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No. SX-DSV02829 -

93-

5-2-1 Block diagram of position control mode

Position control of MINAS-A5BL series, there are four modes.

・

Profile position mode

(pp)

・

Cyclic synchronous position mode

(csp)

・

Interpolated position mode (ip) (Not supported)

・

Homing mode (hm)

Velocity

feed forward

Gain

1.10

Filter

1.11

Smoothing

filter

FIR

2.23

Primary
delay

2.22

＋

－

Position control

1st

1.00

2nd

1.05

＋

Damping control

1st

2.14

2nd

2.16

3rd

2.18

2.15

2.17

2.19

4th

2.20

2.21

Switching selection

2.13

Frequency

Filter

＋

－

Velocity detection

Friction

compensation

Additional
value

6.07

Positive
direction

6.08

Negative
direction

6.09

Disturbance

observer

Gain

6.23

Filter

6.24

Gain switching

2nd setup

1.14

Mode

1.15

Delay time

1.16

Level

1.17

Hysteresis

1.18

Switching
time

1.19

3rd setup

6.05

Scale factor

6.06

Torque limit

Selection

5.21

Torque feed

forward

Gain

1.12

Filter

1.13

60F4h

Following error

actual value

[command]

＋

6063h

Position actual

internal value

[pulse]

Velocity detection

filter

1st

1.03

2nd

1.08

Instantaneous
speed

6.10

Notch filter

2.03

2.06

2.09

2.12

Depth

2.02

2.05

2.08

2.11

Width

1st

2.01

2nd

2.04

3rd

2.07

4th

2.10

Frequency

Adaptive mo de

2.00

Velocity control

1.02

1.07

Proportion Integration

Inertia ratio

1st

1.01

2nd

1.06

0.04

6064h

Position actual value

[command]

60BAh

～

60BDh

Touch probe

position value

[command]

Trajectory

generator

606Ch

Velocity actual value

[command/s]

60B1h

Velocity offset

[command/s]

＋

Velocity FF unit

conversion

60FCh

Position demand

internal value

[pulse]

60B2h

Torque offset

[0.1%]

＋

MAX

6072

1st

0.13

2nd

5.22

Electronic gear

positive conversion

6062h

Position demand value

(before filter)

[command]

－

＋

607Ah

Target position

[command]

Electronic gear

reverse conversion

Positional command

speed [r/min]

command position

CMD_POS

[pulse]

Positional deviation

[pulse]

Velocity control

command

[r/min]

Motor velocity

[r/min]

Internal positional

command speed

[r/min]

Internal command

position (after filter)

MPOS[pulse]

＋

60B0h

Position offset

[command]

*csp only

Command positional

deviation

[pulse]

Command positional

deviation

[pulse]

Sum of feedback pulses

[pulse]

－

＋

6.41

Depth

Torque filter

1st

1.04

2nd

1.09

2 stages

6.42 6.43

At tenuation

term

Main power

supply

Current control

Current
response

9.12

Proportion

9.13

Carrier
selection

9.11

Integration

9.14

Magnetic pole

detected

9.20

CS phase

9.21

Pole position

estimation

relationship

9.22–9.28

CS signal

エンコーダ

feedback

scale

Input setting

Type

3.23

Reversed

3.26

Z phase
invalid

3.27

Scale specification

Resolution

9.01

Maximum
speed

9.10

Moter

Motor specification

Magnetic
pole pitch

9.02

Number of
pole pairs

9.03

Type
selection

9.00

Weight

9.04

Rated
thrust

9.05

Rated
current

9.06

Maximum
current

9.07

Maximum
speed

9.10

Phase
inductance

9.08

Phase
resistance

9.09

6074h

Torque demand

[0.1

％

]

Torque command

TRQ

[0.1%]

Velocity unit

conversion

Block diagram of position control

*1) A slanting number (Example

：

6072h

) shows the object number of EtherCAT.

*2) A bold letter number(Example

：

1.01

) shows a parameter number.

*3) Polarity was omitted.
*4) The calculation method for positional deviation on PANATERM (reference) varies depending on the setting of
command position deviation output switching (bit 14) of 3723h (Communication function Extended setup 2).

Data of CiA402 object

Data of Analog Monitor and Panaterm

R1.00

Motor Business Unit, Panasonic Corporation

Содержание MINAS-A5BL Series

Страница 1: ... No MINAS A5BL series EtherCAT communication Linear type Issued on Oct 30 2015 Revised on Motor Business Unit Smart Factory Solutions Business Division Automotive Industrial Systems Company Panasonic Corporation 7 1 1 Morofuku Daito City Osaka 574 0044 Japan Phone 81 72 871 1212 Fax 81 72 870 3151 R1 00 ...

Страница 2: ...pany of Panasonic Corporation based on the original Japanese specification Translation is provided unofficially only for the sake of convenience of utilizing the original Japanese specification as a measure of reference It is not officially reviewed Motor Business Division Appliances Company of Panasonic Corporation is not liable for anydisadvantagescaused byutilizing onlyEnglish specification Onl...

Страница 3: ...DSV02829 Revisions Date Page Rev Description Signed Oct 30 2015 1 00 First edition Note The page number Page is the current page number at the time of revision R1 00 Motor Business Unit Panasonic Corporation ...

Страница 4: ...ction 40 4 2 4 Positioning complete output INP INP2 function 42 4 2 5 Pulse regeneration function Some models not supported 44 4 3 Velocity Control 47 4 3 1 Attained speed output AT SPEED 47 4 3 2 Speed coincidence output V COIN 48 4 3 3 Velocity command acceleration deceleration setting function 49 4 4 Toruqe control 51 4 4 1 Speed limit function 51 4 5 Setting regenerative resistor 52 4 6 Absolu...

Страница 5: ... range setup function 129 6 3 Deceleration stop sequence 131 6 3 1 Sequence upon inputting of over travel inhibition POT NOT under review 131 6 3 2 Sequence at Servo Off 133 6 3 3 Sequence at main power OFF 134 6 3 4 Sequence at alarm 136 6 3 5 Emergency stop upon occurrence of alarm 138 6 4 Torque saturation protection function 140 7 Protective function Warning function 141 7 1 List of protective...

Страница 6: ...ion is invalid Pr 9 20 0 1 3 194 9 2 3 Servo ON OFF action while the motor is at stall servo lock 196 9 2 4 Servo ON OFF action while the motor is in motion 197 9 2 5 When an error alarm has occurred at Servo ON command DB deceleration Free run deceleration movement 198 9 2 6 When an error alarm has occurred at Servo ON command Emergency stop movement 199 9 2 7 When an alarm has been cleared at Se...

Страница 7: ...No SX DSV02829 1 1 Introduction 1 1 Basic Specification 4 1 2 Function 5 1 3 Scope 7 １ R1 00 Motor Business Unit Panasonic Corporation ...

Страница 8: ...sion 3 by 100Ah Reference to section 5 2 of EtherCAT communication specification In this software version the following functions are not supported The descriptions about these functions in the document may be changed without a preliminary announcement when they are supported Item Not supported item Device profile FoE File over EtherCAT Modes of Operation Modes of operation ip Interpolate position...

Страница 9: ... and software without prior notice In general these specifications adopt the names units based on the rotary type The table below lists the correlation with linear type so read the difference as such However the signal symbols etc TLC and Torque_Limited for example are for rotary type read them as a linear type Linear type Rotary type Mass Inertia Thrust Torque mm s r min EtherCAT is registered tr...

Страница 10: ...ogue signal Output 2 outputs for analog monitors 1 and 2 Pulse signal Output Feedback scale pulse is output to the line driver with the A B phase signal Some models not supported Communication EtherCAT Communication for transmission of a real time operation command the parameter setting or the status monitoring USB USB interface to connect to computers PANATERM for parameter setting or status moni...

Страница 11: ...n estim ation is completed Position loop frequency characteristic function Able to select disturbance response frequency characteristic measurement in position loop 6080h selection setting function in csp mode Available Homing return speed limit function Available Velocity control Control input Positive direction drive inhibit Negative direction drive inhibit latch signal etc Control output At spe...

Страница 12: ...ting function Available Maximum PDOdata length 1 46byte RxPDO 21byte TxPDO 25byte Touch ProbeFunction 2 Position latch function Available number is 1 Adaptive filter Cycle time Communication cycle Available number 250μs 0 Not available 500μs 1 1000μs 2000μs 4000μs Notch filter Cycle time Communication cycle Available number 250μs 3 500μs 1000μs 4 2000μs 4000μs 1 For information on the maximum PDO ...

Страница 13: ...Number of pole pairs per revolution 1 to 64 4 Max rated current ratio 0 500 M F ratio J T ratio M F ratio 0 0005 0 3 kg N J T ratio 0 000005 0 003 kgm2 Nm Electrical time constant for reference 1 Career 6 kHz 1 ms or more 12 kHz 0 5 ms or more Acceptable speed Electric angle frequency Up to 500 Hz Feedback scale Linear type Rotary type Resolution 0 01 10 μm pulse 4 2048 224 pulse r 4 7 Maximum len...

Страница 14: ... 2 I O connector output signal 11 2 3 I O connector other signal 15 2 3 1 Feedback scale output signal 15 2 3 2 Others 15 2 4 I O signal allocation function 16 2 4 1 Input signal allocation 16 2 4 2 Assignment of output signal 20 ２ R1 00 Motor Business Unit Panasonic Corporation ...

Страница 15: ...turned ON is set up in Pr 5 04 Setup of over travel inhibit input When using Negative direction over travel inhibit input connect the signal so that the input is turned ON when the moving portion of the machine travels in negative direction exceeding a limit If used as a home position reference trigger in a home position return This input signal can only be assigned to SI7 respectively The signal ...

Страница 16: ... SI1 External alarm clear input A CLR Dis arm inputs the alarm There are alarms that cannot be dis armed by this input 1 The triangle in the table under Control mode indicates that the turning ON OFF of the input signal does not affect system operation 2 Except for I COM input signal pin assignment can be changed The pins in Connector pin No column in the table denote factory default settings The ...

Страница 17: ...gured at 60FEh Digital output bit 0 Transistor will be turned off at 1 Brake will be activated See the notes 4 state the output transistor Positioning complete INP Outputs the positioning complete signal positioning complete signal Turns ON the output transistor when positioning is completed For details refer to 4 2 4 Speed arrival output AT SPEED Outputs the speed arrival signal Turns on the outp...

Страница 18: ...sistor when velocity is limited Alarm attribute output ALM ATB The signal is output if an alarm which can be cleared is input Turns on the output transistor when an alarm occurs Velocity command ON OFF output V CMD Turns on output transistor when the velocity command is applied while the velocity is controlled Turns on the output transistor if the velocity command before filter is not less than 30...

Страница 19: ...e 0 set brake 1 brake on set brake 0 1 set brake 1 brake on set brake 1 brake on EX OUT1 bit0 0 hold 0 0 EX OUT1 0 EX OUT1 0 EX OUT1 0 EX OUT1 0 1 0 1 EX OUT1 0 EX OUT1 0 EX OUT1 0 hold EX OUT1 0 1 EX OUT1 1 EX OUT1 1 hold EX OUT1 1 bit0 1 initialization 0 0 EX OUT1 0 EX OUT1 0 EX OUT1 0 EX OUT1 0 1 0 1 EX OUT1 0 EX OUT1 0 EX OUT1 0 EX OUT1 0 1 EX OUT1 1 EX OUT1 1 5 Communication established Commu...

Страница 20: ...tion output turns ON 0 undefined Does not turn ON 1 CS signal After the initialization is completed during the control power on compatible with MINAS A5L 2 Pole position estimation After the pole position is estimated suc cessfully does not turn ON on abort 3 Pole position recovery After the pole position is recovered su ccessfully does not turn ON on abort R1 00 Motor Business Unit Panasonic Corp...

Страница 21: ... driver of output circuit is connected to signal ground GND and is not insulated Max output frequency is 4 Mpps after quadrupled OA 18 B phase output OB 20 OB 19 Signal ground GND 16 Signal ground 2 3 2 Others Title of signal Symbol Connector pin No Contents Control mode EtherCAT communi cations Position Velocity Torque command monitor Frame ground FG shell This output is connected to the ground t...

Страница 22: ...contact SI4 9 Pr 4 03 00222222h 2236962 HOME a contact HOME a contact HOME a contact SI5 10 Pr 4 04 00202020h 2105376 EXT1 a contact EXT1 a contact EXT1 a contact SI6 11 Pr 4 05 00212121h 2171169 EXT2 a contact EXT2 a contact EXT2 a contact SI7 12 Pr 4 06 00303030h 3158064 SI MON3 a contact SI MON3 a contact SI MON3 a contact SI8 13 Pr 4 07 00313131h 3223857 SI MON4 a contact SI MON4 a contact SI ...

Страница 23: ...nctions to SI2 inputs Setup procedure is the same as described for Pr 4 00 4 02 C SI3 input selection 0 00FFFFFFh Assign functions to SI3 inputs Setup procedure is the same as described for Pr 4 00 4 03 C SI4 input selection 0 00FFFFFFh Assign functions to SI4 inputs Setup procedure is the same as described for Pr 4 00 4 04 C SI5 input selection 0 00FFFFFFh Assign functions to SI5 inputs Setup pro...

Страница 24: ...4h Can not configure Forced alarm input E STOP 14h 94h External latch input 1 EXT1 20h Can not configure External latch input 2 EXT2 21h Can not configure Near home input HOME 22h A2h General purpose monitor input 1 SI MON1 2Eh AEh General purpose monitor input 2 SI MON2 2Fh AFh General purpose monitor input 3 SI MON3 30h B0h General purpose monitor input 4 SI MON4 31h B1h General purpose monitor ...

Страница 25: ...ction The Err33 8 Latch input allocation error protection occurs if HOME is assigned to S16 and S17 POT is assigned to S15 and S17 and NOT is assigned to S15 and S16 When latch correction pins SI5 SI6 SI7 are used set up is required for all the control modes If configuration is made only for 1 or 2 modes the Err33 8 Latch input allocation error protection occurs When latch correction pins SI5 SI6 ...

Страница 26: ...r from those shown below If the default settings shown in Reference specification SX DSV02828 are different from values shown below the settings described in SX DSV02828 become valid standard default values Pin name Pin No Applicable parameter Default setting decimal notation Default Setup Position control Velocity control Torque control SO1 1 2 Pr 4 10 00030303h 197379 BRK OFF BRK OFF BRK OFF SO2...

Страница 27: ...ribed for Pr 4 10 1 For parameter attribute refer to Section 9 1 Function number table Title of signal Symbol Setup value External output Invalid 00h Alarm output ALM 01h Servo Ready output S RDY 02h External brake release signal BRK OFF 03h Positioning complete output INP 04h At velocity output AT SPEED 05h Torque in limit signal output TLC 06h Zero speed detection output signal ZSP 07h Speed mat...

Страница 28: ...all control modes If not applied to all control modes Err 33 4 Output function number error 1 protection or Err 33 5 Output function number error 2 protection will occur The output transistor is turned off during a period from when the driver s control power of a servo amplifier is turned on to when initialization is completed And while control power is turned off during a reset and while the disp...

Страница 29: ...ront panel display specification 3 1 Appearance of front panel 24 3 2 7 segment LED 25 3 3 EtherCAT Indicators 28 3 4 Monitor signal output function 30 3 5 Station alias 33 ３ R1 00 Motor Business Unit Panasonic Corporation ...

Страница 30: ...etup Analog monitor pins X7 Pin No Symbol Description 1 AM1 Analog monitor 1 2 AM2 Analog monitor 2 3 GND Signal ground 4 5 6 Reserved Do not use NOTE Pin No 1 from the right 2 3 Order EtherCAT Indicators From a top RUN Green ERR Red L A IN Green L A OUT Green R1 00 Motor Business Unit Panasonic Corporation ...

Страница 31: ...edback scale CS reversal When the displayed value exceeds FF the count is reset to 0 and restarted 4 Station alias value Rotary switch setting Lower 8bits of station alias value that set by rotary switch at power ON is displayed This value is not change after power ON Station alias is 0 to F hex the display is one digit Station alias is upper than 10 hex the display is two digit In the case of Pr7...

Страница 32: ...ion method 2 other than pole position estimation 0 is shown 9 CS signal operation direction If Pr9 20 Pole detection method 1 CS signal the CS signal status is shown at the right and the operation direction is shown at the left CS signal status CS1 2 3 are shown from the top downward is shown for ON and nothing is shown for OFF Note that the CS signal is shown with Pr3 26 signal original signal be...

Страница 33: ...the cause and clear alarm Unlatched remove the cause Alarm display Alternately blinks main and sub with a dot at the left of the alarm code in decimal number e g overload Warning display Displays warning code hexadecimal and normal display alternately at a slow rate Right dot blinks when warning code Example of overload in servo ON state is displayed Warning code approx 2 s Right dot blinks Main c...

Страница 34: ... are 4 patterns of LED indication in addition to ON and OFF Flickering Blinking Single flash Double flash Approx 200 Approx 200 Approx 200ms Approx 1000ms Approx 1000ms Approx 50m Approx 50ms ON OFF OFF ON OFF ON OFF ON Approx 200ms Approx 200ms Approx 200ms R1 00 Motor Business Unit Panasonic Corporation ...

Страница 35: ...ize event error Double flash Application watch dog time out Flickering Initialize error ON PDI error 1 The alarm defined by AL status code is which indicate Err80 0 7 and Err81 0 7 Err85 0 7 in the EtherCAT communication related error 3 L A IN 4 L A OUT L A IN L A OUT indicator will show the LINK status and operation status of Each port s physical layer Indication is lighted in green LED Content O...

Страница 36: ...r unit in Pr 4 18 V Set up the output gain of analog monitor 2 For Pr 4 18 4 Torque command 1 V is output at the torque command Pr 4 19 setup value 4 21 A Analog monitor output setup 0 2 Select output format of the analog monitor 0 Signed data output 10 V to 10 V 1 Absolute value data output 0 V to 10 V 2 Data output with offset 0 V to 10 V 5 V at center 1 Refer to Section 9 1 for parameter attrib...

Страница 37: ...rative load factor 33 11 Overload factor 33 12 Positive direction torque limit 33 13 Negative direction torque limit 33 14 Speed limit value r min 500 15 Inertia ratio 500 16 Reserved 17 Reserved 18 Reserved 19 Reserved 20 Driver temperature C 10 21 Reserved 22 Reserved 23 Travel command status 4 24 Gain selection status 4 1 The positive negative direction of monitor data does not follow the polar...

Страница 38: ...utput gain to 0 or 1 and set the Pr4 21 Analog monitor output setting to 1 In this case the output gain is as follows Analog output setting Pr4 17 Pr4 19 0 or 1 Pr4 21 1 Pr4 16 Pr4 18 Monitor type Output voltage 0 V 5 V 23 Travel command status Position control 250us interval Travel command 0 250us interval Travel command 0 Velocity control Velocity command 0 Velocity command 0 Torque control Torq...

Страница 39: ...Explicit Device ID Reading the value made of object 3740h Station alias setup high and front panel rotary switch from AL Status Code 0134h Please refer to 3 8 2 clause Node addressing Setting Station alias by technical document EtherCAT communication specification SX DSV02830 for details Selection of Station alias Class No Attrib ute 1 Parameter Setting range Unit Function 7 40 Station Alias setup...

Страница 40: ...speed output AT SPEED 47 4 3 2 Speed coincidence output V COIN 48 4 3 3 Velocity command acceleration deceleration setting function 49 4 4 Toruqe control 51 4 4 1 Speed limit function 51 4 5 Setting regenerative resistor 52 4 6 Absolute setup 53 4 6 1 Feedback scale 53 4 7 Linear motor feedback scale setting 54 4 7 1 Parameter setting according to linear motor feedback scale specification 55 4 7 2...

Страница 41: ...and value 6064h Position actual value 606Bh Velocity demand value 606Ch Velocity actual value 6074h Torque demand 6077h Torque actual value External input 60FDh 00h Digital input is bit1 positive limit switch POT 60FDh 00h Digital input is bit0 negative limit switch NOT Data other than the above for example such as data on setup support tool PANATERM are set to fixed values regardless of the setti...

Страница 42: ...le For details refer to Technical Reference SX DSV02830 Section 6 6 EtherCAT communication specification Servo driver Position command EtherCAT communication Position command generation process section EtherCAT communication processing section Host controller Positional command filtering function Position control section INP INP2 External output signal INP INP2 output function Electronic gear Pola...

Страница 43: ...back scale resolution 608Fh 01h Encoder increments and 608Fh 02h Motor revolutions are automatically set as shown in the table below in accordance with the feedback scale resolution Linear type Rotary type 608Fh 01h Encoder increments 1 000 000 fixed Resolution per 1 revolution p r 1 608Fh 02h Motor revolutions Feedback scale resolution nm p 1 1 fixed 1 The set value of Pr9 01 Feedback scale resol...

Страница 44: ... Driving shaft revolutions to the same value as 608Fh 02h Motor revolutions which is 1 6091h 01h Motor shaft revolutions can be configured as electronic gear numerator and 6091h 02h Driving shaft revolutions as electronic gear denominator Electronic gear ratio The value is automatically set by Pr9 01 number of pulses for one rotation It can be set as an electronic gear denominator Encoderincrement...

Страница 45: ...executing a backup it will be unnecessary to change setting each time when the control power is turned on As for the backup method refer to Section 5 6 Store parameters EEPROM writing of objects 1010h Electronic gear setting and backup by object editor It is possible to set and back up objects using the object editor of PANATERM 値を設定 1 Set a value 2 After the setting write it into EEPROM R1 00 Mot...

Страница 46: ...tching of Pr 2 22 Positional command smoothing filter is performed on the rising edge of the command with the number of command pulses 0 166 ms is changed from 0 to a value other than 0 while the positioning complete is being output Even if the control mode is changed to position control after Pr2 22 Positional command smoothing filter setting is changed during velocity control or Torque control t...

Страница 47: ... command pulse is being input the change is not reflected until the command pulse less state has continued for the filter switching wait time Change will be reflected after the control power reset 3 Even if setting of Pr2 23 Positional command FIR filter is changed it is not immediately applied to the internal calculation If the switching as described in 2 occurs during this delay time the change ...

Страница 48: ...Positioning complete range 3 The signal will turn on when there is no position command and the positional deviations smaller than Pr 4 31 Positioning complete range Subsequently ON state is maintained until Pr 4 33 INP hold time has elapsed After the hold time INP output will be turned ON OFF according to the coming positional command or condition of the positional deviation 4 Positioning completi...

Страница 49: ...ter refer to 4 2 3 Positional command filtering function Note If Pr9 20 Pole detection method 2 Pole position estimation and bit7 1 for Pr6 10 Function expansion setup the positioning complete signals 1 INP1 and 2 INP2 are turned OFF forcibly until the pole position estimation is finished R1 00 Motor Business Unit Panasonic Corporation ...

Страница 50: ...o is 1 1 Pulse output resolution per distance Pr0 11 value Pr5 03 value Feedback scale resolution per distance 5 3 R Pulse output denominator 0 262144 0 12 R Pulse output logic reversal 0 3 You can set up the B phase logic and the output source of the pulse output With this parameter you can reverse the phase relation between the A phase pulse and the B phase pulse by reversing the B phase logic 5...

Страница 51: ... Table below shows details of Pr 0 12 Reversal of pulse output logic Pr0 12 B phase logic Output source Positive direction operation Negative direction operation 0 2 Nonreversal Feedback scale A phase B phase A phase B phase 1 3 Reversal Feedback scale A phase B phase A phase B phase Pr0 11setting value Feedback scale pulse pulse Output pulse pulse Pr5 03 setting value R1 00 Motor Business Unit Pa...

Страница 52: ...l deviation By enabling Pr5 33 Pulse regenerative output limit setup Err28 0 Pulse regenerative limit protection can be generated upon reaching the pulse regeneration limit Because this error is generated when the output limit of the pulse regeneration is detected it is not generated at the maximum frequency However detection error may occur if the frequency instantaneously jumps up due to the mot...

Страница 53: ...eed arrival 10 20000 r min Set the detection timing of the speed arrival output AT SPEED When the motor speed exceeds this setup value the speed arrival output AT SPEED is output Detection is associated with 10 r min hysteresis 1 For parameter attribute refer to Section 9 1 Pr 4 36 10 Pr 4 36 10 Pr 4 36 10 Pr 4 36 10 The speed arrival output AT SPEED OFF ON ON OFF Time Motor velocity Speed r min H...

Страница 54: ... V COIN when the difference between the speed command and the motor speed is equal to or smaller than the speed specified by this parameter The detection response has 10 r min hysteresis 1 For parameter attribute refer to Section 9 1 1 Because the speed coincidence detection is associated with 10 r min hysteresis actual detection range is as shown below Speed coincidence output OFF ON timing Pr 4 ...

Страница 55: ...ve time for acceleration deceleration process when the velocity command is applied 1 For parameter attribute refer to Section 9 1 Note When the position loop is external to the driver do not use the acceleration deceleration time setting Set these values to 0 Pr 3 12 Acceleration time setup Pr 3 13 Deceleration time setup Set the time elapsing before the velocity command stepwise input reaches 100...

Страница 56: ...set up sigmoid time with time width centering the inflection point of acceleration deceleration Target speed Vc ta Velocity command after acceleration deceleration process Speed r min Time td ts ts ts ts ta Vc 1000 Pr 3 12 1 ms td Vc 1000 Pr 3 13 1 ms ts Pr 3 14 1 ms Use with the setup of ta 2 ts td 2 ts R1 00 Motor Business Unit Panasonic Corporation ...

Страница 57: ...is not directly proportional to the analog toruqe command Toruqe command should have the following result the motor speed is equal to the speed limit Note If the motor runs in the direction opposite to the one 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 need...

Страница 58: ...tor and activate regenerative over load protection 1 Use the external resistor and activate regenerative over load protection 2 Use the external resistor but do not activate regenerative over load protection 3 Do not use regenerative resistor Do not use over load protection 0 17 C Selection of load factor of external regenerative resistor 0 4 When selecting the external regenerative resistor Pr 0 ...

Страница 59: ...ample with servo driver single axis connection In the EtherCAT communication response driver host controller the absolute data is transferred to the host controller as the current position data X6 Host controller Servo driver EtherCAT communication interface 1 2 Junction Connector ECAT IN X2A TX TX RX RX 3 4 RX RX TX TX 1 2 ECAT OUT X2B TX TX RX RX 3 4 X5 Junction Connector Linear Scale Unit Head ...

Страница 60: ...nal 4 7 3 1 Pole position estimation 4 7 3 2 Pole position recovery 4 7 3 3 2 Set up current gain A Theoretical value calculation based on parameters 4 7 2 B Use automatic setting tool 4 7 4 3 Set up feedback scale CS signal direction A Manual setting Scale 4 7 1 4 B Use automatic setting tool 4 7 4 CS signal 4 7 3 1 Cautions When the power is turned on at factory defaults Err60 0 Motor setting er...

Страница 61: ...curs 9 05 R Motor rated thrust motor rated torque 0 32767 0 1N Set the rated thrust of the motor If the setting value is zero Err60 0 Motor setting error protection occurs 9 06 R Motor rated effective current 0 32767 0 1 Arms Set the rated current of the motor If the setting value is zero Err60 0 Motor setting error protection occurs Also if it exceeds allowable rated current of the amplifier Err6...

Страница 62: ... only for Pr9 00 Motor type selection 1 linear type Setting value 512 or more The value is the number of pulses per magnetic pole The setting value becomes effective from 512 But set it to not less than 2048 as much as possible Setting value pole pitch mm scale resolution um 1000 This is not compatible with Pr9 02 Magnetic pole pitch To set the magnetic pole with this parameter set Pr9 02 Magnetic...

Страница 63: ...g error protection occurs 9 05 R Motor rated thrust motor rated torque 0 32767 0 1Nm Set the rated torque of the motor If the setting value is zero Err60 0 Motor setting error protection occurs 9 06 R Motor rated effective current 0 32767 0 1 Arms Set the rated current of the motor If the setting value is zero Err60 0 Motor setting error protection occurs Also if it exceeds allowable rated current...

Страница 64: ...s 2 Serial communication type absolute specification Mitutoyo AT573A ST770A ST770AL 3 Magnescale SR77 SR87 3 Up to 400 Mpps 1 The table below lists the count direction of feedback scale for the A B phase output type in the internal amplifier process Negative direction count down Positive direction count up B phase is by 90 ahead of A phase t1 t2 t3 t4 0 25µs T 1 0µs Amp receive waveform Scale outp...

Страница 65: ...he count direction of feedback scale and the phase sequence of the motor s induced voltage Check the count direction of the feedback scale by using the PANATERM sum of scale pluses while removing the motor cables and moving the movable part by hand 00 1800 3600 V G U W O Note 1 V G U W O Note 3 V G U W O Note 2 Electric angle Motor induced voltage Note 1 It is a waveform generated when checking th...

Страница 66: ...00 When this value 0 calculate the theoretical values of Pr9 13 and Pr9 14 from Pr9 08 and Pr9 09 Set the standard for current responsivity when calculating Pr9 13 Proportional current gain and Pr9 14 Integral current gain The bigger the setting value is the higher the current response is But because it can cause unusual behaviors including oscillation set an appropriate value according to the ope...

Страница 67: ... 20 R Pole detection method 0 3 Set how to detect a pole position 1 CS signal 2 Pole position estimation 3 Pole position recovery If the setting value is zero Err60 0 Motor setting error protection occurs 9 21 R CS phase 0 360 Electric angle Set the relative phase between the motor s induced voltage and CS signal This setting is valid only when CS signal is selected Pr9 20 1 3 26 R Feedback scale ...

Страница 68: ...1800 3600 V G U W O Note 1 V G U W O Note 3 V G U W O Note 2 Electric angle Motor induced voltage CS1 CS2 CS3 Note 1 It is a waveform generated when checking the induced voltage in the terminal U by connecting the terminal W with GND Note 2 It is a waveform generated when checking the induced voltage in the terminal V by connecting the terminal U with GND Note 3 It is a waveform generated when che...

Страница 69: ...ltage of the terminals U W and the CS1 signal So set Pr9 21 to 60 00 1800 3600 V G U W O Note 1 V G U W O Note 3 V G U W O Note 2 Electric angle Motor induced voltage CS1 CS2 CS3 60 misaligned Note 1 It is a waveform generated when checking the induced voltage in the terminal U by connecting the terminal W with GND Note 2 It is a waveform generated when checking the induced voltage in the terminal...

Страница 70: ...reversed CS direction exchanges CS2 and CS3 on the inside of the servo amplifier so the motor works properly 00 1800 3600 V G U W O Note 1 V G U W O Note 3 V G U W O Note 2 Electric angle Motor induced voltage CS1 CS2 CS3 CS1 CS2 CS3 CS direction not reversed CS direction reversed Note 1 It is a waveform generated when checking the induced voltage in the terminal U by connecting the terminal W wit...

Страница 71: ...ion If the setting value is small the motor will not work adequately resulting in a bad estimation accuracy or pole position estimation error This setting is valid only when the pole position estimation is selected Pr9 20 2 Note The actual command torque is limited by the maximum allowable torque of the motor 9 24 B Zero moving pulse width for estimating pole position 0 32767 pulse Set the pulse w...

Страница 72: ...ment so fully take care so as not to collide with the end of the unit This function may not work as expected when the vertical axis uneven load or friction is large In this case we recommend you to use the CS signal method 4 7 3 1 The setting values for Prs9 22 to 9 27 are valid set during the startup of the pole position estimation The change is ignored while estimating the pole position For the ...

Страница 73: ...plifier When the combination of the amplifier and linear motor is changed exchange of amplifier linear motor or feedback scale the pole position may change thereby disabling you to control the motor properly In this case because the amplifier cannot recognize the change an alarm will not occur When one of components above is exchanged at least set Pr9 20 2 once Then estimate the poles position aga...

Страница 74: ...ersed not reversed 1 reversed not reversed 2 not reversed reversed 3 reversed reversed The logic setting of CS signal is valid only when the CS signal is selected Pr9 20 1 9 13 B Proportional current gain 0 32767 Set a proportional current gain 9 14 B Integral current gain 0 32767 Set an integral current gain 9 21 R CS phase 0 360 Electric angle Set the relative phase between the motor s induced v...

Страница 75: ...tup When the automatic setting starts the linear motor works in order to automatically set up the linear motor after the servo on After the automatic setting is finished the servo is automatically turned OFF After the automatic setting make sure to reset the power supply of the servo amplifier finally For information on how to use the linear motor automatic setting tool refer to the tool s procedu...

Страница 76: ...matically setting the linear motor Err60 3 Linear motor automatic setting error protection occurs and the tool is killed If Pr9 20 Pole detection method 2 Pole position estimation when the linear motor is automatically set while the pole position estimation was finished the pole position estimation becomes unfinished The pole position will be estimated on next servo on If the torque command is ove...

Страница 77: ...control mode 95 5 2 4 Gain Switching Function 96 5 2 5 Notch filter 102 5 2 6 Damping Control 104 5 2 7 Feed forward function 108 5 2 8 Instantaneous Velocity Observer function 110 5 2 9 Disturbance observer function 112 5 2 10 3rd gain switching function 114 5 2 11 Friction torque compensation 115 5 2 12 2 stage torque filter 117 5 2 13 Mode of 2 degrees of freedom control Standerd type 118 5 2 1...

Страница 78: ...tion generation Resonance freq estimation 1 Real time auto tuning Estimates the load characteristics based on the motor velocity and torque command and automatically sets up the basic gain related to position and velocity control based on estimated inertia Also estimates the friction torque at the same time and adds the estimated value to the torque command to shorten positioning settling time 2 A...

Страница 79: ...ed while estimating the pole position 2 Caution Real time auto gain tuning may not be executed properly under the conditions described below If not properly executed change the loading condition or operating pattern or manually set up the related parameters by referring to the manual adjustment function description Conditions which obstruct real time auto gain tuning action Load inertia The load i...

Страница 80: ...riction system such as belt driven axis 5 Load characteristic measurement This mode only estimates the load characteristics without changing the basic gain setting or friction compensation setting Use these features in conjunction with the setup support software 6 Customize 4 By precisely setting combination of real time auto tuning functions through Pr 6 32 Real time auto tuning custom setup cust...

Страница 81: ... the load characteristics estimation of Pr 0 04 Inertia ratio Setup value 0 Use current setup Setup value 1 Update by the estimated value 6 4 Torque compensation 4 Set up the update to be made according to the results of load characteristics estimation of Pr 6 07 Torque compensation command additional value Pr 6 08 positive direction torque compensation value and Pr 6 09 negative direction torque ...

Страница 82: ...tting is set excluding 0 At this time you can be set whether to inertia ratio update to be effective with bit 1 0 Load characteristics estimation Caution This parameter should be setup bit by bit Because the operation is not guaranteed when the setting is wrong use of the setup support software is recommended for parameter editing Caution Do not change while the motor is operating With this parame...

Страница 83: ...ates the parameter based on the setup value 1 02 B 1st time constant of velocity loop integration 1 10000 0 1 ms When stiffness setup is valid updates the parameter based on the setup value 1 04 B 1st time constant of torque filter 0 2500 0 01 ms When stiffness setup is valid updates the parameter based on the setup value 1 05 B 2nd gain of position loop 0 30000 0 1 s When stiffness setup is valid...

Страница 84: ...o 0 if the current setting is not maintained 1 23 B Hysteresis at velocity control switching 0 20000 Sets to 0 if the current setting is not maintained 1 24 B Mode of torque control switching 0 3 Sets to 0 if the current setting is not maintained 1 25 B Delay time of torque control switching 0 0000 0 1 ms Sets to 0 if the current setting is not maintained 1 26 B Level of torque control switching 0...

Страница 85: ...ue Pr 6 08 Positive direction torque compensation value and Pr 6 09 Negative direction torque compensation value to 0 2 When abnormal noise and oscillation occur Pr 0 04 Inertia ratio or Pr 6 07 Torque command additional value Pr 6 08 Positive direction torque compensation value Pr 6 09 Negative direction torque compensation value might have changed to extreme values Take the same measures as desc...

Страница 86: ...000 84 3 14 630 350 160 65 730 350 10000 65 4 15 720 400 140 57 840 400 10000 57 5 16 900 500 120 45 1050 500 10000 45 6 17 1080 600 110 38 1260 600 10000 38 7 18 1350 750 90 30 1570 750 10000 30 8 19 1620 900 80 25 1880 900 10000 25 9 20 2060 1150 70 20 2410 1150 10000 20 10 21 2510 1400 60 16 2930 1400 10000 16 11 22 3050 1700 50 13 3560 1700 10000 13 12 23 3770 2100 40 11 4400 2100 10000 11 13 ...

Страница 87: ... estimation 2 Caution In the following condition normal operation may not be expected manually set the notch filter to prevent resonance Conditions which obstruct adaptive filter action Resonance point Resonance frequency is lower than the velocity response frequency 3 Hz Resonance peak is low or control gain is low where the motor velocity is not affected by this Three or more resonance points ex...

Страница 88: ...h filter will be updated based on adaptive performance Setup value 2 Adaptive filter 2 filters are valid Not supported Two adaptive filters are enabled Parameters related to the 3rd and 4th notch filters will be updated based on adaptive performance Setup value 3 Resonance frequency measurement mode Measure the resonance frequency Result of measurement can be checked with the setup support softwar...

Страница 89: ... motor velocity parameters of 3rd notch filter and or 4th notch filters are automatically set according to the number of adaptive filters 6 Other cautions 1 Immediately after the first servo on at start up or after increasing stiffness setting with the real time auto tuning enabled abnormal sound or oscillation may be generated until the adaptive filter stabilizes If such abnormality lasts or repe...

Страница 90: ...l rotation of motor must have no problems Neither inertia ratio estimation nor update of torque compensation value is performed during magnet pole position estimation 2 Cautions Real time auto tuning may not normally function in the following conditions If that happens change the load conditions operation pattern or see the descriptions about manual tuning to manually configure relevant parameters...

Страница 91: ...a horizontal axis 3 High response mode 2 In addition to the high responce mode 1 compensation against biased load and application of 3rd gain are made to reduce variations in settling time of positioning 4 High response mode 3 In addition to the high responce mode 2 settling time of positioning is reduced for a load where frictions are high 5 Load characteristic measurement Basic gain settings and...

Страница 92: ...s estimation of load characteristic 1 Little change Responded against change of load characteristic on the order of minutes 2 Gradual change Responded against change of load characteristic on the order of seconds 3 Steep change Appropriate estimation is made against change of load characteristic If oscillation automatic detection is made valid from setup support software this setting is ignored an...

Страница 93: ...real time auto tuning function updates the following basic gain setting parameters in accordance with Pr0 03 Selection of machine stiffness at realtime auto gain tuning For details refer to 7 Basic gain parameter settings table Category No At trib ute 1 Parameter Setup range Unit Function 1 00 B 1st gain of position loop 0 30000 0 1 s If real time auto tuning is valid Pr0 02 1 4 update the setting...

Страница 94: ... is valid Pr0 02 1 4 specify 1000 100 1 11 B Velocity feed forward filter 1 6400 0 01 ms If real time auto tuning is valid Pr0 02 1 4 specify 0 invalid 1 12 B Torque feed forward gain 0 1000 0 1 If real time auto tuning is valid Pr0 02 1 4 specify 1000 100 1 13 B Torque feed forward filter 0 6400 0 01 ms If real time auto tuning is valid Pr0 02 1 4 specify 0 invalid 6 10 B 1st filter of speed dete...

Страница 95: ... real time auto tuning is valid Pr0 02 1 4 specify 0 1 26 B Level of torque control switching 0 20000 If real time auto tuning is valid Pr0 02 1 4 specify 0 1 27 B Hysteresis at torque control switching 0 20000 If real time auto tuning is valid Pr0 02 1 4 specify 0 6 05 B Position 3rd gain valid time 0 10000 0 1 ms If the standard responce mode or the high responce mode 1 are valid Pr0 02 1 2 spec...

Страница 96: ... for Pr0 04 Inertia ratio and specify 0 for 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 compensating gain 2 After occurrence of strange noises or vibrations values of Pr0 04 Inertia ratio Pr6 07 Torque command additional value Pr6 08 Positive direction torque compensation ...

Страница 97: ...268 107 24 10 175 140 400 200 212 85 23 11 320 180 310 126 139 55 16 12 390 220 250 103 113 45 13 13 480 270 210 84 92 37 11 14 630 350 160 65 71 28 9 15 720 400 140 57 62 25 8 16 900 500 120 45 50 20 7 17 1080 600 110 38 41 17 6 18 1350 750 90 30 33 13 5 19 1620 900 80 25 28 11 5 20 2060 1150 70 20 22 9 4 21 2510 1400 60 16 18 7 4 22 3050 1700 50 13 15 6 3 23 3770 2100 40 11 12 5 3 24 4490 2500 4...

Страница 98: ...diagram of position control mode 5 2 1 2 Block diagram of velocity control mode 5 2 2 3 Block diagram of torque control mode 5 2 3 4 Gain switching function 5 2 4 5 Notch filter 5 2 5 6 Damping control 5 2 6 7 Feed forward function 5 2 7 8 Instantaneous velocity observer 5 2 8 9 Disturbance observer 5 2 9 10 3rd gain switching function 5 2 10 11 Friction torque compensation 5 2 11 12 2 stage torqu...

Страница 99: ...ive conversion 6062h Position demand value before filter command 607Ah Target position command Electronic gear reverse conversion Positional command speed r min command position CMD_POS pulse Positional deviation pulse Velocity control command r min Motor velocity r min Internal positional command speed r min Internal command position after filter MPOS pulse 60B0h Position offset command csp only ...

Страница 100: ...actual value command s 60B2h Torque offset 0 1 60B1h Velocity offset command s Torque limit Selection 5 21 1st 0 13 2nd 5 22 MAX 6072 Electronic gear reverse conversion Velocity control command r min Motor velocity r min Torque command TRQ 0 1 Sum of feedback pulses Feedback Scale pulse Torque filter 1st 1 04 2nd 1 09 2 stages 6 42 6 43 At tenuation term Main power supply Current control Current r...

Страница 101: ...e value Multiplication 6071h Target torque 0 1 1st 0 13 2nd 5 22 Motor speed r min Velocity limit r min Torque command TRQ 0 1 Sum of feedback pulses Feedback Scale pulse Torque filter 1st 1 04 2nd 1 09 2nd 6 42 6 43 At tenuation term Main power supply Current control Current response 9 12 Proportion 9 13 Carrier selection 9 11 Integration 9 14 Magnetic pole detected 9 20 CS phase 9 21 Pole positi...

Страница 102: ...ng complete 2 9 Actual speed 10 Position command exists Actual speed 1 16 B Delay time of position control switching 0 10000 0 1 ms For position controlling When shifting from the 2nd gain to the 1st gain with Pr 1 15 Position control gain switching mode set at 3 5 6 7 8 9 or 10 set up the delay time from trigger detection to the switching operation 1 17 B Level of position control switching 0 200...

Страница 103: ... it is equal to level 1 24 B Mode of torque control switching 0 3 For torque controlling Set the condition to trigger gain switching Setup value Switching condition 0 Fixed to 1st gain 1 Fixed to 2nd gain 2 For manufacturer s use 3 Torque command 1 25 B Delay time of torque control switching 0 10000 0 1 ms For torque controlling When shifting from the 2nd gain to the 1st gain with Pr 1 24 Torque c...

Страница 104: ...iations was kept below level hysteresis 10 r min s during delay time previously with the 2nd gain The 1st gain is fixed while the velocity control is not applied 5 Velocity command is large Valid for position and velocity controls Shift to the 2nd gain when the absolute value of the velocity command exceeded level hysteresis r min previously with the 1st gain Return to the 1st gain when the absolu...

Страница 105: ...during delay time with the 2nd gain 9 Actual speed is large Valid for position controls Shift to the 2nd gain when the absolute value of the actual speed exceeded level hysteresis r min previously with the 1st gain Return to the 1st gain when the absolute value of the actual speed was kept below level hysteresis r min previously during delay time with the 2nd gain 10 Position command exists Actual...

Страница 106: ...e of velocity control switching Pr 1 24 Mode of torque control switching Select the 1st gain regardless of the status Select the 2nd gain regardless of the status Switch with the gain switching input Gain_SW 0 1st gain 1 2nd gain 2 1 0 4 3 9 10 8 6 7 2 1 0 3 4 2 1 0 3 Positioning complete OFF ON ON Positional deviation Set in Pr 1 24 Set in Pr 1 20 Set in Pr 1 15 Torque control Position control Ve...

Страница 107: ...p gain gradually to avoid any trouble caused by a rapid change to a higher gain while the velocity loop gain time constant of velocity loop integration velocity detection filter and time constant of torque filter can be switched instantaneously When Pr 1 19 Position loop gain switching time is 0 When Pr 1 19 Position loop gain switching time is 5 1st gain 2nd gain 1st gain Level Hysterisis 1st gai...

Страница 108: ...z Set the center frequency of the 2nd notch filter The notch filter function will be invalidated by setting up this parameter to 5000 2 05 B 2nd notch width selection 0 20 Set the width of notch at the center frequency of the 2nd notch filter 2 06 B 2nd notch depth selection 0 99 Set the depth of notch at the center frequency of the 2nd notch filter 2 07 B 3rd notch frequency 2 50 5000 Hz Set the ...

Страница 109: ...ved with setup value 100 The table below shows this value in dB on the right Notch width Band width center frequency Notch depth I O ratio dB MINAS A4 reference MINAS A5BL Series 0 0 41 0 50 0 0 00 1 0 56 0 59 1 0 01 40 0 2 0 71 0 71 2 0 02 34 0 3 0 86 0 84 3 0 03 30 5 4 1 01 1 00 4 0 04 28 0 5 1 19 5 0 05 26 0 6 1 41 6 0 06 24 4 7 1 68 7 0 07 23 1 8 2 00 8 0 08 21 9 9 2 38 9 0 09 20 9 10 2 83 10 ...

Страница 110: ...edge vibrates Machine base Driver PLC Vibration measurement with displacement sensor 1 Applicable Range Damping control is activated under the following conditions Conditions under which the damping control is activated Control mode Control mode to be either or both position control 2 Caution This function does not work properly or no effect is obtained under the following conditions Conditions wh...

Страница 111: ...ibration at the load edge The driver measures vibration at load edge Setup unit is 0 1 Hz The setup frequency is 1 0 to 300 0 Hz Setup of 0 to 9 becomes invalid 2 15 B 1st damping filter setup 0 1500 0 1 Hz If torque saturation occurs with damping frequency 1st enabled decrease the setup value or if the operation is slow increase it Usually set it to 0 Note The maximum setup value is internally li...

Страница 112: ...mal command velocity 2 There is delay from setting change of damping frequency or damping filter to internal computation and application of new setting values If the switching described in 1 occurs during this delay time application of new value will be suspended Class No At trib ute 1 Title Range Unit Function 2 18 B 3rd damping frequency 0 3000 0 1 Hz You can set up the 3rd damping frequency of ...

Страница 113: ...ing operation You can reduce the settling time by setting up larger value however the torque ripple increases at the command changing point as the right fig shows Setup within the range where no torque saturation occurs under the actual condition If torque saturation occurs damping control effect will be lost Torque command Damping filter setup is appropriate Damping filter setup is too large Torq...

Страница 114: ...cording to the internal positional command by the ratio of this parameter and add the result to the velocity command resulting from the positional control process 1 11 B Velocity feed forward filter 0 6400 0 01 ms Set the time constant of 1st delay filter which affects the input of velocity feed forward 1 12 B Torque feed forward gain 0 1000 0 1 Multiply the torque command calculated according to ...

Страница 115: ... acceleration deceleration can be minimized close to 0 by increasing the torque forward gain This means that positional deviation can be maintained at near 0 over entire operation range while driving in trapezoidal speed pattern under ideal condition where disturbance torque is not active Command speed Motor velocity Positional deviation Positional deviation in the region where acceleration is con...

Страница 116: ...Total inertia Estimate velocity value 1 Applicable Range Following conditions have to be satisfied to apply this function Conditions under which the instantaneous velocity observer is activated Control mode Control mode to be position control or velocity control Others Should be in servo on condition Parameters except for controls such as torque limit setup are correctly set assuring that the moto...

Страница 117: ...his value as Pr 0 04 setup value When the inertia ratio is already known through calculation enter this calculated value When the inertia ration is not known execute the normal mode auto gain tuning and measure the inertia ratio 2 Adjustment at normal position control Adjust the position loop gain velocity loop gain etc 3 Setup of instantaneous velocity observer Pr 6 10 By enabling instantaneous v...

Страница 118: ... to be position control or velocity control Others Should be in servo on condition Parameters except for controls such as torque limit setup are correctly set assuring that the motor can operate normally Real time auto tuning should be disabled Pr 0 02 0 Instantaneous velocity observer should be disabled Pr 6 10 bit0 0 The motor should be of a linear type Pr 9 00 1 No velocity estimation operation...

Страница 119: ...r 6 10 Function enhancement setup set observer enable disable and operation mode always enable enable only when 1st gain is selected 2 Setup of Pr 6 24 Disturbance observer filter First set up Pr 6 24 to a larger value and check the operation with Pr 6 23 Disturbance torque compensating gain set to a low value and then gradually decrease the setup value of Pr 6 24 A low filter setup value assures ...

Страница 120: ...he normal gain switching functions set the 3rd gain application time to Pr 6 05 Position 3rd gain enable time and set the 3rd gain scale factor with reference to 1st gain to Pr 6 06 Position 3rd gain magnification ratio If 3rd gain is not used set Pr 6 05 to 0 and Pr 6 06 to 100 The 3rd gain is enabled only for position control During the 3rd gain period only position loop gain velocity loop gain ...

Страница 121: ...lowing 3 parameters to setup appropriate friction torque compensation Class No At trib ute 1 Title Range Unit Function 6 07 B Torque command additional value 100 100 Set up the offset load compensation value usually added to the torque command in a control mode except for the torque control mode 6 08 B Positive direction torque compensation value 100 100 Set up the dynamic friction compensation va...

Страница 122: ...hich lengthens positioning setting time or varies positioning accuracy These problems can be minimized by setting the friction torque of every operating direction into individual parameters Pr 6 08 Positive direction torque compensation value and Pr 6 09 Negative direction torque compensation value can be used for this purpose The offset load compensation and dynamic friction compensation can be u...

Страница 123: ... vibration may be generated Change the value while the motor is stopped 3 Parameters Class No At trib ute 1 Title Range Unit Function 6 42 B 2 stage torque filter time constant 0 2500 0 01ms Sets 2 stage torque filter time constant The time constant is invalid if 0 is specified When used for the secondary filter as Pr6 43 50 The time constants that can be used are 5 159 0 05 1 59 ms Equivalent to ...

Страница 124: ...uired please tune the following parameter finely manually checking a response However when the 2 degrees of freedom control mode is valid only one damping filter can be used at the same time For details refer to Section 5 2 7 Class No At trib ute 1 Title Range Unit Function 6 47 R Function expansion setup 2 0 127 Set various functions with bits bit0 2 degrees of freedom control mode Standerd type ...

Страница 125: ...71 Please note that for the time constant of the command filter Pr2 22 Positional command smoothing filter will be applied 6 50 B Viscous friction compensating gain 0 10000 0 1 10000 r min The command speed is multiplied by this set value to obtain a compensation amount that will be added to the torque command By setting the estimated value of viscous friction coefficient for real time auto tuning...

Страница 126: ... Internal command position after filter MPOS pulse 60B0h Position offset command csp only Command positional deviation 4 pulse Command positional deviation 4 pulse Sum of feedback pulses pulse Torque instruction TRQ 0 1 Damping control 1st 2 14 2nd 2 16 2 15 2 17 Switching selection 2 13 Frequency Filter Depth 6 41 Tuning filter Command filter Time constant 6 48 Damping 6 49 Time constant 2 22 Dam...

Страница 127: ...grees of freedom positional control Both the bit 0 and bit 5 for Pr6 47 Function expansion setup 2 must be 1 Command frequency Must be 80M pulse s or less Other The servo is in the On state Elements other than control parameters such as torque limit are properly set and the motor works without any trouble 2 Precautions Under the following conditions the Model type damping filter may not operate no...

Страница 128: ...the load in mode of model type damping filter enabled Damping ratio is set by the setting value x 0 001 When the set value of 1000 damping 1 no peak Decreasing the setting value the damping ratio is reduced Resonance peak is large 6 65 B 1st response frequency 0 3000 0 1Hz Sets the 1st response damping ratio of the load in mode of model type damping filter enabled The unit is 0 1Hz Setting possibl...

Страница 129: ... expansion setup 2 to 0 Existing function Torque velocity vertical axis mode e g The screenshot below shows measurement results of a belt device With small resonances ignored the following are the resonance frequency of the gain s peak and anti resonance frequency of the gain s valley 1 1st anti resonance frequency 44 Hz 2 1st resonance frequency 130 Hz 3 2nd anti resonance frequency 180 Hz 4 2nd ...

Страница 130: ...No SX DSV02829 124 Example of frequency response measurement by setup support software PANATERM R1 00 Motor Business Unit Panasonic Corporation ...

Страница 131: ...O bit8 and bit9 of 60FEh 02h Bit mask are set to 1 2 Precautions Precautions on the settings of 60FEh 01h Physical outputs and 60FEh 02h Bit mask Fix the bit 9 Pr_SEL2 of 60FEh 01h Physical outputs at 0 When transition from ESM state to PreOp or later step has been performed set bit8 Pr_SEL1 and bit9 Pr_SEL2 of 60FEh 01h Physical outputs again Precautions on the timing of switching applied paramet...

Страница 132: ...arameter for long pitches Positional command speed before filtering Time Short pitch feed Long pitch feed Positioning completed Short pitch feed Completed Not completed 60FEh 01h bit9 60FEh 01h bit8 0 0 1 1st 1st 2nd Setting pattern for applied parameter 1 communication cycle or more 0 0 0 0 0 R1 00 Motor Business Unit Panasonic Corporation ...

Страница 133: ...p sequence 131 6 3 1 Sequence upon inputting of over travel inhibition POT NOT under review 131 6 3 2 Sequence at Servo Off 133 6 3 3 Sequence at main power OFF 134 6 3 4 Sequence at alarm 136 6 3 5 Emergency stop upon occurrence of alarm 138 6 4 Torque saturation protection function 140 ６ R1 00 Motor Business Unit Panasonic Corporation ...

Страница 134: ...direction 1 Pr0 13 2 Pr5 22 Pr0 13 3 Pr0 13 4 Pr5 22 Pr0 13 5 22 B 2nd torque limit 0 500 You can set up the 2nd limit value of the motor output torque 2 1 For parameter attribute refer to Section 9 1 2 The maximum torque limit 100 x Pr9 07 Pr9 06 x 2 Pr 9 07 Maximum instantaneous motor current 0 1A Pr 9 06 Rated effective motor current 0 1 Arms Note The positive direction of feedback scale after ...

Страница 135: ... this software limit protection is activated the motor decelerates and stops according to 605Eh Fault reaction option code The work load may collide to the machine end and be damaged depending on the load during this deceleration hence set up the range of Pr 5 14 including the deceleration movement This motor working range setup protection will be disabled during the frequency response functioning...

Страница 136: ... range Motor Load 3 When the load moves to the left at Servo ON When the position command to the left direction the position command input range will be expanded further Position command input range Pr 5 14 P r5 14 Motor movable range Error occurrence range Error occurrence range Motor Load Condition under which the position command input range is cleared The position command input range will be 0...

Страница 137: ...it NOT Negative direction over travel inhibit When POT is input during positive direction driving stops the drive according to Pr 5 05 Sequence at over travel inhibit The similar function NOT is applied in reverse direction Regardless of operating condition torque in over travel inhibition direction is 0 2 1 CoE CiA402 side deceleration stop POT Positive direction over travel inhibit NOT Negative ...

Страница 138: ...g the time between the input of the signal and the start of the emergency stop If a positional command is stopped concurrently with the input of the signal a torque disallowed by normal torque limitation may be output To allow a stop with the torque specified in the Emergency stop torque setup continue to send the normal positional command at least 4 ms after the input of the signal 5 Deceleration...

Страница 139: ... OFF Clear 2 Free run DB OFF Clear 2 8 Emergency stop 3 5 6 Torque limit Pr 5 11 Clear 2 Dynamic brake action Clear 2 9 Emergency stop 3 5 6 Torque limit Pr 5 11 Clear 2 Free run DB OFF Clear 2 1 During deceleration sequence or at the stop servo OFF the system has to control the position and to stop the generation of internal position command 2 During deviation clearing process the system causes t...

Страница 140: ...n function on the CoE CiA402 side 1 Parameters Class No At trib ute 1 Title Range Unit Function 5 07 B Sequence at main power OFF 0 9 Specify the status during deceleration after main power interrupt or after stoppage 5 08 B L V trip selection upon main power off 0 3 Select LV trip or servo OFF upon occurrence of main AC power alarm Setup the condition to detect main AC power OFF alarm when the ma...

Страница 141: ...ss the system causes the internal command position to follow up the feedback position When executing the interpolation feed system command after servo ON re set the command coordinate of the host controller The motor may operate sharply 3 Emergency stop refers to a controlled immediate stop with servo on The torque command value is limited during this process by Pr 5 11 Emergency stop torque setup...

Страница 142: ...ted alarm Err80 Err81 Err85 Err88 Communication related alarms Err80 Err81 Err85 Err88 information set by 605Eh Fault reaction option code Please refer to section 6 9 2 6 Fault reaction option code 605Eh of Technical Document EtherCAT Communication Specifications SX DSV02830 for details R1 00 Motor Business Unit Panasonic Corporation ...

Страница 143: ...r servo OFF the system must control the position and stop the generation of internal position command 2 During deviation clearing process the system causes the internal command position to follow up the feedback position When executing the interpolation feed system command after servo ON first re set the command coordinate of the host controller The motor may operate sharply 3 Action of A B When a...

Страница 144: ...uring emergency stop sequence in an alarm condition Err 26 1 2nd over speed protection will be activated If setup value is 0 Err 26 1 will be activated with a setup value for Pr 9 10 Maximum over speed level If the setup value exceeds Pr 9 10 Maximum over speed level the error will be saturated with Pr 9 10 Maximum over speed level 9 10 R Maximum over speed level 0 20000 r min Set up the maximum o...

Страница 145: ...et Pr5 13 to a small value with a sufficient margin for Pr6 15 If the margin is insufficient or the set value is the same both Err26 0 and Err26 1 may be detected In this case Err26 0 will be displayed However because Err26 1 is also activated internally priority is given to the alarm that does not require emergency stop and emergency stop is not executed Furthermore if the Pr6 15 setting is small...

Страница 146: ...is set to 30000 Err16 1 will be activated if torque saturated has continued for about 7 5 seconds When torque is controlled this function is disabled and Err 16 1 will not be activated If the immediate stop alarm is activated this function is disabled and Err 16 1 will not be activated Torque command Torque in limit signal output TLC Alarm output ALM Err16 1 will not be activated if torque saturat...

Страница 147: ...tive function Warning function 7 1 List of protective function 142 7 2 Details of Protective function 145 7 3 Warning function 159 7 4 Setup of gain pre adjustment protection 162 ７ R1 00 Motor Business Unit Panasonic Corporation ...

Страница 148: ... 24 0 Position deviation excess protection 1 Speed deviation excess protection 26 0 Over speed protection 1 2nd over speed protection 27 1 Absolute clear protection 4 Directive error protection 6 Operation command contention protection 7 Position information initialization error protection 28 0 Limit of pulse replay error protection Not Supported 29 2 Deviation counter overflow protection 2 30 0 S...

Страница 149: ...est error protection 1 ESM undefined request error protection 2 Bootstrap requests error protection 3 Incomplete PLL error protection 4 PDO watchdog error protection 6 PLL error protection 7 Synchronization signal error protection 81 0 Synchronization cycle error protection 1 Mailbox error protection 4 PDO watchdog error protection 5 DC error protection 6 SM event mode error protection 7 SyncManag...

Страница 150: ...CLR was performed alarm clear communication from state ON In this case perform an alarm clearance from communication after once turning OFF an input A CLR Please be sure to perform an alarm clearance during a stop after ensuring safety Please refer to section 8 4 Clear error alarm Clear warning of Technical Document EtherCAT Communication Specifications SX DSV02830 for details of the alarm clear m...

Страница 151: ...aneous power failure has occurred 1 Increase the power capacity Change the power supply Remove the causes of the shutdown of the magnetic contactor or the main power supply then re enter the power 1 Main power supply undervoltage protection AC 2 Instantaneous power failure has occurred 2 Set up the longer time to Pr 5 09 Main power off detecting time Set up each phase of the power correctly 3 Lack...

Страница 152: ...back Scale wires 1 Torque saturation error protection Torque saturated has continued for the period set to Pr 7 16 Torque saturation error protection frequency Check the operating state of the amplifier Take the same measure as done against Err16 0 18 0 Over regeneration load protection Regenerative energy has exceeded the capacity of regenerative resistor 1 Due to the regenerative energy during d...

Страница 153: ...ases at this moment Pr 6 02 setup value should have sufficient margin because the speed deviation also largely increases on the rising edge of the internal positional command speed Increase the setup value of Pr 6 02 Lengthen the acceleration deceleration time of internal positional command speed or improve the follow up characteristic by adjusting the gain Disable the excess speed deviation detec...

Страница 154: ...ut torque has not saturated in torque monitor Make a gain adjustment Set up maximum value to torque limit setting Make a wiring connection of the feedback scale as per the wiring diagram 30 0 Safety input protection Only special product supports this feature Input photocoupler of both or one of safety input 1 and 2 is OFF Check wiring of safety input 1 and 2 33 0 Input duplicated allocation error ...

Страница 155: ...it input protection 1 With Pr 5 04 over travel inhibit input setup 0 both positive and negative over travel inhibit inputs POT NOT have been ON With Pr 5 04 2 positive or negative over travel inhibit input has turned ON With Pr 5 04 0 and either of the positive and negative over travel inhibit input has turned ON during the execution of magnet pole position estimation With Pr 5 04 0 and either of ...

Страница 156: ... ALMC has been turned to 1 Check the specifications of the feedback scale 2 Feedback scale status 2 error protection Not supported Bit 2 of the feedback scale error code ALMC has been turned to 1 Check the specifications of the feedback scale 3 Feedback scale status 3 error protection Not supported Bit 3 of the feedback scale error code ALMC has been turned to 1 Check the specifications of the fee...

Страница 157: ...r Pr 9 07 Maximum instantaneous motor current Setting unit 0 1 A If the above setup value is not problematic the framework for the amplifier needs to be enlarged Check the setup value for each of Pr 9 01 Feedback scale resolution number of scale pulse per rotation and Pr 9 10 Maximum over speed level and set a value of less than 126 M pulses to the number of pulses per unit second 2 Motor combinat...

Страница 158: ...nd a large friction 1 Magnet pole position estimation error 2 protection The motor has not stopped after the elapse of the time set using Pr 9 27 Motor stop control time for magnet pole position estimation Increase the setup value for Pr 9 27 Check for unbalanced loads in the setup environment Does the motor operate even when with torque command 0 2 Magnet pole position estimation error 3 protecti...

Страница 159: ...nditions by which an increment is carried out at the time set up in the ESC register addresses 0400h and 0420h It is checked whether the transmitting timing of PDO from higher rank equipment is constant not stop Increase the timeout value of the PDO watchdog detection Check whether there is any problem in wiring of an EtherCAT telecommunication cable Check whether the excessive noise has started t...

Страница 160: ...80Ch setup of SyncManager0 1 is inaccurate Other than 100110b is set for 0804h bit5 0 Other than 100010b is set for 080Ch bit5 0 Please set up Sync manager correctly 4 PDO watchdog error protection A setup of the watchdog timer of PDO is wrong Although PDO watch dog trigger is effective SyncManager Bit6 which is the register 0804h set to 1 When the detection timeout value of PDO watchdog timer cyc...

Страница 161: ...registersh 0818h setting of SyncManager3 is inaccurate The area for reception overlaps the area for transmission The area for transmission reception of Mailbox overlaps the area for transmission reception of SyncManager2 3 Address specification of the area for transmission reception is odd number The start address is out of range A Length ESC register 081Ah setting of SyncManager3 is inaccurate Di...

Страница 162: ...is switched on again Each phase L1 L2 L3 of a power supply is connected correctly The single phase 100V and the single phase 200V should use L1 and L3 It replaces with new servo amplifier 1 Control mode setting error protection The PDS state was changed to Operation enabled when the value set to 6060h Modes of operation is 0 and t he value set to 6061h Modes of operation display is 0 A control not...

Страница 163: ...nected feedback scale serial communication model does not match the type selected through Pr 3 23 Feedback scale selection Set Pr 3 23 to the type of feedback scale connected 7 Parameter setup error protection 5 Manufacturer s use of the parameter setting is incorrect Please do not modify the parameter manufacturer s use 98 4 Unusual communication IC initialization protection There is an abnormali...

Страница 164: ...ove 1 For parameter attribute refer to Section 9 1 Notes Overload protection does not guarantee error protection due to motor heat buildup for example Before use be sure to check that there are no problems due to motor heat buildup for example in the actual operation environment MSME 50 W MSME 100 W 100 V MSME 100 W 200 V MSME 200 W MSME 400 W MSME 750 W MGME 900 W 3 0 kW MSME 1 0 kW 5 0 kW MDME 1...

Страница 165: ...orque vibration whose level is higher than this setup value the oscillation detection alarm will be issued If set to 0 oscillation detection warning is disabled 6 38 C Warning mask setting 32768 32767 Set the warning detection mask To disable detection of a warning place 1 to the corresponding bit 6 73 A Over load warning detection level 0 114 Set the threshold used to detect overload warnings dur...

Страница 166: ...eneration warning Regenerative load factor is 85 or more the protection level 2 bit 5 A3 Fan warning Fan has stopped for 1 sec 4 bit 6 A6 Oscillation detection warning If Pr6 37 oscillation detection level is non zero it is detected that the torque oscillation oscillation state than that specified in Pr6 37 7 bit 13 A7 Lifetime detection warning Life expectancy of capacitor or fan becomes short 8 ...

Страница 167: ...at bit arrangements of these masks are different from those of general purpose type MINAS A5 series 3 Warning can be cleared by alarm clear If warning cause is not resolved yet once cleared warning is issued again 4 Settings of Pr6 73 and Pr6 74 allow you to enable the expansion specification as the specification of overload warning detection Expansion specification enabled under Pr6 73 and Pr6 74...

Страница 168: ...torque limit setup is lower than the value required during the actual application the following two protective features will be triggered over speed protection when overshoot occurs and excess positional deviation protection when response to the command delays By allocating the torque in limit output TLC of interface specification to the output signal torque limit condition can be detected externa...

Страница 169: ...e The maximum operating frequency of the Feedback scale unit or external scale units pulse s Kp Position loop gain 1 s Coefficients in parentheses are margins of protection to prevent frequent excessive position deviation Notes When switching position loop gain Kp select the smallest value for calculation When switching from the velocity control to position control position deviation correcting fu...

Страница 170: ...to safety controller 171 8 4 4 Example of connection when using multiple axes 172 8 5 Safety precautions 173 When the last two digits of the part number are alphabetical characters or the second last digit is an alphabetical character and the last digit is numeric Excluding C1 to C9 the servo driver can t be used due to no safety function incorporated This chapter is a description of the part numb...

Страница 171: ...this purpose the STO uses safety input signal and hardware circuit Safety input EDM output Servo driver Contact output 0V 24V SF1 SF2 SF2 EDM EDM Safety switch M SF1 Safety input When STO function operates the servo driver turns off the servo ready output signal S RDY and enters safety state This is an alarm condition and the 7 seg LED on the front panel displays the error code number PFH value of...

Страница 172: ...in a way so that the photocoupler of this input circuit turns off to activate STO function SF2 X3 5 Safety input 1 or 2 enables STO to operate within 5 ms causing motor output torque to turn off Caution Safety equipment self diagnosis L pulse Safety output signal from the safety controller and safety sensor may include L pulse for self diagnosis To prevent the L pulse from mis triggering STO funct...

Страница 173: ...ction of 2 safety input channels are active the photocoupler in EDM output circuit turns on Signal Symbol Photocoupler logic Safety input SF1 ON ON OFF OFF SF2 ON OFF ON OFF EDM output EDM OFF OFF OFF ON By monitoring the logics all 4 states of photocoupler shown in the table above the external device can determine the status normal or abnormal of safety input circuit and EDM output circuit That i...

Страница 174: ... Break engage Photocoupler is OFF STO Safety input 1 Safety input 2 3 Not energized Energized Max 5 ms Motor energization Dynamic brake 2 External brake release output BRK OFF Servo Ready output S RDY Servo Alarm output ALM Servo ON input SRV ON Photocoupler is ON Servo ON command Photocoupler is OFF Servo OFF command Photocoupler is ON Photocoupler is OFF max 6 ms EDM output 0 5 5 ms 1 t1 is the ...

Страница 175: ...ON input SRV ON 1 External brake release output BRK OFF Motor energization Servo Ready output S RDY Servo Alarm output ALM Servo Clear intput A CLR 1 Dynamic brake EDM output output coupler ON Photocoupler is OFF Photocoupler is ON Servo ON command Max 2ms 1 Photocouplers for safety input 1 and 2 should be turned on again with servo on input turned off Otherwise alarm occurs and should be cleared ...

Страница 176: ...iver Contact output 0V 24V SF1 SF2 SF2 EDM EDM Safety switch M SF1 Safety input 8 4 2 Example of connection to safety sensor EDM output Servo driver SF1 SF2 SF2 EDM EDM M SF1 Safety output source Safety sensor Control output 1 Control output 2 0 V 24 V EDM input Safety input R1 00 Motor Business Unit Panasonic Corporation ...

Страница 177: ...ction to safety controller EDM output Servo driver SF1 SF2 SF2 EDM EDM M SF1 PWR ERR G9SX AD EI T2 ED T1 FB S14 S24 T31 T33 Safety outoput source 0V A2 EDM input Safety controller Safety input 1 R1 00 Motor Business Unit Panasonic Corporation ...

Страница 178: ...imum No of connectable axes 8 1 1 It is a reference value When EDM output is connected in series the maximum No of connectable axes is limited because the collector saturation voltage of the built in photocoupler Vce sat is approx 1 V This Vce sat value varies depending on the collector current Because approx 5 mA flows into each circuit during SF input the current is increased proportionally as t...

Страница 179: ...d Make sure that this does not cause any problem When power transistor etc becomes defective the motor will move to the extent equivalent of 180 electrical angle max Make sure that this does not cause any problem The STO turns off the current to the motor but does not turn off power to the servo driver and does not isolate it When starting maintenance service on the servo driver turn off the drive...

Страница 180: ...V02829 174 Safety Circuit Block Diagram Motor M Power ASIC EDM EDM SF2 SF2 SF1 SF1 3 6 5 8 7 4 6 3 3 3 3 PWM CN8 4 CN8 3 6 5 8 7 6 3 3 3 3 Power section interface R1 00 Motor Business Unit Panasonic Corporation ...

Страница 181: ...on is invalid Pr 9 20 0 1 3 194 9 2 3 Servo ON OFF action while the motor is at stall servo lock 196 9 2 4 Servo ON OFF action while the motor is in motion 197 9 2 5 When an error alarm has occurred at Servo ON command DB deceleration Free run deceleration movement 198 9 2 6 When an error alarm has occurred at Servo ON command Emergency stop movement 199 9 2 7 When an alarm has been cleared at Ser...

Страница 182: ...use 4 Permanently set at 1 11 Numerator of pulse output division Not supported pulse r 1 262144 4 Set the numerator of pulse output division Permanently set at 2500 R All 4 2 5 12 Reversal of pulse output logic Not supported 0 3 2 You can set up the B phase logic and the output source of the pulse output Permanently set at 0 R All 4 2 5 13 1st torque limit 0 500 2 You can set up the 1st limit valu...

Страница 183: ... the torque feed forward gain B Position Velocity 5 2 7 13 Torque feed forward filter 0 01 ms 0 6400 2 Set up the torque feed forward filter B Position Velocity 5 2 7 14 2nd gain setup 0 1 2 Using the gain select function set this parameter for the best tuning B All 5 2 4 15 Mode of position control switching 0 10 2 Set up the condition of gain switching for position control B Position 5 2 4 16 De...

Страница 184: ...sion notch filter Automatically set when the adaptive notch is enabled B All 5 2 5 5 1 2 13 Selection of damping filter switching 0 3 2 Select the filters to be used for damping control B Position 5 2 6 14 1st damping frequency 0 1 Hz 0 3000 2 You can set up the 1st damping frequency of the damping control which suppresses vibration at the load edge Setting value of 10 1 Hz or higher is valid B Po...

Страница 185: ...eleration process when the velocity instruction is applied B Velocity 4 3 3 17 Selection of speed limit 2 2 Set up the speed limit B Torque 4 4 1 21 For manufacturer s use 2 Permanently set at 0 22 For manufacturer s use 2 Permanently set at 0 23 Feedback scale selection 0 2 2 Select the type of feedback scale 0 A B phase output type 1 Serial communication type incremental version 2 Serial communi...

Страница 186: ...4 For manufacturer s use 2 Permanently set at 0 31 Positioning complete In position range pulse 0 262144 4 Set up allowable the number of pulses for positioning complete signal INP A Position 4 2 4 32 Positioning complete In position output setup 0 4 2 Set up the condition for positioning complete output A Position 4 2 4 33 INP hold time ms 0 30000 2 Set up the hold time A Position 4 2 4 34 Zero s...

Страница 187: ...ency stop When setup value is 0 the torque limit for normal operation is applied B All 6 3 1 6 3 2 6 3 3 6 3 5 12 Over load level setup 0 500 2 You can set up the over load level It becomes 115 by setting up this to 0 The setup value of this parameter is limited by 115 of the motor rating A All 13 Over speed level setup r min 0 20000 2 Set up the detection level of Err 26 0 Over speed protection W...

Страница 188: ...bit7 INP output limit 0 Invalid 1 Valid bit8 unused Always set to 0 bit9 For manufacturer s use Always set to 0 bit 0 LSB B All 4 2 4 5 2 9 5 2 10 14 Emergency stop time at alarm ms 0 1000 2 Set up the time allowed to complete emergency stop in an alarm condition Set resolution in unit of 2 ms For example when setting value 11 processed in 12 ms We recommend setting the same value as Pr4 38 B All ...

Страница 189: ...ponding bit position disables detection of the alarm condition C All 7 3 39 For manufacturer s use 2 Permanently set at 0 40 For manufacturer s use 2 Permanently set at 0 41 1st damping depth 0 1000 2 Specifies the damping depth of the 1st damping function B Position 5 2 6 42 2 stage torque filter time constant 0 01 ms 0 2500 2 Specifies the filter time constant for the torque command The filter i...

Страница 190: ...t the above magnitude relationship vibration suppression filter and filter resonance characteristic is invalid B Position 5 2 14 5 2 15 62 1st resonance damping ratio 0 1000 2 Sets the 1st resonance damping ratio of the load in mode of model type damping filter enabled Damping ratio is set by the setting value 0 001 When the set value of 1000 damping 1 no peak Decreasing the setting value the damp...

Страница 191: ...mping 1 no peak Decreasing the setting value the damping ratio is reduced Resonance peak is large B Position 5 2 14 5 2 15 70 2nd response frequency 0 1Hz 0 3000 2 Sets the 2nd response damping ratio of the load in mode of model type damping filter enabled The unit is 0 1Hz Setting possible within the scope of the 10 0 Hz 2nd anti resonance frequency 2nd response frequency 2nd anti resonance frequ...

Страница 192: ...1 ms Setting resolution is 2 ms Note Set this parameter so that Pr 7 14 becomes smaller than Pr 5 09 in order for the warning detection is performed before shut down detection If the voltage between P and N of the main power convertor is decreased to below a specified value before the warning is detected because the setting value is long the main power low voltage error Err13 0 occurs before the w...

Страница 193: ...ber of times of communication unusual continuation generating bit0 3 Err80 7 detection threshold value bit4 7 Reserved bit8 11 Reserved bit12 15 Reserved R All Ether CAT 43 Lost link detection time ms 0 32767 2 An ESM state after Init PreOP changes When either Port0 or Port1 carries out this parameter setup time progress in the state Port which is Lost link removes from an Init PreOP changes time ...

Страница 194: ... 03 For manufacturer s use 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 Permanently set at 0 13 For manufacturer s use 4 Permanently set at 0 14 For manufacturer s use 4 Permanently set at 0 15 For manufacturer s use 4 Permanently set at 0 19 For ...

Страница 195: ...st for the motor R All 4 7 1 1 4 7 1 2 4 7 4 Motor type Rotary Set up the rated torque for the motor 06 Rated effective motor current 0 1 Arms 0 32767 2 Set up the rated effective current for the motor R All 4 7 1 1 4 7 1 2 4 7 4 07 Maximum instantaneous motor current 0 1A 0 32767 2 Set up the maximum instantaneous current for the motor R All 4 7 1 1 4 7 1 2 4 7 4 08 Motor phase inductance 0 01mH ...

Страница 196: ...6 Time for magnet pole position estimation motor stop judgment ms 0 32767 2 Set up the motor stop judgment time for magnet pole position estimation B All 4 7 3 2 27 Time for magnet pole position estimation motor stop limitation ms 0 32767 2 Set up the motor stop limitation time for magnet pole position estimation B All 4 7 3 2 28 Magnet pole position estimation torque command filter 0 01ms 0 2500 ...

Страница 197: ...et at 6 14 For manufacturer s use 2 Permanently set at 60 15 For manufacturer s use 2 Permanently set at 0 16 For manufacturer s use 2 Permanently set at 1 17 For manufacturer s use 2 Permanently set at 2 19 For manufacturer s use 2 Permanently set at 3 21 For manufacturer s use 4 Permanently set at 252703711 22 For manufacturer s use 4 Permanently set at 251920595 23 For manufacturer s use 4 Perm...

Страница 198: ...nfinished 3 Completed 0s or more Posion Speed Thrust instruction No instruction entry ESM State Init State PreOP or higher 60FEh 01h bit0 Indefinite ON 1 OFF 0 set brake Command outputTr ON brake released set brake output 5 outputTr OFF brake engaged Output Tr ON brake released Instruction entry Magnet pole position estimation completion output CS CMP 10ms or longer The above chart shows the timin...

Страница 199: ...mpletion output will turn ON and then apply the command If magnet pole position estimation has not completed correctly the magnet pole position estimation completion output will not turn ON 4 A brake release output BRK OFF is different from the set brake of 60FEh via EtherCAT communication 5 The set brake output is output controlled by the set brake of 60FEh via EtherCAT communication For informat...

Страница 200: ...ate Init State PreOP or higher 60FEh 01h bit0 Indefinite ON 1 OFF 0 set brake Command outputTr ON brake released set brake output 5 outputTr OFF brake engaged Output Tr ON brake released Instruction entry Magnet pole position estimation completion output CS CMP Magnet pole position estimation unfinished Approx 100ms or longer Completed 3 10ms or The above chart shows the timing from AC power ON to...

Страница 201: ...ot turn ON The timing condition at which the magnet pole position estimation completion output turns ON depends on the setup value for Pr 9 20 Magnet pole detection scheme selection For more information refer to Section 2 2 4 A brake release output BRK OFF is different from the set brake of 60FEh via EtherCAT communication 5 The set brake output is output controlled by the set brake of 60FEh via E...

Страница 202: ...s Output Tr OFF Brake engage OFF 1 t1 depends on the setup value of Pr 4 37 Setup of mechanical brake action at stalling 2 The operation of dynamic brake during servo off depends on the setup value of Pr 5 06 Sequence at Servo Off 3 Servo ON will not be activated until the motor speed falls below approx 30 r min 4 A brake release output BRK OFF is different from the set brake of 60FEh via EtherCAT...

Страница 203: ...ake release Output Tr OFF Brake engage 1 t1 will be a shorter time of either the setup value of Pr 4 38 Mechanical brake action at running setup or elapsing time for the motor speed to fall below Pr 4 39 Brake release speed setup 2 Even when the servo ON command is turned on again while the motor is decelerating transition to servo ON is not performed until the motor stops 3 For the action of dyna...

Страница 204: ...ut Tr OFF Brake engage Output Tr ON Brake release Output Tr OFF Brake engage Alarm Ready Timing of the figure above changes in the setting of various sequence operation 1 t1 will be a shorter time of either the setup value of Pr 4 38 Mechanical brake action at running setup or elapsing time for the motor speed to fall below Pr 4 39 Brake release speed setup 2 When an alarm is generated the dynamic...

Страница 205: ...e of Pr 4 38 Mechanical brake action at running setup or elapsing time for the motor speed to fall below Pr 4 39 Brake release speed setup 2 When an alarm is generated the dynamic brake operates according to Pr 5 10 Sequence at alarm 3 A brake release output BRK OFF is different from the set brake of 60FEh via EtherCAT communication For information on the set brake output details refer to the sect...

Страница 206: ...rox 4 ms No input entry Input enabled Position Speed thrust instruction 100 ms or longer Approx 2 ms Released Clear Output Tr ON Brake engage Not ready Ready Alarm Not alarm 16 ms or longer 1 A brake release output BRK OFF is different from the set brake of 60FEh via EtherCAT communication For information on the set brake output details refer to the section 6 9 3 in the Technical Reference EtherCA...

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