AC Servo Motor and Driver

Instruction Manual

MINAS A4P Series

•Thank you for buying and using Panasonic AC Servo Motor and Driver, MINAS A4P Series. •Read through this Instruction Manual for proper use, especially read "Precautions for Safety" ( P.8 to 11) without fail for safety purpose.

•Keep this Manual at an easily accessible place so as to be referred anytime as necessary.

DV0P4490

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Panasonic A4P Series instruction manual AC Servo Motor and Driver, DV0P4490

Contents

DV0P4490 AC Servo Motor and Driver Driver Motor Console Content Example of Absolute Operation Setting Example of Incremental Operation SettingExample of Rotary Axis Operation Setting Example of Dwell Timer Operation Setting When an Error Alarm Has Occurred at Servo-ON Command Operation Timing after Power-ONWhen an Alarm Has Been Cleared at Servo-ON Command Configuration of Absolute System Supplement Page Driver Motor Console Before Using the Products Do not put your hands in the ser- vo driver Before Using the Products Do not give strong impact shock to the Product Observe the specified voltage Inspection Items and Cycles Maintenance and InspectionType Cycles Items to be inspected Product Component Standard replacement Cycles hour Guideline for Parts ReplacementSmoothing capacitor Approx years Cooling fan To 3 years Outline IntroductionOn Opening the Product Package Check of the Driver Model Check of the Motor Model SpecificationsPulse count Round Check of the Combination of the Driver and the Motor Incremental Specifications, 2500P/r Absolute/Incremental Specifications, 17-bit Parts Description MADDT1207P Single phase, 200V, 200W A-frameDriver B-frame F-frame MEDDT7364P 3-phase, 200V, 2.0kW E-frame Low inertia type Msmd series, 50W Motor Main Body ConsoleDisplay/Touch panel Installation Place How to InstallHow to Install Environmental Conditions Fan Mounting Direction and SpacingOr more 40mm or more 100mm or more Oil/Water Protection Permissible Load to Output Shaft Stress to Cables Connect to CN How to ConnectRemarks Preparation Wiring to the Connector, CN X3 Overall Wiring Connecting Example of C-frame, 3-phase System Configuration and WiringPin RB1 6-pin, RB2 4-pin, RB3 5-pin Connection to host controller Wiring to Connector, CNConnection to encoder Connection with input power supply Remarks Overall Wiring Connecting Example of E-framePin P, B1 and B2 Connection to external components Connection to motor driving phase and ground Driver and List of Applicable Peripheral Equipments Filter Absorber For signal ContactorNoise Surge Cable Driver Noise For signal contactorFilter Cable Tips on Wiring Wiring of the Main Circuit a to D-frameConnect L1 and L1C, and L3 and L2C at single phase Connect pin 3 of the connector on the driver side with pin Case of Single Phase, 100V a and B-frame Wiring DiagramCase of Single Phase, 200V a and B-frame Case of Single Phase, 200V C and D-frame 24V DC power supply for brake Surge absorber Fuse 5A Wiring of the Main Circuit E and F-frame Wiring method to connector a to D-frame Case of 3-Phase, 200V E and F-frameUsing Handle Lever Using Screw Driver Msmd 50W to 750W MAMA100W to 750W MQMA100W to 400W Wiring to the Connector, CN X6 Connection to Encoder Msmd 50W to 750W Mama 100W to 750W MQMA100W to 400W Wiring to the External Scale, Connector, CN Wiring to the Connector, CN X7 Connection to External ScaleApplication Connector Content PinNo Remark For detailed information, refer to P.42 to Specifications of the Connector, CNManufacturer Part name 12 to Wiring for Connector CN Input Circuit Interface CircuitOutput Circuit Common input signals List of Signal for Connector CNApplication Code Function Ex When SV.Pr57 = 3 6 bits is set Emergency stop input must be installed before usingPoint No P32INP16INP8IN Description Output signal pulse train and function Common output signals and their functions Synchronized OthersNot-synchronized Composition of Touch Panel and Display Setup with the Front PanelInitial Status of the Front Panel Display 7-Segment LED Application Code Function Output Signals Analog and Their FunctionsSV.Pr08 Output Timing of BRK-OFF Signal Connecting Example12 to 24V V DC COM Power supply Fuse For brake Built-in Holding Brake Engaging Releasing Specifications of Built-in Holding BrakeSeries Output Torque X10-4 Time Voltage After stalling Setup value of SV.Pr67 Sequence at main Driving condition Power-off SV.Pr67Contents of deviation counter Clear Hold Dynamic Brake After stalling Contents of deviation counter Hold Memo Outline of Setup Support Software, Panaterm SettingAuto-Gain Tuning Mode Outline of Panaterm 103 How to Connect How to Set Parameter SetupHow to Connect Outline of Parameter Composition of Parameters This document, following symbols represent each modeServo parameter Bit positioning parameter Function/Content PrNo Range Power -ONList of Servo Parameter Parameters for Functional Selection Unit Function/Content PrNo Function/Content PrNoSetup value Signal of IM Baud rate Setup value Setup value Instantaneous speed observer setup Title Setup Unit Function/Content PrNoCaused by distortion resonance Velocity feed Set the second loop gain for position control Servo Title Setup Unit Function/Content PrNo Range Parameters for Auto-Gain TuningUnit Function/Content PrNo Range Inertia ratio Varying degree Auto-gain tuning Load inertia in motion Title Setup Unit Function/Content PrNo RangeSetup value Content Rotational direction Filter mode Setup value Parameters for Adjustment 2nd Gain Switching FunctionGain selection/switching Gain switching condition Parameters for Position Control Servo Title Setup Function/Content PrNo SV.Pr46 Phase logic Output source Pulse output resolution=Servo Title Numerator SV.Pr44 Output pulse ratio 10000 Title Setup Function/Content PrNo Range Parameters for Input SignalsSmoothing filter You can set the time constant Time constant Point specifying Input logic setting Parameters for Sequence Parameters for Velocity and Torque Limit Setup Action Deviation counter Value Action of main power low voltage protectionAfter stalling Content Action delay time tb of the brake Sequence at You can set up Servo-OFFAfter setting up SV.Pr6a = tb Setup time, or time lapse till External resistor but no Parameters for Protective functionRemarks Parameters for Full-Closed Control List of 16-bit Positioning Parameters Unit Function/ContentParameters for Motor speed Parameters for Acceleration and Deceleration Parameters for Homing Title Setup Unit Function/Content Parameters for Jog operation Deceleration in jog Other ParametersCCW is a positive direction and CW is a negative direction List of 32-bit Positioning Parameters Step Title Setup range Unit Function/Content PrNoList of Step Parameters Console display Model No Setup of Torque LimitSV.Pr5E,5F Applicable motor Max. value When you want to obtain the max. motor torque When the motor torque is limited Setup with the Console How to Use the ConsoleInitial Status of the Console Display 7 Segment LED Composition of Display/Touch panel Mode Change Mode switch button Monitor ModeSelection display Execution display Display of I/O Signal Status Display of Control ModePosition control mode Full-closed control mode Point Number Conversion Table Signal No. and its title Alarm Display Reference of Error Factor and HistoryOver-load alarm Over-regeneration alarm Switching of the Driver to be Communicated Display of Feedback Pulse Sum, Command Pulse SumDisplay of Regenerative Load Factor Display of Over-load Factor Overview of Teaching Mode Teaching ModeTeaching Mode Setup Operation at Selection display Step parameter setting Target position setting Test Mode Step operation Homing Jog operation Structure of Parameter Setup Mode Parameter setup mode Step Parameter Bit Positioning Parameter How to Use the Console Movement to a high order position is limited per parameter Servo ParameterDigit next to the blinking decimal point can be modified Eeprom Writing Operation at Selection display Eeprom Write Mode Normal Mode Auto-Gain Tuning Screen Auto-Gain Tuning ModeRemarks Dont disconnect the console from the driver between Alarm Clear Auxiliary Function ModeAlarm Clear Screen Absolute encoder clear Then press to make a display to Alarm Clear Screen Clearing of Absolute Encoder 101 Copying Function Console Only 102 Procedure of install Install the Panaterm to Hard DiscConnecting cable DV0P1960 103 Log on of the Panaterm Procedure of log on104 Operation Settin g Overview of Operation Setting Step Operation Procedure DescriptionStep Operation 107 Step Operation Mode Example of Incremental Operation SettingOperation mode Description Setting of 16-bit positioning parameter Example of Absolute Operation SettingSetting of step parameter Wrap around Setting of 32-bit positioning parameter Example of Rotary Axis Operation SettingControl mode Coordinate is set to Setting of step data Example of Dwell Timer Operation SettingServo off Jog Operation Jog Operation Parameters related to jog operation Set the parameters below when performing the jog operation16.Pr Description Homing is completed when the power supply turns on Homing Mode ListHoming Operation Homing Operation 115 Parameters related to this operation Home Sensor + Z Phase based on the front endPositive direction Home sensor 116 Positive direction Home Sensor based on the front end117 Direction of homing Home sensor + Z phase based on the rear end118 119 120 Limit Sensor + Z phase Example An operation in a positive direction Limit SensorDirection of homing Positive direction 121 Bumping Homing Phase HomingStopper etc 122 Example Data SetDirection of homing Home position = current position 123 Homing Offset Operation Timing chartExample of homing offset Homing offset is set to +5000 124 Positioning completion output Emergency Stop Operation/Deceleration-and-Stop OperationAnd-stop An operation stop in the deceleration time Temporary Stop Operation Restart of operation Same procedure as a step operationTemporary Stop Operation 126 16.Pr54 Description Block operation type setting Continuous block operation procedure exampleBlock Operation Overview of Block Operation Combined Block Operation ST.Pr Operation mode Combined block operation procedure example Sequential Operation Sequential OperationExample of Operation Homing operation at sequential operation Example of calculation 2500 p/r encoder Shaped Acceleration/Deceleration FunctionExample Linear acceleration t2 = Shaped % t2 = Operation Timing after Power-ON Timing ChartStrobe signal STB To 5 ms When an Error Alarm Has Occurred at Servo-ON CommandT1 *1 Alarm Clear can be input in the two ways below When an Alarm Has Been Cleared at Servo-ON CommandPoint input P1IN to P32IN CN X5 Pin 3, 4, 5, 6, 7 Multi function input EX-IN1/EX-IN2 CN X5 Pin 22/25 Servo-ON/OFF Action While the Motor Is in Motion Servo-ON/OFF Action While the Motor Is at Stall Servo-LockServo-ON input Brake release output Battery for Backup Installation Configuration of Absolute SystemAbsolute System Overview of Absolute System Reference Close the cover of the battery boxCycles/day Cycle/day When you make your own cable for 17-bit absolute encoder Setup Initialization of Absolute EncoderInstallation Place Normal homing Using the setup support software Panaterm Clearing Absolute Encoder Using a console139 Outline of Full-Closed Control What Is Full-Closed Control ?Preparation for full-closed control 140 Adaptive Filter 147 AdjustmentInstantaneous Speed Observer 160 Damping Control 161 141 Procedures Gain AdjustmentPurpose Ball screw Explanation Type How to Operate Real-Time Auto-Gain Tuning ModeOutline Applicable Range Setup of parameter, Pr22 Setup of parameter, Pr21Writing to Eeprom SV.PrNo Title Parameters Which Are Automatically Set1st position loop gain Velocity feed forward 1st velocity loop gain Feed forward filter time constant Invalidation of Adaptive Filter Adaptive Filter Conditions which obstruct normal auto-gain tuning Normal Mode Auto-Gain TuningThis function works under the following condition Too small or too big compared to the rotor inertia Table of auto-gain tuning Auto-Gain Tuning ActionTitle Stiffness value 90108135162 206251305377449 An arrow shows by pressing How to Operate from the ConsoleChanges toward the reversed direction By pressing SV.Pr2F 1st notch frequency Hz Invalidation of Real-Time Auto-Gain Tuning Before Making a Manual Adjustment Manual Gain Tuning BasicAnalog monitor output Waveform graphic function of the Panaterm Title of parameter Value How to adjust SV.Pr Adjustment in Position Control ModeTitle of parameter SV.Pr Setup of external scale ratio Adjustment in Full-Closed Control ModeSetup of hybrid deviation excess 154 You want to increase the response by increas Gain Switching FunctionIng the gain in motion Example 156 Setup of Gain Switching Condition Fig. C Fig.A Adaptive filter SV.Pr23, SV.Pr2F Suppression of Machine Resonance1st and 2nd notch filter SV.Pr1D, 2E, 28, 29 and 2A Adaptive filter Relation of Gain Adjustment and Machine Stiffness How to Check the Resonance Frequency of the Machine159 How to Use Manual Gain Tuning ApplicationAdjustment at normal position control Setup of instantaneous velocity observer SV.Pr27 Setup of damping filter switching selection Setup of damping filter 1st SV.Pr2C, 2nd SV.Pr2EDamping Control SV.Pr24 162 163 When in Trouble What to Check ? Protective Function What is Error Code ?Host controller Machine Motor Protective Function Detail of Error Code Over-heat Protective Error Causes Measures FunctionOver-load 166 Data error Cation errorCommuni Cation Down error Error Causes Measures FunctionOver error Status error ID setting Limit errorScale auto Recognition Error pro Tection Motor auto Recognition Error Protection Other error Software Limit Function Time characteristics of Err16 Overload protectionThis function works under the following conditions Conditions under which the software limit works When the load moves to the right at Servo-ON When no position command is entered Servo-ON statusWhen the load moves to the left at Servo-ON Wiring TroubleshootingMotor Does Not Run Motor Stops During an Operation Causes Countermeasures Point Deviates Positioning Accuracy is Poor InstallationHome Position Slips Abnormal Motor Noise or Vibration Causes Countermeasures Wiring Parameter Returns to Previous Setup174 Conformity to EC Directives and UL Standards SupplementPermissible Load at Output Shaft/Motor with Gear Reducer 175 Composition of Peripheral Equipments Conformity to EC Directives and UL Standards Circuit Breaker Power SupplyNoise Filter Option part No Surge Absorber Ground-Fault Breaker Noise Filter for Signal LinesGrounding Conformity to UL Standards Pin disposition for encoder connector Specifications of for Motor ConnectorPin disposition for motor/brake connector with brake Pin disposition for motor/brake connector without brake Motor type Type of junction cable Table for junction cable by model of Minas A4P series Title Manufacturer Junction Cable for Encoder Junction Cable for Motor ROBO-TOP105˚C 600V DP Junction Cable for Brake ROBO-TOP105˚C 600V DP Junction Cable for Motor with Brake ROBO-TOP105˚C 600V DP Setup Support Software Panaterm Connector Kit for External Peripheral EquipmentsInterface Cable Communication Cable for connection to PC For DVOP2490, DV0P3480 Recommended manual crimp tool Connector Kit for Motor/Encoder Connection Mhma 2.0kW to 5.0kW 500W to 1.5kWMgma 2.0kW to 4.5kW Mounting Bracket Mounting DimensionsPart No. DV0P4420 Upper side Bottom side Reactor Motor Power Rated Series Supply OutputHarmonic restraint Options Surge Absorber for Motor Brake Recommended componentsList of Peripheral Equipments Reference only Motor Surge absorber for motor brake Mass 0.8kg Dimensions Driver192 Mass 1.7kg Mass 1.5kg193 194 Mass 3.2kg Mama 100W to 750W Dimensions Motor 100W 5A * P1 5A * S1 01 * P1 01 * S1 Motor output Motor model3h9 Msmd 200W to 750W 01 * P1 01 * S1 02 * P1 02 * S1 Mqma 100W to 400W04 * S1 126.5 Msma 1.0kW to 2.0kW Msma 3.0kW to 5.0kW Mdma 1.0kW to 1.5kW Mdma 2.0kW to 3.0kW Rotary encoder Specifications Without brake With brake0kW 20 * P1 20 * S1 30 * P1 30 * S1 2500P/r Incremental Mdma 4.0kW to 5.0kW 2500P/r Incremental 17-bit Absolute/Incremental Mgma 900W to 2.0kW207 13.5 Mgma 3.0kW to 4.5kW 04 * P1 04 * S1 15 * P1 15 * S1 2500P/r Incremental Mfma 400W to 1.5kW Motor output 5kW Motor model Mfma 2.5kW to 4.5kW25 * P1 Without brake 139 500W 0kW 5kW 05 * P1 05 * S1 10 * P1 10 * S1 15 * P1 15 * S1 Mhma 500W to 1.5kW Mhma 2.0kW to 5.0kW Permissible Load at Output Shaft Motor At assembly During running Motor output Thrust loadRadial load P direction Thrust load a and B direction Series Radial thrust Direction MQMA021 MQMA022 With and without oil seal MQMA011 MQMA012MQMA041 MQMA042 Without oil seal MAMA012 MAMA022 Without oil seal With oil seal MSMD5AZ Motor Characteristics S-T CharacteristicsMSMD011 MSMD012 MSMD022 Without oil seal With oil seal MSMD021MSMD041 MSMD042 MSMA202 MSMA102 MSMA152MSMA302 MSMA402 MDMA502 With oil seal MDMA302 MDMA402With oil seal MFMA042 MFMA152 MFMA252 MFMA452 MHMA152 MHMA202 MHMA052 MHMA102MHMA302 MHMA402 MHMA502 Motor with Gear Reducer Absolute/Incremental specifications, 17bitModel No. of Motor with Gear Reduce Combination of Driver and Motor with Gear Reducer Motor with Gear Reducer Dimensions/Motor with Gear ReducerWithout brake With brake Brake Permissible load at shaft Motor output Radial thrust Remarks on installationLR/2 220 To driver Output MSMD011 * * 1N MSMD011 * * 2N Supply Reduction Ratio100W MSMD021 * * 1N MSMD021 * * 2N Gate drive Block Diagram of Driver 223 Internal Block Diagram of MINAS-A4P Driver E and F-frame Position Control Mode Block Diagram by Control ModeWhen Pr02 Setup of control mode is + + 225 Full-closed Control Mode Specifications Driver Unnecessary wiring Setting range Number of pointsEncoder feedback pulse Protection Hardware error Function Software error Servo parameter SV.Pr Default Parameters for all the models of A4P Series Bit positioning parameter 32.Pr Bit positioning parameter 16.Pr229 230 231 Repair After-Sale Service RepairTechnical information Date Model No Purchase Dealer Tel

AC Servo Motor and Driver￿

MINAS A4P Series￿

DV0P4490

AC Servo Motor and Driver

MINAS A4P Series