Comprehensive Guide to 54331 Grounding and Servoprno Functionality in Power Supply Manual

Block Diagram by Control Mode

Position Control Mode

• when Pr02 (Setup of control mode) is 0

monitor			Motor
command
Torque	Torquefilter					limit1stPr5E	limit2ndPr5F
Torque	Torquefilter		time1st constant		time2nd constant	limit1stPr5E	limit2ndPr5F
			Pr14		Pr1C

	Notchfilter		Pr1D		Pr1E	Pr28	2ndwidth Pr29	2nddepthPr2A		Pr2F
	Notchfilter	1st frequency			1stwidth	2nd frequency	2ndwidth Pr29	2nddepthPr2A		Adaptation
	Velocitycontrol						Pr1A
			Pr11		Pr12	Pr19	Pr1A	Pr20
		1stproportion		1stintegration		2ndproportion	2ndintegration	Inertiaratio
	+ +				–					Speeddetection filter
		+

Encoder

		communication data
	monitor	Serial	Encoderreception	processing
	Actualspeed
Pr13	Pr1B	detection
1st	2nd	Speed

Velocity feed forward

smoothingFIR Position command

Point

	Pr15		Pr16
	Gain		Filter
control			Pr2C	Pr2D
		Pr2B
	1st frequency			2nd frequency
Damping			1stfilter

Pr4D Average timestravel

command

control	Pr10	Pr18
Position	1st	2nd
Pr2E
2ndfilter	+	–
	+

Primarydelay smoothing

SelectionPr4C

Positional deviation monitor Command speed monitor

Division	NumeratorPr44	DenominatorPr45	Pr46
			Selection
	Feedbackpulses	OA/OB/OZ

224

Image 224

Panasonic A4P Series Block Diagram by Control Mode, Position Control Mode, When Pr02 Setup of control mode is, + +, 224

Contents

AC Servo Motor and Driver DV0P4490 Content Driver Motor Console Example of Incremental Operation Setting Example of Absolute Operation SettingExample of Rotary Axis Operation Setting Example of Dwell Timer Operation Setting Operation Timing after Power-ON When an Error Alarm Has Occurred at Servo-ON CommandWhen an Alarm Has Been Cleared 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 Type Cycles Items to be inspected Maintenance and InspectionInspection Items and Cycles Smoothing capacitor Approx years Cooling fan To 3 years Guideline for Parts ReplacementProduct Component Standard replacement Cycles hour Introduction OutlineOn Opening the Product Package Check of the Driver Model Specifications Check of the Motor ModelPulse count Round Incremental Specifications, 2500P/r Check of the Combination of the Driver and the Motor Absolute/Incremental Specifications, 17-bit MADDT1207P Single phase, 200V, 200W A-frame Parts DescriptionDriver B-frame MEDDT7364P 3-phase, 200V, 2.0kW E-frame F-frame Motor Low inertia type Msmd series, 50W Display/Touch panel ConsoleMain Body How to Install Installation PlaceHow to Install Environmental Conditions Mounting Direction and Spacing FanOr more 40mm or more 100mm or more Oil/Water Protection Stress to Cables Permissible Load to Output Shaft Remarks How to ConnectConnect to CN Wiring to the Connector, CN X3 Preparation Pin RB1 6-pin, RB2 4-pin, RB3 5-pin System Configuration and WiringOverall Wiring Connecting Example of C-frame, 3-phase Connection to encoder Wiring to Connector, CNConnection to host controller Overall Wiring Connecting Example of E-frame Connection with input power supply RemarksPin P, B1 and B2 Connection to external components Connection to motor driving phase and ground Filter Absorber For signal Contactor Driver and List of Applicable Peripheral EquipmentsNoise Surge Cable Driver For signal contactor NoiseFilter Cable Wiring of the Main Circuit a to D-frame Tips on WiringConnect L1 and L1C, and L3 and L2C at single phase Connect pin 3 of the connector on the driver side with pin Wiring Diagram Case of Single Phase, 100V a and B-frameCase of Single Phase, 200V 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 Case of 3-Phase, 200V E and F-frame Wiring method to connector a to D-frameUsing Handle Lever 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 Wiring to the Connector, CN X7 Connection to External Scale Wiring to the External Scale, Connector, CNApplication Connector Content PinNo Remark Specifications of the Connector, CN For detailed information, refer to P.42 toManufacturer Part name Wiring for Connector CN 12 to Output Circuit Interface CircuitInput Circuit List of Signal for Connector CN Common input signalsApplication Code Function Emergency stop input must be installed before using Ex When SV.Pr57 = 3 6 bits is setPoint No P32INP16INP8IN Description Common output signals and their functions Output signal pulse train and function Not-synchronized OthersSynchronized Initial Status of the Front Panel Display 7-Segment LED Setup with the Front PanelComposition of Touch Panel and Display SV.Pr08 Output Signals Analog and Their FunctionsApplication Code Function Connecting Example Output Timing of BRK-OFF Signal12 to 24V V DC COM Power supply Fuse For brake Built-in Holding Brake Specifications of Built-in Holding Brake Engaging ReleasingSeries Output Torque X10-4 Time Voltage Sequence at main Driving condition Power-off SV.Pr67 After stalling Setup value of SV.Pr67Contents of deviation counter Clear Hold Dynamic Brake Contents of deviation counter Hold After stalling Memo Setting Outline of Setup Support Software, PanatermAuto-Gain Tuning Mode Outline of Panaterm 103 How to Connect Parameter Setup How to SetHow to Connect Outline of Parameter This document, following symbols represent each mode Composition of ParametersServo parameter Bit positioning parameter Power -ON Function/Content PrNo RangeList of Servo Parameter Parameters for Functional Selection Function/Content PrNo Unit Function/Content PrNoSetup value Signal of IM Baud rate Setup value Title Setup Unit Function/Content PrNo Setup value Instantaneous speed observer setupCaused by distortion resonance Velocity feed Set the second loop gain for position control Parameters for Auto-Gain Tuning Servo Title Setup Unit Function/Content PrNo RangeUnit Function/Content PrNo Range Inertia ratio Title Setup Unit Function/Content PrNo Range Varying degree Auto-gain tuning Load inertia in motionSetup value Content Rotational direction Parameters for Adjustment 2nd Gain Switching Function Filter mode Setup valueGain selection/switching Gain switching condition Servo Title Setup Function/Content PrNo Parameters for Position Control Pulse output resolution= SV.Pr46 Phase logic Output sourceServo Title Numerator SV.Pr44 Output pulse ratio 10000 Parameters for Input Signals Title Setup Function/Content PrNo RangeSmoothing filter You can set the time constant Time constant Input logic setting Point specifying Parameters for Velocity and Torque Limit Parameters for Sequence After stalling Content Action of main power low voltage protectionSetup Action Deviation counter Value Sequence at You can set up Servo-OFF Action delay time tb of the brakeAfter setting up SV.Pr6a = tb Setup time, or time lapse till Remarks Parameters for Protective functionExternal resistor but no Parameters for Full-Closed Control Unit Function/Content List of 16-bit Positioning ParametersParameters for Motor speed Parameters for Acceleration and Deceleration Title Setup Unit Function/Content Parameters for Homing Parameters for Jog operation CCW is a positive direction and CW is a negative direction Other ParametersDeceleration in jog Step Title Setup range Unit Function/Content PrNo List of 32-bit Positioning ParametersList of Step Parameters Console display Setup of Torque Limit Model NoSV.Pr5E,5F Applicable motor Max. value When the motor torque is limited When you want to obtain the max. motor torque How to Use the Console Setup with the ConsoleInitial Status of the Console Display 7 Segment LED Composition of Display/Touch panel Mode Change Monitor Mode Mode switch buttonSelection display Execution display Position control mode Full-closed control mode Display of Control ModeDisplay of I/O Signal Status Signal No. and its title Point Number Conversion Table Reference of Error Factor and History Alarm DisplayOver-load alarm Over-regeneration alarm Display of Feedback Pulse Sum, Command Pulse Sum Switching of the Driver to be CommunicatedDisplay of Regenerative Load Factor Display of Over-load Factor Teaching Mode Overview of Teaching ModeTeaching Mode Setup 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 Digit next to the blinking decimal point can be modified Servo ParameterMovement to a high order position is limited per parameter Eeprom Write Mode Eeprom Writing Operation at Selection display Remarks Dont disconnect the console from the driver between Auto-Gain Tuning ModeNormal Mode Auto-Gain Tuning Screen Auxiliary Function Mode Alarm ClearAlarm Clear Screen Absolute encoder clear Alarm Clear Screen Then press to make a display to Clearing of Absolute Encoder Copying Function Console Only 101 102 Install the Panaterm to Hard Disc Procedure of installConnecting cable DV0P1960 103 104 Procedure of log onLog on of the Panaterm Operation Settin g Overview of Operation Setting Procedure Description Step OperationStep Operation 107 Operation mode Description Example of Incremental Operation SettingStep Operation Mode Example of Absolute Operation Setting Setting of 16-bit positioning parameterSetting of step parameter Wrap around Example of Rotary Axis Operation Setting Setting of 32-bit positioning parameterControl mode Coordinate is set to Servo off Example of Dwell Timer Operation SettingSetting of step data Jog Operation Jog Operation 16.Pr Description Set the parameters below when performing the jog operationParameters related to jog operation Homing Mode List Homing is completed when the power supply turns onHoming Operation Homing Operation 115 Home Sensor + Z Phase based on the front end Parameters related to this operationPositive direction Home sensor 116 117 Home Sensor based on the front endPositive direction 118 Home sensor + Z phase based on the rear endDirection of homing 119 Limit Sensor + Z phase 120 Limit Sensor Example An operation in a positive directionDirection of homing Positive direction 121 Phase Homing Bumping HomingStopper etc 122 Data Set ExampleDirection of homing Home position = current position 123 Timing chart Homing Offset OperationExample of homing offset Homing offset is set to +5000 124 Emergency Stop Operation/Deceleration-and-Stop Operation Positioning completion outputAnd-stop An operation stop in the deceleration time Restart of operation Same procedure as a step operation Temporary Stop OperationTemporary Stop Operation 126 Continuous block operation procedure example 16.Pr54 Description Block operation type settingBlock Operation Overview of Block Operation ST.Pr Operation mode Combined Block Operation Combined block operation procedure example Sequential Operation Sequential OperationExample of Operation Homing operation at sequential operation Shaped Acceleration/Deceleration Function Example of calculation 2500 p/r encoderExample Linear acceleration t2 = Shaped % t2 = Strobe signal STB Timing ChartOperation Timing after Power-ON T1 *1 When an Error Alarm Has Occurred at Servo-ON CommandTo 5 ms When an Alarm Has Been Cleared at Servo-ON Command Alarm Clear can be input in the two ways belowPoint 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 at Stall Servo-Lock Servo-ON/OFF Action While the Motor Is in MotionServo-ON input Brake release output Configuration of Absolute System Battery for Backup InstallationAbsolute System Overview of Absolute System Close the cover of the battery box ReferenceCycles/day Cycle/day Setup Initialization of Absolute Encoder When you make your own cable for 17-bit absolute encoderInstallation Place Normal homing 139 Clearing Absolute Encoder Using a consoleUsing the setup support software Panaterm What Is Full-Closed Control ? Outline of Full-Closed ControlPreparation for full-closed control 140 Adjustment Adaptive Filter 147Instantaneous Speed Observer 160 Damping Control 161 141 Gain Adjustment ProceduresPurpose Ball screw Type Explanation Real-Time Auto-Gain Tuning Mode How to OperateOutline Applicable Range Writing to Eeprom Setup of parameter, Pr21Setup of parameter, Pr22 Parameters Which Are Automatically Set SV.PrNo Title1st position loop gain Velocity feed forward 1st velocity loop gain Feed forward filter time constant Adaptive Filter Invalidation of Adaptive Filter Normal Mode Auto-Gain Tuning Conditions which obstruct normal auto-gain tuningThis function works under the following condition Too small or too big compared to the rotor inertia Auto-Gain Tuning Action Table of auto-gain tuningTitle Stiffness value 90108135162 206251305377449 How to Operate from the Console An arrow shows by pressingChanges toward the reversed direction By pressing Invalidation of Real-Time Auto-Gain Tuning SV.Pr2F 1st notch frequency Hz Manual Gain Tuning Basic Before Making a Manual AdjustmentAnalog monitor output Waveform graphic function of the Panaterm Adjustment in Position Control Mode Title of parameter Value How to adjust SV.PrTitle of parameter SV.Pr Adjustment in Full-Closed Control Mode Setup of external scale ratioSetup of hybrid deviation excess 154 Gain Switching Function You want to increase the response by increasIng the gain in motion Example Setup of Gain Switching Condition 156 Fig.A Fig. C Suppression of Machine Resonance Adaptive filter SV.Pr23, SV.Pr2F1st and 2nd notch filter SV.Pr1D, 2E, 28, 29 and 2A Adaptive filter 159 How to Check the Resonance Frequency of the MachineRelation of Gain Adjustment and Machine Stiffness Manual Gain Tuning Application How to UseAdjustment at normal position control Setup of instantaneous velocity observer SV.Pr27 Setup of damping filter 1st SV.Pr2C, 2nd SV.Pr2E Setup of damping filter switching selectionDamping Control SV.Pr24 162 When in Trouble 163 Protective Function What is Error Code ? What to Check ?Host controller Machine Motor Protective Function Detail of Error Code Protective Error Causes Measures Function Over-heatOver-load 166 Cation error Data errorCommuni Cation Error Causes Measures Function Down errorOver error Status error Limit error ID settingScale auto Recognition Error pro Tection Motor auto Recognition Error Protection Other error Time characteristics of Err16 Overload protection Software Limit FunctionThis function works under the following conditions Conditions under which the software limit works When the load moves to the left at Servo-ON When no position command is entered Servo-ON statusWhen the load moves to the right at Servo-ON Troubleshooting WiringMotor Does Not Run Motor Stops During an Operation Causes Countermeasures Installation Point Deviates Positioning Accuracy is PoorHome Position Slips Abnormal Motor Noise or Vibration 174 Parameter Returns to Previous SetupCauses Countermeasures Wiring Supplement Conformity to EC Directives and UL StandardsPermissible Load at Output Shaft/Motor with Gear Reducer 175 Conformity to EC Directives and UL Standards Composition of Peripheral Equipments Power Supply Circuit BreakerNoise Filter Option part No Surge Absorber Noise Filter for Signal Lines Ground-Fault BreakerGrounding Conformity to UL Standards Specifications of for Motor Connector Pin disposition for encoder connectorPin disposition for motor/brake connector with brake 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 Connector Kit for External Peripheral Equipments Setup Support Software PanatermInterface Cable Communication Cable for connection to PC Connector Kit for Motor/Encoder Connection For DVOP2490, DV0P3480 Recommended manual crimp tool Mgma 2.0kW to 4.5kW 500W to 1.5kWMhma 2.0kW to 5.0kW Mounting Dimensions Mounting BracketPart No. DV0P4420 Upper side Bottom side Harmonic restraint Motor Power Rated Series Supply OutputReactor Options Recommended components Surge Absorber for Motor BrakeList of Peripheral Equipments Reference only Motor Surge absorber for motor brake 192 Dimensions DriverMass 0.8kg 193 Mass 1.5kgMass 1.7kg Mass 3.2kg 194 Dimensions Motor Mama 100W to 750W 3h9 Motor output Motor model100W 5A * P1 5A * S1 01 * P1 01 * S1 Msmd 200W to 750W Mqma 100W to 400W 01 * P1 01 * S1 02 * P1 02 * S104 * S1 126.5 Msma 1.0kW to 2.0kW Msma 3.0kW to 5.0kW Mdma 1.0kW to 1.5kW 0kW 20 * P1 20 * S1 30 * P1 30 * S1 2500P/r Incremental Rotary encoder Specifications Without brake With brakeMdma 2.0kW to 3.0kW Mdma 4.0kW to 5.0kW Mgma 900W to 2.0kW 2500P/r Incremental 17-bit Absolute/Incremental207 13.5 Mgma 3.0kW to 4.5kW Mfma 400W to 1.5kW 04 * P1 04 * S1 15 * P1 15 * S1 2500P/r Incremental Mfma 2.5kW to 4.5kW Motor output 5kW Motor model25 * P1 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 Motor At assembly During running Motor output Thrust load Permissible Load at Output ShaftRadial load P direction Thrust load a and B direction Series Radial thrust Direction With and without oil seal MQMA011 MQMA012 MQMA021 MQMA022MQMA041 MQMA042 Without oil seal MAMA012 MAMA022 Motor Characteristics S-T Characteristics Without oil seal With oil seal MSMD5AZMSMD011 MSMD012 Without oil seal With oil seal MSMD021 MSMD022MSMD041 MSMD042 MSMA102 MSMA152 MSMA202MSMA302 MSMA402 With oil seal MDMA302 MDMA402 MDMA502With oil seal MFMA042 MFMA152 MFMA252 MFMA452 MHMA052 MHMA102 MHMA152 MHMA202MHMA302 MHMA402 MHMA502 Absolute/Incremental specifications, 17bit Motor with Gear ReducerModel No. of Motor with Gear Reduce Combination of Driver and Motor with Gear Reducer Without brake With brake Dimensions/Motor with Gear ReducerMotor with Gear Reducer Brake Remarks on installation Permissible load at shaft Motor output Radial thrustLR/2 220 Supply Reduction Ratio To driver Output MSMD011 * * 1N MSMD011 * * 2N100W MSMD021 * * 1N MSMD021 * * 2N Block Diagram of Driver Gate drive Internal Block Diagram of MINAS-A4P Driver E and F-frame 223 Block Diagram by Control Mode Position Control ModeWhen Pr02 Setup of control mode is + + Full-closed Control Mode 225 Specifications Driver Setting range Number of points Unnecessary wiringEncoder feedback pulse Protection Hardware error Function Software error Default Parameters for all the models of A4P Series Servo parameter SV.Pr 229 Bit positioning parameter 16.PrBit positioning parameter 32.Pr 230 231 After-Sale Service Repair RepairTechnical information Date Model No Purchase Dealer Tel