Panasonic A4P Series guide

[Preparation]

• MSMA 1kW to 5kW
• MDMA 1kW to 5kW

•MHMA 500W to 5kW

•MFMA 400W to 4.5kW

•MGMA900W to 4.5kW

		Pin No. of connector
E5V	H	1
E0V	G	2
		3
		4
PS	K	5
PS	L	6
FG	J

CN X6
E5V +5V		Regulator
E0V	0V

PS

PS

Preparation

Straight plugN/MS3106B20-29S

Cable clamp N/MS3057-12ATwisted pair (by Japan Aviation Electronics Ind.)

Case

motor

Motor side

Junction cable

Driver side

Wiring Diagram In case of 17-bit absolute/incremental encoder

•MSMD 50W to 750W

•MAMA 100W to 750W

•MQMA100W to 400W

White

Black

Red

Pink

Light Blue

Purple

Yellow/Green

E5V

E0V

BAT+

BAT–

PS

PS

FG

7		1
8		2
		3
		4
1	battery	5
1		5
2		6
4
5
3

	CN X6
	E5V	+5V
	E5V	0V	Regulator
	E0V	0V	Regulator
	E0V
	PS
	PS
	PS

Case

							Twisted pair
					172169-1		172161-1
					(by Tyco Electronics, AMP)		(by Tyco Electronics, AMP)
					(by Tyco Electronics, AMP)		(by Tyco Electronics, AMP)

		motor					Junction cable
					Motor side
					Motor side

Driver side

•MSMA 1kW to 5kW

•MDMA 1kW to 5kW

•MHMA 500W to 5kW

•MFMA 400W to 4.5kW

•MGMA 900W to 4.5kW

Pin No. of connector

CN X6

H

1

+5V

E5V

E5V

Regulator

G

2

0V

E0V

E0V

3

battery

4

T

5

PS

BAT+

S

6

BAT–

PS

K

PS

L

PS

J

FG

Straight plug N/MS3106B20-29S

Case

Cable clamp N/MS3057-12A

Twisted pair

(Japan Aviation Electronics

Industry, Ltd.)

motor

Motor side	Junction cable	Driver side

39

Image 39

Panasonic A4P Series instruction manual Msmd 50W to 750W Mama 100W to 750W MQMA100W to 400W

Contents

DV0P4490 AC Servo Motor and Driver Driver Motor Console Content Example of Dwell Timer Operation Setting Example of Incremental Operation SettingExample of Absolute Operation Setting Example of Rotary Axis Operation Setting Configuration of Absolute System Operation Timing after Power-ONWhen an Error Alarm Has Occurred at Servo-ON Command When an Alarm Has Been Cleared at Servo-ON Command Supplement Page Driver Motor Console Before Using the Products 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 Check of the Driver Model IntroductionOutline On Opening the Product Package Round SpecificationsCheck of the Motor Model Pulse count Check of the Combination of the Driver and the Motor Incremental Specifications, 2500P/r Absolute/Incremental Specifications, 17-bit B-frame MADDT1207P Single phase, 200V, 200W A-frameParts Description Driver F-frame MEDDT7364P 3-phase, 200V, 2.0kW E-frame Low inertia type Msmd series, 50W Motor Console Main BodyDisplay/Touch panel Environmental Conditions How to InstallInstallation Place How to Install 40mm or more 100mm or more Mounting Direction and SpacingFan Or more Oil/Water Protection Permissible Load to Output Shaft Stress to Cables How to Connect Connect to CNRemarks Preparation Wiring to the Connector, CN X3 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 Connection to external components Overall Wiring Connecting Example of E-frameConnection with input power supply Remarks Pin P, B1 and B2 Connection to motor driving phase and ground Cable Driver Filter Absorber For signal ContactorDriver and List of Applicable Peripheral Equipments Noise Surge Cable For signal contactorNoise Filter Connect pin 3 of the connector on the driver side with pin Wiring of the Main Circuit a to D-frameTips on Wiring Connect L1 and L1C, and L3 and L2C at single phase Case of Single Phase, 200V C and D-frame Wiring DiagramCase of Single Phase, 100V a and B-frame Case of Single Phase, 200V a and B-frame 24V DC power supply for brake Surge absorber Fuse 5A Wiring of the Main Circuit E and F-frame Using Screw Driver Case of 3-Phase, 200V E and F-frameWiring method to connector a to D-frame Using Handle Lever Msmd 50W to 750W MAMA100W to 750W MQMA100W to 400W Wiring to the Connector, CN X6 Connection to Encoder Msmd 50W to 750W Mama 100W to 750W MQMA100W to 400W Remark Wiring to the Connector, CN X7 Connection to External ScaleWiring to the External Scale, Connector, CN Application Connector Content PinNo Part name Specifications of the Connector, CNFor detailed information, refer to P.42 to Manufacturer 12 to Wiring for Connector CN Interface Circuit Input CircuitOutput Circuit Function List of Signal for Connector CNCommon input signals Application Code Description Emergency stop input must be installed before usingEx When SV.Pr57 = 3 6 bits is set Point No P32INP16INP8IN Output signal pulse train and function Common output signals and their functions 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 Built-in Holding Brake Connecting ExampleOutput Timing of BRK-OFF Signal 12 to 24V V DC COM Power supply Fuse For brake Voltage Specifications of Built-in Holding BrakeEngaging Releasing Series Output Torque X10-4 Time Dynamic Brake Sequence at main Driving condition Power-off SV.Pr67After stalling Setup value of SV.Pr67 Contents of deviation counter Clear Hold After stalling Contents of deviation counter Hold Memo Outline of Panaterm 103 How to Connect SettingOutline of Setup Support Software, Panaterm Auto-Gain Tuning Mode Outline of Parameter Parameter SetupHow to Set How to Connect Bit positioning parameter This document, following symbols represent each modeComposition of Parameters Servo parameter Parameters for Functional Selection Power -ONFunction/Content PrNo Range List of Servo Parameter Baud rate Setup value Function/Content PrNoUnit Function/Content PrNo Setup value Signal of IM Set the second loop gain for position control Title Setup Unit Function/Content PrNoSetup value Instantaneous speed observer setup Caused by distortion resonance Velocity feed Inertia ratio Parameters for Auto-Gain TuningServo Title Setup Unit Function/Content PrNo Range Unit Function/Content PrNo Range Rotational direction Title Setup Unit Function/Content PrNo RangeVarying degree Auto-gain tuning Load inertia in motion Setup value Content Gain switching condition Parameters for Adjustment 2nd Gain Switching FunctionFilter mode Setup value Gain selection/switching Parameters for Position Control Servo Title Setup Function/Content PrNo Numerator SV.Pr44 Output pulse ratio 10000 Pulse output resolution=SV.Pr46 Phase logic Output source Servo Title Time constant Parameters for Input SignalsTitle Setup Function/Content PrNo Range Smoothing filter You can set the time constant Point specifying Input logic setting Parameters for Sequence Parameters for Velocity and Torque Limit Action of main power low voltage protection Setup Action Deviation counter ValueAfter stalling Content Setup time, or time lapse till Sequence at You can set up Servo-OFFAction delay time tb of the brake After setting up SV.Pr6a = tb Parameters for Protective function External resistor but noRemarks Parameters for Full-Closed Control Parameters for Acceleration and Deceleration Unit Function/ContentList of 16-bit Positioning Parameters Parameters for Motor speed Parameters for Homing Title Setup Unit Function/Content Parameters for Jog operation Other Parameters Deceleration in jogCCW is a positive direction and CW is a negative direction Console display Step Title Setup range Unit Function/Content PrNoList of 32-bit Positioning Parameters List of Step Parameters Applicable motor Max. value Setup of Torque LimitModel No SV.Pr5E,5F When you want to obtain the max. motor torque When the motor torque is limited Composition of Display/Touch panel How to Use the ConsoleSetup with the Console Initial Status of the Console Display 7 Segment LED Mode Change Execution display Monitor ModeMode switch button Selection display Display of Control Mode Display of I/O Signal StatusPosition control mode Full-closed control mode Point Number Conversion Table Signal No. and its title Over-regeneration alarm Reference of Error Factor and HistoryAlarm Display Over-load alarm Display of Over-load Factor Display of Feedback Pulse Sum, Command Pulse SumSwitching of the Driver to be Communicated Display of Regenerative Load Factor Operation at Selection display Teaching ModeOverview of Teaching Mode Teaching Mode Setup Step parameter setting Target position setting Test Mode Step operation Homing Jog operation Structure of Parameter Setup Mode 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 Writing Operation at Selection display Eeprom Write Mode Auto-Gain Tuning Mode Normal Mode Auto-Gain Tuning ScreenRemarks Dont disconnect the console from the driver between Absolute encoder clear Auxiliary Function ModeAlarm Clear Alarm Clear Screen Then press to make a display to Alarm Clear Screen Clearing of Absolute Encoder 101 Copying Function Console Only 102 103 Install the Panaterm to Hard DiscProcedure of install Connecting cable DV0P1960 Procedure of log on Log on of the Panaterm104 Operation Settin g Overview of Operation Setting 107 Procedure DescriptionStep Operation Step Operation Example of Incremental Operation Setting Step Operation ModeOperation mode Description Wrap around Example of Absolute Operation SettingSetting of 16-bit positioning parameter Setting of step parameter Coordinate is set to Example of Rotary Axis Operation SettingSetting of 32-bit positioning parameter Control mode 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 115 116 Home Sensor + Z Phase based on the front endParameters related to this operation Positive direction Home sensor Home 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 phase 121 Limit SensorExample An operation in a positive direction Direction of homing Positive direction 122 Phase HomingBumping Homing Stopper etc 123 Data SetExample Direction of homing Home position = current position 124 Timing chartHoming Offset Operation Example of homing offset Homing offset is set to +5000 An operation stop in the deceleration time Emergency Stop Operation/Deceleration-and-Stop OperationPositioning completion output And-stop 126 Restart of operation Same procedure as a step operationTemporary Stop Operation Temporary Stop Operation Overview of Block Operation Continuous block operation procedure example16.Pr54 Description Block operation type setting Block Operation Combined Block Operation ST.Pr Operation mode Combined block operation procedure example Homing operation at sequential operation Sequential OperationSequential Operation Example of Operation Shaped % t2 = Shaped Acceleration/Deceleration FunctionExample of calculation 2500 p/r encoder Example Linear acceleration t2 = Timing Chart Operation Timing after Power-ONStrobe signal STB When an Error Alarm Has Occurred at Servo-ON Command To 5 msT1 *1 Multi function input EX-IN1/EX-IN2 CN X5 Pin 22/25 When an Alarm Has Been Cleared at Servo-ON CommandAlarm Clear can be input in the two ways below Point input P1IN to P32IN CN X5 Pin 3, 4, 5, 6, 7 Brake release output Servo-ON/OFF Action While the Motor Is at Stall Servo-LockServo-ON/OFF Action While the Motor Is in Motion Servo-ON input Overview of Absolute System Configuration of Absolute SystemBattery for Backup Installation Absolute System Cycle/day Close the cover of the battery boxReference Cycles/day Normal homing Setup Initialization of Absolute EncoderWhen you make your own cable for 17-bit absolute encoder Installation Place Clearing Absolute Encoder Using a console Using the setup support software Panaterm139 140 What Is Full-Closed Control ?Outline of Full-Closed Control Preparation for full-closed control 141 AdjustmentAdaptive Filter 147 Instantaneous Speed Observer 160 Damping Control 161 Ball screw Gain AdjustmentProcedures Purpose Explanation Type Applicable Range Real-Time Auto-Gain Tuning ModeHow to Operate Outline Setup of parameter, Pr21 Setup of parameter, Pr22Writing to Eeprom 1st velocity loop gain Feed forward filter time constant Parameters Which Are Automatically SetSV.PrNo Title 1st position loop gain Velocity feed forward Invalidation of Adaptive Filter Adaptive Filter Too small or too big compared to the rotor inertia Normal Mode Auto-Gain TuningConditions which obstruct normal auto-gain tuning This function works under the following condition 90108135162 206251305377449 Auto-Gain Tuning ActionTable of auto-gain tuning Title Stiffness value By pressing How to Operate from the ConsoleAn arrow shows by pressing Changes toward the reversed direction SV.Pr2F 1st notch frequency Hz Invalidation of Real-Time Auto-Gain Tuning Waveform graphic function of the Panaterm Manual Gain Tuning BasicBefore Making a Manual Adjustment Analog monitor output SV.Pr Adjustment in Position Control ModeTitle of parameter Value How to adjust SV.Pr Title of parameter 154 Adjustment in Full-Closed Control ModeSetup of external scale ratio Setup of hybrid deviation excess Example Gain Switching FunctionYou want to increase the response by increas Ing the gain in motion 156 Setup of Gain Switching Condition Fig. C Fig.A Adaptive filter Suppression of Machine ResonanceAdaptive filter SV.Pr23, SV.Pr2F 1st and 2nd notch filter SV.Pr1D, 2E, 28, 29 and 2A How to Check the Resonance Frequency of the Machine Relation of Gain Adjustment and Machine Stiffness159 Setup of instantaneous velocity observer SV.Pr27 Manual Gain Tuning ApplicationHow to Use Adjustment at normal position control SV.Pr24 Setup of damping filter 1st SV.Pr2C, 2nd SV.Pr2ESetup of damping filter switching selection Damping Control 162 163 When in Trouble Machine Motor Protective Function What is Error Code ?What to Check ? Host controller Protective Function Detail of Error Code 166 Protective Error Causes Measures FunctionOver-heat Over-load Cation Cation errorData error Communi Status error Error Causes Measures FunctionDown error Over error Recognition Error Protection Other error Limit errorID setting Scale auto Recognition Error pro Tection Motor auto Conditions under which the software limit works Time characteristics of Err16 Overload protectionSoftware Limit Function This function works under the following conditions 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 Causes Countermeasures TroubleshootingWiring Motor Does Not Run Motor Stops During an Operation Abnormal Motor Noise or Vibration InstallationPoint Deviates Positioning Accuracy is Poor Home Position Slips Parameter Returns to Previous Setup Causes Countermeasures Wiring174 175 SupplementConformity to EC Directives and UL Standards Permissible Load at Output Shaft/Motor with Gear Reducer Composition of Peripheral Equipments Conformity to EC Directives and UL Standards Option part No Power SupplyCircuit Breaker Noise Filter Surge Absorber Conformity to UL Standards Noise Filter for Signal LinesGround-Fault Breaker Grounding Pin disposition for motor/brake connector without brake Specifications of for Motor ConnectorPin disposition for encoder connector Pin disposition for motor/brake connector with brake Motor type Type of junction cable Table for junction cable by model of Minas A4P series Title Manufacturer Junction Cable for Encoder Junction 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 DP Communication Cable for connection to PC Connector Kit for External Peripheral EquipmentsSetup Support Software Panaterm Interface Cable For DVOP2490, DV0P3480 Recommended manual crimp tool Connector Kit for Motor/Encoder Connection 500W to 1.5kW Mhma 2.0kW to 5.0kWMgma 2.0kW to 4.5kW Upper side Bottom side Mounting DimensionsMounting Bracket Part No. DV0P4420 Motor Power Rated Series Supply Output ReactorHarmonic restraint Options Motor Surge absorber for motor brake Recommended componentsSurge Absorber for Motor Brake List of Peripheral Equipments Reference only Dimensions Driver Mass 0.8kg192 Mass 1.5kg Mass 1.7kg193 194 Mass 3.2kg Mama 100W to 750W Dimensions Motor Motor output Motor model 100W 5A * P1 5A * S1 01 * P1 01 * S13h9 Msmd 200W to 750W 126.5 Mqma 100W to 400W01 * P1 01 * S1 02 * P1 02 * S1 04 * S1 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 13.5 Mgma 900W to 2.0kW2500P/r Incremental 17-bit Absolute/Incremental 207 Mgma 3.0kW to 4.5kW 04 * P1 04 * S1 15 * P1 15 * S1 2500P/r Incremental Mfma 400W to 1.5kW Without brake 139 Mfma 2.5kW to 4.5kWMotor output 5kW Motor model 25 * P1 500W 0kW 5kW 05 * P1 05 * S1 10 * P1 10 * S1 15 * P1 15 * S1 Mhma 500W to 1.5kW Mhma 2.0kW to 5.0kW Series Radial thrust Direction Motor At assembly During running Motor output Thrust loadPermissible Load at Output Shaft Radial load P direction Thrust load a and B direction Without oil seal MAMA012 MAMA022 With and without oil seal MQMA011 MQMA012MQMA021 MQMA022 MQMA041 MQMA042 MSMD012 Motor Characteristics S-T CharacteristicsWithout oil seal With oil seal MSMD5AZ MSMD011 MSMD042 Without oil seal With oil seal MSMD021MSMD022 MSMD041 MSMA402 MSMA102 MSMA152MSMA202 MSMA302 MFMA252 MFMA452 With oil seal MDMA302 MDMA402MDMA502 With oil seal MFMA042 MFMA152 MHMA502 MHMA052 MHMA102MHMA152 MHMA202 MHMA302 MHMA402 Combination of Driver and Motor with Gear Reducer Absolute/Incremental specifications, 17bitMotor with Gear Reducer Model No. of Motor with Gear Reduce Dimensions/Motor with Gear Reducer Motor with Gear ReducerWithout brake With brake Brake 220 Remarks on installationPermissible load at shaft Motor output Radial thrust LR/2 MSMD021 * * 1N MSMD021 * * 2N Supply Reduction RatioTo driver Output MSMD011 * * 1N MSMD011 * * 2N 100W Gate drive Block Diagram of Driver 223 Internal Block Diagram of MINAS-A4P Driver E and F-frame + + Block Diagram by Control ModePosition Control Mode When Pr02 Setup of control mode is 225 Full-closed Control Mode Specifications Driver Function Software error Setting range Number of pointsUnnecessary wiring Encoder feedback pulse Protection Hardware error Servo parameter SV.Pr Default Parameters for all the models of A4P Series Bit positioning parameter 16.Pr Bit positioning parameter 32.Pr229 230 231 Date Model No Purchase Dealer Tel After-Sale Service RepairRepair Technical information