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MEMO

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Panasonic A4P Series instruction manual 162

Contents

AC Servo Motor and Driver DV0P4490 Content Driver Motor Console Example of Rotary Axis Operation Setting Example of Incremental Operation SettingExample of Absolute Operation Setting Example of Dwell Timer Operation Setting When an Alarm Has Been Cleared at Servo-ON Command Operation Timing after Power-ONWhen an Error Alarm Has Occurred at Servo-ON Command Configuration of Absolute System Supplement Page Before Using the Products Driver Motor Console 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 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 On Opening the Product Package IntroductionOutline Check of the Driver Model Pulse count SpecificationsCheck of the Motor Model Round Incremental Specifications, 2500P/r Check of the Combination of the Driver and the Motor Absolute/Incremental Specifications, 17-bit Driver MADDT1207P Single phase, 200V, 200W A-frameParts Description B-frame MEDDT7364P 3-phase, 200V, 2.0kW E-frame F-frame Motor Low inertia type Msmd series, 50W Console Main BodyDisplay/Touch panel How to Install How to InstallInstallation Place Environmental Conditions Or more Mounting Direction and SpacingFan 40mm or more 100mm or more Oil/Water Protection Stress to Cables Permissible Load to Output Shaft How to Connect Connect to CNRemarks Wiring to the Connector, CN X3 Preparation System 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 Pin P, B1 and B2 Overall Wiring Connecting Example of E-frameConnection with input power supply Remarks Connection to external components Connection to motor driving phase and ground Noise Surge Filter Absorber For signal ContactorDriver and List of Applicable Peripheral Equipments Cable Driver Filter For signal contactorNoise Cable Connect L1 and L1C, and L3 and L2C at single phase Wiring of the Main Circuit a to D-frameTips on Wiring Connect pin 3 of the connector on the driver side with pin Case of Single Phase, 200V a and B-frame Wiring DiagramCase of Single Phase, 100V a and B-frame Case of Single Phase, 200V C and D-frame Wiring of the Main Circuit E and F-frame 24V DC power supply for brake Surge absorber Fuse 5A Using Handle Lever Case of 3-Phase, 200V E and F-frameWiring method to connector a to D-frame Using Screw Driver Wiring to the Connector, CN X6 Connection to Encoder Msmd 50W to 750W MAMA100W to 750W MQMA100W to 400W Msmd 50W to 750W Mama 100W to 750W MQMA100W to 400W Application Connector Content PinNo Wiring to the Connector, CN X7 Connection to External ScaleWiring to the External Scale, Connector, CN Remark Manufacturer Specifications of the Connector, CNFor detailed information, refer to P.42 to Part name Wiring for Connector CN 12 to Interface Circuit Input CircuitOutput Circuit Application Code List of Signal for Connector CNCommon input signals Function Point No P32INP16INP8IN Emergency stop input must be installed before usingEx When SV.Pr57 = 3 6 bits is set Description Common output signals and their functions Output signal pulse train and function Others 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 12 to 24V V DC COM Power supply Fuse For brake Connecting ExampleOutput Timing of BRK-OFF Signal Built-in Holding Brake Series Output Torque X10-4 Time Specifications of Built-in Holding BrakeEngaging Releasing Voltage Contents of deviation counter Clear Hold Sequence at main Driving condition Power-off SV.Pr67After stalling Setup value of SV.Pr67 Dynamic Brake Contents of deviation counter Hold After stalling Memo Auto-Gain Tuning Mode SettingOutline of Setup Support Software, Panaterm Outline of Panaterm 103 How to Connect How to Connect Parameter SetupHow to Set Outline of Parameter Servo parameter This document, following symbols represent each modeComposition of Parameters Bit positioning parameter List of Servo Parameter Power -ONFunction/Content PrNo Range Parameters for Functional Selection Setup value Signal of IM Function/Content PrNoUnit Function/Content PrNo Baud rate Setup value Caused by distortion resonance Velocity feed Title Setup Unit Function/Content PrNoSetup value Instantaneous speed observer setup Set the second loop gain for position control Unit Function/Content PrNo Range Parameters for Auto-Gain TuningServo Title Setup Unit Function/Content PrNo Range Inertia ratio Setup value Content Title Setup Unit Function/Content PrNo RangeVarying degree Auto-gain tuning Load inertia in motion Rotational direction Gain selection/switching Parameters for Adjustment 2nd Gain Switching FunctionFilter mode Setup value Gain switching condition Servo Title Setup Function/Content PrNo Parameters for Position Control Servo Title Pulse output resolution=SV.Pr46 Phase logic Output source Numerator SV.Pr44 Output pulse ratio 10000 Smoothing filter You can set the time constant Parameters for Input SignalsTitle Setup Function/Content PrNo Range Time constant Input logic setting Point specifying Parameters for Velocity and Torque Limit Parameters for Sequence Action of main power low voltage protection Setup Action Deviation counter ValueAfter stalling Content After setting up SV.Pr6a = tb Sequence at You can set up Servo-OFFAction delay time tb of the brake Setup time, or time lapse till Parameters for Protective function External resistor but noRemarks Parameters for Full-Closed Control Parameters for Motor speed Unit Function/ContentList of 16-bit Positioning Parameters Parameters for Acceleration and Deceleration Title Setup Unit Function/Content Parameters for Homing Parameters for Jog operation Other Parameters Deceleration in jogCCW is a positive direction and CW is a negative direction List of Step Parameters Step Title Setup range Unit Function/Content PrNoList of 32-bit Positioning Parameters Console display SV.Pr5E,5F Setup of Torque LimitModel No Applicable motor Max. value When the motor torque is limited When you want to obtain the max. motor torque Initial Status of the Console Display 7 Segment LED How to Use the ConsoleSetup with the Console Composition of Display/Touch panel Mode Change Selection display Monitor ModeMode switch button Execution display Display of Control Mode Display of I/O Signal StatusPosition control mode Full-closed control mode Signal No. and its title Point Number Conversion Table Over-load alarm Reference of Error Factor and HistoryAlarm Display Over-regeneration alarm Display of Regenerative Load Factor Display of Feedback Pulse Sum, Command Pulse SumSwitching of the Driver to be Communicated Display of Over-load Factor Teaching Mode Setup Teaching ModeOverview of Teaching Mode Operation at Selection display Target position setting Step parameter setting Test Mode Step operation Jog operation Homing Parameter setup mode Structure of Parameter Setup Mode Step 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 Write Mode Eeprom Writing Operation at Selection display Auto-Gain Tuning Mode Normal Mode Auto-Gain Tuning ScreenRemarks Dont disconnect the console from the driver between Alarm Clear Screen Auxiliary Function ModeAlarm Clear Absolute encoder clear Alarm Clear Screen Then press to make a display to Clearing of Absolute Encoder Copying Function Console Only 101 102 Connecting cable DV0P1960 Install the Panaterm to Hard DiscProcedure of install 103 Procedure of log on Log on of the Panaterm104 Operation Settin g Overview of Operation Setting Step Operation Procedure DescriptionStep Operation 107 Example of Incremental Operation Setting Step Operation ModeOperation mode Description Setting of step parameter Example of Absolute Operation SettingSetting of 16-bit positioning parameter Wrap around Control mode Example of Rotary Axis Operation SettingSetting of 32-bit positioning parameter Coordinate is set to Example of Dwell Timer Operation Setting Setting of step dataServo off Jog Operation Jog Operation Set the parameters below when performing the jog operation Parameters related to jog operation16.Pr Description Homing Operation Homing Mode ListHoming is completed when the power supply turns on Homing Operation 115 Positive direction Home sensor Home Sensor + Z Phase based on the front endParameters related to this operation 116 Home Sensor based on the front end Positive direction117 Home sensor + Z phase based on the rear end Direction of homing118 119 Limit Sensor + Z phase 120 Direction of homing Positive direction Limit SensorExample An operation in a positive direction 121 Stopper etc Phase HomingBumping Homing 122 Direction of homing Home position = current position Data SetExample 123 Example of homing offset Homing offset is set to +5000 Timing chartHoming Offset Operation 124 And-stop Emergency Stop Operation/Deceleration-and-Stop OperationPositioning completion output An operation stop in the deceleration time Temporary Stop Operation Restart of operation Same procedure as a step operationTemporary Stop Operation 126 Block Operation Continuous block operation procedure example16.Pr54 Description Block operation type setting Overview of Block Operation ST.Pr Operation mode Combined Block Operation Combined block operation procedure example Example of Operation Sequential OperationSequential Operation Homing operation at sequential operation Example Linear acceleration t2 = Shaped Acceleration/Deceleration FunctionExample of calculation 2500 p/r encoder 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 Point input P1IN to P32IN CN X5 Pin 3, 4, 5, 6, 7 When an Alarm Has Been Cleared at Servo-ON CommandAlarm Clear can be input in the two ways below Multi function input EX-IN1/EX-IN2 CN X5 Pin 22/25 Servo-ON input Servo-ON/OFF Action While the Motor Is at Stall Servo-LockServo-ON/OFF Action While the Motor Is in Motion Brake release output Absolute System Configuration of Absolute SystemBattery for Backup Installation Overview of Absolute System Cycles/day Close the cover of the battery boxReference Cycle/day Installation Place Setup Initialization of Absolute EncoderWhen you make your own cable for 17-bit absolute encoder Normal homing Clearing Absolute Encoder Using a console Using the setup support software Panaterm139 Preparation for full-closed control What Is Full-Closed Control ?Outline of Full-Closed Control 140 Instantaneous Speed Observer 160 Damping Control 161 AdjustmentAdaptive Filter 147 141 Purpose Gain AdjustmentProcedures Ball screw Type Explanation Outline Real-Time Auto-Gain Tuning ModeHow to Operate Applicable Range Setup of parameter, Pr21 Setup of parameter, Pr22Writing to Eeprom 1st position loop gain Velocity feed forward Parameters Which Are Automatically SetSV.PrNo Title 1st velocity loop gain Feed forward filter time constant Adaptive Filter Invalidation of Adaptive Filter This function works under the following condition Normal Mode Auto-Gain TuningConditions which obstruct normal auto-gain tuning Too small or too big compared to the rotor inertia Title Stiffness value Auto-Gain Tuning ActionTable of auto-gain tuning 90108135162 206251305377449 Changes toward the reversed direction How to Operate from the ConsoleAn arrow shows by pressing By pressing Invalidation of Real-Time Auto-Gain Tuning SV.Pr2F 1st notch frequency Hz Analog monitor output Manual Gain Tuning BasicBefore Making a Manual Adjustment Waveform graphic function of the Panaterm Title of parameter Adjustment in Position Control ModeTitle of parameter Value How to adjust SV.Pr SV.Pr Setup of hybrid deviation excess Adjustment in Full-Closed Control ModeSetup of external scale ratio 154 Ing the gain in motion Gain Switching FunctionYou want to increase the response by increas Example Setup of Gain Switching Condition 156 Fig.A Fig. C 1st and 2nd notch filter SV.Pr1D, 2E, 28, 29 and 2A Suppression of Machine ResonanceAdaptive filter SV.Pr23, SV.Pr2F Adaptive filter How to Check the Resonance Frequency of the Machine Relation of Gain Adjustment and Machine Stiffness159 Adjustment at normal position control Manual Gain Tuning ApplicationHow to Use Setup of instantaneous velocity observer SV.Pr27 Damping Control Setup of damping filter 1st SV.Pr2C, 2nd SV.Pr2ESetup of damping filter switching selection SV.Pr24 162 When in Trouble 163 Host controller Protective Function What is Error Code ?What to Check ? Machine Motor Protective Function Detail of Error Code Over-load Protective Error Causes Measures FunctionOver-heat 166 Communi Cation errorData error Cation Over error Error Causes Measures FunctionDown error Status error Scale auto Recognition Error pro Tection Motor auto Limit errorID setting Recognition Error Protection Other error This function works under the following conditions Time characteristics of Err16 Overload protectionSoftware Limit Function Conditions under which the software limit works When 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 Motor Does Not Run Motor Stops During an Operation TroubleshootingWiring Causes Countermeasures Home Position Slips InstallationPoint Deviates Positioning Accuracy is Poor Abnormal Motor Noise or Vibration Parameter Returns to Previous Setup Causes Countermeasures Wiring174 Permissible Load at Output Shaft/Motor with Gear Reducer SupplementConformity to EC Directives and UL Standards 175 Conformity to EC Directives and UL Standards Composition of Peripheral Equipments Noise Filter Power SupplyCircuit Breaker Option part No Surge Absorber Grounding Noise Filter for Signal LinesGround-Fault Breaker Conformity to UL Standards Pin disposition for motor/brake connector with brake Specifications of for Motor ConnectorPin disposition for encoder connector Pin disposition for motor/brake connector without brake Table for junction cable by model of Minas A4P series Motor type Type of junction cable Junction Cable for Encoder Title Manufacturer Junction Cable for Motor ROBO-TOP105˚C 600V DP Junction Cable for Motor with Brake ROBO-TOP105˚C 600V DP Junction Cable for Brake ROBO-TOP105˚C 600V DP Interface Cable Connector Kit for External Peripheral EquipmentsSetup Support Software Panaterm Communication Cable for connection to PC Connector Kit for Motor/Encoder Connection For DVOP2490, DV0P3480 Recommended manual crimp tool 500W to 1.5kW Mhma 2.0kW to 5.0kWMgma 2.0kW to 4.5kW Part No. DV0P4420 Mounting DimensionsMounting Bracket Upper side Bottom side Motor Power Rated Series Supply Output ReactorHarmonic restraint Options List of Peripheral Equipments Reference only Recommended componentsSurge Absorber for Motor Brake Motor Surge absorber for motor brake Dimensions Driver Mass 0.8kg192 Mass 1.5kg Mass 1.7kg193 Mass 3.2kg 194 Dimensions Motor Mama 100W to 750W Motor output Motor model 100W 5A * P1 5A * S1 01 * P1 01 * S13h9 Msmd 200W to 750W 04 * S1 Mqma 100W to 400W01 * P1 01 * S1 02 * P1 02 * S1 126.5 Msma 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 207 Mgma 900W to 2.0kW2500P/r Incremental 17-bit Absolute/Incremental 13.5 Mgma 3.0kW to 4.5kW Mfma 400W to 1.5kW 04 * P1 04 * S1 15 * P1 15 * S1 2500P/r Incremental 25 * P1 Mfma 2.5kW to 4.5kWMotor output 5kW Motor model Without brake 139 Mhma 500W to 1.5kW 500W 0kW 5kW 05 * P1 05 * S1 10 * P1 10 * S1 15 * P1 15 * S1 Mhma 2.0kW to 5.0kW Radial load P direction Thrust load a and B direction Motor At assembly During running Motor output Thrust loadPermissible Load at Output Shaft Series Radial thrust Direction MQMA041 MQMA042 With and without oil seal MQMA011 MQMA012MQMA021 MQMA022 Without oil seal MAMA012 MAMA022 MSMD011 Motor Characteristics S-T CharacteristicsWithout oil seal With oil seal MSMD5AZ MSMD012 MSMD041 Without oil seal With oil seal MSMD021MSMD022 MSMD042 MSMA302 MSMA102 MSMA152MSMA202 MSMA402 With oil seal MFMA042 MFMA152 With oil seal MDMA302 MDMA402MDMA502 MFMA252 MFMA452 MHMA302 MHMA402 MHMA052 MHMA102MHMA152 MHMA202 MHMA502 Model No. of Motor with Gear Reduce Absolute/Incremental specifications, 17bitMotor with Gear Reducer Combination of Driver and Motor with Gear Reducer Dimensions/Motor with Gear Reducer Motor with Gear ReducerWithout brake With brake Brake LR/2 Remarks on installationPermissible load at shaft Motor output Radial thrust 220 100W Supply Reduction RatioTo driver Output MSMD011 * * 1N MSMD011 * * 2N MSMD021 * * 1N MSMD021 * * 2N Block Diagram of Driver Gate drive Internal Block Diagram of MINAS-A4P Driver E and F-frame 223 When Pr02 Setup of control mode is Block Diagram by Control ModePosition Control Mode + + Full-closed Control Mode 225 Specifications Driver Encoder feedback pulse Protection Hardware error Setting range Number of pointsUnnecessary wiring Function Software error Default Parameters for all the models of A4P Series Servo parameter SV.Pr Bit positioning parameter 16.Pr Bit positioning parameter 32.Pr229 230 231 Technical information After-Sale Service RepairRepair Date Model No Purchase Dealer Tel