Panasonic MINAS A6 Series User manual

Servo Drives
Quick Start Guide
MINAS A6 Multi
Position control with Beckhoff
host controller over EtherCAT
QS10000_V1.1_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 Recommendations for wiring............................................................................................................ 8
3.2 Bottom side connectors of the servo drive system.......................................................................... 8
3.3 Top side connectors of the servo drive system................................................................................9
3.4 Front side connectors of the servo drive system........................................................................... 10
3.5 Connectors of the Beckhoff C6015 host controller.........................................................................11
4 Set up the host controller....................................................................................................... 13
4.1 Install TwinCAT 3 Runtime and establish an Ethernet connection................................................. 13
4.2 Install the EtherCAT driver............................................................................................................. 13
5 Set up the MINAS A6 Multi servo drive system....................................................................15
6 Start drive control.................................................................................................................... 16
6.1 Install TwinCAT 3 Engineering on your PC.................................................................................... 16
6.2 Before starting TwinCAT 3..............................................................................................................16
6.3 Create a new TwinCAT project.......................................................................................................16
6.4 Connect your PC to the host controller..........................................................................................17
6.5 Add connected devices to your project.......................................................................................... 19
6.6 Set the movement parameters....................................................................................................... 20
6.7 Start position control....................................................................................................................... 22
7 Create a PLC program with motion control functions (optional)........................................ 25
8 Add visual controls to your PLC program (optional)........................................................... 29
9 Help us improve....................................................................................................................... 32
10 Record of changes................................................................................................................. 33
11 Panasonic hotline................................................................................................................... 34
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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 connecting a Beckhoff C6015 host controller
to a MINAS A6 Multi servo drive system. You will also learn how to configure a PLC program
and an HMI program using Beckhoff’s TwinCAT 3 Runtime and TwinCAT 3 Engineering
software to perform a simple positioning task. Communication is achieved using EtherCAT.
In these instructions we assume that you are using a Windows 10 operating system.
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”
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1 Introduction
• Description of the servo driver functions:
“SX-DSV03455, MINAS A6 Multi, Technical Reference – Functional Specification”
• Information on safety programming:
“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:
“QS10001, MINAS A6 Multi, Ethernet over EtherCAT with PANATERM”
“QS10002, MINAS A6 Multi, Safe Torque Off (STO)”
“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:
• PC configuration software PANATERM for MINAS A6 Multi, 32 bit, or PC configuration
software PANATERM for MINAS A6 Multi, 64 bit
• Programming software Control FPWIN Pro 7
• Panasonic ESI file
The following software can be downloaded from Beckhoff’s Web site (https://
www.beckhoff.de):
• TwinCAT 3 Runtime software (Go to “Download” > “Software” > “TwinCAT3” > “Runtime”)
• TwinCAT3 Engineering software (Go to “Download” > “Software” > “TwinCAT3” >
“Engineering”)
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2 Functional overview
2 Functional overview
A Panasonic MINAS A6 Multi servo drive system includes a power supply module, one
or more 400V driver modules, and one or two motors connected to each driver module.
Communication can be achieved through EtherCAT with any host controller that supports the
CAN application protocol over EtherCAT (CoE).
Example
A servo drive system, consisting of an 15kW power supply module, an A-size 1.5kW two-axis
driver module, and two servo motors with a rated power of 1.0kW and 1.5kW, is connected
to a Beckhoff C6015 host controller by an Ethernet cable to communicate via EtherCAT.
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 Ethernet cable
Connects the PC and the host controller.
• 1 x Ethernet cable (used for EtherCAT communication)
Connects the host controller 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.
• 1 x feed bus bar (50mm) with end cap for the control bus (24V DC)
Connects the power supply module and the driver module.
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2 Functional overview
(1) (2) (3) (4) (5)
(6)
(7)
(1) Power supply unit (24V DC)
(2) Beckhoff C6015 host controller with TwinCAT 3 Runtime software
(3) MINAS A6 Multi power supply module (400V AC, 15kW)
(4) Two-axis MINAS A6 Multi driver module (1.5kW)
(5) MINAS A6 servo motor B (1.5kW)
(6) MINAS A6 servo motor A (1kW)
(7) PC with TwinCAT 3 Engineering software
Set-up of a MINAS A6 Multi servo drive system with a Beckhoff C6015 host controller
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3 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 Bottom side connectors of the servo drive system
The image shows the most important connectors of a power supply module (left) and a
driver module (right). Please refer to the technical documentation for details about other
connectors.
(3)
(1) (4)
(5)
(6)
(2)
(1) X102: Main power supply (400V AC)
(2) X11: Control power supply (24V DC)
(3) X105A: Motor A
(4) X105B: Motor B
(5) X9A: Encoder A
(6) X9B: Encoder B
Bottom view of power supply module (left) and driver module (right)
X11 connector (control power supply)
Connect the 24V DC control power supply to X11.
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3 Wiring
Wiring of the X11 connector
X102 connector (main power supply)
Connect the 400V AC main power supply cable to X102.
Wiring of the X102 connector
X105A and X105B connectors (motor connectors)
Connect the motor cable for servo motor A to X105A and the motor cable for servo motor B
to X105B.
Wiring of the X105A and X105B connectors
X9A and X9B connectors (encoder connectors)
Connect the cable of encoder A to X9A and the cable of encoder B to X9B.
Wiring of the X9A and X9B connectors
3.3 Top side connectors of the servo drive system
The image shows the most important connectors of a power supply module (left) and a
driver module (right). Please refer to the technical documentation for details about other
connectors.
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3 Wiring
(2)
(1)
(3)
(1) X1: Internal communication connector on power supply module
(2) X1A: Internal communication connector on driver module
(3) X6A: EtherCAT communication connector on driver module
Top view of power supply module (left) and driver module (right)
X1, X1A connectors (internal communication connectors)
Connect X1 and X1A with the RJ11 communication cable.
X6A connector (EtherCAT connector)
Connect an Ethernet cable between the EtherCAT connector of the host controller and X6A
of the driver module.
In this example, we will define X103 as the EtherCAT connector.
3.4 Front side connectors of the servo drive system
The image shows the most important connectors of a power supply module (left) and a
driver module (right). Please refer to the technical documentation for details about other
connectors.
(1)
(3)
(2)
(1) X7: USB connector (for driver configuration) on driver module
(2) X104: DC link bus connectors on power supply module and driver module (535V DC to 675V DC)
(3) X12: Control bus (24V DC) connectors on power supply module and driver module
Front view of power supply module (left) and driver module (right) with bus bars
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3 Wiring
X104 and X12 connectors (DC bus)
Attach the bus bars to X104 and X12 to connect the DC circuits of the power supply module
and the driver module.
Connectors for DC circuits with and without bus bars
X7 connector (for driver configuration)
The driver module is configured using the PC configuration software PANATERM. Use a
commercially available USB A to mini-B cable to connect the PC to the driver module.
(1)
(1) X7: USB connector on driver module
Connector X7 for PC connection
3.5 Connectors of the Beckhoff C6015 host controller
The image shows the front view of the host controller. Connector X104 can be used to
connect a monitor. Connectors X105 and X106 can be used to connect a keyboard, mouse
or USB flash drive, if required.
(1)
(2)
(3)
(4)
(5)
(6)
(1) X101: 24V power supply
(2) X102: Ethernet connector
(3) X103: Ethernet connector
(4) X104: DisplayPort connector
(5) X105: USB 2.0 connector
(6) X106: USB 3.0 connector
Front view of Beckhoff C6015 host controller
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3 Wiring
X101 connector (24V power supply)
Connect X101 to 24V DC.
X102 connector (Ethernet connector)
Connect an Ethernet cable between X102 and the Ethernet port of your PC.
X103 connector (Ethernet connector)
Connect an Ethernet cable between X103 and the X6A connector of the driver module.
In this example, we will define X103 as the EtherCAT connector.
X104 connector (DisplayPort connector)
Connect a monitor (optional).
X105 connector (USB 2.0)
Connect a mouse or keyboard (optional).
X106 connector (USB 3.0)
Connect a mouse or keyboard (optional).
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4 Set up the host controller
4 Set up the host controller
4.1 Install TwinCAT 3 Runtime and establish an Ethernet connection
To install TwinCAT 3 Runtime on the host controller, connect a monitor to the DisplayPort
connector (X104) of the Beckhoff C6015 host controller and a mouse to one of its USB
connectors.
The download link can be found under Available software (page 5).
1. Unzip the downloaded TwinCAT 3 Runtime file and copy the installation file to a USB
flash drive.
2. Connect the USB flash drive to one of the host controller’s USB connectors and execute
the installation file.
3. Set the IP address in your PC.
In Windows, go to “Network Connections” > “Change adapter options”. Select
“Ethernet” > “Properties”. On the “Network” tab, select “Internet protocol, Version
4 (TCP/IPv4)” > “Properties”. Select “Use the following IP address” and set the IP
address.
Example:
IP address: 192.168.178.100
Subnet mask: 255.255.255.0
(settings for default gateway and preferred DNS server not required)
4. Set an IP address in the “Ethernet Properties” dialog of the system settings of the host
controller, e.g. IP address: 192.168.178.10, subnet mask: 255.255.255.0.
5. Start a remote desktop connection by entering “mstsc” in the Windows start menu of
your PC. Enter the IP address of your host controller (e.g. 192.168.178.10) and select
“Connect”.
4.2 Install the EtherCAT driver
One of the two Ethernet connectors of the Beckhoff C6015 host controller must be
configured as an EtherCAT port. In this example we will use connector X103.
1. In the operating system of the host controller, select “Control Panel” > “Network and
Internet” > “Network and Sharing Center” > “Change adapter settings” > “Ethernet2”
(Ethernet2 refers to the X103 connector of the host controller).
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4 Set up the host controller
2. Right-click and select “Properties” in the context menu.
3. Select “Configure…” and go to the “Driver” tab.
4. Select “Update Driver”.
5. Search manually for the driver in the following location: C:\TwinCAT\3.1\Driver.
6. Select “Next” to install the driver.
7. After successful installation, select “Close” to finish the installation.
8. To activate the EtherCAT driver, go to C:\TwinCAT\3.1\System and execute
TcRteInstall.exe.
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5 Set up the MINAS A6 Multi servo drive system
5 Set up the MINAS A6 Multi servo drive system
Use the PC configuration software PANATERM to set up the MINAS A6 Multi servo drive
system.
The download links can be found under Available software (page 5).
For safety reasons, parameter Pr0.13: “1st torque limit” is, by default, set to 10% of the rated
motor torque. To be able to use the full range of motor torque and to avoid follow-up errors,
set Pr0.13 to 300%. This will be the only setting we will make in PANATERM.
1. Connect your PC to the USB connector X7 of the servo driver module and turn on the
servo drive system.
2. Start PANATERM.
The software automatically detects the connected devices.
3. Select “OK” to confirm the detected series.
4. Select the “Parameter” tab.
5. In the “Selection of parameter to be read” dialog, select “Read from amplifier” and select
“OK”.
6. Select Pr0.13: “1st torque limit” from the parameter list and change the value to 300%:
7. Transfer the new value to the driver by selecting the “Trans” icon:
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6 Start drive control
6 Start drive control
6.1 Install TwinCAT 3 Engineering on your PC
To control the servo drive system, you must install the TwinCAT 3 Engineering software and
the Panasonic ESI file on your PC.
We highly recommend that you use a PC without security software (e.g. McAfee) because
TwinCAT 3 Engineering needs access to the kernel. Security checks could cause blue
screen errors and damage to your files.
1. Unzip the downloaded software package and execute the installation file.
2. Reboot your PC.
3. After the reboot, copy the Panasonic ESI file (Panasonic_MINAS_A6Multi_V*.xml)
to C:\TwinCAT\3.1\Config\Io\EtherCAT on your PC.
The download links can be found under Available software (page 5).
6.2 Before starting TwinCAT 3
1. Before you start the TwinCAT 3 Engineering software, execute the batch file C:
\TwinCAT\3.1\System\win8settick.bat to avoid a system clock setup error. You
must execute this file as an administrator.
2. Reboot your PC.
6.3 Create a new TwinCAT project
Before you can connect your PC to the Beckhoff C6015 host controller, you must create a
new project in TwinCAT 3.
1. Select the TwinCAT icon in the taskbar to start the TwinCAT 3 Engineering software.
2. Select “TwinCAT XAE (VS2013)”.
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6 Start drive control
3. On the “Start Page” select “New TwinCAT Project…”.
4. Select “TwinCAT XAE Project (XML format)”, enter a project, and select “OK”.
6.4 Connect your PC to the host controller
To establish a connection to the Beckhoff C6015 host controller, send a broadcast request
for an IP address to the devices in the EtherCAT network.
1. In the “Solution Explorer”, go to “SYSTEM” and select the “Choose Target” button.
2. Select “Search (Ethernet)”.
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6 Start drive control
3. Under “Address Info”, select “IP Address” and select the “Broadcast Search” button to
display the connected EtherCAT devices.
4. Select the host controller and select “Add Route”.
5. Enter the login data for the host controller. The default password is "1". Select “OK”.
The system is now establishing a connection to the host controller.
6. Check the connection between your PC and the host controller: An “X” means that the
PC is connected to the host controller. Select “Close” to close the window and confirm
with “OK”.
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6 Start drive control
6.5 Add connected devices to your project
You must add the connected devices to your TwinCAT project.
1. In the “Solution Explorer”, go to “I/O” and right-click on “Devices”. Select “Scan”.
2. Confirm the message that not all devices can be found automatically.
3. When the EtherCAT master device is found, select “OK”.
4. Confirm “Scan for boxes” with “Yes”.
5. When the MINAS A6 Multi driver module is found, the following message comes up that
you confirm with “OK”.
6. Confirm the message “Activate Free Run” with “No”.
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6 Start drive control
7. The “Solution Explorer” displays the added driver module with its two connected motors
under “I/O” > “Devices”. It also displays all found axes under “MOTION” > “NC-Task 1
SAF”.
6.6 Set the movement parameters
Set the movement parameters and make general settings and encoder settings for each
axis.
1. Go to “Solution Explorer” > “MOTION” > “NC-Task 1 SAF” > “Axes” > “Axis 1”. Select
the “Settings” tab.
2. In this example, change the unit to “Degree”.
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