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Panasonic A4P Series instruction manual Memo

Models: A4P Series

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MEMO

Page 54

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Panasonic A4P Series instruction manual Memo

Contents

AC Servo Motor and Driver DV0P4490Content Driver Motor ConsoleExample of Rotary Axis Operation Setting Example of Incremental Operation SettingExample of Absolute Operation Setting Example of Dwell Timer Operation SettingWhen 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 SystemSupplement Page Before Using the Products Driver Motor ConsoleDo 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 ModelPulse count SpecificationsCheck of the Motor Model RoundIncremental Specifications, 2500P/r Check of the Combination of the Driver and the MotorAbsolute/Incremental Specifications, 17-bit Driver MADDT1207P Single phase, 200V, 200W A-frameParts Description B-frameMEDDT7364P 3-phase, 200V, 2.0kW E-frame F-frameMotor Low inertia type Msmd series, 50WConsole Main BodyDisplay/Touch panel How to Install How to InstallInstallation Place Environmental ConditionsOr more Mounting Direction and SpacingFan 40mm or more 100mm or moreOil/Water Protection Stress to Cables Permissible Load to Output ShaftHow to Connect Connect to CNRemarks Wiring to the Connector, CN X3 PreparationSystem 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 componentsConnection to motor driving phase and ground Noise Surge Filter Absorber For signal ContactorDriver and List of Applicable Peripheral Equipments Cable DriverFilter For signal contactorNoise CableConnect 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 pinCase 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-frameWiring of the Main Circuit E and F-frame 24V DC power supply for brake Surge absorber Fuse 5AUsing Handle Lever Case of 3-Phase, 200V E and F-frameWiring method to connector a to D-frame Using Screw DriverWiring to the Connector, CN X6 Connection to Encoder Msmd 50W to 750W MAMA100W to 750W MQMA100W to 400WMsmd 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 RemarkManufacturer Specifications of the Connector, CNFor detailed information, refer to P.42 to Part nameWiring for Connector CN 12 toInterface Circuit Input CircuitOutput Circuit Application Code List of Signal for Connector CNCommon input signals FunctionPoint No P32INP16INP8IN Emergency stop input must be installed before usingEx When SV.Pr57 = 3 6 bits is set DescriptionCommon output signals and their functions Output signal pulse train and functionOthers 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 BrakeSeries Output Torque X10-4 Time Specifications of Built-in Holding BrakeEngaging Releasing VoltageContents of deviation counter Clear Hold Sequence at main Driving condition Power-off SV.Pr67After stalling Setup value of SV.Pr67 Dynamic BrakeContents of deviation counter Hold After stallingMemo Auto-Gain Tuning Mode SettingOutline of Setup Support Software, Panaterm Outline of Panaterm 103 How to ConnectHow to Connect Parameter SetupHow to Set Outline of ParameterServo parameter This document, following symbols represent each modeComposition of Parameters Bit positioning parameterList of Servo Parameter Power -ONFunction/Content PrNo Range Parameters for Functional SelectionSetup value Signal of IM Function/Content PrNoUnit Function/Content PrNo Baud rate Setup valueCaused by distortion resonance Velocity feed Title Setup Unit Function/Content PrNoSetup value Instantaneous speed observer setup Set the second loop gain for position controlUnit Function/Content PrNo Range Parameters for Auto-Gain TuningServo Title Setup Unit Function/Content PrNo Range Inertia ratioSetup value Content Title Setup Unit Function/Content PrNo RangeVarying degree Auto-gain tuning Load inertia in motion Rotational directionGain selection/switching Parameters for Adjustment 2nd Gain Switching FunctionFilter mode Setup value Gain switching conditionServo Title Setup Function/Content PrNo Parameters for Position ControlServo Title Pulse output resolution=SV.Pr46 Phase logic Output source Numerator SV.Pr44 Output pulse ratio 10000Smoothing filter You can set the time constant Parameters for Input SignalsTitle Setup Function/Content PrNo Range Time constantInput logic setting Point specifyingParameters for Velocity and Torque Limit Parameters for SequenceAction 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 tillParameters 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 DecelerationTitle Setup Unit Function/Content Parameters for HomingParameters 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 displaySV.Pr5E,5F Setup of Torque LimitModel No Applicable motor Max. valueWhen the motor torque is limited When you want to obtain the max. motor torqueInitial Status of the Console Display 7 Segment LED How to Use the ConsoleSetup with the Console Composition of Display/Touch panelMode Change Selection display Monitor ModeMode switch button Execution displayDisplay of Control Mode Display of I/O Signal StatusPosition control mode Full-closed control mode Signal No. and its title Point Number Conversion TableOver-load alarm Reference of Error Factor and HistoryAlarm Display Over-regeneration alarmDisplay of Regenerative Load Factor Display of Feedback Pulse Sum, Command Pulse SumSwitching of the Driver to be Communicated Display of Over-load FactorTeaching Mode Setup Teaching ModeOverview of Teaching Mode Operation at Selection displayTarget position setting Step parameter settingTest Mode Step operation Jog operation HomingParameter setup mode Structure of 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 Write Mode Eeprom Writing Operation at Selection displayAuto-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 clearAlarm Clear Screen Then press to make a display toClearing of Absolute Encoder Copying Function Console Only 101102 Connecting cable DV0P1960 Install the Panaterm to Hard DiscProcedure of install 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 step parameter Example of Absolute Operation SettingSetting of 16-bit positioning parameter Wrap aroundControl mode Example of Rotary Axis Operation SettingSetting of 32-bit positioning parameter 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 Operation Homing Mode ListHoming is completed when the power supply turns on Homing Operation115 Positive direction Home sensor Home Sensor + Z Phase based on the front endParameters related to this operation 116Home 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 120Direction of homing Positive direction Limit SensorExample An operation in a positive direction 121Stopper etc Phase HomingBumping Homing 122Direction of homing Home position = current position Data SetExample 123Example of homing offset Homing offset is set to +5000 Timing chartHoming Offset Operation 124And-stop Emergency Stop Operation/Deceleration-and-Stop OperationPositioning completion output An operation stop in the deceleration timeTemporary Stop Operation Restart of operation Same procedure as a step operationTemporary Stop Operation 126Block Operation Continuous block operation procedure example16.Pr54 Description Block operation type setting Overview of Block OperationST.Pr Operation mode Combined Block OperationCombined block operation procedure example Example of Operation Sequential OperationSequential Operation Homing operation at sequential operationExample 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 22/25Servo-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 outputAbsolute System Configuration of Absolute SystemBattery for Backup Installation Overview of Absolute SystemCycles/day Close the cover of the battery boxReference Cycle/dayInstallation Place Setup Initialization of Absolute EncoderWhen you make your own cable for 17-bit absolute encoder Normal homingClearing 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 140Instantaneous Speed Observer 160 Damping Control 161 AdjustmentAdaptive Filter 147 141Purpose Gain AdjustmentProcedures Ball screwType ExplanationOutline Real-Time Auto-Gain Tuning ModeHow to Operate Applicable RangeSetup 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 constantAdaptive Filter Invalidation of Adaptive FilterThis 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 inertiaTitle Stiffness value Auto-Gain Tuning ActionTable of auto-gain tuning 90108135162 206251305377449Changes toward the reversed direction How to Operate from the ConsoleAn arrow shows by pressing By pressingInvalidation of Real-Time Auto-Gain Tuning SV.Pr2F 1st notch frequency HzAnalog monitor output Manual Gain Tuning BasicBefore Making a Manual Adjustment Waveform graphic function of the PanatermTitle of parameter Adjustment in Position Control ModeTitle of parameter Value How to adjust SV.Pr SV.PrSetup of hybrid deviation excess Adjustment in Full-Closed Control ModeSetup of external scale ratio 154Ing the gain in motion Gain Switching FunctionYou want to increase the response by increas ExampleSetup of Gain Switching Condition 156Fig.A Fig. C1st and 2nd notch filter SV.Pr1D, 2E, 28, 29 and 2A Suppression of Machine ResonanceAdaptive filter SV.Pr23, SV.Pr2F Adaptive filterHow 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.Pr27Damping Control Setup of damping filter 1st SV.Pr2C, 2nd SV.Pr2ESetup of damping filter switching selection SV.Pr24162 When in Trouble 163Host controller Protective Function What is Error Code ?What to Check ? Machine MotorProtective Function Detail of Error Code Over-load Protective Error Causes Measures FunctionOver-heat 166Communi Cation errorData error CationOver error Error Causes Measures FunctionDown error Status errorScale auto Recognition Error pro Tection Motor auto Limit errorID setting Recognition Error Protection Other errorThis function works under the following conditions Time characteristics of Err16 Overload protectionSoftware Limit Function 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 Motor Does Not Run Motor Stops During an Operation TroubleshootingWiring Causes CountermeasuresHome Position Slips InstallationPoint Deviates Positioning Accuracy is Poor Abnormal Motor Noise or VibrationParameter Returns to Previous Setup Causes Countermeasures Wiring174 Permissible Load at Output Shaft/Motor with Gear Reducer SupplementConformity to EC Directives and UL Standards 175Conformity to EC Directives and UL Standards Composition of Peripheral EquipmentsNoise Filter Power SupplyCircuit Breaker Option part NoSurge Absorber Grounding Noise Filter for Signal LinesGround-Fault Breaker Conformity to UL StandardsPin disposition for motor/brake connector with brake Specifications of for Motor ConnectorPin disposition for encoder connector Pin disposition for motor/brake connector without brakeTable for junction cable by model of Minas A4P series Motor type Type of junction cableJunction Cable for Encoder Title ManufacturerJunction 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 DPInterface Cable Connector Kit for External Peripheral EquipmentsSetup Support Software Panaterm Communication Cable for connection to PCConnector Kit for Motor/Encoder Connection For DVOP2490, DV0P3480 Recommended manual crimp tool500W to 1.5kW Mhma 2.0kW to 5.0kWMgma 2.0kW to 4.5kW Part No. DV0P4420 Mounting DimensionsMounting Bracket Upper side Bottom sideMotor 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 brakeDimensions Driver Mass 0.8kg192 Mass 1.5kg Mass 1.7kg193 Mass 3.2kg 194Dimensions Motor Mama 100W to 750WMotor 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 126.5Msma 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 207 Mgma 900W to 2.0kW2500P/r Incremental 17-bit Absolute/Incremental 13.5Mgma 3.0kW to 4.5kW Mfma 400W to 1.5kW 04 * P1 04 * S1 15 * P1 15 * S1 2500P/r Incremental25 * P1 Mfma 2.5kW to 4.5kWMotor output 5kW Motor model Without brake 139Mhma 500W to 1.5kW 500W 0kW 5kW 05 * P1 05 * S1 10 * P1 10 * S1 15 * P1 15 * S1Mhma 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 DirectionMQMA041 MQMA042 With and without oil seal MQMA011 MQMA012MQMA021 MQMA022 Without oil seal MAMA012 MAMA022MSMD011 Motor Characteristics S-T CharacteristicsWithout oil seal With oil seal MSMD5AZ MSMD012MSMD041 Without oil seal With oil seal MSMD021MSMD022 MSMD042MSMA302 MSMA102 MSMA152MSMA202 MSMA402With oil seal MFMA042 MFMA152 With oil seal MDMA302 MDMA402MDMA502 MFMA252 MFMA452MHMA302 MHMA402 MHMA052 MHMA102MHMA152 MHMA202 MHMA502Model No. of Motor with Gear Reduce Absolute/Incremental specifications, 17bitMotor with Gear Reducer Combination of Driver and Motor with Gear ReducerDimensions/Motor with Gear Reducer Motor with Gear ReducerWithout brake With brake Brake LR/2 Remarks on installationPermissible load at shaft Motor output Radial thrust 220100W Supply Reduction RatioTo driver Output MSMD011 * * 1N MSMD011 * * 2N MSMD021 * * 1N MSMD021 * * 2NBlock Diagram of Driver Gate driveInternal Block Diagram of MINAS-A4P Driver E and F-frame 223When Pr02 Setup of control mode is Block Diagram by Control ModePosition Control Mode + +Full-closed Control Mode 225Specifications Driver Encoder feedback pulse Protection Hardware error Setting range Number of pointsUnnecessary wiring Function Software errorDefault Parameters for all the models of A4P Series Servo parameter SV.PrBit positioning parameter 16.Pr Bit positioning parameter 32.Pr229 230 231 Technical information After-Sale Service RepairRepair Date Model No Purchase Dealer Tel