Panasonic MINAS A6SG User manual

Servo Drives
Quick Start Guide
Position control by block
operation using input signals
(MINAS A6SG/A6SF)
QS2001_V1.0_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 QS2001_V1.0_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...........................................................................................................................................8
3.1 Recommendations for wiring............................................................................................................ 8
3.2 Connectors of the servo driver.........................................................................................................8
3.3 Signal inputs and outputs of the X4 connector.............................................................................. 10
3.4 PNP wiring of the X4 connector.....................................................................................................11
3.5 NPN wiring of the X4 connector.....................................................................................................12
4 Make parameter settings in PANATERM................................................................................13
4.1 Basic parameters overview.............................................................................................................13
4.2 Pr0.00 (Motor rotation direction).....................................................................................................14
4.3 Pr0.01 (Control mode).................................................................................................................... 14
4.4 Pr6.28 (Block operation mode).......................................................................................................14
5 Make pin assignments in PANATERM....................................................................................15
6 Enter block commands in PANATERM.................................................................................. 16
7 Help us improve....................................................................................................................... 18
8 Record of changes................................................................................................................... 19
QS2001_V1.0_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 A6 series
Technical Reference – Modbus communication and block operation specification SX-
DSV03042
• 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:
QS2000, Position control by pulse and direction signals (MINAS A5/A5E/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 QS2001_V1.0_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
QS2001_V1.0_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. With
block operation, the user defines the positioning parameters in command blocks. The MINAS
A6 servo driver has a block memory capacity of 256 command blocks. All command blocks
are saved in a block operation table in the servo driver.
Block operation table
You can set the command blocks using the PANATERM configuration software or by Modbus
commands if you are using a PLC with a Modbus RTU communication interface. The
command blocks are either started by digital signals (e.g. STB, B-SEL1 to B-SEL128) from a
PLC, a trigger switch, or by Modbus commands.
This Quick Start Guide explains how to wire and configure the servo driver for block
operation using PLC signals.
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.
6 QS2001_V1.0_EN

1.4 Available software
-
+
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
QS2001_V1.0_EN 7

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 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.
8 QS2001_V1.0_EN

3.2 Connectors of the servo driver
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.
QS2001_V1.0_EN 9

3 Wiring
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.
Wiring of the pulse train input depends on your source of pulses (PLC, CNC, or motion
controller):
• For open collector outputs of a PLC with a maximum frequency of 200KHz and a
maximum pulse voltage level of 24V, you have two options:
‒ With external resistor (12V or 24V power supply), use the pins 3, 4, 5, 6.
‒ Without external resistor (24V power supply only), use the pins 1, 2, 4, 6.
• For line driver outputs with a maximum frequency of 500kHz, use the pins 3, 4, 5, 6.
• For line driver outputs with a maximum frequency of 8MHz, use the pins 44, 45, 46, 47.
In our example, we will use the following signal inputs and outputs:
• 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.
• STB (pin number must be assigned in PANATERM)
Strobe input for starting block operation.
• B-SEL1 to B-SEL128 (pin numbers must be assigned in PANATERM)
Block number inputs for selecting block commands.
• S-RDY (pins 34–35)
Servo-ready output to indicate the ready state of the driver.
• ALM (pins 36–37)
Servo-alarm output
• 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.
10 QS2001_V1.0_EN