Panasonic MINAS A6 Series User manual

Servo Drives
Quick Start Guide
MINAS A6 Multi
PANATERM for Safety
Safe Torque Off (STO)
QS10002_V1.0_EN
2020.11 https://industry.panasonic.eu

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.
Panasonic Electric Works Europe AG (PEWEU)
Caroline-Herschel-Strasse 100
85521 Ottobrunn, Germany
Tel: [phone]
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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...........................................................................................................................................8
3.1 Basic wiring of the MINAS A6 Multi................................................................................................. 8
3.2 Wiring of the emergency stop button............................................................................................... 8
3.3 USB license dongle.......................................................................................................................... 9
3.4 Connect the PC and the driver module........................................................................................... 9
4 Functional safety configuration.............................................................................................. 11
4.1 Install PANATERM for Safety on your PC......................................................................................11
4.2 Create a safety program.................................................................................................................11
4.3 Download the safety program to the driver module....................................................................... 14
5 Help us improve....................................................................................................................... 17
6 Record of changes................................................................................................................... 18
7 Panasonic hotline.....................................................................................................................19
QS10002_V1.0_EN 3

1 Introduction
1 Introduction
1.1 Before you start
Before operating this product, read the safety instructions in the following manuals:
•“SX-DSV03514, MINAS A6 Multi, Technical Reference – Integrated Safety Part”
•“SX-DSV03508, MINAS A6 Multi, Programming Manual – PANATERM for Safety”
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 A6 Multi servo drive
system. It is based on information from the MINAS A6 Multi series manuals and the practical
experience of our engineers.
Step by step instructions will guide you through configuring and programming the Safe
Torque Off function (STO) with the programming software PANATERM for Safety.
Please refer to the original documentation of our servo drive systems for detailed
information. It is available free of charge in our Panasonic Download Center.
1.3 Related documents
Select the following links to download the documents from our Panasonic Download Center.
• Safety specifications:
“SX-DSV03514, MINAS A6 Multi, Technical Reference – Integrated Safety Part”
• Information on wiring the MINAS A6 Multi servo drive system:
“SX-DSV03454, MINAS A6 Multi, Reference Specifications – Driver Module”
• Information on wiring the MINAS A6 Multi power supply module:
“SX-DSV03452, MINAS A6 Multi, Reference Specifications – Power Supply Module”
• Information on EtherCAT communication:
“SX-DSV03456, MINAS A6 Multi, Technical Reference – EtherCAT Communication
Specification”
• Description of the servo driver functions:
“SX-DSV03455, MINAS A6 Multi, Technical Reference – Functional Specification”
• Information on safety programming:
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1 Introduction
“SX-DSV03508, MINAS A6 Multi, Programming Manual – PANATERM for Safety”
• Information on how to reduce electromagnetic interference (EMI):
“Recommendations for EMC-compliant wiring of servo drivers and motors”
• Related Quick Start Guides:
“QS10000, MINAS A6 Multi, Position control with Beckhoff host controller over EtherCAT”
“QS10001, MINAS A6 Multi, Ethernet over EtherCAT with PANATERM”
“QS10003, MINAS A6 Multi, Safe Stop 1 (SS1)”
“QS10004, MINAS A6 Multi, Safe Speed Monitoring (SSM)”
“QS10005, MINAS A6 Multi, Position control with Omron host controller over EtherCAT”
“QS10006, MINAS A6 Multi, Position control with TRIO host controller over EtherCAT”
1.4 Available software
The following software is available free of charge in our Panasonic Download Center:
• Programming software PANATERM for Safety for MINAS A6 Multi
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2 Functional overview
2 Functional overview
The Safe Torque Off function (STO) disables the torque on the drive by immediately
switching off power supply to the motor. The STO function can be used for emergency stops
and to prevent unexpected restarting of the machine.
Use the programming software PANATERM for Safety to set up this function for the MINAS
A6 Multi servo drive system.
tt1 t0
V
Safe Torque Off (STO): Safety stop in accordance with EN 60204-1, stop category 0
[t0,t1[ Movement with initial speed
t1The STO function is initiated
Example
A servo drive system, consisting of a 15kW power supply module, an A-size 1.5kW two-axis
driver module, and two servo motors with 1.0kW and 1.5kW, is connected to a PC by a USB
cable.
An emergency stop button is connected to the MINAS A6 Multi driver module.
Use the following accessories:
• 1 x 400V AC power supply cable
Connects the MINAS A6 Multi power supply module to the main power supply (400V AC).
• 1 x 24V DC power supply cable
Connects the power supply unit (24V DC) and the host controller.
• 1 x grounding wire (M4 round terminal)
Connects the PE terminals of the power supply module and the driver module.
• 2 x Panasonic motor cable
Connects the motor and the driver module.
• 2 x Panasonic encoder cable
Connects the encoder and the driver module.
• 1 x RJ11 communication cable (2 x RJ11 plug)
Connects the power supply module and the driver module.
• 1 x feed bus bar (50mm) with end cap for the DC link bus (535V DC to 675V DC)
Connects the power supply module and the driver module.
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2 Functional overview
• 1 x feed bus bar (50mm) with end cap for the control bus (24V DC)
Connects the power supply module and the driver module.
• 1 x emergency stop button connected to the driver module
• 1 x USB license dongle
• 1 x USB cable
(1) (2) (3) (5) (7)
(9) (8)
(4) (6)
(1) Power supply unit (24V DC)
(2) MINAS A6 Multi power supply module (400V AC, 15kW)
(3) Two-axis MINAS A6 Multi driver module (1.5kW)
(4) USB cable between PC and driver module
(5) Emergency stop button
(6) MINAS A6 servo motor B (1.5kW)
(7) MINAS A6 servo motor A (1kW)
(8) USB license dongle for PANATERM for Safety
(9) PC with PANATERM for Safety
Set-up of a MINAS A6 Multi servo drive system - Safe Torque Off (STO)
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3 Wiring
3 Wiring
3.1 Basic wiring of the MINAS A6 Multi
Check the hardware connections of your servo drive system:
• 24V DC control power supply connected to X11
• 400V AC main power supply cable connected to X102
• Motor cable for servo motor A connected to X105A
• Motor cable for servo motor B connected to X105B
• Encoder cable for servo motor A connected to X9A
• Encoder cable for servo motor B connected to X9B
• X1 and X1A connected with RJ11 communication cable
• Bus bars attached to X104 and X12
• PE terminals of power supply module and driver module connected by grounding wire
For details on how to do the wiring of the MINAS A6 Multi servo drive system, refer to
“Wiring” in “QS10000, MINAS A6 Multi, Position control with Beckhoff host controller over
EtherCAT”.
3.2 Wiring of the emergency stop button
Connect the emergency stop button to the safety I/O signal connector (X5) of the driver
module.
(1)
(1) X5: Safety I/O signal connector on driver module
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3 Wiring
+24V
+24V
Q1
S1
Pin 15
Pin 32
0V
+24V 17
16
15 32
33
34
12
13
14
10
9
8
7
6
5
4
3
2
1
31
30
29
28
27
26
25
24
23
22
21
20
19
18
11
Pin 15: Grouped safety digital input 1A
Pin 16: Safety input common A
Pin 17: External power supply (24V DC) for safety I/O
Pin 32: Grouped safety digital input 1B
Pin 33: Safety input common B
Pin 34: External ground
3.3 USB license dongle
A USB license dongle is required to compile and download the functional safety
configuration to the driver module. Connect the license dongle to a USB port of your PC.
USB license dongle
3.4 Connect the PC and the driver module
Connect your PC and the driver module with an Ethernet cable or with a USB cable. In this
example, we use a USB cable that is connected to X8 of the driver module.
X8 connector (for functional safety configuration)
Use a commercially available USB A to mini-B cable to connect the PC to the driver module.
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3 Wiring
(1)
(1) X8: USB connector on driver module
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4 Functional safety configuration
4 Functional safety configuration
4.1 Install PANATERM for Safety on your PC
The programming software PANATERM for Safety provides a graphical environment to
create PLC-based monitoring programs for the MINAS A6 Multi servo drive system.
Install the software on your PC.
For details, refer to the “SX-DSV03508, MINAS A6 Multi, Programming Manual –
PANATERM for Safety”.
4.2 Create a safety program
The general workflow for creating a safety program is to add the devices of your servo drive
system to your project, to place them in the “Terminal Scheme” screen, and to configure the
safety functions in the“Functional Scheme” screen.
1. Start PANATERM for Safety.
2. Select the “Settings” tab.
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4 Functional safety configuration
3. Select “Library” and then “MINAS A6 Multi” under “New document device group”.
4. Select “MINAS A6 Multi 2 Axis” from the “Library” window and drag the element into
the “Terminal Scheme” window.
5. Go to the “Properties” window and select the A6 encoder for both axes.
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4 Functional safety configuration
6. Go to the “Library” window, select the “Emergency Stop” element and drag it into the
“Terminal Scheme” window.
7. Select the “Emergency Stop” element in the “Terminal Scheme” window, and make
the settings in the “Properties” window as shown in the screenshot.
8. Go to the “Functional Scheme” window to program the functional safety.
9. Select the “Emergency Stop” element from the “Browser” window and drag it into the
“Functional Scheme” window.
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4 Functional safety configuration
10. Select the safety function “[STO] Safety Torque Off” from the “Library” window and
drag it into the “Functional Scheme” window.
11. Use the mouse to connect the elements.
12. Select “Check + Compile” in the ribbon to compile your project
4.3 Download the safety program to the driver module
Remember that a USB license dongle is required to compile and save your program.
1. Select “Device Interface” in the ribbon and save your project.
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4 Functional safety configuration
2. Select “Connection Settings” in the ribbon and then “USB Cable”.
3. Select “Connect” in the ribbon.
4. Select “Send Configuration” in the ribbon.
Select “Yes” to confirm the message that this action will change the device state.
5. Wait until the configuration is transmitted to the driver module and then reboot the driver
module.
The safety function is now active.
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4 Functional safety configuration
6. To check the current status of the safety function, go to “Diagnostics” and select the
“Functional Scheme” window.
A yellow line means that the emergency stop button was not yet pressed. If it is red, the
emergency button has been pressed and STO is active.
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5 Help us improve
5 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]
QS10002_V1.0_EN 17

6 Record of changes
6 Record of changes
QS10002_V1.0_EN, 2020.11
First edition
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7 Panasonic hotline
7 Panasonic hotline
If you have questions that cannot be clarified by the manuals or online help, please contact
your sales office.
Europe
Austria: 02236 / 2 68 46, [email protected]
Benelux: 0499 / 37 27 27, [email protected]
France: 01 / 60 13 57 57, [email protected]
Germany: 089 / 45 354 2750, [email protected]
Ireland: 01 / 4 60 09 69, [email protected]
Italy: 045 / 67 52 711, [email protected]
Scandinavia: 46 / 8 59 47 66 80, [email protected]
Spain: 91 / 3 29 38 75, [email protected]
Switzerland: 041 / 799 70 50, [email protected]
United
Kingdom:
01908 / 23 15 55, [email protected]
North & South America
USA: 1 877 / 624 7872, [email protected]
Asia
China: 400-920-9200, https://industrial.panasonic.cn/ea/
Korea: [phone], http://pidskr.panasonic.co.kr/
Taiwan: [phone], https://industrial.panasonic.com/
Hong Kong: [phone], https://industrial.panasonic.com/
Japan: 0120-394-205, https://industrial.panasonic.com/
Singapore: +65 / 635 92128, [email protected]
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