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Panasonic A4P Series instruction manual Adjustment, Adaptive Filter 147, 141

Models: A4P Series

1 232

Page 141

[Adjustment]
	page
Gain Adjustment	142
Real-Time Auto-Gain Tuning Mode	144
Adaptive Filter	147
Normal Mode Auto-Gain Tuning	148
Release of Automatic Gain Adjusting Function .151
Manual Gain Tuning (Basic)	152
Adjustment in Position Control Mode	153
Adjustment in Full-Closed Control Mode	154
Gain Switching Function	155
Suppression of Machine Resonance	158
Manual Gain Tuning (Application)	160
Instantaneous Speed Observer	160
Damping Control	161

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Page 141

Image 141

Panasonic A4P Series Adjustment, Adaptive Filter 147, Instantaneous Speed Observer 160 Damping Control 161, 141

Contents

DV0P4490 AC Servo Motor and DriverDriver Motor Console ContentExample of Absolute Operation Setting Example of Incremental Operation SettingExample of Rotary Axis Operation Setting Example of Dwell Timer Operation SettingWhen 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 SystemSupplement Page Driver Motor Console Before Using the ProductsDo 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 Maintenance and Inspection Inspection Items and CyclesType Cycles Items to be inspected Guideline for Parts Replacement Product Component Standard replacement Cycles hourSmoothing capacitor Approx years Cooling fan To 3 years Outline IntroductionOn Opening the Product Package Check of the Driver ModelCheck of the Motor Model SpecificationsPulse count RoundCheck of the Combination of the Driver and the Motor Incremental Specifications, 2500P/rAbsolute/Incremental Specifications, 17-bit Parts Description MADDT1207P Single phase, 200V, 200W A-frameDriver B-frameF-frame MEDDT7364P 3-phase, 200V, 2.0kW E-frameLow inertia type Msmd series, 50W MotorConsole Main BodyDisplay/Touch panel Installation Place How to InstallHow to Install Environmental ConditionsFan Mounting Direction and SpacingOr more 40mm or more 100mm or moreOil/Water Protection Permissible Load to Output Shaft Stress to CablesHow to Connect Connect to CNRemarks Preparation Wiring to the Connector, CN X3System Configuration and Wiring Overall Wiring Connecting Example of C-frame, 3-phasePin RB1 6-pin, RB2 4-pin, RB3 5-pin Wiring to Connector, CN Connection to host controllerConnection to encoder Connection with input power supply Remarks Overall Wiring Connecting Example of E-framePin P, B1 and B2 Connection to external componentsConnection to motor driving phase and ground Driver and List of Applicable Peripheral Equipments Filter Absorber For signal ContactorNoise Surge Cable DriverNoise For signal contactorFilter CableTips 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 pinCase 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-frame24V DC power supply for brake Surge absorber Fuse 5A Wiring of the Main Circuit E and F-frameWiring method to connector a to D-frame Case of 3-Phase, 200V E and F-frameUsing Handle Lever Using Screw DriverMsmd 50W to 750W MAMA100W to 750W MQMA100W to 400W Wiring to the Connector, CN X6 Connection to EncoderMsmd 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 RemarkFor detailed information, refer to P.42 to Specifications of the Connector, CNManufacturer Part name12 to Wiring for Connector CNInterface Circuit Input CircuitOutput Circuit Common input signals List of Signal for Connector CNApplication Code FunctionEx When SV.Pr57 = 3 6 bits is set Emergency stop input must be installed before usingPoint No P32INP16INP8IN DescriptionOutput signal pulse train and function Common output signals and their functionsOthers SynchronizedNot-synchronized Setup with the Front Panel Composition of Touch Panel and DisplayInitial Status of the Front Panel Display 7-Segment LED Output Signals Analog and Their Functions Application Code FunctionSV.Pr08 Output Timing of BRK-OFF Signal Connecting Example12 to 24V V DC COM Power supply Fuse For brake Built-in Holding BrakeEngaging Releasing Specifications of Built-in Holding BrakeSeries Output Torque X10-4 Time VoltageAfter stalling Setup value of SV.Pr67 Sequence at main Driving condition Power-off SV.Pr67Contents of deviation counter Clear Hold Dynamic BrakeAfter stalling Contents of deviation counter HoldMemo Outline of Setup Support Software, Panaterm SettingAuto-Gain Tuning Mode Outline of Panaterm 103 How to ConnectHow to Set Parameter SetupHow to Connect Outline of ParameterComposition of Parameters This document, following symbols represent each modeServo parameter Bit positioning parameterFunction/Content PrNo Range Power -ONList of Servo Parameter Parameters for Functional SelectionUnit Function/Content PrNo Function/Content PrNoSetup value Signal of IM Baud rate Setup valueSetup value Instantaneous speed observer setup Title Setup Unit Function/Content PrNoCaused by distortion resonance Velocity feed Set the second loop gain for position controlServo Title Setup Unit Function/Content PrNo Range Parameters for Auto-Gain TuningUnit Function/Content PrNo Range Inertia ratioVarying degree Auto-gain tuning Load inertia in motion Title Setup Unit Function/Content PrNo RangeSetup value Content Rotational directionFilter mode Setup value Parameters for Adjustment 2nd Gain Switching FunctionGain selection/switching Gain switching conditionParameters for Position Control Servo Title Setup Function/Content PrNoSV.Pr46 Phase logic Output source Pulse output resolution=Servo Title Numerator SV.Pr44 Output pulse ratio 10000Title Setup Function/Content PrNo Range Parameters for Input SignalsSmoothing filter You can set the time constant Time constantPoint specifying Input logic settingParameters for Sequence Parameters for Velocity and Torque LimitAction of main power low voltage protection Setup Action Deviation counter ValueAfter 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 tillParameters for Protective function External resistor but noRemarks Parameters for Full-Closed Control List of 16-bit Positioning Parameters Unit Function/ContentParameters for Motor speed Parameters for Acceleration and DecelerationParameters for Homing Title Setup Unit Function/ContentParameters for Jog operation Other Parameters Deceleration in jogCCW 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 displayModel No Setup of Torque LimitSV.Pr5E,5F Applicable motor Max. valueWhen you want to obtain the max. motor torque When the motor torque is limitedSetup with the Console How to Use the ConsoleInitial Status of the Console Display 7 Segment LED Composition of Display/Touch panelMode Change Mode switch button Monitor ModeSelection display Execution displayDisplay of Control Mode Display of I/O Signal StatusPosition control mode Full-closed control mode Point Number Conversion Table Signal No. and its titleAlarm Display Reference of Error Factor and HistoryOver-load alarm Over-regeneration alarmSwitching of the Driver to be Communicated Display of Feedback Pulse Sum, Command Pulse SumDisplay of Regenerative Load Factor Display of Over-load FactorOverview of Teaching Mode Teaching ModeTeaching Mode Setup Operation at Selection displayStep parameter setting Target position settingTest Mode Step operation Homing Jog operationStructure of Parameter Setup Mode Parameter setup modeStep Parameter Bit Positioning Parameter How to Use the Console Servo Parameter Movement to a high order position is limited per parameterDigit next to the blinking decimal point can be modified Eeprom Writing Operation at Selection display Eeprom Write ModeAuto-Gain Tuning Mode Normal Mode Auto-Gain Tuning ScreenRemarks Dont disconnect the console from the driver between Alarm Clear Auxiliary Function ModeAlarm Clear Screen Absolute encoder clearThen press to make a display to Alarm Clear ScreenClearing of Absolute Encoder 101 Copying Function Console Only102 Procedure of install Install the Panaterm to Hard DiscConnecting cable DV0P1960 103Procedure of log on Log on of the Panaterm104 Operation Settin g Overview of Operation Setting Step Operation Procedure DescriptionStep Operation 107Example of Incremental Operation Setting Step Operation ModeOperation mode Description Setting of 16-bit positioning parameter Example of Absolute Operation SettingSetting of step parameter Wrap aroundSetting of 32-bit positioning parameter Example of Rotary Axis Operation SettingControl mode Coordinate is set toExample of Dwell Timer Operation Setting Setting of step dataServo off Jog Operation Jog OperationSet the parameters below when performing the jog operation Parameters related to jog operation16.Pr Description Homing is completed when the power supply turns on Homing Mode ListHoming Operation Homing Operation115 Parameters related to this operation Home Sensor + Z Phase based on the front endPositive direction Home sensor 116Home Sensor based on the front end Positive direction117 Home sensor + Z phase based on the rear end Direction of homing118 119 120 Limit Sensor + Z phaseExample An operation in a positive direction Limit SensorDirection of homing Positive direction 121Bumping Homing Phase HomingStopper etc 122Example Data SetDirection of homing Home position = current position 123Homing Offset Operation Timing chartExample of homing offset Homing offset is set to +5000 124Positioning completion output Emergency Stop Operation/Deceleration-and-Stop OperationAnd-stop An operation stop in the deceleration timeTemporary Stop Operation Restart of operation Same procedure as a step operationTemporary Stop Operation 12616.Pr54 Description Block operation type setting Continuous block operation procedure exampleBlock Operation Overview of Block OperationCombined Block Operation ST.Pr Operation modeCombined block operation procedure example Sequential Operation Sequential OperationExample of Operation Homing operation at sequential operationExample of calculation 2500 p/r encoder Shaped Acceleration/Deceleration FunctionExample Linear acceleration t2 = Shaped % t2 =Timing Chart Operation Timing after Power-ONStrobe signal STB When an Error Alarm Has Occurred at Servo-ON Command To 5 msT1 *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 22/25Servo-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 outputBattery for Backup Installation Configuration of Absolute SystemAbsolute System Overview of Absolute SystemReference Close the cover of the battery boxCycles/day Cycle/dayWhen you make your own cable for 17-bit absolute encoder Setup Initialization of Absolute EncoderInstallation Place Normal homingClearing Absolute Encoder Using a console Using the setup support software Panaterm139 Outline of Full-Closed Control What Is Full-Closed Control ?Preparation for full-closed control 140Adaptive Filter 147 AdjustmentInstantaneous Speed Observer 160 Damping Control 161 141Procedures Gain AdjustmentPurpose Ball screwExplanation TypeHow to Operate Real-Time Auto-Gain Tuning ModeOutline Applicable RangeSetup of parameter, Pr21 Setup of parameter, Pr22Writing to Eeprom SV.PrNo Title Parameters Which Are Automatically Set1st position loop gain Velocity feed forward 1st velocity loop gain Feed forward filter time constantInvalidation of Adaptive Filter Adaptive FilterConditions 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 inertiaTable of auto-gain tuning Auto-Gain Tuning ActionTitle Stiffness value 90108135162 206251305377449An arrow shows by pressing How to Operate from the ConsoleChanges toward the reversed direction By pressingSV.Pr2F 1st notch frequency Hz Invalidation of Real-Time Auto-Gain TuningBefore Making a Manual Adjustment Manual Gain Tuning BasicAnalog monitor output Waveform graphic function of the PanatermTitle of parameter Value How to adjust SV.Pr Adjustment in Position Control ModeTitle of parameter SV.PrSetup of external scale ratio Adjustment in Full-Closed Control ModeSetup of hybrid deviation excess 154You want to increase the response by increas Gain Switching FunctionIng the gain in motion Example156 Setup of Gain Switching ConditionFig. C Fig.AAdaptive filter SV.Pr23, SV.Pr2F Suppression of Machine Resonance1st and 2nd notch filter SV.Pr1D, 2E, 28, 29 and 2A Adaptive filterHow to Check the Resonance Frequency of the Machine Relation of Gain Adjustment and Machine Stiffness159 How to Use Manual Gain Tuning ApplicationAdjustment at normal position control Setup of instantaneous velocity observer SV.Pr27Setup of damping filter switching selection Setup of damping filter 1st SV.Pr2C, 2nd SV.Pr2EDamping Control SV.Pr24162 163 When in TroubleWhat to Check ? Protective Function What is Error Code ?Host controller Machine MotorProtective Function Detail of Error Code Over-heat Protective Error Causes Measures FunctionOver-load 166Data error Cation errorCommuni CationDown error Error Causes Measures FunctionOver error Status errorID setting Limit errorScale auto Recognition Error pro Tection Motor auto Recognition Error Protection Other errorSoftware Limit Function Time characteristics of Err16 Overload protectionThis function works under the following conditions Conditions under which the software limit worksWhen no position command is entered Servo-ON status When the load moves to the right at Servo-ONWhen the load moves to the left at Servo-ON Wiring TroubleshootingMotor Does Not Run Motor Stops During an Operation Causes CountermeasuresPoint Deviates Positioning Accuracy is Poor InstallationHome Position Slips Abnormal Motor Noise or VibrationParameter Returns to Previous Setup Causes Countermeasures Wiring174 Conformity to EC Directives and UL Standards SupplementPermissible Load at Output Shaft/Motor with Gear Reducer 175Composition of Peripheral Equipments Conformity to EC Directives and UL StandardsCircuit Breaker Power SupplyNoise Filter Option part NoSurge Absorber Ground-Fault Breaker Noise Filter for Signal LinesGrounding Conformity to UL StandardsPin disposition for encoder connector Specifications of for Motor ConnectorPin disposition for motor/brake connector with brake Pin disposition for motor/brake connector without brakeMotor type Type of junction cable Table for junction cable by model of Minas A4P seriesTitle Manufacturer Junction Cable for EncoderJunction 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 DPSetup Support Software Panaterm Connector Kit for External Peripheral EquipmentsInterface Cable Communication Cable for connection to PCFor DVOP2490, DV0P3480 Recommended manual crimp tool Connector Kit for Motor/Encoder Connection500W to 1.5kW Mhma 2.0kW to 5.0kWMgma 2.0kW to 4.5kW Mounting Bracket Mounting DimensionsPart No. DV0P4420 Upper side Bottom sideMotor Power Rated Series Supply Output ReactorHarmonic restraint Options Surge Absorber for Motor Brake Recommended componentsList of Peripheral Equipments Reference only Motor Surge absorber for motor brakeDimensions Driver Mass 0.8kg192 Mass 1.5kg Mass 1.7kg193 194 Mass 3.2kgMama 100W to 750W Dimensions MotorMotor output Motor model 100W 5A * P1 5A * S1 01 * P1 01 * S13h9 Msmd 200W to 750W 01 * P1 01 * S1 02 * P1 02 * S1 Mqma 100W to 400W04 * S1 126.5Msma 1.0kW to 2.0kW Msma 3.0kW to 5.0kW Mdma 1.0kW to 1.5kW Rotary encoder Specifications Without brake With brake Mdma 2.0kW to 3.0kW0kW 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 13.5Mgma 3.0kW to 4.5kW 04 * P1 04 * S1 15 * P1 15 * S1 2500P/r Incremental Mfma 400W to 1.5kWMotor output 5kW Motor model Mfma 2.5kW to 4.5kW25 * P1 Without brake 139500W 0kW 5kW 05 * P1 05 * S1 10 * P1 10 * S1 15 * P1 15 * S1 Mhma 500W to 1.5kWMhma 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 DirectionMQMA021 MQMA022 With and without oil seal MQMA011 MQMA012MQMA041 MQMA042 Without oil seal MAMA012 MAMA022Without oil seal With oil seal MSMD5AZ Motor Characteristics S-T CharacteristicsMSMD011 MSMD012MSMD022 Without oil seal With oil seal MSMD021MSMD041 MSMD042MSMA202 MSMA102 MSMA152MSMA302 MSMA402MDMA502 With oil seal MDMA302 MDMA402With oil seal MFMA042 MFMA152 MFMA252 MFMA452MHMA152 MHMA202 MHMA052 MHMA102MHMA302 MHMA402 MHMA502Motor with Gear Reducer Absolute/Incremental specifications, 17bitModel No. of Motor with Gear Reduce Combination of Driver and Motor with Gear ReducerDimensions/Motor with Gear Reducer Motor with Gear ReducerWithout brake With brake Brake Permissible load at shaft Motor output Radial thrust Remarks on installationLR/2 220To driver Output MSMD011 * * 1N MSMD011 * * 2N Supply Reduction Ratio100W MSMD021 * * 1N MSMD021 * * 2NGate drive Block Diagram of Driver223 Internal Block Diagram of MINAS-A4P Driver E and F-framePosition Control Mode Block Diagram by Control ModeWhen Pr02 Setup of control mode is + +225 Full-closed Control ModeSpecifications Driver Unnecessary wiring Setting range Number of pointsEncoder feedback pulse Protection Hardware error Function Software errorServo parameter SV.Pr Default Parameters for all the models of A4P SeriesBit positioning parameter 16.Pr Bit positioning parameter 32.Pr229 230 231 Repair After-Sale Service RepairTechnical information Date Model No Purchase Dealer Tel

[Adjustment]

Gain Adjustment

Adaptive Filter

147

Instantaneous Speed Observer

160

Damping Control

161

141