Panasonic MINAS A5 Series User manual

Servo Drives
Quick Start Guide
Position control by pulse
and direction signals
(MINAS A5/A5E/A6SG/A6SF)
QS2000_V1.1_EN
2019.07 www.panasonic-electric-works.com

Liability and copyright
Liability and copyright
This manual and everything described in it are copyrighted. You may not copy this manual, in
whole or part, without written consent of Panasonic Electric Works Europe AG (PEWEU).
PEWEU pursues a policy of continuous improvement of the design and performance of its
products. Therefore we reserve the right to change the manual/product without notice. In no
event will PEWEU be liable for direct, special, incidental, or consequential damage resulting
from any defect in the product or its documentation, even if advised of the possibility of such
damages.
Please direct support matters and technical questions to your local Panasonic
representative.
2 QS2000_V1.1_EN

Table of contents
Table of contents
1 Introduction................................................................................................................................. 4
1.1 Before you start................................................................................................................................ 4
1.2 About this document.........................................................................................................................4
1.3 Related documents........................................................................................................................... 4
1.4 Available software............................................................................................................................. 5
2 Functional overview................................................................................................................... 6
3 Wiring...........................................................................................................................................7
3.1 Recommendations for wiring............................................................................................................ 7
3.2 Connectors of the servo driver.........................................................................................................7
3.3 Signal inputs and outputs of the X4 connector................................................................................ 9
3.4 PNP wiring of the X4 connector.....................................................................................................10
3.5 NPN wiring of the X4 connector.....................................................................................................11
4 Make parameter settings in PANATERM................................................................................12
4.1 Basic parameters overview.............................................................................................................12
4.2 Pr0.00 (Motor rotation direction).....................................................................................................13
4.3 Pr0.01 (Control mode).................................................................................................................... 13
4.4 Pr0.06 (Counting direction of the command pulses)...................................................................... 13
4.5 Pr0.07 (Input mode of the command pulses).................................................................................14
4.6 Pr0.08 (Number of pulse signals per motor revolution)................................................................. 15
4.7 Pr0.09 (Gear ratio numerator) and Pr0.10 (Gear ratio denominator)............................................. 15
4.8 Pr5.32 (Maximum pulse input frequency).......................................................................................15
5 Make pin assignments in PANATERM....................................................................................16
6 Help us improve....................................................................................................................... 17
7 Record of changes................................................................................................................... 18
QS2000_V1.1_EN 3

1 Introduction
1 Introduction
1.1 Before you start
Before operating this product, read the safety instructions in the related Operating
Instructions.
This product is for industrial use only.
Electrical connections must be made by qualified electrical personnel.
1.2 About this document
This Quick Start Guide is intended to help you set up a MINAS servo drive system. It is
based on information from the MINAS series manuals and the practical experience of our
engineers.
Step-by-step instructions will guide you through connecting a PLC to a MINAS servo driver
and setting the most important parameters in the PC configuration software PANATERM.
1.3 Related documents
Please refer to the original servo drive manuals for detailed information. Click on the
following links to download the documents from our Panasonic Download Center.
• Information on wiring, position control, and parameters:
Operating Instructions (Overall) AC Servo Motors & Driver MINAS A5 series
Operating Instructions (Overall) AC Servo Motors & Driver MINAS A6 series
• Information on using the PANATERM configuration software:
Operation Manual: Set up support software PANATERM Ver. 6.0
• Information on how to reduce electromagnetic interference (EMI):
Recommendations for EMC-compliant wiring of servo drivers and motors
• Other Quick Start Guides:
QS2001, Position control by block operation using input signals (MINAS A6SG/A6SF)
QS2002, Position control by block operation using Modbus commands (MINAS A6)
QS2003, Position control in EtherCAT networks MINAS A5B/A6B
QS2004, Position control using RTEX (MINAS A5N/A6N)
QS3000, Velocity control (MINAS A5/A6F)
QS4000, Torque control (MINAS A5/A6)
4 QS2000_V1.1_EN

1.4 Available software
QS5000, PANATERM - Trial run
QS5001, PANATERM - Auto-tuning
QS5002, PANATERM - Fit gain tuning
1.4 Available software
The following software is available free of charge in our Panasonic Download Center. Click
on the link to start the download.
•PC configuration software PANATERM
•PC programming software Control FPWIN Pro 7
QS2000_V1.1_EN 5

2 Functional overview
2 Functional overview
Position control is a control mode in which the motor moves the load to a specified target
position.
The servo driver can be controlled by a pulse train in the frequency range between 1Hz and
8MHz from a host controller such as a PLC or a CNC controller or by block operation. This
Quick Start Guide explains how to wire and configure the servo driver to receive pulses from
a PLC.
Example
An FP0H PLC and a MINAS A6SF servo driver are connected to control the driver by I/O
signals. If needed, additional signals, such as servo-ready, alarm, or positioning complete,
can also be transmitted.
-
+
Servo Axis
+24V DC
0V DC
CCWL
CWL
(1)
(2)
(1) Connect to external power supply.
(2) Connect to limit switches.
Data transmission between PLC and servo driver via connection cable
6 QS2000_V1.1_EN

3.1 Recommendations for wiring
3 Wiring
3.1 Recommendations for wiring
It is the customer's responsibility to apply the countermeasures that they consider necessary
to comply with current regulations on wiring, safety and reducing EMI.
Do not forget to meet the specifications indicated in the hardware manual for each of the
devices being wired. If any specifications in the manual conflict with the information in this
document, the manufacturer's manual takes preference.
For detailed information on reducing EMI, please refer to Recommendations for EMC-
compliant wiring of servo drivers and motors.
3.2 Connectors of the servo driver
XA connector (main power connector)
Connect the power supply cable to the XA connector. For a 1-phase power supply of 230V,
connect a 2-wire cable to the servo driver as illustrated. The L2 pin is not used in 1-phase
mode.
L
N
Wiring of the XA connector for a power supply of 230V
XB connector (motor connector)
Connect the motor cable to the XB connector. The wires are labeled with the letters U, V, and
W. Do not change the sequence of the motor phases, e.g. by connecting V to W.
QS2000_V1.1_EN 7

3 Wiring
U, V, W
U
V
WMFMCA0xxxWJD ACS **/YY
Wiring of the XB connector for the motor power supply
X6 connector (encoder connector)
Connect the encoder cable to the X6 connector.
MFECA0xxxWJD ACS **/YY
Wiring of the X6 connector for the encoder connection
X4 connector (I/O connector)
Connect the connection cable to the X4 connector and to the FP0H PLC. For PNP
connections the preassembled connection cable DV0P0988WP-1 is available.
Panasonic provides different preassembled connection cables for connecting other PLC
types.
+24V DC
0V DC
CCWL
CWL
-
+
Servo Axis
(1)
(2)
(1) Connect to external power supply.
(2) Connect to limit switches.
Wiring of the X4 connector for the host controller connection
X1 connector (USB connector for PC connection)
The servo driver is configured using the PC configuration software PANATERM. Use a
commercially available USB A to mini-B cable to connect the PC to the servo driver.
8 QS2000_V1.1_EN

3.3 Signal inputs and outputs of the X4 connector
Connector X1 for PC connection
3.3 Signal inputs and outputs of the X4 connector
For position control, the X4 connector of the MINAS A5/A6 servo driver is equipped with
signal inputs and outputs. For pulse input, you can either use the line driver inputs (44, 45,
46, 47) if high speeds or high resolutions are required, or you can use the open collector
inputs (1, 2, 4, 6 or 3, 4, 5, 6). The pulse inputs are highlighted in the wiring diagram.
In our example, we will use the following signal inputs and outputs:
• OPC1 (pin 1), OPC2 (pin 2), PULS2 (pin 4), SIGN2 (pin 6)
Open collector inputs to receive command pulses from a PLC.
• SRV-ON (pin 29)
Servo-on input to energize the servo motor.
• COM+ (pin 7)
Common input for the power supply of the control signals.
• S-RDY (pins 34–35)
Servo-ready output to indicate the ready state of the driver.
• ALM (pins 36–37)
Servo-alarm output
• A-CLR (pin 31)
Input for clearing alarms.
• INP (pins 38–39)
Positioning complete output which turns on when the target position is reached.
Please refer to the Operating Instructions of your MINAS A5/A6 servo driver to learn more
about the signal inputs and outputs which might be useful for your application.
QS2000_V1.1_EN 9

3 Wiring
14
15
16
17
43
18
42
In case of open collector I/F
7
PULS2
SIGN1
SIGN2
GND
OA+
OA -
OB+
OB -
OZ+
OZ -
GND
CZ
SPR/TRQR/SPL
GND
P-ATL/TRQR
GND
N-ATL
SP
IM
4
3
1
2
5
6
13
21
22
48
24
25
19
49
23
1 kΩ
1 kΩ
PULS1
OPC2
OPC1
VDC
12 V to 24 V
COM -
SIGNH1
SIGNH2
PULSH1
PULSH2
GND
FG
33
30
29
27
28
32
31
9
8
35
34
37
36
39
38
11
10
40
12
41
44
45
13
50
26
Z-phase output
(open collector)
3
PULS1
4
PULS2
X4
46
47
20 kΩ
2 kΩ
2 kΩ 20 kΩ
120 Ω
20 kΩ
2 kΩ
2 kΩ 20 kΩ
120 Ω
220 Ω
VDC
R
5
SIGN1
6
SIGN2
220 Ω
R
1
OPC1
4
PULS2
220 Ω
24 VDC
2
OPC1
6
SIGN2
220 Ω
2.2 kΩ
2.2 kΩ
(1) When you use the external
resistor with 12 V and 24 V
power supply
(2) When you do not use the
external resistor with 24 V
power supply
Positive direction torque limit input
(0 V to +10 V)
Negative direction torque limit input
( - 10 V to +10 V)
Velocity monitor output
Torque monitor output
Command
pulse
input A
(Use with 500
kpulse/s or less.)
Divider
A-phase
output
B-phase
output
Z-phase
output
Command pulse input B
(Use with 8 Mpulse/s or less.)
Be sure to connect.
VDC
12 V
24 V
Specifications
of R
820 Ω1/2 W
2 kΩ1/2 W
VDC - 1.5
R + 220 10 mA
Servo-ON input
Gain switching input
Electronic gear
switching input 1
Control mode
switching input
Damping control
switching input 1
Alarm clear input
Positive direction
over-travel inhibition input
Negative direction
over-travel inhibition input
Servo-Ready output
Servo-Alarm output
Positioning complete output
External brake release output
Torque in-limit output
Zero speed detection output
Deviation counter
clear input
Command pulse
inhibition input
( : Twisted pair)
4.7 kΩ
220 Ω
2.2 kΩ
220 Ω
2.2 kΩ
<Remarks>
A6 Series standard type and communication type can not
be used Pin14,15,16,18. Please do not connect anything.
33.2 kΩ
20 kΩ
20 kΩ18.7 kΩ20 kΩ
+
−
1000 P
1000 P
33.2 kΩ
20 kΩ
20 kΩ18.7 kΩ20 kΩ
+
−
1000 P
1000 P
39 kΩ
470 P
470 P
470 P 39 kΩ
33 kΩ
+
−
COM+
INH
CL
SRV-ON
GAIN
DIV1
VS-SEL1
C-MODE
A-CLR
POT
NOT
S-RDY +
S-RDY -
ALM+
INP+
BRKOFF +
BRKOFF -
TLC
Z SP
INP -
ALM -
Signal inputs and outputs available on the X4 connector of the servo driver
3.4 PNP wiring of the X4 connector
1
2
13
34
36
38
29
33
35
37
39
4
6
7
8
9
50
24 Vcc
24 Vcc
0 Vcc
0 Vcc
To PNP inputs of PLC
From PNP outputs of
PLC
Connections for limit switches
PLC pulse outputs
OPC1
OPC2
GND
S-RDY-
ALM-
INP-
SRV-ON
INH
S-RDY+
ALM+
INP+
PULS2
SIGN2
COM+
NOT
POT
FG
10 QS2000_V1.1_EN

3.5 NPN wiring of the X4 connector
3.5 NPN wiring of the X4 connector
4
6
13
35
37
39
29
33
34
36
38
1
2
7
8
9
50
0 Vcc
0 Vcc
24 Vcc
24 Vcc
To NPN inputs of PLC
From NPN outputs of
PLC
Connections for limit switches
PLC pulse outputs
PULS2
SIGN2
GND
S-RDY+
ALM+
INP+
SRV-ON
INH
S-RDY-
ALM-
INP-
OPC1
OPC2
COM+
NOT
POT
FG
QS2000_V1.1_EN 11

4 Make parameter settings in PANATERM
4 Make parameter settings in PANATERM
Use the PC configuration software PANATERM to configure the MINAS servo driver.
Click on the following link to download PANATERM from our Panasonic Download Center:
PC configuration software PANATERM
1. Connect your PC to the X1 connector and turn on the servo driver.
2. Start the PANATERM configuration software.
The software automatically detects the type of servo driver connected.
3. Select “OK” and confirm the connected series by selecting your type of servo driver.
4. Select the “Parameter” tab.
5. In the “Selection of parameter to be read” dialog, select “Read the default”. There is
a message if the parameter values in the servo driver are not the default values. To
overwrite the parameters in the servo driver, select the “Trans” icon.
6. Select the parameter list for your type of servo driver.
7. To change a parameter setting, select the desired parameter class and enter a value.
For parameter descriptions, please refer to the Operating Instructions. You can find
each parameter by its unique parameter number. The parameter number is written in the
format PrX.YY (X: Class, YY: No.).
8. Depending on the parameter, select the “Trans” or the “EEP” icon to transfer a setting to
the servo driver. For yellow parameters, select the “EEP” icon. The parameters will be
saved in the EEPROM of the servo driver. To activate the settings, you need to restart
the servo driver.
All other parameters are transferred simply by selecting the “Trans” icon.
4.1 Basic parameters overview
There are basic parameters which are associated to position control.
The following table shows the setting range and description of the basic parameters.
12 QS2000_V1.1_EN

4.2 Pr0.00 (Motor rotation direction)
Parameter Range Description
Pr0.00 0 or 1 Motor rotation direction
Pr0.06 0 or 1 Counting direction of the command pulses
Pr0.07 0 to 3 Input mode of the command pulses
Pr0.08 0 to 1048576 [pulse] (MINAS A5)
0 to 8388608 [pulse] (MINAS A6)
Number of pulse signals per motor
revolution
Pr0.09 0 to 1073741824 Gear ratio numerator
Pr0.10 1 to 1073741824 Gear ratio denominator
Pr5.32 250 to 4000 [kHz] (MINAS A5)
250 to 8000 [kHz] (MINAS A6)
Maximum pulse input frequency
4.2 Pr0.00 (Motor rotation direction)
PANATERM parameter: “Rotational direction setting”
Setting range: 0 or 1
The default value is 1: Rotation in CCW direction (counterclockwise direction).
4.3 Pr0.01 (Control mode)
PANATERM parameter: “Control mode setting”
Setting range: 0 to 6
The default value is 0: Position control
Select 0: Position control
4.4 Pr0.06 (Counting direction of the command pulses)
PANATERM parameter: “Command pulse rotational direction setup”
Setting range: 0 or 1
The default value is 0: Positive counting direction = B leads A, SIGN input, logical high
signal.
In combination with Pr0.07, you can select up to 6 command pulse input formats. Please
refer to the parameter description in the Operating Instructions (Overall) AC Servo Motors &
Driver MINAS A5 series or Operating Instructions (Overall) AC Servo Motors & Driver MINAS
A6 series for details.
QS2000_V1.1_EN 13

4 Make parameter settings in PANATERM
4.5 Pr0.07 (Input mode of the command pulses)
PANATERM parameter: “Command pulse input mode setup”
Setting range: 0 to 3
Select one of the following pulse input modes depending on the configuration of the host
controller.
1: Positive/negative counting direction (incremental/decremental counting)
This is the default setting.
t2 t2
t2
t3
t2
Positive set-point value Negative set-point value
0 or 2: 2-phase pulse input
Select this pulse input mode if an encoder or encoder output is used.
t1
A
B
t1 t1 t1
t1 t1t1 t1
Positive set-point value
B leads A by 90°
Negative set-point value
B lags A by 90°
3: Pulse train and direction signal
The rotation direction can be changed by reversing the logical levels of the direction input.
t4
“H” “L”
t5t4
t6 t6 t6 t6
t5
Positive set-point value Negative set-point value
14 QS2000_V1.1_EN

4.6 Pr0.08 (Number of pulse signals per motor revolution)
4.6 Pr0.08 (Number of pulse signals per motor revolution)
PANATERM parameter: “Command pulse number per one motor revolution”
Setting range: 0 to 1048576 [pulse] (MINAS A5), 0 to 8388608 [pulse] (MINAS A6)
The default value is 10000 pulses per motor revolution.
4.7 Pr0.09 (Gear ratio numerator) and Pr0.10 (Gear ratio denominator)
PANATERM parameter: “First command division/multiplication numerator” (Pr0.09) and
“Command division/multiplication denominator” (Pr0.10)
Setting range: 0 to 1073741824 (Pr0.09) and 1 to 1073741824 (Pr0.10)
The default value is 0 for Pr0.09 and 10000 for Pr0.10.
If Pr0.09 is unequal 0, Pr0.08 will have no effect.
4.8 Pr5.32 (Maximum pulse input frequency)
PANATERM parameter: “Command pulse input maximum setup/digital filter setup”
Setting range: 250 to 4000 [kHz] (MINAS A5), 250 to 8000 [kHz] (MINAS A6)
The default value of 4000kHz (4 MHz) is primarily intended for host controllers (CNC or PLC)
with line driver outputs. The setting allows the driver to prepare itself for the pulse output
frequency of the host controller to be detected.
If the maximum pulse input frequency is below the minimum configurable value, for example
if a PLC has a maximum pulse output frequency of 100kHz, enter 250 in PANATERM to
minimize EMC issues.
QS2000_V1.1_EN 15

5 Make pin assignments in PANATERM
5 Make pin assignments in PANATERM
For some applications, the software function of physical pins of the servo driver must be
changed. Use the PC configuration software PANATERM to make the pin assignment.
1. Connect your PC to the servo driver.
2. Start the PANATERM configuration software.
3. Select “Other” > “Pin Assign”.
The current pin assignment is uploaded from the servo driver.
4. Select an arbitrary input which is not required by your application and double-click.
5. Select the desired function.
6. Select “Apply” to transfer the pin assignment to the servo driver.
16 QS2000_V1.1_EN

4.8 Pr5.32 (Maximum pulse input frequency)
6 Help us improve
Please feel free to contact us if you have any questions, or if you have any suggestions for
improvement. In that case, we ask you to include the Quick Start Guide number in the email
subject line. You can find the number starting with "QS" on the cover page.
[email protected]
[phone]
QS2000_V1.1_EN 17

7 Record of changes
7 Record of changes
QS2000_V1.1_EN, 2019.07
• Updated links.
• Minor improvements in layout and text.
QS2000_V1.0_EN, 2019.01
First edition
18 QS2000_V1.1_EN

Panasonic Electric Works
Please contact our Global Sales Companies in:
Europe
▸Headquarters Panasonic Electric Works Europe AG Robert-Koch-Straße 100, 85521 Ottobrunn, Tel. [phone], Fax [phone], www.panasonic-electric-works.com
▸Austria Panasonic Electric Works Austria GmbH Josef Madersperger Str. 2, 2362 Biedermannsdorf, Tel. [phone], Fax [phone]
www.panasonic-electric-works.at
Panasonic Industrial Devices Materials
Europe GmbH
Ennshafenstraße 30, 4470 Enns, Tel. [phone], Fax [phone], www.panasonic-electronic-materials.com
▸Benelux Panasonic Electric Works
Sales Western Europe B.V.
De Rijn 4, (Postbus 211), 5684 PJ Best, (5680 AE Best), Netherlands, Tel. [phone], Fax [phone],
www.panasonic-electric-works.nl
▸Czech Republic Panasonic Electric Works Europe AG,
organizační složka
Administrative centre PLATINIUM, Veveří 3163/111, 616 00 Brno, Tel. [phone], Fax [phone],
www.panasonic-electric-works.cz
▸France Panasonic Electric Works
Sales Western Europe B.V.
Succursale française, 10, rue des petits ruisseaux, 91370 Verrières Le Buisson, Tél. [phone], Fax [phone],
www.panasonic-electric-works.fr
▸Germany Panasonic Electric Works Europe AG Robert-Koch-Straße 100, 85521 Ottobrunn, Tel. [phone], Fax [phone], www.panasonic-electric-works.de
▸Hungary Panasonic Electric Works Europe AG Magyarországi Közvetlen Kereskedelmi Képviselet, 1117 Budapest, Neumann János u. 1., Tel. [phone],
Mobile: [phone], Fax [phone], www.panasonic-electric-works.hu
▸Ireland Panasonic Electric Works UK Ltd. Irish Branch Offi ce, Dublin, Tel. [phone], Fax [phone], www.panasonic-electric-works.co.uk
▸Italy Panasonic Industry Italia srl Via del Commercio 3-5 (Z.I. Ferlina), 37012 Bussolengo (VR), Tel. [phone], Fax [phone],
www.panasonic-electric-works.it
▸Nordic Countries Panasonic Electric Works Europe AG
Panasonic Fire & Security Europe AB
Filial Nordic, Knarrarnäsgatan 15, 164 40 Kista, Sweden, Tel. [phone], Fax [phone], www.panasonic-electric-works.se
Jungmansgatan 12, 21119 Malmö, Tel. [phone], Fax [phone], www.panasonic-fire-security.com
▸Poland Panasonic Electric Works Polska sp. z o.o ul. Wołoska 9A, 02-583 Warszawa, Tel. [phone], www.panasonic-electric-works.pl
▸Spain Panasonic Electric Works España S.A. Barajas Park, San Severo 20, 28042 Madrid, Tel. [phone], Fax [phone], www.panasonic-electric-works.es
▸Switzerland Panasonic Electric Works Schweiz AG Grundstrasse 8, 6343 Rotkreuz, Tel. [phone], Fax [phone], www.panasonic-electric-works.ch
▸United Kingdom Panasonic Electric Works UK Ltd. Sunrise Parkway, Linford Wood, Milton Keynes, MK14 6 LF, Tel. [phone], Fax [phone],
www.panasonic-electric-works.co.uk
North & South America
▸USA Panasonic Industrial Devices Sales Company
of America
Two Riverfront Plaza, 7th Floor, Newark, NJ 07102-5490, Tel. [phone], www.pewa.panasonic.com
Asia Pacific / China / Japan
▸China
Panasonic Electric Works Sales (China) Co. Ltd.
Tower C 3rd Floor, Offi ce Park, NO.5 Jinghua South Street, Chaoyang District, Beijing 100020, Tel. [phone],
Fax [phone]
▸Hong Kong Panasonic Industrial Devices Sales (HK) Co.,
Ltd.
Suite 301, 3/F, Chinachem Golden Plaza, 77 Mody Road, TST East, Kowloon, Hong Kong, Tel. [phone], Fax [phone]
▸Japan Panasonic Corporation 1006, Oaza Kadoma, Kadoma-shi, Osaka 571-8501, Japan, Tel. [phone], www.panasonic.net
▸Singapore Panasonic Industrial Devices
Automation Controls Sales Asia Pacific
No.3 Bedok South Road, Singapore 469269, Tel. [phone], Fax [phone]
Global Network
Asia Pacific China JapanNorth America Europe
Global Network