gain s...

Страница 25: ...2 06 Range Default Unit 0 99 0 Pr2 07 Range Default Unit 50 5000 5000 Hz Pr2 08 Range Default Unit 0 20 2 Pr2 09 Range Default Unit 0 99 0 Pr2 10 Range Default Unit 50 5000 5000 Hz for more detail please refer Panasonic A5 manual 1st Notch frequency 1st Notch width selection 1st Notch depth selection 2nd Notch frequency 2nd Notch width selection 2nd Notch depth selection 3rd Notch frequency 3rd No...

Страница 26: ...00 0 0 1Hz Pr2 20 Range Default Unit 0 2000 0 0 1Hz Pr2 15 Range Default Unit 0 1000 0 0 1Hz Pr2 17 Range Default Unit 0 1000 0 0 1Hz Pr2 19 Range Default Unit 0 1000 0 0 1Hz Pr2 21 Range Default Unit 0 1000 0 0 1Hz for more detail please refer Panasonic A5 manual 4th Notch width selection 4th Notch depth selection 1st Damping frequency 3rd Damping frequency 4th Damping frequency 1st Damping filte...

Страница 27: ...6777225 4 Pr4 02 SI3 input selection Range Default Unit 0 16777225 7 Pr4 03 SI4 input selection Range Default Unit 0 16777225 136 Pr4 04 SI5 input selection Range Default Unit 0 16777225 130 Pr4 05 SI6 input selection Range Default Unit 0 16777225 129 Pr4 10 S01 output selection Range Default Unit 0 16777225 1 Pr4 11 SO2 output selection Range Default Unit 0 16777225 4 Pr4 12 SO3 output selection ...

Страница 28: ...arm clear input A CLR 04h Do not setup Reserve 05h 85h Gain switching input GAIN 06h 86h Deviation counter clear input 2 CL 07h Do not setup Command pulse inhibition input 3 INH 08h 88h Torque limit switching input TL SEL 09h 89h Damping control switching input 1 VS SEL1 0Ah 8Ah Damping control switching input 2 VS SEL2 0Bh 8Bh Electronic gear switching input 1 DIV1 0Ch 8Ch Electronic gear switchi...

Страница 29: ... output 2 WARN2 0Ah Positional command ON OFF output P CMD 0Bh Positioning complete 2 INP2 0Ch Reserve 0Dh Alarm attribute output ALM ATB 0Eh Reserve 0Fh Main power supply injection output P ON 10h Pr4 31 In position range Range Default Unit 0 262144 10 Pr4 32 Position complete output setup Range Default Unit 0 3 0 Pr4 33 INP hold time Range Default Unit 0 30000 0 1ms Pr4 34 Zero speed Range Defau...

Страница 30: ...lower 4 Fan alarm Fan has stopped for 1 sec 5 6 Encoder overheat alarm The encoder detects overheat alarm 7 Oscillation detection alarm Oscillation or vibration is detected 8 Lifetime detection alarm Life expectancy of capacitor or fan become short 9 Pr4 42 Range Default Unit 0 262144 10 for more detail please refer Panasonic A5 manual Mechanical brake action at stalling setup Mechanical brake act...

Страница 31: ...r travel inhibit Range Default Unit 0 2 0 Pr5 06 Sequence at servo off Range Default Unit 0 9 0 Pr5 07 Sequence at main power off Range Default Unit 0 9 0 for more detail please refer Panasonic A5 manual 2nd Numerator of electronic gear 0 1073741824 3rd Numerator of electronic gear 0 1073741824 4th Numerator of electronic gear 0 1073741824 Setup Value POT Inhibit of positive direction travel NOT I...

Страница 32: ...range setup Range Default Unit 0 1000 10 Pr5 15 I F reading filter Range Default Unit 0 3 0 Pr5 16 Alarm clear input setup Range Default Unit 0 1 1 Pr5 17 Counter clear input mode Range Default Unit 0 4 3 Pr5 18 Range Default Unit 0 1 1 Pr5 19 Range Default Unit 0 4 0 Pr5 20 Position unit selection Range Default Unit 0 1 0 for more detail please refer Panasonic A5 manual 0 1 Revo Invalidation of c...

Страница 33: ...Range Default Unit 0 500 300 Pr5 32 Command pulse input maximum setup Range Default Unit 250 4000 4000 k pulse s Pr5 33 Pulse regenerative output limit setup Range Default Unit 0 1 0 for more detail please refer Panasonic A5 manual Setup Value 1st Torque limit 1st Torque limit 2nd Torque limit TL SEL Off 1st Torque limit TL SEL On 2nd Torque limit 2nd Torque limit ...

Страница 34: ...nge Default Unit 100 100 0 Pr6 09 Range Default Unit 100 100 0 Pr6 14 Quick stop time at alarm Range Default Unit 0 1000 200 ms Pr6 15 Range Default Unit 0 20000 0 r min Pr6 18 Power up wait time Range Default Unit 0 0 10 0 0 0 s Pr6 27 Warning latch time selection Range Default Unit 0 10 5 s for more detail please refer Panasonic A5 manual Position 3rd gain valid time Positive direction torque co...

Страница 35: ...ange Default Unit 0 3 1 0 No change 1 Almost constant 2 Slower change 3 Faster change Pr6 37 Oscillation detection level Range Default Unit 0 0 100 0 0 0 Pr6 38 Warning mask setup Range Default Unit 32768 32768 4 for more detail please refer Panasonic A5 manual ...

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