Panasonic MINAS-A6 Series Скачать руководство пользователя

Страница: 22 / 57

No. SX-DSV03167 - 19 -

R6.0 Motion Control Business Unit, Panasonic Industry Co., Ltd.

[1] The DC power supply might have a trip to protect its components from over-voltage that is caused by

the regenerated energy from motor. In that case, it is necessary to install the diode for protecting from
the feedback current and also to install the DC bus capacitor for storing the regenerated energy between
the DC power supply and drivers.

[2] So that the specified voltage at the input servo driver, consider the transient voltage drop due to the

impedance wiring, select both the diameter of the power line and the length.

[3] This servo driver does not mount the inrush current limit circuit. Inrush current is dependent on the

characteristics and wiring impedance of the connection power, please check the actual machine.

[4] This servo driver does not have a protective earth terminal because it is assumed to be connected to a

stabilized power supply with reinforced insulation.
The case is a functional ground.

[5] Insert the connector securely until it is locked.

[6] Apply power supply voltage as specified in the rating plate.

[7] Install a molded-case circuit-breaker (MCCB), and in an emergency, be sure to shut off power supply

outside the servo driver. When using an earth leakage breaker, take measures against high frequency.

[8] Brake power supply for the motor with brake should be prepared by customer.

[9] Apply power supply voltage after completing wiring.

Содержание MINAS-A6 Series

Страница 1: ... AC servo driver Product Series Name MINAS A6 series Product Model Number DC24 48 V type Motion Control Business Unit Industrial Device Business Division Panasonic Industry Co Ltd 7 1 1 Morofuku Daito City Osaka 574 0044 Japan If you have any questions please contact the seller Sales office or Distributor of the product ...

Страница 2: ...tion to 2 figures P 27 Combine two figures of X6 connection into one figure Apr 9 2021 P 4 5 0 Change the description of applicable motors list to prepare for future updating of them Correction of errors Apr 1 2022 5 1 Changed the company name Changed the front cover format July 19 2022 P 4 6 0 Add amplifier list and applicable motor list P 5 Delete description of wireless LAN dongle P 7 Rating pl...

Страница 3: ...8 8 3 2 Wiring to connector X4 20 8 3 3 Wiring to connector X5 25 8 3 4 Wiring to connector X6 27 8 4 Dynamic brake 29 8 5 Mounting direction and interval 29 9 Compliance with the international standards 30 9 1 List of compatible standards for the servo driver 30 9 2 European EU directive 30 9 2 1 Compliance with the EMC directive 30 9 3 Configuration of peripheral devices 31 9 3 1 Installation en...

Страница 4: ...Technical document Modbus communication and Block operation Specification SX DSV03042 Please refer to the Panasonic web site for the above documents Pay a special attention to following items because the part of internal board is exposed When unpacking and installing implement the measure against static electricity and handle it with great caution Install the servo driver in an environment of Poll...

Страница 5: ...2 M V D L N 5 B S F Special specification alphanumeric Functionality G Rotary RS485 communication type F Rotary Multi function type Interface S Analog Pulse Power supply voltage C DC 24 V B DC 48 V Type Servo driver Frame Size V Size V Family name L A6 series Safety function N No safety function Output category Indicates the difference in applicable motors or output ratings ...

Страница 6: ...n suppression function Third gain switching function Friction torque compensation Hybrid vibration suppression function Quadrant projection suppression function Torque limit switching function Allowable motor operating range setting function Torque saturation protection function Infinite rotation absolute function External scale position information monitor function Communication functions USB for...

Страница 7: ...No Rated power Rated speed MVDLN4CSF MVDLN4CSG V DC 24 V MSMF5AC 1 2 50W 3000r min MVDLN5CSF MVDLN5CSG MSMF01C 1 2 MQMF01C 1 2 100W MQMF1EC 1 2 MHMF1EC 1 2 133W 2000r min MVDLN4BSF MVDLN4BSG DC 48 V MSMF5AB 1 2 MHMF5AB 1 2 50W 3000r min MSMF01B 1 2 MQMF01B 1 2 MHMF01B 1 2 100W MVDLN5BSF MVDLN5BSG MQMF02B 1 2 MHMF02B 1 2 200W MQMF2JB 1 2 MHMF2JB 1 2 266W 2000r min ...

Страница 8: ...tively Encoder pulse or external scale pulse or position comparison is output by using the line driver Communication USB USB interface to connect to computers setup software PANATERM for parameter setting or status monitoring RS232 1 1 communication with the host controller is possible RS485 1 n communication with the host controller is possible Modbus RTU 1 1 communication with superior controlle...

Страница 9: ... 6 R6 0 Motion Control Business Unit Panasonic Industry Co Ltd 5 Appearance and name of each part Below figure shows a multi function type The RS485 communication type is not provided with X5 external scale connector ...

Страница 10: ...plate 1 9999 0001 9999 10000 10999 A000 A999 11000 11999 B000 B999 17000 17999 H000 H999 18000 18999 J000 J999 22000 22999 N000 N999 23000 23999 P000 P999 33000 33999 Z000 Z999 Product No I O voltage Number of I O Rated I O current I O frequency Rated output of applicable motor Country of origin Date of production 2 0 2 2 0 4 0 1 Date of production Month of production Year of production A D Certif...

Страница 11: ...t Panasonic Industry Co Ltd 6 Outside dimensions Below figure shows a multi function type The RS485 communication type is not provided with X5 external scale connector Unit mm Do not use threaded screw holes that do not have description of dimensions ...

Страница 12: ...9 02A2 210 Pin No Symbol Description Layout 1 P2 Line Input DC48 V or DC24 V Use stabilized DC power source with reinforced insulation 2 N2 Line There is no anti connection function on the driver Reverse connection is caused of failure Enough attention to the power supply wiring N pin of Main power supply connector XA 1 connect to control power supply connector XA 2 7 3 Motor Connector XB Servo dr...

Страница 13: ...th a PC or a high order NC D 2 D 3 For manufacturer use 4 Do not connect anything Signal ground GND 5 Signal ground The connector shape on the driver side is USB mini B 7 5 Serial bus connector X2 Name Symbol Pin No Description Signal ground GND 1 Signal ground Note 1 NC 2 Do not connect RS232 signal TXD 3 Serial bus transmission and reception data RS232 RXD 4 RS485 signal 485 5 Serial bus transmi...

Страница 14: ...7 SO1 Control output 1 A8 SO1 A9 SI COM Control input common A10 SI1 Control input 1 A11 SI2 Control input 2 A12 SI4 Control input 4 A13 SI7 Control input 7 A14 SI10 Control input 10 B1 OA A phase output Position compare output 1 B2 OA B3 OB B phase output Position compare output 2 B4 OB B5 OZ Z phase output Position compare output 3 B6 OZ B7 SO2 Control output 2 B8 SO4 Control output 4 B9 SO COM ...

Страница 15: ...ontrol input 10 SI10 A14 Input signal pulse train command Pulse train interface with Photo coupler Name Symbol Pin No Description Circuit Command pulse input OPC1 A1 Input terminal for the position command pulse 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 500 kpps for line driver input a...

Страница 16: ...t is connected to the signal ground GND i e non insulated The maximum output frequency is 4 Mpps after quad edge evaluation This differential signal should be received by a line receiver AM26C32 or equivalent Connect a terminating resistor approx 330 Ω between the line receiver inputs Use a twisted pair cable with shield for wiring and connect the shield wire to the connector shell By setting bit ...

Страница 17: ...t EX0V is connected with the control circuit ground that is connected to connector X4 Note 2 The external scale power output EX5V should be 5 V 5 and 250 mA at the maximum When using an external scale whose consumption current exceeds this value external power supply should be prepared by the customer It may take time to perform initialization after power on depending on external scales In that ca...

Страница 18: ...Encoder signal inverting input output Encoder power supply output E5V 4 E5V Note 1 E0V 5 E0V Note 2 Frame ground FG 6 FG Note 1 The encoder power output E5V is connected with the control circuit ground that is connected to connector X5 inside the servo driver Note 2 The encoder power output E0V is connected with the control circuit ground that is connected to Pin 1 E5V of connector X5 and signal g...

Страница 19: ... the relay attach a diode in Parallel with the relay and in the direction shown in the figure above VDC 12 to 24 V S X4 B12 G X4 B10 B13 Note Outputting signal amplitude is 10 V Ao 1 Twisted pair VDC 12 to 24 V Equivalent of AM26C31 GND B10 Twisted pair Note Connect a terminating resistor approx 330 Ω between the input terminals of the line receiver 4 7 kΩ 1 kΩ 1000 pF P P S S 1 kΩ 1000 pF 4 7 kΩ ...

Страница 20: ...ironment of the customer The above wiring length is the maximum wiring length including tolerance of processing Note 2 It is supported for the multi function type only Note 3 If use Open collector interface maximum wiring length becomes 1 m 8 2 Cable Side connector Connector symbol Part name Part number Manufacturer XA 1 Receptacle Housing F31FSS 03V KX J S T Mfg Receptacle pin SF3F GF P2 0 41 or ...

Страница 21: ... shows a multi function type The RS485 communication type is not provided with X5 external scale connector Below figure don t shows all pins of each connector P1 N1 FG P2 N2 XA 1 XA 2 U V W FG Green Red White Black XB Main Power Supply DC24 V 48 V Control Power Supply DC24 V 48 V X1 GND GND X2 GND X4 EX0V X5 E0V X6 FG FG M Frame shell shell Servo driver ...

Страница 22: ...vo driver does not mount the inrush current limit circuit Inrush current is dependent on the characteristics and wiring impedance of the connection power please check the actual machine 4 This servo driver does not have a protective earth terminal because it is assumed to be connected to a stabilized power supply with reinforced insulation The case is a functional ground 5 Insert the connector sec...

Страница 23: ...sible so that wiring length is minimized within 3 m 3 Keep the wires away from the wiring of the power lines P1 N1 P2 N2 U V W FG as much as possible at least 30 cm Do not route the wires through the same duct and do not tie them together Control input The functions of pins A10 A14 should be allocated by parameters For details refer to Technical Reference Functional Specifications 4 7 kΩ 1 kΩ 4 7 ...

Страница 24: ...y a logical circuit such as a gate be careful not to be affected by noise 4 The rated current maximum current and rush current applied to each output should be 40 mA 50 mA and 90 mA or less respectively 5 A limiting resistor 10 Ω is connected to the output circuit For the purpose of Darlington connection of the output transistor voltage between the collector and the emitter VCE SAT is approx 1 V w...

Страница 25: ...ow in order to improve signal transmission reliability Be aware that the line driver and open collector interfaces differ in terms of how they are wired to the servo driver Line driver interface Allowable output voltage range of line driver 3 1 V VOH VOL 4 7 V If the above condition cannot be satisfied the input signal may be disturbed and the operation of the servo motor may become unstable 12 V ...

Страница 26: ...aware that the maximum pulse frequency of the open collector interface is small 200 kpps compared with that 500 kpps of the line driver interface R R VDC 2 2 kΩ 220 Ω 220 Ω 2 2 kΩ R R 24 VDC 2 2 kΩ 220 Ω 220 Ω 2 2 kΩ Twisted pair Twisted pair 2 2 kΩ 2 2 kΩ OPC1 PULS2 OPC2 SIGN2 GND PULS1 PULS2 SIGN1 SIGN2 GND X4 X4 A1 A4 A2 A6 B10 A3 A4 A5 A6 B10 Servodriver Servodriver 1000 pF 1000 pF 1000 pF 100...

Страница 27: ... line receiver AM26C32 or equivalent to receive output pulse At that time mount an appropriate terminating resistor approx 330 Ω between the line receiver inputs 2 The maximum output frequency should be 4 Mpps after quad edge evaluation or less RS422 line receiver AM26C32 or equivalent RS422 line driver AM26C31 or equivalent A B Z OA OA OB OB OZ OZ GND B1 B2 B3 B4 B5 B6 B10 X4 Servodriver ...

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

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

Страница 30: ...ce influence of voltage drop 3 Be sure to connect the shield wires of the encoder cable to the FG terminal on the motor side and the shell of X6 FG on the servo driver side 4 Keep the wires away from the wiring of the power lines P1 N1 P2 N2 U V W FG as much as possible at least 30 cm Do not route the wires through the same duct and do not tie them together When not use absolute system remove batt...

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

Страница 32: ...lied during operation of the dynamic brake which can cause smoking or ignition In addition the dynamic brake may be disconnected which can cause disabling the operation 3 If the dynamic brake is operated during high speed operation provide stop time for approx 10 minutes If the dynamic brake is used beyond that condition the brake may be disconnected which can cause disabling the operation 8 5 Mou...

Страница 33: ...rder to facilitate compliance of embedded equipment and devices with the EU directive 9 2 1 Compliance with the EMC directive EN 55011 Warning Class A equipment is intended for use in an industrial environment Conductive and radioactive interference can make it difficult to ensure electromagnetic compatibility in other environments Caution This equipment is not intended for use in residential envi...

Страница 34: ...liance with the CE marking or the EN standard EN60950 9 3 3 Noise filter When using multiple units of servo drivers and installing one noise filter collectively in the power supply section consult with the noise filter manufacturer 9 3 4 Surge absorber Install a surge absorber on the primary side of the noise filter Request When performing a withstand test for the machines and devices be sure to r...

Страница 35: ...uilt in function to protect against servo motor overload The overload protection function is operated based on the specified time limit characteristics when current has reached 115 or more of the rating The servo motor is not provided with an overheating protection function When it is necessary to satisfy the NEC implement overheating protection measures for the servo motor This servo driver has t...

Страница 36: ... brake which is integrated into the servo driver resulting in smoke and dust being emitted Doing so may also cause the dynamic brake to become disconnected preventing it from functioning 4 Do not damage the cable apply undue stress to it place heavy objects on it or pinch it 5 Do not use with the cable submerged in oil or water 6 Do not install the product next to heating elements such as heaters ...

Страница 37: ...re securely connected and that energized parts are insulated 23 Binding and inserting wires into a metal duct will cause the temperature to increase which will result in reduced wire current capacity and possibly lead to thermal damage Please consider the current reduction coefficient before deciding on how to wire the product 24 Make sure to install a molded case circuit breaker MCCB to the power...

Страница 38: ...onnects in the event of an emergency stop 49 To perform a test run secure the motor and check its operation with it disconnected from the mechanical system then mount it onto the machine 50 Confirm that the input power supply voltage is in line with the servo driver specifications before turning it on and operating Entering a voltage higher than the rated voltage could cause smoke and dust to be e...

Страница 39: ...ndent on the ambient temperature Make sure that the ambient temperature within 50 mm of the servo driver does not exceed the operating temperature range If the temperature cannot be measured from a distance of 50 mm measure at the midpoint of the gap between the obstacle preventing measurement and the servo driver Operating temperature range 0 55 C 50 mm 50 mm 50 mm Servo driver ...

Страница 40: ...d life span have exceeded their respective life spans 12 2 Warranty coverage If the product fails during the warranty period for reason in which our company is at fault we will only replace or repair the defective parts of the device that were provided by us Please note that our above stated responsibility is limited to the replacement and repair of the equipment provided by us and that we do not ...

Страница 41: ...vironment where only a limited number of parties are permitted access to the product This product is not to be installed in locations where the product and its accessories such as cables can be easily destroyed This product is to be used on a network that is not connected to the Internet If an external device such as a computer or tablet is connected to this product there are concerns about the ef...

Страница 42: ...sion of the motor bearing and increased bearing noise depending on the machine and the installation environment 7 A tightening torque appropriate for the product mounting screws should be chosen to avoid loosening or damage taking into account the strength of the screws used and the material to which they are mounted 8 Because noise resistance may be affected by wiring conditions e g grounding met...

Страница 43: ... circuit are not isolated Please Insulate processing if necessary LED Display This servo driver has some LEDs to confirm the condition of servo driver ALM LED status Condition of servo driver LED1 Red Lighting on Alarm occurs Lighting off Normally SRVON LED status Condition of servo driver LED2 Green Lighting on Servo ON Lighting off Servo OFF ...

Страница 44: ...er supply cable HVSF 1 25 2 0 mm2 HVSF 1 25 2 0 mm2 HVSF 1 25 2 0 mm2 HVSF 1 25 2 0 mm2 AWG14 16 AWG14 16 AWG14 16 AWG14 16 Control power supply cable HVSF 0 5 0 75 mm2 HVSF 0 5 0 75 mm2 HVSF 0 5 0 75 mm2 HVSF 0 5 0 75 mm2 AWG18 20 AWG18 20 AWG18 20 AWG18 20 Functional Grounding cable HVSF 1 25 2 0 mm2 HVSF 1 25 2 0 mm2 HVSF 1 25 2 0 mm2 HVSF 1 25 2 0 mm2 AWG14 16 AWG14 16 AWG14 16 AWG14 16 Motor ...

Страница 45: ...anasonic Industry Co Ltd Appendix List of Default Parameters The following pages show default parameters set when the servo driver is shipped from the factory Operation must be confirmed for each customer machine before use and the optimal parameters set ...

Страница 46: ...volution 10000 9 First command division multiplication numerator 0 10 Command division multiplication denominator 10000 11 Output pulse counts per one motor revolution 2500 12 Pulse output logic inversion output source selection 0 13 2 1st torque limit 500 14 Position deviation excess setting 100000 15 Absolute encoder setting 1 16 For manufacturer s use 3 17 For manufacturer s use 0 18 For manufa...

Страница 47: ... 0 84 13 1 Torque feed forward filter 0 00 44 1 For manufacturer s use 100 0 75 For manufacturer s use 250 14 2nd gain setting 1 45 1 For manufacturer s use 100 0 76 1 For manufacturer s use 100 0 15 Position control switching mode 0 46 1 For manufacturer s use 0 0 77 1 For manufacturer s use 100 0 16 1 Position control switching delay time 1 0 47 1 For manufacturer s use 48 0 78 1 For manufacture...

Страница 48: ...ng filter switching selection 0 14 1 1st damping frequency 0 0 15 1 1st damping filter setting 0 0 16 1 2nd damping frequency 0 0 17 1 2nd damping filter setting 0 0 18 1 3rd damping frequency 0 0 19 1 3rd damping filter setting 0 0 20 1 4th damping frequency 0 0 21 1 4th damping filter setting 0 0 22 1 Command smoothing filter 9 2 23 1 Command FIR filter 1 0 24 5th notch frequency 5000 25 5th not...

Страница 49: ... Zero clamp level speed setting 30 17 Torque command selection 3 0 18 Torque command direction designation selection 3 0 19 1 Torque command input gain 3 3 0 20 Torque command input inversion 3 0 21 Speed limit value 1 3 0 22 Speed limit value 2 3 0 23 External scale type selection 3 0 24 External scale division numerator 3 0 25 External scale division denominator 3 10000 26 External scale directi...

Страница 50: ...acturer s use 0 45 Position compare output polarity select 0 15 For manufacturer s use 0 46 No use 16 Analog monitor 1 type 0 47 Pulse output select 0 17 Analog monitor 1 output gain 0 48 Position compare value 1 0 18 For manufacturer s use 4 49 Position compare value 2 0 19 For manufacturer s use 0 50 Position compare value 3 0 20 For manufacturer s use 0 51 Position compare value 4 0 21 Analog m...

Страница 51: ...n compensation value 0 0 76 Deterioration diagnosis torque average time 0 15 Control input signal read setting 0 46 1 Quadrant projection negative direction compensation value 0 0 77 Deterioration diagnosis torque upper limit 0 16 Alarm clear input setting A CLR 0 47 Quadrant projection compensation delay time 0 78 Deterioration diagnosis torque lower limit 0 17 Counter clear input setting CL 3 48...

Страница 52: ...rque compensation frequency 1 0 0 13 Second inertia ratio 250 44 No use 75 1 Torque compensation frequency 2 0 0 14 Immediate stop time at the time of alarming 200 45 No use 76 Load estimation count 0 15 Second overspeed level setting 0 46 No use 77 No use 16 For manufacturer s use 0 47 Function expansion setting 2 1 78 No use 17 For manufacturer s use 0 48 1 Adjustment filter 5B 5C 1 2 Other 1 1 ...

Страница 53: ... No use 74 No use 13 For manufacturer s use 0 44 No use 75 No use 14 For manufacturer s use 0 45 No use 76 No use 15 For manufacturer s use 0 46 No use 77 No use 16 For manufacturer s use 0 47 No use 78 No use 17 No use 48 No use 79 No use 18 No use 49 No use 80 No use 19 No use 50 No use 81 No use 20 For manufacturer s use 0 51 No use 82 No use 21 For manufacturer s use 1 52 No use 83 No use 22 S...

Страница 54: ...urer s use 0 6 No use 7 No use 8 No use 9 No use 10 For manufacturer s use 0 11 No use 12 For manufacturer s use 0 13 For manufacturer s use 0 14 For manufacturer s use 0 15 For manufacturer s use 0 16 No use 17 No use 18 No use 19 For manufacturer s use 0 1 2 3 When checking directly value of parameter file with a text data etc it does not show the decimal point Ex Pr6 24 Disturbance observer fil...

Страница 55: ... 43 No use 13 For manufacturer s use 50 44 No use 14 For manufacturer s use 10 45 No use 15 No use 46 No use 16 No use 47 No use 17 For manufacturer s use 0 48 For manufacturer s use 0 18 For manufacturer s use 0 49 For manufacturer s use 0 19 For manufacturer s use 0 50 For manufacturer s use 0 20 For manufacturer s use 0 21 For manufacturer s use 0 22 For manufacturer s use 200 23 For manufactur...

Страница 56: ...e 6 No use 7 No use 8 No use 9 No use 10 No use 11 No use 12 No use 13 No use 14 No use 15 No use 16 For manufacturer s use 2 17 For manufacturer s use 4 18 No use 19 No use 20 No use 21 No use 22 No use 23 No use 24 No use 25 No use 26 No use 27 No use 28 No use 29 No use 30 For manufacturer s use 6 1 2 3 PARAMETER MINAS A6SF SG SizeV series When checking directly value of parameter file with a t...

Страница 57: ...0 127 59 0 127 60 0 68 61 0 31 62 0 127 1 2 3 PARAMETER MINAS A6SF SG SizeV series When checking directly value of parameter file with a text data etc it does not show the decimal point Ex Pr6 24 Disturbance observer filter Value of Panaterm 0 53 Value of parameter file 53 The maximum Torque limit value Pr 0 13 Pr 5 22 Pr 5 25 Pr 5 26 varies by the applicable motor Can not be used with A6SG For ma...

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