Panasonic MINAS A5-series User manual
* This product image is 200W type of A5-series.
Operating Instructions (Overall)
AC Servo Motor & Driver
MINAS A5-series
•Thank you for purchasing this Panasonic product.
•
Before operating this product, please read the instructions carefully, and save this manual for future use.
2
Thank you for purchasing Digital AC Servo Motor & Driver, MINAS A5-series. This
instruction manual contains information necessary to correctly and safely use the MINAS
A5-series motor and driver. By reading this instruction manual, you will learn how to
identify the model of the motor and driver that will be best suitable your application, how
to wire and set up them, how to set parameters, and how to locate possible cause of
symptom and to take corrective action.
Caution
1) Any part or whole of this document shall not be reproduced without written permis-
sion from us.
2) Contents of this document are subject to change without notice.
3
1.Before Using the Products
Check of the Driver Model ... Installation
Describes how to identify and select the desired product and components, how to
read the specications, and how to install the equipment.
2.Preparation
Operating requirements and procedure
Shows the timing chart and the list of parameters, and describes how to make
wiring and to use the front panel.
3.Connection
Wiring ... I/O settings
Shows block diagrams for each control mode and connection diagrams to the host
controllor, I/O settings.
4.Setup
Describes parameters ... JOG running
Shows describes parameters and procedure of test operation.
5.Adjustment
Gain adjustment ... Auto tuning
Describes various adjusting method including auto tuning and manual gain tuning.
6.When in Trouble
Read this section when you encounter trouble or error.
7.Supplement
Contains S-T characteristic diagram, dimensional outline drawing, supplemental
description on communications and operation.
Organization of this manual 1
Before Using the Products
2
Preparation
3
Connection
4
Setup
5
Adjustment
6
When in Trouble
7
Supplement
4
Contents
Organization of this manual ............................................................................................3
Safety Precautions .............................................................................................................6
Conformance to international standards ...................................................................10
Maintenance and Inspections ....................................................................................... 11
Guideline for Parts Replacement .................................................................................12
1. Before Using the Products ...................................................................1-1
1. Introduction ...............................................................................................................1-2
2. Driver ........................................................................................................................1-3
3. Motor .......................................................................................................................1-10
4. Check of the Combination of the Driver and the Motor ...........................................1-13
6. Installation ...............................................................................................................1-16
7. Permissible Load at Output Shaft ...........................................................................1-23
2. Preparation .........................................................................................................2-1
1. Conformance to international standards ...................................................................2-2
2. System Conguration and Wiring .............................................................................2-6
3. Wiring to the Connector, X1 ....................................................................................2-20
4. Wiring to the Connector, X2 ....................................................................................2-20
5. Wiring to the Connector, X3 ....................................................................................2-22
6. Wiring to the Connector, X4 ....................................................................................2-23
7. Wiring to the Connector, X5 ....................................................................................2-24
8. Wiring to the Connector, X6 ....................................................................................2-26
9. Wiring to the Connector, X7 ....................................................................................2-29
10. Timing Chart ..........................................................................................................2-30
11. Built-in Holding Brake ............................................................................................2-34
12. Dynamic Brake.......................................................................................................2-36
13. Setup of Parameter and Mode ..............................................................................2-42
14. Division Ratio for Parameters ...............................................................................2-52
16. How to Use the Front Panel ..................................................................................2-54
3. Connection .........................................................................................................3-1
1. Outline of mode .........................................................................................................3-2
2. Control Block Diagram ............................................................................................3-14
3. Wiring to the Connector, X4 ....................................................................................3-18
4. Inputs and outputs on connector X4 .......................................................................3-30
page
5
1
Before Using the Products
2
Preparation
3
Connection
4
Setup
5
Adjustment
6
When in Trouble
7
Supplement
4. Setup ........................................................................................................................4-1
1. Describes parameters ...............................................................................................4-2
2. JOG running ............................................................................................................4-58
5. Adjustment ..........................................................................................................5-1
1. Gain Adjustment ........................................................................................................5-2
2. Real-Time Auto-Gain Tuning .....................................................................................5-4
3. Adaptive Filter .........................................................................................................5-10
4. Manual Auto-Gain Tuning (Basic)............................................................................5-13
5. Manual Auto-Gain Tuning (Application) ...................................................................5-24
6. About Homing Operation .........................................................................................5-39
6. When in Trouble .............................................................................................6-1
1. When in Trouble ........................................................................................................6-2
2. Setup of gain pre-adjustment protection .................................................................6-15
3. Troubleshooting ......................................................................................................6-17
7. Supplement ........................................................................................................7-1
1. Safety function ..........................................................................................................7-2
2. Absolute System .....................................................................................................7-10
3. Setup Support Software, PANATERM .....................................................................7-26
4. Communication .......................................................................................................7-27
5. Motor Characteristics (S-T Characteristics) ............................................................7-56
6. Dimensions .............................................................................................................7-63
7. Options ....................................................................................................................7-72
Warranty .............................................................................................................................7-96
Cautions for Proper Use .....................................................................................................7-97
After-Sale Service .................................................................................................... Back cover
page
1
Before Using the Products
2
Preparation
3
Connection
4
Setup
5
Adjustment
6
When in Trouble
7
Supplement
6
The following explanations are for things that must be observed in order to prevent harm to
people and damage to property.
•Misuses that could result in harm or damage are shown as follows, classied according to the
degree of potential harm or damage.
Danger Indicates great possibility of death or serious injury.
Caution Indicates the possibility of injury or property damage.
•The following indications show things that must be observed.
Indicates something that must not be done.
Indicates something that must be done.
Danger
Do not subject the Product to water, corrosive or
ammable gases, and combustibles. Failure to observe this instruc-
tion could result in re.
Do not place combustibles near by the motor,
driver and regenerative resistor.
Don't use the motor in a place subject to exces-
sive vibration or shock.
Failure to observe this instruc-
tion could result in electrical
shock, injury or re.
Don't use cables soaked in water or oil.
Failure to observe this instruc-
tion could result in electrical
shocks, damages and break-
downs.
Do not place the console close to a heating unit
such as a heater or a large wire wound resistor. Failure to observe this instruc-
tion could result in re and
breakdowns.
Never connect the motor directly to the commer-
cial power supply.
Don't attempt to carry out wiring or manual opera-
tion with wet hand.
Failure to observe this instruc-
tion could result in electrical
shock, injury or re.
Do not put your hands in the servo driver. Failure to observe this instruc-
tion could result in burn and
electrical shocks.
Safety Precautions Please observe safety precautions fully.
7
In the case of the motor with shaft end keyway, do
not touch the keyway with bare hands. Failure to observe this instruc-
tion could result in personal
injury.
Do not touch the rotating portion of the motor
while it is running.
Do not touch the motor, servo driver, heat sink
and regenerative resistor, since they become very
hot.
Failure to observe this instruc-
tion could result in burns.
Do not drive the motor with external power. Failure to observe this instruc-
tion could result in re.
Do not subject the cables to excessive force,
heavy object, or pinching force, nor damage the
cables.
Failure to observe this instruc-
tion could result in electrical
shocks, damages and break-
downs.
Installation area should be free from excessive
dust, and from splashing water and oil.
Failure to heed this precaution
will result in electric shock, per-
sonal injury, re, malfunction or
damage.
Mount the motor, driver and regenerative resistor
on incombustible material such as metal. Installation on a ammable ma-
terial may cause re.
Wiring has to be carried out by the qualied and
authorized specialist.
Allowing a person with no ex-
pertise to carry out wiring will
result in electrical shocks.
Correctly run and arrange wiring. Incorrect wiring will result in
short circuit, electric shock, per-
sonal injury, etc.
After correctly connecting cables, insulate the live
parts with insulator.
Incorrect wiring will result short
circuit, electric shock, re or
malfunction.
Ground the earth terminal of the motor and driver
without fail. Floating ground circuit will
cause electric shock.
Install and mount the Product and machinery
securely to prevent any possible re or accidents
incurred by earthquake. Failure to heed this requirement
will result in electric shock, per-
sonal injury, re, malfunction or
damage.
Install an emergency stop circuit externally so that
you can stop the operation and shut off the power
immediately.
Install an overcurrent protection, earth leakage
breaker, over-temperature protection and emer-
gency stop apparatus without fail. Failure to heed these require-
ments will result in electric
shock, personal injury or re.
Check and conrm the safety of the operation
after the earthquake.
Before transporting, wiring and inspecting the
driver, turn off power and wait for a time longer
than that specied on the name plate on the side
panel of the product; and make sure that there is
no risk of electrical shock.
Energized circuit will cause
electric shock.
1
Before Using the Products
2
Preparation
3
Connection
4
Setup
5
Adjustment
6
When in Trouble
7
Supplement
8
Caution
Do not hold the motor cable or motor shaft during
the transportation. Failure to observe this instruc-
tion could result in injuries.
Don't drop or cause topple over of something dur-
ing transportation or installation.
Failure to observe this instruc-
tion could result in injuries and
breakdowns.
Do not step on the Product nor place the heavy
object on them.
Failure to observe this instruc-
tion could result in electrical
shocks, injuries, breakdowns
and damages.
Don't use the equipment under direct sunshine. Failure to heed these instruc-
tions will cause personal injury
or re.
Do not block the heat dissipating holes or put the
foreign particles into them.
Failure to observe this instruc-
tion could result in electrical
shocks and re.
Do not give strong impact shock to the Product. Failure to observe this instruc-
tion could result in breakdowns.
Do not give strong impact shock to the motor
shaft.
Failure to observe this instruc-
tion could result in a failure of
the detector etc.
Do not turn on and off the main power of the driv-
er repeatedly. Failure to observe this instruc-
tion could result in breakdowns.
Never run or stop the motor with the electro-mag-
netic contactor installed in the main power side.
Do not make an extreme gain adjustment or
change of the drive.
Do not keep the machine running/operating unsta-
bly.
Failure to observe this instruc-
tion could result in injuries.
Do not use the built-in brake as a "Braking" to
stop the moving load.
Failure to observe this instruc-
tion could result in injuries and
breakdowns.
Do not approach to the machine since it may sud-
denly restart after the power resumption.
Design the machine to secure the safety for the
operator even at a sudden restart.
Failure to observe this instruc-
tion could result in injuries.
Never attempt to perform modication, dismantle
or repair.
Failure to heed this instruction
will result in re, electric shock,
personal injury or malfunction.
Make an appropriate mounting of the Product
matching to its wight and output rating.
Failure to heed these require-
ments will result in personal
injury or malfunction.
Safety Precautions Please observe safety precautions fully.
9
Observe the specied mounting method and di-
rection.
Failure to heed these require-
ments will result in personal
injury or malfunction.
Use the eye bolt of the motor for transportation of
the motor only, and never use this for transporta-
tion of the machine.
Using it for transportation of the
machine will cause personal
injury or malfunction.
Don't place any obstacle object around the motor
and peripheral, which blocks air passage. Temperature rise will cause
burn injury or re.
Adjust the motor and driver ambient environmen-
tal condition to match the motor operating tem-
perature and humidity. Failure to heed these require-
ments will result in personal
injury or malfunction.
Create the specied clearance between the driver
and the control panel inner surface or other de-
vices.
Observe the specied voltage.
Operation from a voltage out-
side the rated voltage will cause
electric shock, personal injury
or re.
Connect the brake control relay to the relay which
is to shut off at emergency stop in series.
Missing of one of these devices
will result in personal injury or
malfunction.
Provide protection device against idling of electro-
magnetic brake or gear head, or grease leakage
from gear head.
No protection will cause per-
sonal injury, damage, pollution
or re.
Use the motor and the driver in the specied com-
bination.
Not using the motor and the
driver in the specied combina-
tion will result in re.
Test-run the securely xed motor without loading
to verify normal operation, and then connect it to
the mechanical system.
Operation using a wrong model
or wrong wiring connection will
result in personal injury.
When any error occurs, remove the cause and
release the error after securing the safety, then
restart.
Not removing the cause of the
error will result in personal in-
jury.
If the driver fails, shut off the power on the power
supply side of the driver. Allowing a large current to con-
tinue to pass will result in re.
Maintenance must be performed by an experi-
enced personnel. Wrong wiring will cause person-
al injury or electric shock.
Always keep power disconnected when the power
is not necessary for a long time. Improper operation will cause
personal injury.
When you dispose the batteries, observe any applicable regulations or laws after
insulating them with tape.
This Product shall be treated as Industrial Waste when you dispose.
1
Before Using the Products
2
Preparation
3
Connection
4
Setup
5
Adjustment
6
When in Trouble
7
Supplement
10
Conformed Standards
Driver Motor
EC Direc-
tives
EMC
Directives
EN55011
EN61000-6-2
EN61800-3–
Low-
Voltage
Directives EN61800-5-1 EN60034-1
EN60034-5
Functional
safety
EN954-1 (Cat. 3)
ISO13849-1 (PL d)
EN61508 (SIL 2)
EN62061 (SIL 2)
EN61800-5-2 (STO)
IEC61326-3-1
–
UL Standards UL508C (E164620) UL1004-1 (E327868: Small type)
UL1004 (E166557: Large type)
CSA Standards C22.2 No.14 C22.2 No.100
IEC : International Electrotechnical Commission
EN : Europaischen Normen
EMC : Electromagnetic Compatibility
UL : Underwriters Laboratories
CSA : Canadian Standards Association
Pursuant to the directive 2004/108/EC, article 9(2)
Panasonic Testing Centre
Panasonic Service Europe, a division of
Panasonic Marketing Europe GmbH
Winsbergring 15, 22525 Hamburg, F.R. Germany
Note For details on compatibility with international standard, refer to P.2-2 Conformance to
international standards.
Conformance to international standards
11
Routine maintenance and inspection of the driver and motor are essential for the
proper and safe operation.
Notes on Maintenance and Inspection
1)Turn on and turn off should be done by operators or inspectors themselves.
2)Internal circuit of the driver is kept charged with high voltage for a while even after
power-off. Turn off the power and allow 15 minutes or longer after LED display of the
front panel has gone off, before performing maintenance and inspection.
3)Disconnect all of the connection to the driver when performing megger test (Insulation
resistance measurement) to the driver, otherwise it could result in breakdown of the
driver.
4)Do not use benzine, thinner, alcohol, acidic cleaner and alkaline cleaner because they can
discolor or damage the exterior case.
Inspection Items and Cycles
General and normal running condition
Ambient conditions : 30˚C (annual average), load factor of 80% or
lower, operating hours of 20 hours or less per day.
Perform the daily and periodical inspection as per the items below.
Type Cycles Items to be inspected
Daily
inspection Daily
• Ambient temperature, humidity, speck, dust or foreign object
• Abnormal vibration and noise
• Main circuit voltage
• Odor
• Lint or other particles at air holes
• Cleanness at front portion of the driver and connector
• Damage of the cables
• Loose connection or misalignment between the motor and
machine or equipment
• Pinching of foreign object at the load
Motor
with Gear
Reducer Annual
• Loose tightening
• Trace of overheat
• Damage to the terminal block
• Loose fasteners on terminal block
Note Inspection cycle may change when the running conditions of the above change.
Maintenance and Inspections 1
Before Using the Products
2
Preparation
3
Connection
4
Setup
5
Adjustment
6
When in Trouble
7
Supplement
12
Related page
• P.7-96 “Warranty”
Guideline for Parts Replacement
Use the table below for a reference. Parts replacement cycle varies depending on the ac-
tual operating conditions. Defective parts should be replaced or repaired when any error
have occurred.
Prohibited
Disassembling for inspection and repair should be
carried out only by authorized dealers or service
company.
Product Component Standard replacement
cycles (hour) Note
Driver
Smoothing condenser Approx. 5 years
These hours or cycles are
reference.
When you experience any
error, replacement is required
even before this standard
replacement cycle.
Cooling fan 2 to 3 years
(10,000 to 30,000 hours)
Aluminum electrolytic
capacitor (on PCB) Approx. 5 years
Rush current
preventive relay
Approx. 100,000 times
(depending on working
condition)
Rush current
preventive resistor
Approx. 20,000 times
(depending on working
condition)
Motor
Bearing 3to 5 years
(20,000 to 30,000 hours)
Oil seal 5000 hours
Encoder 3to 5 years
(20,000 to 30,000 hours)
Battery
for absolute encoder
Life time varies depending
on working conditions.
Refer to the Operating
Instructions attached to the
battery for absolute
encoder.
Maintenance and Inspections
1-1
1
Before Using the Products
2
Preparation
3
Connection
4
Setup
5
Adjustment
6
When in Trouble
7
Supplement
1. Before Using the Products
1. Introduction
Outline .........................................................................................................1-2
On Opening the Product Package...............................................................1-2
2. Driver
Check of the Model......................................................................................1-3
Parts Description (A to E-frame)..................................................................1-4
Parts Description (F-frame) .........................................................................1-5
Specifications...............................................................................................1-6
Block Diagram .............................................................................................1-8
3. Motor
Check of the Model....................................................................................1-10
Parts Description .......................................................................................1-12
4. Check of the Combination of the Driver and the Motor
Incremental Specifications, 20-bit..............................................................1-13
Absolute Specifications, 17-bit...................................................................1-14
Junction cable for motor ...........................................................................1-15
5. Installation
Driver.........................................................................................................1-16
Motor..........................................................................................................1-20
6. Permissible Load at Output Shaft
Motor..........................................................................................................1-23
1-2
The AC Servo Motor & Driver, MINAS A5-series is the latest servo system that meets all
demands from a variety of machines which require high speed, high precision and high
performance or which require simplied settings.
Compared with the precedingA4-series, product of A5-series offers superior performance
while requiring simple setup and adjustment by the user.
Newly designed motors have wide range of outputs from 50 W to 5.0 kW, associated with
20-bit incremental encoder and reduced cogging torque.
They are compatible with 2 closed controls (serial communication type and A-/B-phase
output type) and provided with various automatic adjusting functions such as real time
auto tuning with many automatic setting parameters to make complex tuning easy.
These motors assure higher stability with low stiffness machine and high-speed, high
accurate operation with high stiffness machine. They can be used in combination with a
wide variety of machines.
This manual is written as a complete guide for you so that you can fully and correctly
make use of all functions available from MINAS A5.
1Before Using
the Products 1. Introduction
On Opening the Product Package
• Make sure that the model is what you have ordered.
• Check if the product is damaged or not during transportation.
• Check if the Operating Instructions (safety) are included or not.
• Check if the power connector, motor connectors, connector for external regenerative
resistor connection (only E-frame) and safety by-pass plug are included or not.
(Neither the power connector nor motor connector are included to F-frame.)
Contact to a dealer if you nd any failures.
1Before Using
the Products 1. Introduction
Outline
1-3
1
Before Using the Products
2
Preparation
3
Connection
4
Setup
5
Adjustment
6
When in Trouble
7
Supplement
1Before Using
the Products 2. Driver
Check of the Model
Contents of Name Plate
Model number
Input/output voltage
Rated output of
applicable motor
Rated input/output current
Input/output frequency
Number of phase
Serial Number
e.g.) : P09040001N
Lot number
Month of production
Year of production
(Lower 2 digits of AD year)
Manufacture date
e.g.) : 20090401
Manufacture dateManufacture year
Manufacture month
Model Designation
MADHT1505
Special specifications
(letters and numbers)
Current detector rating
Power supply
Max. current rating
of power device
Frame-size symbol
MADH
MBDH
MCDH
MDDH
MEDH
MFDH
Frame
Symbol
A5-series, A-frame
A5-series, B-frame
A5-series, C-frame
A5-series, D-frame
A5-series, E-frame
A5-series, F-frame
T1
T2
T3
T5
T7
TA
TB
Current rating
Symbol
Specifications
10A
15A
30A
50A
70A
100A
150A
Symbol
1
3
5
Single phase, 100V
3-phase, 200V
Single/3-phase,
200V
05
07
10
20
30
40
64
90
A2
Current rating
Symbol
5A
7.5A
10A
20A
30A
40A
64A
90A
120A
1 to 4 75 to 6 10 to 128 to 9
Related page
• P.1-14 “Check of the Combination of the Driver and the Motor”
1-4
A to D-frame
F-frame
Charge lamp
L1C
L2C
L1
L2
L3
B1
B3
B2
V
U
W
Connector XA:
for main power connection
05JFAT-SAXGF (JST)
Connector XB:
for motor connection
06JFAT-SAXGF (JST)
Terminals for external
regenerative resistor
(Normally short-circuit
B3 to B2)
Connector X6:
for encoder
connection
Connector X4: Parallel I/O connector
Connector X3: Safety function connector
Connector X2: for Serial bus
Connector X1: USB connector
Connector X5:
for feedback scale
connection
Connector X7: Monitor connector
Front panel
LED cover
Safety by-pass prug
Screws for earth (x2)
Main power
input terminals
Control power
input terminals
Terminals for motor
connection
1Before Using
the Products 2. Driver
Parts Description
Note Connector X1 and X2 are attached in A to D-frame driver.
Connector XA, XB and XC are attached in E-frame driver.
Screws for earth
(x2) Charge lamp
L1C
L2C
L1
L2
L3
B1
B3
B2
NC
U
V
W
Connector XA:
for main power connection
05JFAT-SAXGSA-L (JST)
Connector XB:
Connector for external
regenerative resistor
03JFAT-SAXGSA-L (JST)
Connector XC:
for motor connection
04JFAT-SAXGSA-L (JST)
Terminals for external
regenerative resistor
(Normally short-circuit
B3 to B2)
Terminals for motor
connection
Control power
input terminals
Main power
input terminals
Connector X6:
for encoder
connection
Connector X4: Parallel I/O connector
Connector X3: Safety function connector
Connector X2: for Serial bus
Connector X1: USB connector
Connector X5:
for feedback scale
connection
Connector X7: Monitor connector
Front panel
LED cover
Safety by-pass prug
1-5
1
Before Using the Products
2
Preparation
3
Connection
4
Setup
5
Adjustment
6
When in Trouble
7
Supplement
2. Driver
Parts Description
E-frame
Control power
input terminals
L1
L2
L3
L1C
L2C
B1
B3
B2
NC
U
V
W
Main power
input terminals
Terminals for motor
connection
Screws for earth (x2)
Terminals for external
regenerative resistor
(Normally short-circuit
B3 to B2)
Charge lamp
Terminal cover
LED cover
Connector X6:
for encoder
connection
Connector X4: Parallel I/O connector
Connector X3: Safety function connector
Connector X2: for Serial bus
Connector X1: USB connector
Connector X5:
for feedback scale
connection
Connector X7: Monitor connector
Front panel
Safety by-pass prug
Related page
• P.1-14 “Check of the Combination of the Driver and the Motor”
• P.1-16 “Installation”
• P.2-6 “Driver and List of Applicable Peripheral Equipments”
1-6
1Before Using
the Products 2. Driver
Specifications
Basic Specications
Input power
100V
Main circuit Single phase, 100 to 120V +10% 50/60Hz
–15%
Control circuit Single phase, 100 to 120V +10% 50/60Hz
–15%
200V
Main
circuit
A to
D-frame Single/3-phase, 200 to 240V +10% 50/60Hz
–15%
E to
F-frame 3-phase, 200 to 230V +10% 50/60Hz
–15%
Control
circuit
A to
D-frame Single phase, 200 to 240V +10% 50/60Hz
–15%
E to
F-frame Single phase, 200 to 230V +10% 50/60Hz
–15%
Withstand voltage Primary to earth: withstand 1500 VAC, 1 min,(sensed current: 20 mA)
Environment
temperature Ambient temperature: 0˚C to 55˚C (free from freezing)
Storage temperature: –20˚C to 65˚C (Max.temperature guarantee: 80˚C for 72 hours)
humidity Both operating and storage : 20 to 85%RH or less (free from condensation)
Altitude Lower than 1000m
Vibration 5.88m/s2 or less, 10 to 60Hz (No continuous use at resonance frequency)
Control method IGBT PWM Sinusoidal wave drive
Encoder feedback 17-bit (131072 resolution) absolute encoder, 7-wire serial
20-bit (1048576 resolution) incremental encoder, 5-wire serial
Feedback scale feedback
A/B phase, initialization signal defferential input.
Manufacturers that support serial communication scale:
Mitsutoyo Corp.
Sony Manufacturing Systems Corp.
Control
signal
Input General purpose 10 inputs
The function of general-purpose input is selected by parameters.
Output General purpose 6 outputs
The function of general-purpose input is selected by parameters.
Analog
/Digital
signal
Input 3 inputs (16Bit A/D : 1 input, 12Bit A/D : 2 inputs)
Output 3 outputs (Analog monitor: 2 output, Digital monitor: 1 output)
Pulse
signal
Input
2 inputs (Photo-coupler input, Line receiver input)
Photocoupler input is compatible with both line driver I/F and open collector I/F.
Line receiver input is compatible with line driver I/F.
Output
4 outputs ( Line driver: 3 output, open collector: 1 output)
Feed out the encoder pulse (A, B and Z-phase) or feedback scale pulse (EXA, EXB and
EXZ-phase) in line driver. Z-phase and EXZ-phase pulse is also fed out in open collector.
Communication
function
USB Connection with PC etc.
RS232 1 : 1 communication to a host.
RS485 1 : n communication up to 31 axes to a host.
Safety function Used for IEC61800-5-2: STO.
Front panel (1) 5 keys (MODE, SET, UP, DOWN, SHIFT) (2) LED (6-digit)
(3) Analog monitor output (2ch) (4) Digital monitor output (1ch)
Regeneration A, B-frame: no built-in regenerative resistor (external resistor only)
C to F-frame: Built-in regenerative resistor (external resistor is also enabled.)
Dynamic brake Built-in
Control mode
Switching among the following 7 mode is enabled,
(1) Position control (2) Velocity control (3) Toque control (4) Position/Velocity control
(5) Position/Torque control (6) Velocity/Torque control (7) Full-closed control
Related page
• P.1-16 “Installation of Driver”
• P.1-20 “Installation of Motor”
1-7
1
Before Using the Products
2
Preparation
3
Connection
4
Setup
5
Adjustment
6
When in Trouble
7
Supplement
Function
Position control
Control input (1) Deviation counter clear (2) Command pulse inhibition
(3) Command dividing gradual increase switching (4) Damping control switching etc.
Control output Positioning complete (In-position) etc.
Pulse
input
Max. command
pulse frequency Exclusive interface for Photo-coupler: 500kpps
Exclusive interface for line driver : 4Mpps
Input pulse
signal format Differential input. Selectable with parameter. ((1) Positive and Negative direction,
(2) A and B-phase, (3) Command and direction)
Electronic gear
(Division/
Multiplication of
command pulse)
Process command pulse frequency × electronic gear ratio
(
1 to 230
1 to 230
)
as positional
command input. Use electronic gear ratio in the range 1/1000 to 1000 times.
Smoothing lter Primary delay lter or FIR type lter is adaptable to the command input
Analog
input Torque limit
command input Individual torque limit for both positive and negative direction is enabled.
Instantaneous Speed
Observer Available
Damping Control Available
Velocity control
Control input (1) Selection of internal velocity setup 1 (2) Selection of internal velocity setup 2
(3) Selection of internal velocity setup 3 (4) Speed zero clamp etc.
Control output Speed arrival etc.
Analog
input
Velocity
command input
Speed command input can be provided by means of analog voltage.
Parameters are used for scale setting and command polarity. (6V/Rated rotational
speed Default)
Torque limit
command input Individual torque limit for both positive and negative direction is enabled.
Internal velocity command Switching the internal 8speed is enabled by command input.
Soft-start/down function Individual setup of acceleration and deceleration is enabled, with 0 to 10s/1000r/min.
Sigmoid acceleration/deceleration is also enabled.
Zero-speed clamp 0-clamp of internal velocity command with speed zero clamp input is enabled.
Instantaneous Speed
Observer Available
Velocity Control lter Available
Torque control
Control input Speed zero clamp, Torque command sign input etc.
Control output Speed arrival etc.
Analog
input Torque command
input Speed command input can be provided by means of analog voltage.
Parameters are used for scale setting and command polarity. (3V/rated torque Default)
Speed limit function Speed limit value with parameter t is enabled.
Full-closed control
Control input (1) Deviation counter clear (2) Command pulse inhibition
(3) Command dividing gradual increase switching (4) Damping control switching etc.
Control output Full-closed positioning complete etc.
Pulse
input
Max. command
pulse frequency Exclusive interface for Photo-coupler: 500kpps
Exclusive interface for line driver : 4Mpps
Input pulse
signal format Differential input. Selectable with parameter. ((1) Positive and Negative direction, (2) A
and B-phase, (3) Command and direction)
Electronic gear
(Division/
Multiplication of
command pulse)
Process command pulse frequency × electronic gear ratio
(
1 to 230
1 to 230
)
as positional
command input. Use electronic gear ratio in the range 1/1000 to 1000 times.
Smoothing lter Primary delay lter or FIR type lter is adaptable to the command input
Analog
input Torque limit
command input Individual torque limit for both positive and negative direction is enabled.
Setup range of division/
multiplication of
feedback scale
1/40 to 160 times
The ratio of encoder pulse (numerator) to external scale pulse (denominator) can be set
to 1 to 220 (numerator) to 1 to 220 (denominator), but should be set to a ratio within the
range shown above.
Common
Auto tuning
The load inertia is identified in real time by the driving state of the motor operating
according to the command given by the controlling device and set up support software
“PANATERM”.
The gain is set automatically in accordance with the rigidity setting.
Division of encoder
feedback pulse Set up of any value is enabled (encoder pulses count is the max.).
Protective
function
Hard error Over-voltage, under-voltage, over-speed, over-load,
over-heat, over-current and encoder error etc.
Soft error Excess position deviation, command pulse division error, EEPROM error etc.
Traceability of alarm data The alarm data history can be referred to.
2. Driver
Specifications
1-8
A, B-frame
L 1
L 2
L 3
B1
B3
N
P
+
Fuse
抵抗
Fuse
Fuse
Error
detection
Voltage
detection
Sequence control
B2
L1C
L2C
X5
Feedback scale signal
processing limit
Feedback scale unit
DC/DC
X1
X2
X6
U
V
W
M
RE
X4
+±12V
+5V
PS for gate drive Gate drive
PS for RE
Front panel
Alarm
signal
USB
Serial
Pulse train
command
Pusle
output
Analog
velocity
command
Control
input
Division/
mulitiplication
++
––
A/D
A/D
16-bit
Position
Speed
Velocity
Torque
Internal
External
Deviation
counter
Internal speed
command Speed
detection
Division
processing
Position
deviation amp.
Display
operation
control
Parameter control
Protective
curcuit
EEPROM
Speed
deviation
amp. Torque
limit Current
control PWM
circuit
Encoder signal
processing
limit
Control
output
X3
Safety function
C, D-frame
L 1
L 2
L 3
B1
B3
N
P
+
Fuse
抵抗
Fuse
Error
detection
Voltage
detection
Sequence control
B2
L1C
L2C
Division
processing Feedback scale signal
processing limit
DC/DC
X6
U
V
W
M
RE
+±12V
+5V
PS for gate drive Gate drive
PS for RE
Alarm
signal
Pulse train
command
Pusle
output
Analog
velocity
command
Control
input
Division/
mulitiplication
++
––
A/D
A/D
16-bit
Position
Speed
Velocity
Torque
Internal
External
Deviation
counter
Internal speed
command Speed
detection
Position
deviation amp.
Display
operation
control
Parameter control
Protective
curcuit
EEPROM
Speed
deviation
amp. Torque
limit Current
control PWM
circuit
Encoder signal
processing
limit
Control
output
Fuse
Fan
(D-frame only)
Front panel
X5
Feedback scale unit
X1
X2
X4
USB
Serial
X3
Safety function
1Before Using
the Products 2. Driver
Block Diagram
This manual suits for next models
38
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