Panasonic MDDDT3530P, MDDDT5540, MDDDT5540P Timing Chart

- App. 12 -

Timing Chart

After an Alarm is cleared (during Servo-ON)

*1. The value of t depends on the value of Pr6A.

*2. For the operation of the dynamic brake at Servo-OFF, see the explanation of Pr69 in

"Details of Parameters".

Servo-ON/OFF operation when the motor is stopped

Dynamic brake

Motor energized

Brake release

(BRK-OFF)

Motor speed

Servo-ON

(SRV-ON)

approx. 50 ms approx. 10 ms

approx. 1 to 5 ms

servo-OFF Servo-ON Servo-OFF

braking 2

t 1 Not energized

Operation (OFF)

Released

Energized

Released (ON)

approx.

30 r/min

Braking

Not energized

Operation (OFF)

approx. 1 to 5 ms

Dynamic brake

Motor energized

Brake release

(BRK-OFF)

Servo alarm

(ALM)

Alarm clear

(A-CLR)

120 ms or more

Entry of Clear signal

Operation (braking) Released

Energized

Released (ON)

Not alarm

Not energized

Operation (OFF)

Alarm

Not input Input

Position/velocity/

torque command

approx, 50 ms approx, 10 ms

100 ms or more

Contents

Main Parts Description 12 Parameter Setting System Configuration and Wiring Table of Contents Safety Precautions 4 Introduction8 18 36 Appendixes Important Information DANGER Safety Precautions DANGER CAUTION DANGER Caution Safety Precautions Caution 1~3 5~6 11~12 478910 j Extra low inertia Introduction After Opening the Package Make sure that the product is what you have ordered. Check whether the product has been damaged or not during transportation. Check the Model of Amplifier Check the Model of Motor Name plate Model Designation Page With the incremental type encoder: 2500P/r -12- Parts Description Amplifier Example: MUDS023A1A (3-phase, 200V 200W: Type 1) Example: MUDS042A1A (1-phase, 200V 400W: Type 3) Motor Example: Super Low-Inertia Motor (MUMS Series, 400W) Installation Amplifier Location Environmental Conditions How to Install Mounting Direction and Space Requirements Installation Motor Location Environmental Conditions How to Install Cable: Stress Relieving Permissible Shaft Load Installation Notes Main Circuits System Configuration and Wiring General Wiring Diagram CN SER controller) CN I/F Preparations and Adjustments List of Available Components For 3-phase 200VAC For 1-phase 100V/200V Motor In case that alarm occurs, construct the circuits so that the main power is switched off. <Note> Main Circuits Make necessary connections. For wire diameter, see List of Available Components (page 20). Securely insert connectors. Preparations and Adjustment CN SIG Connector (For Encoder) Wiring Diagrams CN SER Connector For RC232C communications List of Available Components CN I/F Connector (For Controller) System configutration and wiring Circuits Available for Typical Control Modes Scaler CN I/F Wiring for Position Control Velocity monitor output Torque monitor output CN I/F Wiring for Internal Velocity Control Scaler CN I/F Connector Input Signals (Common) and their Functions Page Input Signals (Position Control) and their Functions Output Signals (Common) and their Functions Output Signals (Others) and their Functions Others CN I/F Connector Interface Circuit (Input Circuit) PI Command pulse input circuit Connecting to sequence input signals SI Interface Circuit (Output Circuit) Sequence output circuit PO1 SO1 CN MON Connector Parameter Setting Overview Parameter Groups and Listing Parameters for Selecting Function Parameters for Adjusting Time Constants of Gain Filters, etc. Parameter Setting Parameters for Defining the Real Time Auto Gain Tuning Parameters for Adjustments (for 2nd Gain) Parameters for Position Control Parameters for Velocity and Torque Control Setting the Parameters Parameters for Sequence Setting the Parameters Overview of PANATERM How to Connect Installing PANATERM on a hard disc Procedure Setting the Parameters OK Starting PANATERM . 1) Procedure Controller CN I/F CN SIG Motor Inspections before Trial Run 1) Inspecting the wiring Releasing the brake 5) 4) Operation with CN I/F Connected Run at Position Control Mode Command pulse input mode set-up A 1) Set-up of motor speed and input pulse frequency x x Default: The motor output shaft turns one revolution with 10000 pulses. 360 10000 60 Input Signal Status Test Run at Internal Velocity Control Mode Parameters Wiring Diagram Fundamental Operations and LED Indications 1. Turn on the power. 2.Check LED status. 3. Set Parameters. 4. Input commands relevant to the desirable control mode. Purposes of Gain Adjustment <Example: ball screw> 1-9 Types of Gain Adjustment Type Description Relationship between Gain Adjustment and Mechanical Stiffness Applicability of Automatic Adjustment How to Adjust Gain Pr1D Pr14,Pr1C How to Use "Normal Auto-Gain" Tuning How to Use "Real Time Auto-Gain" Tuning How to Adjust Gain Manually Before Adjustment Guidance Values of Gains, and How to Adjust How to Adjust the Gain at Position Control Mode How to Adjust the Gains at Internal Velocity Control mode How to improve the response further Run Time (1st gain) <Notes> <Example> Gain Tuning Using Gain Adjustment Rotary Switch Relationship between Gain Adjustment Rotary Switch Value and Inertia RSW setting Position Loop Gain Velocity Loop Gain To reduce the mechanical resonance How to measure the resonance frequency of a machine system Resonance characteristics Characteristics of notch filter Pr1D Pr1E What are the Protective Functions? Protective Functions: Causes and Corrections 12 11 Page Page Code No. Page Maintenance and Inspections E Notes to Maintenance/Inspections Personnel Inspection Items and cycles Replacement Guidance The motor does not rotate. [Check Points] The motor does not rotate. Parameter values change to the former value. The rotation is not smooth. Positioning accuracy is bad. The initial (home) position varies. The motor produces an abnormal sound and/or vibration. Overshoot or undershoot The motor overheats (burnt) Appendixes Conformance to EC Directives and UL Standards EC Directives EMC Directives Applicable Standards Power Peripheral Equipment Environment M Install noise filters. Grounding Conformance to EC Directives and UL Standards Peripheral Devices Applicable to Amplifiers (EC Directives) Surge Absorber Install noise filfers Noise Filter Conform to UL Standards Holding brake 11 13 V RY Wiring (Example) Holding Brake Specifications Excitation voltage should be 24VDC 10% *1) Delay of DC cutoff in case a surge absorber is used. ( ) means actual values using a diode "V03C" made by HITACHI SEMCON DEVICE Co., Ltd. Dynamic Brake (DB) Options of the operation through deceleration and stop by turning on Servo-OFF (Pr69) Options of the operation through deceleration and stop by turning on a protective function (Pr68) Timing Chart After Power ON (receiving Servo-ON signal) * After an Alarm event (during Servo-ON) Timing Chart After an Alarm is cleared (during Servo-ON) Servo-ON/OFF operation when the motor is stopped Servo-ON/OFF operation when the motor is in operation Acceptable Loads on Output Axes Acceptable Loads on Output Axes Homing operation (Precautions) Example of homing operation Parameters for Function Selection Page Page Page Page Parameters for Time Constants of Gains and Filters: Related to Real Time Auto Tuning Page Parameters for real time gain tuning Parameters for Switching to 2nd Gains * Pr33 0 Pr34 Pr32 Parameters for Position Control Page Page Page Page Parameters for Velocity Control - App.32 - PrNo. Parameter Range Function description ta td 5A Speed ts ts ts ts Sequences Page Page - App.36 - Default: [ ] PrNo. Parameter Range Function description 6A Pr6Atb 6B 100 Page MINAS-S series Cables Encoder Relay Cables ) Motor Relay Cables (Robotop, 600V DP Motor Brake Relay Cables (Robotop, 600V DP) Connector for Monitor Connector Kits for Power Source for Amplifier Connector Kits for Motor and Encoder - App.41 - 5) Pin alignment of relay connector for encoder cable 6) Pin alignment of relay connector for motor cable 7) Pin alignment of connector for CN MOTOR - App.42 - 3) Alignment of CN I/F (26 pins) (Looking from where the plug is soldered) Connector Kits for Host Control Equipment 1) Part No. DV0P0770 2) Components Interface Cables for controller connection Page External Regenerative Discharge Resistor Reactor - App.47 - Surge Absorber for Motor Brake Peripheral Equipment Manufacturers C-5A2 or Z15D151 Ishizuka Electronics Corpration Recommended Parts - App.48 - LL LF Sh6 LBh7 MUMS Series 30W ~ 750W Motor Encoder wire dimension LH 30W -100W 230mm 200W -750W 220mm - App.49 - LC KHRH LA 4-LZ LW KWh9 Amplifier Type 1 120(4.724) DANGER INPUT OUTPUT ENCODER 160(6.299) Amplifier Type 2 25(0.984) 5.2(0.205) 15(0.591 ) DANGER Amplifier Type 3 Weight: 1.2 kg unit: mm(Inch) 2.6(0.102) DANGER INPUT OUTPUT ENCODER 11(0.433) Characteristics Specifications Gain Switching Conditions - App. 55 - The figures above do not reflect the gain switching timing delay caused by hysteresis ( Pr34) . A B E D C Specifications M - App. 56 - RE EEPROM Appendixes ++ external velocity setting Switching between internal and - App. 57 - Specifications Motor Company, Matsushita Electric Industrial Co., Ltd. After-Sale Service (Repair ) Memorandum (Fill in the blanks for convenience in case of inquiry or repair) Repair Cautions for Proper Use Electric Data