Panasonic A4P Series Block Operation

127

[Operation Setting]

Operation

Setting

Overview of Block Operation

This servo driver can perform the two types of block operations, i.e., continuous block operation and com-

bined block operation. These operations can be switched by 16.Pr54 (block operation type setting).

Continuous block operation :Several step operations can be performed continuously. Once an operation

starts, the operation continues to a specified point number.

Combined block operation : A step operation is performed according to combined several point numbers.

This is useful when you want to change the speed during a step operation.

Continuous Block Operation

If 16.Pr54 (block operation type setting) is “0” (continuous block operation) and the block setting of the point

number specified by point specifying input (P1IN to P32IN: CN X5 Pin 3, 4, 5, 6, 7 and 8) is “Block”, the step

operation is performed continuously in order from the specified point number to the block number of “Single”

block setting.

16.Pr54

(block operation type setting)

0

1

Description



Continuous block operation

Combined block operation

Point specifying input

(P1IN to P32IN)

Speed

Strobe signal input

(STB)

In-operation signal output

(BUSY)

In-deceleration output

(DCLON)

Positioning completion output

(COIN)

Point output

(P1OUT to P32OUT)

Transistor OFFTransistor OFF

Transistor ON

OpenOpen

Transistor ON

Transistor ON

Transistor OFF

MAX 10msMAX 10ms MAX 10ms

Speed = VEL1

1 (01H)

1 (01H) 2 (02H)

3 (03H)

Acceleration 

= ACC2

Deceleration = DEC1

Acceleration = ACC1

Speed 

= VEL2

Moving to the absolute position “0”

Waiting time

5 seconds

[02]

[01]

[03]

Transistor OFFTransistor OFFTransistor ON

Moving to the absolute

position “500000” Deceleration



= DEC2

Close

MIN10ms

Block Operation

Continuous block operation procedure (example)

1. Set a 16-bit positioning parameter and step parameter. (Refer to “Parameters Used in this Operation

Example” on page 128.)

2. Execute the homing. (Refer to “Homing Operation” on page 114.)

3. Specify the point 1 when the servo turns on and input the strobe signal input (STB: CN X5 Pin 24). Then,

an operation is performed continuously, e.g., [01] –> [02] –> [03].

Contents

Main Content [Before Using the Products] [Preparation] [Setting] [Operation Setting] [Adjustment] [When in T rouble] [Supplement] Page [Before Using the Products] Safety Precautions DANGER CAUTION DANGER Safety Precautions CAUTION Maintenance and Inspection Notes on Maintenance and Inspection Inspection Items and Cycles Guideline for Parts Replacement Prohibited Model number Rated input/output voltage Rated output of applicable motor Serial Number e.g.) : Introduction MADDT1205P Outline On Opening the Product Package Contact to a dealer if you find any failures. Check of the Driver Model MSMD5AZS1S Check of the Motor Model Contents of Name Plate Introduction Check of the Combination of the Driver and the Motor Suffix of " * " in the applicable motor model represents the motor structure. Incremental Specifications, 2500P/r <Remarks> Do not use in other combinations than those listed below. Absolute/Incremental Specifications, 17-bit <Remarks> Do not use in other combinations than those listed below. Driver e.g.) : MADDT1207P (Single phase, 200V, 200W : A-frame) e.g.) : MCDDT3520P (Single/3-phase, 200V, 750W : C-frame) Parts Description A and B-frame C and D-frame Before Using the Products E and F-frame e.g.) : MEDDT7364P (3-phase, 200V, 2.0kW : E-frame) e.g.) : MFDDTB3A2P (3-phase, 200V, 5.0kW : F-frame) For details of each model, refer to "Dimensions " (P.192 to 194) of Supplement. Parts Description Motor Display/Touch panel Main Body Driver How to Install Mounting Direction and Spacing Caution on Installation Motor How to Install Oil/Water Protection Stress to Cables Permissible Load to Output Shaft Notes on Installation How to Connect [Preparation] Wiring of the Main Circuit Overall Wiring (Connecting Example of C-frame, 3-phase) Page Overall Wiring (Connecting Example of E-frame) Wiring of the Main Circuit Page Driver and List of Applicable Peripheral Equipments Page Wiring of the Main Circuit (A to D-frame) Fuse (5A) CN X2 L2 L3 * NC D Power supply Single phase, 100V to 115V * Power supply 3-phase, 200V to 240V 15% Power supply Single phase, 200V to 240V 15% Power supply Single phase, 200V to 240V Wiring of the Main Circuit (E and F-frame) Fuse (5A) NF MC NFB Surge absorber How to connect Follow the procedures below for the wiring connection to the Connector CN X1 and X2 . Wiring method to connector (A to D-frame) Press the screw driver to the handling slot on the upper portion to push down the spring. Release the screw driver. Wiring to the Connector, CN X6 (Connection to Encoder) Wiring Diagram MSMD 50W to 750W MAMA100W to 750W MQMA100W to 400W Cautions Wiring to the External Scale, Connector, CN X7 Wiring to the Connector, CN X7 (Connection to External Scale) Wiring to the Connector, CN X5 (Connection to Host Controller) Tips on wiring Wiring for Connector CN X5 CN X5 ( represents twisted pair.) V 12 to 24V Interface Circuit Input Circuit Open collector outputPO2 or Output Circuit List of Signal for Connector CN X5 Common input signals Ex) When SV.Pr57 = 3 (6 bits) is set Overview of Point Spesifying Input <Notes> H indicates the opened contact condition and L the closed contact condition. The number of point inputs can be set by SV.Pr57. Strobe signal input 25 Common output signals and their functions Output signal (pulse train) and function When the output source is the encoder Others Setup with the Front Panel Composition of Touch Panel and Display Initial Status of the Front Panel Display (7-Segment LED) Output Signals (Analog) and Their Functions Built-in Holding Brake Output Timing of BRK-OFF Signal Connecting Example Specifications of Built-in Holding Brake Dynamic Brake 2) Setup of driving condition from deceleration to after stop by Servo-OFF (SV.Pr69) Deviation counter at activation of protective function will be cleared at alarm-clear. Page [Setting] Parameter Setup...................................................... 56 How to Use the Console .........................................80 Outline of Setup Support Software, "PANATERM ".... Outline of Parameter How to Set Outline of PANA TERM How to Connect Composition of Parameters Servo parameter 16-bit positioning parameter 32-bit positioning parameter Step parameter * Power -ON * Servo PrNo. Setup Title Function/Content range List of Servo Parameter * Parameters for Adjustment of Time Constants of Gains and Filters Servo PrNo. Setup range UnitTitle Function/Content Servo PrNo. Setup range UnitTitle Function/Content Parameters for Auto-Gain Tuning Servo PrNo. Setup range UnitTitle Function/Content Servo PrNo. Setup range UnitTitle Function/Content Servo PrNo. Setup range UnitTitle Function/Content Parameters for Adjustment (2nd Gain Switching Function) Servo PrNo. Setup range UnitTitle Function/Content Servo PrNo. Setup range UnitTitle Function/Content * * 4D <0> * Title Function/Content range * 4C 0 to 7 <1> * Servo PrNo. Setup Title Function/Content range Parameters for Velocity and Torque Limit Parameters for Sequence Servo PrNo. Setup range UnitTitle Function/Content Page Servo PrNo. Setup * range UnitTitle Function/Content Parameters for Protective function * Servo PrNo. Setup range UnitTitle Function/Content Parameters for Full-Closed Control Servo PrNo. Setup range UnitTitle Function/Content List of 16-bit Positioning Parameters Parameters for Motor speed Parameters for Acceleration and Deceleration Setup range UnitTitle Function/Content Setup range UnitTitle Function/Content Parameters for Homing Setup range UnitTitle Function/Content Parameters for Jog operation 41 0 to 6000 Setting of S-shaped ms r/minJog speed (high) Specify a speed for a high-speed jog operation. 42 Other Parameters List of 32-bit Positioning Parameters * List of Step Parameters Step PrNo. Setup range PANATERM display Console display UnitTitle Function/Content Setup of Torque Limit Cautions on Replacing the Motor e.g.1) before replacing the motor after replacing the motor e.g.2) Setup with the Console Composition of Display/Touch panel Initial Status of the Console Display (7 Segment LED) Mode Change (Mode switch button) EXECUTION displaySELECTION display ( Monitor Mode ) Teaching Mode P.87 Display of Position Deviation, Motor Rotational Speed and Torque Output Display of Control Mode Data - is not displayed on LED, but only Signal No. and its title *For details of Signal, refer to P.42 to 47. Alarm Display .......no alarm .......Alarm occurrence Reference of Error Factor and History Automatic Motor Recognizing Function Automatic recognition is valid. (This is always shown.) Switching of the Driver to be Communicated RS232 communication .....1 is always shown. Display of Feedback Pulse Sum, Command Pulse Sum Teaching Mode Overview of Teaching Mode Teaching Mode Setup Page Test Mode Step operation Jog operation Homing Parameter setup mode Structure of Parameter Setup Mode Step Parameter 16-Bit Positioning Parameter 32-Bit Positioning Parameter Servo Parameter Servo parameter can be set. For the details of parameter, refer to Parameter Setup on page 56. EEPROM Write Mode EEPROM Writing Auto-Gain Tuning Mode Normal Mode Auto-Gain Tuning Screen Auxiliary Function Mode Structure of Auxiliary Function Mode Alarm Clear Screen Protective function will be activated and release the motor stall status (error status). Clearing of Absolute Encoder ( ) Copying Function (Console Only) Copying of Parameters from the Driver to the Console Copying of Parameters from the Console to the Driver Outline of Setup Support Software, "P ANATERM Outline of PANA TERM How to Connect RS232 Connect to CN X4. Connecting cable DV0P1960 (DOS/V) Outline of Setup Support Software, "P ANATERM Log on of the "PANATERM Procedure of log on [Operation Setting] Overview of Operation Setting Step Operation Point specifying input (P1IN to P32IN) Speed *Positioning completion output/in-deceleration output (COIN/DCLON: CN X5 Pin 27) Step Operation Mode Example of Incremental Operation Setting Operation Setting Setting of 16-bit positioning parameter Setting of step parameter Example of Absolute Operation Setting Example of Rotary Axis Operation Setting If travel per rotation at a rotary coordinate is set to 10000 Setting of 32-bit positioning parameter Setting of step parameter Example of Dwell Timer Operation Setting Jog Operation Jog Operation specifying Speed The motor can be moved in a positive direction or negative direction independently. Page Homing Operation Homing Mode List Speed specifying * Positioning completion output/in-deceleration output (COIN/DCLON: CN X5 Pin 27) Positive direction limit sensor Negative direction limit sensor Home sensor Direction of homing Home Sensor + Z Phase (based on the front end) Example: Z phase count = 3 at an operation in a positive direction Parameters related to this operation Home Sensor (based on the front end) Parameters related to this operation Home sensor + Z phase (based on the rear end) Parameters related to this operation Limit Sensor + Z phase Limit Sensor Z Phase Homing Bumping Homing Parameters related to this operation Data Set Parameters related to this operation Parameters related to this operation Homing Offset Operation Emergency Stop Operation/Deceleration-and-Stop Operation Emergency Stop Operation/Deceleration-and-Stop Operation Temporary Stop Operation Temporary Stop Operation Overview of Block Operation Continuous Block Operation Block Operation Continuous block operation procedure (example) Combined Block Operation Point specifying input (P1IN to P32IN) Speed Block Operation Parameters Used in this Operation Example Step parameter 16-bit positioning parameter Combined block operation procedure (example) Step parameter 16-bit positioning parameter Sequential Operation Sequential Operation Example of Operation S-shaped Acceleration/Deceleration Function S-shaped Acceleration/Deceleration Function Timing Chart Operation Timing after Power-ON When an Error (Alarm) Has Occurred (at Servo-ON Command) Timing Chart When an Alarm Has Been Cleared (at Servo-ON Command) Servo-ON/OFF Action While the Motor Is at Stall (Servo-Lock) Servo-ON/OFF Action While the Motor Is in Motion Absolute System Overview of Absolute System Configuration of Absolute System Battery (for Backup) Installation First Installation of the Battery 4) Close the cover of the battery box. Close the cover not to pinch the connector cable. Absolute System When you make your own cable for 17-bit absolute encoder ) ( Setup (Initialization) of Absolute Encoder Using the setup support software PANATERM Clearing Absolute Encoder Using a console Outline of Full-Closed Control What Is Full-Closed Control ? Controller Preparation for full-closed control Position command [Adjustment] Gain Adjustment Purpose Procedures Type Load Real-Time Auto-Gain Tuning Mode Others Conditions which obstruct real-time auto-gain tuning action Load inertia Action pattern Conditions under which the real-time auto-gain tuning is activated Control mode Page Real-Time Auto-Gain Tuning Mode Parameters Which Are Automatically Set Following parameters are automatically adjusted. Also following parameters are automatically set up. Adaptive Filter Invalidation of Adaptive Filter Normal Mode Auto-Gain Tuning Auto-Gain Tuning Action Table of auto-gain tuning Parameters Which Are Automatically Set Normal Mode Auto-Gain Tuning How to Operate from the Console Release of Automatic Gain Adjusting Function *Set up 1500 to SV.Pr1D (1st notch frequency) in case of invalid of the above table. Execute the release of the automatic adjusting functions while all action stop (Servo-OFF) Invalidation of Real-Time Auto-Gain Tuning Invalidation of Adaptive Filter Manual Gain Tuning (Basic) Before Making a Manual Adjustment Adjustment in Position Control Mode Adjustment in Full-Closed Control Mode 1) Setup of external scale ratio 2) Setup of hybrid deviation excess Gain Switching Function Setup of Gain Switching Condition Hysteresis (SV.Pr34) Level (SV.Pr33) 0 H L Fig.A Above Fig. does not reflect a timing lag of gain switching due to hysteresis (SV.Pr34). Fig. B < Fig. G Fig. C ( ) ( ) ( ) Notch filter characteristics Machine characteristics at resonance Suppression of Machine Resonance 1. Torque command filter (SV.Pr14 and SV.Pr1C) How to Check the Resonance Frequency of the Machine Relation of Gain Adjustment and Machine Stiffness Manual Gain Tuning (Application) Instantaneous Speed Observer How to Use Damping Control How to Use Page [When in T rouble] When in Trouble .................................................... 164 Troubleshooting .................................................... 172 What to Check ? Protective Function (What is Error Code ?) Warning Function 13 12 Protective Function (Detail of Error Code) Protective function Causes Measures Error code No. Control power supply under- voltage 11 Protective function Causes Measures Error code No. *Over- current protection 14 *Over-heat protection 15 Over-load protection Page Page Page Overload protection time characteristics (Motor type M*MA) Overload protection time characteristics (Motor type M*MD) This function works under the following conditions. Time characteristics of Err16 (Overload protection) Software Limit Function 1)Outline 2)Applicable range 3)Cautions 4) Example of movement 5) Condition under which the position command input range is cleared Troubleshooting Motor Does Not Run Motor Stops During an Operation Point Deviates Positioning Accuracy is Poor Home Position Slips Abnormal Motor Noise or Vibration Troubleshooting Classification . Causes Countermeasures Classification [Supplement] Conformity to EC Directives and UL Standards EC Directives EMC Directives Conformed Standards Composition of Peripheral Equipments Power Supply Circuit Breaker Noise Filter Surge Absorber Provide a surge absorber for the primary side of noise filter. Conformity to EC Directives and UL Standards Noise Filter for Signal Lines * Grounding Ground-Fault Breaker Driver and List of Applicable Peripheral Equipments (EC Directives) Conformity to UL Standards Specifications of for Motor Connector Pin disposition for encoder connector Pin disposition for motor/brake connector (without brake) Do not connect anything to NC pins. Pin disposition for motor/brake connector (with brake) Table for junction cable by model of MINAS A4P series Junction Cable for Encoder MFECA0**0EAE Fig. 2-1 Fig. 2-4 MFECA0**0ESD Fig. 2-5 Junction Cable for Motor (ROBO-TOP 105C 600VDP) MFMCA0**2FCD MFMCA0**2FCT Fig. 4-3 Fig. 5-1 Junction Cable for Brake (ROBO-TOP 105C 600VDP) Junction Cable for Motor with Brake (ROBO-TOP 105C 600VDP) 3) Pin disposition (36 pins) (viewed from the soldering side) 3) Table for wiring Connector Connector cover Connector Kit for External Peripheral Equipments Interface Cable Setup Support Software PANA TERM Communication Cable (for connection to PC) 1) Part No. DV0P4290 2) Components Connector Kit for Motor/Encoder Connection These are required when you make your own encoder and motor cables. 1) Part No. DV0P4310 2) Components Applicable motor models : MSMA 1.0kW to 2.0kW MDMA 1.0kW to 2.0kW MHMA 500W to 1.5kW MGMA 900W 1) Part No. DV0P4320 2) Components 1) Part No. DV0P4330 2) Components 1) Part No. DV0P4340 2) Components Mounting Bracket Fig.1 Fig.2 Reactor DV0P4280, DV0P4281 DV0P4282,DV0P4283 DV0P4284 DV0P4285 Battery (1) Part No. DV0P2990 (2) Lithium battery by Toshiba Battery Co. ER6V, 3.6V 2000mAh External Regenerative Resistor Battery For Absolute Encoder Recommended components Surge Absorber for Motor Brake List of Peripheral Equipments (reference only) Dimensions (Driver) A-frame Mass 1.1kg Mass 0.8kg B-frame C-frame Mass 1.5kg Mass 1.7kg D-frame Dimensions (Driver) E-frame Mass 3.2kg F-frame Mass 6.0kg MSMD 50W to 100W MSMD series MSMD 200W to 750W MSMD series MQMA 100W to 400W MQMA series MSMA 1.0kW to 2.0kW MSMA series Key way dimensions MSMA 3.0kW to 5.0kW MSMA series MDMA 1.0kW to 1.5kW MDMA series MDMA 2.0kW to 3.0kW MDMA series MDMA 4.0kW to 5.0kW MDMA series MGMA 900W to 2.0kW MGMA series MGMA 900W to 2.0kW MGMA 3.0kW to 4.5kW MGMA 4.5kW MGMA series MGMA 3.0kW MFMA 400W to 1.5kW MFMA series MFMA 2.5kW to 4.5kW MFMA series MHMA 500W to 1.5kW MHMA series (High inertia) MHMA 2.0kW to 5.0kW MHMA series (High inertia) Key way dimensions Permissible Load at Output Shaft Radial load (P) direction Thrust load (A and B) direction L P L L/2 P A M B MQMA series MAMA series MAMA012 * 1 * MAMA022 * 1 * MAMA042 * 1 * MSMD series (50W to 100W) (0.16) Input voltage to driver: AC200V Input voltage to driver: AC200V MSMD012 * 1 * MSMD series MSMD021 * 1 * (Dotted line represents torque at 10% less voltage.) MSMD022 * 1 * (Dotted line represents torque at 10% less voltage.) MSMA series MSMA302 * 1 * MDMA102 * 1 * MDMA152 * 1 * MDMA202 * 1 * MFMA series MFMA152 * 1 * MFMA252 * 1 * MFMA452 * 1 * MGMA202 * 1 * MHMA series MHMA052 * 1 * MGMA series MHMA102 * 1 * MHMA502 * 1 * Motor with Gear Reducer Model No. of Motor with Gear Reduce Combination of Driver and Motor with Gear Reducer Incremental Specifications, 2500P/r MSMD011P31N Dimensions/Motor with Gear Reducer Motor with Gear Reducer Page Permissible Load at Output Shaft Radial load (P) direction Thrust load (A and B) direction Remarks on installation Characteristics of Motor with Gear Reducer Supply voltage to driver Dotted line represents the torque at 10% less supply voltage. 750W 100W Block Diagram of Driver M Internal Block Diagram of MINAS-A4P Driver (A, B, C and D-frame) U X5 Internal Block Diagram of MINAS-A4P Driver (E and F-frame) U B2 - ++ Block Diagram by Control Mode Position Control Mode + when Pr02 (Setup of control mode) is 0 Full-closed Control Mode when Pr02 (Setup of control mode) is 6 Specifications (Driver) Page Default Parameters Servo parameter (SV.Pr) 16-bit positioning parameter (16.Pr) 32-bit positioning parameter (32.Pr) Step parameter Page Page After-Sale Service (Repair) Repair Cautions for Proper Use Technical information Motor Company Matsushita Electric Industrial Co., Ltd.