Servo parameter SV.Pr | Panasonic A4P Series specs

Default Parameters (for all the models of A4P Series)

• Servo parameter (SV.Pr)

SV.Pr**		Parameter		Default
00	(For manufacturer's use)			1
01	7-segment LED status for console, initial condition display			1
02	Control mode			0
03	Torque limit selection			1
04	(For manufacturer's use)			1
05	(For manufacturer's use)			0
06	(For manufacturer's use)			0
07	Speed monitor (SP) selection			3
08	Torque monitor (IM) selection			0
09	(For manufacturer's use)			0
0A	(For manufacturer's use)			1
0B	Absolute encoder set up			1
0C	Baud rate of RS232			2
0D	(For manufacturer's use)			5
0E	(For manufacturer's use)			0
0F	Node address			0
10	1st position loop gain		(*2)	(63/32)
11	1st velocity loop gain		(*2)	(35/18)
12	1st velocity loop integration time constant (*2)			(16/31)
13	1st speed detection filter			(0)
14	1st torque filter time constant (*2)			(65/126)
15	Velocity feed forward			(300)
16	Feed forward filter time constant			(50)
17	(For manufacturer's use)			0
18	2nd position loop gain		(*2)	(73/38)
19	2nd velocity loop gain		(*2)	(35/18)
1A	2nd velocity loop integration time constant			(1000)
1B	2nd speed detection filter			(0)
1C	2nd torque filter time constant (*2)			(65/126)
1D	1st notch frequency			1500
1E	1st notch width selection			2
1F	(For manufacturer's use)			0
20	Inertia ratio			(250)
21	Real time auto tuning set up			1
22	Machine stiffness at auto tuning (*2)			4/1
23	Adaptive filter mode			1
24	Vibration suppression filter switching selection			0
25	Normal auto tuning motion setup			0
26	Software limit set up			10
27	Velocity observer			(0)
28	2nd notch frequency			1500
29	2nd notch width selection			2
2A	2nd notch depth selection			0
2B	1st vibration suppression frequency			0
2C	1st vibration suppression filter			0
2D	2nd vibration suppression frequency			0
2E	2nd vibration suppression filter			0
2F	Adaptive filter frequency			0
30	2nd gain action set up			(1)
31	1st control switching mode			(10)
32	1st control switching delay time			(30)
33	1st control switching level			(50)
34	1st control switching hysteresis			(33)
35	Position loop gain switching time			(20)
36	(For manufacturer's use)			(0)
37	(For manufacturer's use)			0
38	(For manufacturer's use)			0
39	(For manufacturer's use)			0
3A	(For manufacturer's use)			0
3B	(For manufacturer's use)			0
3C	(For manufacturer's use)			0
3D	(For manufacturer's use)			300
3E	(For manufacturer's use)			0
3F	(For manufacturer's use)			0

SV.Pr**		Parameter	Default
40	(For manufacturer's use)		5
41	(For manufacturer's use)		500
42	(For manufacturer's use)		0
43	(For manufacturer's use)		0
44	Numerator of output pulse ratio		10000
45	Denominator of output pulse ratio		10000
46	Pulse output logic inversion		0
47	(For manufacturer's use)		0
48	(For manufacturer's use)		10000
49	(For manufacturer's use)		0
4A	(For manufacturer's use)		0
4B	(For manufacturer's use)		10000
4C	Smoothing filter		1
4D	FIR filter set up		0
4E	(For manufacturer's use)		2
4F	(For manufacturer's use)		0
50	(For manufacturer's use)		0
51	(For manufacturer's use)		0
52	(For manufacturer's use)		2
53	Over-travel inhibit input valid		1
54	Over-travel inhibit input logic		0
55	Over-travel inhibit input operation setting		1
56	Home sensor input logic		1
57	Selecting the number of input points		2
58	Point specifying input logic setting		1
59	Multi-function input 1 Signal logic		1
5A	Multi-function input 1 Signal selection		0
5B	Multi-function input 2 Signal logic		1
5C	Multi-function input 2 Selection logic		0
5D	Servo-ON input valid		1
5E	1st torque limit	(*1)	500
5F	2nd torque limit	(*1)	500
60	In-position range		131
61	(For manufacturer's use)		50
62	(For manufacturer's use)		1000
63	(For manufacturer's use)		0
64	Output signal selection		0
65	Undervoltage error response at main power-off		1
66	(For manufacturer's use)		0
67	Error response at main power-off		0
68	Error response action		0
69	Sequence at Servo-OFF		0
6A	Mechanical brake delay at motor standstill		0
6B	Mechanical brake delay at motor in motion		0
6C	External regenerative resistor set up (*2)		0/3
6D	Main power-off detection time		35
6E	Emergency stop torque set up		0
6F	(For manufacturer's use)		0
70	Position deviation error level		25000
71	(For manufacturer's use)		0
72	Overload level		0
73	Overspeed level		0
74	(For manufacturer's use)		0
75	(For manufacturer's use)		0
76	(For manufacturer's use)		0
77	(For manufacturer's use)		0
78	Numerator of external scale ratio		10000
79	Multiplier of numerator of external scale ratio		0
7A	Denominator of external scale ratio		10000
7B	Hybrid deviation error level		100
7C	External scale direction		0
7D	(For manufacturer's use)		0
7E	(For manufacturer's use)		0
7F	(For manufacturer's use)		0

*1) A maximum value of SV.Pr5E (torque limit setting) varies depending on an applicable motor. Refer to page 78.

*2) Default parameters of SV.Pr10 to 12, 14, 18, 19, 1C, 22 and 6C vary depending on a driver.

*3) The parameters with parenthesized set value are specified automatically when real-time auto-gain tuning or normal-mode auto-gain tuning has been executed.

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Panasonic instruction manual Default Parameters for all the models of A4P Series, Servo parameter SV.Pr

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 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 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 Console Main BodyDisplay/Touch panel 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 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 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 Interface Circuit Input CircuitOutput 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 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 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 Action of main power low voltage protection Setup Action Deviation counter ValueAfter stalling Content 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 Parameters for Protective function External resistor but noRemarks 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 Other Parameters Deceleration in jogCCW is a positive direction and CW is a negative direction 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 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 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 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 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 Procedure of log on Log on of the Panaterm104 Operation Settin g Overview of Operation Setting Procedure Description Step OperationStep Operation 107 Example of Incremental Operation Setting Step Operation ModeOperation mode Description 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 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 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 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 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 = Timing Chart Operation Timing after Power-ONStrobe signal STB When an Error Alarm Has Occurred at Servo-ON Command To 5 msT1 *1 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 Clearing Absolute Encoder Using a console Using the setup support software Panaterm139 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 Setup of parameter, Pr21 Setup of parameter, Pr22Writing to Eeprom 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 How to Check the Resonance Frequency of the Machine Relation of Gain Adjustment and Machine Stiffness159 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 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 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 Parameter Returns to Previous Setup Causes Countermeasures Wiring174 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 500W to 1.5kW Mhma 2.0kW to 5.0kWMgma 2.0kW to 4.5kW Mounting Dimensions Mounting BracketPart No. DV0P4420 Upper side Bottom side Motor Power Rated Series Supply Output ReactorHarmonic restraint Options Recommended components Surge Absorber for Motor BrakeList of Peripheral Equipments Reference only 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 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 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 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 Dimensions/Motor with Gear Reducer Motor with Gear ReducerWithout brake With brake 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 Bit positioning parameter 16.Pr Bit positioning parameter 32.Pr229 230 231 After-Sale Service Repair RepairTechnical information Date Model No Purchase Dealer Tel