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Panasonic MINAS S Series Operating Manual
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Panasonic MINAS S Series Operating Manual

Panasonic MINAS S Series Operating Manual

Ac servo motor driver
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  • Page 2 AC Servo Motor Driver MINAS S-series Operating Manual Be sure give this instruction manual to the user. • Thank you very much for your buying Panasonic AC Servo Motor Driver,A-series.

  • Page 3: Table Of Contents

    Table of Contents Before Use • Before use, read through this manual to ensure proper use. Keep this manual at an easilyaccessible place so as to be referred anytime as necessary. For Controller•••••••••••••••••••••••••••• 25 Safety Precautions •••••4 CN MON Connector ••••••••••••••••••• 35 Introduction •••••••••••••8 Parameter After Opening the Package••••••••••••••••...
  • Page 4 Important Information To reduce the mechanincal resonance Adjustments•••••••••••••••50 ••••••••••••••••••••••••••• 59 Purposes of Gain Adjustments ••••••••••••••• Protective Functions •••••••••••••••••••••• Back cover Appendixes - 2 - Types of Gain Adjustments •••••••••••••• 50 ••••••••••• 60 How to Adjust Gain•••••••••••••••••••••••• 52 Maintenance and How to Use Inspections •••••••••••...
  • Page 5 - 3 -...

  • Page 6: Safety Precautions

    Safety Precautions (Important) Observe the following precautions in order to avoid injuries of operators and other persons, and mechanical damages. The following DANGER and CAUTION symbols are used according to the level of dangers possibly occurring if you fail to observe the instructions or precautions indicated.
  • Page 7 Install the amplifier securely to pre- Be sure to check safety vent fire hazard and personal injury after occurrence of earthresulting from earthquake. quake. Failure to observe this Failure to observe this instruction could result in electric instruction could result in electric shocks, injuries and/or fire.
  • Page 8 DANGER Don't subject the product to Don't touch the rotating part of the motor in motion. water splash, corrosive gases, flammable gases and combustible things. Failure to observe this in- struction could result in Rotating part fire. Failure to observe this instruction could result in injuries.
  • Page 9 Safety Precautions (Important) Caution Failure to observe this Use the motor and amplifier instruction could result specified in injuries. combination. Execute the trial operations with the motor fixed but without motor load connected. Connecting a Failure to observe this load to the motor is possible instruction could result only after successful trial in fire.
  • Page 10 Failure to observe this Don't modify, dismantle or instruction could result repair the amplifier. in fire, electric shocks and/or injuries.
  • Page 11 Caution Don't hold the cables or After recovery from the motor shaft when power failure, the transporting the motor. equipment may restart suddenly. Don't approach the equipment Failure to observe this instruction could result in Failure to observe this injuries. instruction could result in injuries.

  • Page 12: Introduction

    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. If the product is not correct, or it has been damaged, contact dealer or sales agent. -11-...

  • Page 13: Check The Model Number Of Amplifier

    Check the Model of Amplifier -12-...
  • Page 14 Check the Model of Motor Name plate Type CONT. 0.64 N AC SERVO MOTOR RATIN TORQUE Rated output Serial No Model No.MUMS042A1A INS. B (TÜV) INPUT3ØA CLASS (UL) CONNECTI Revolution rating RATED 00010001 RATED OUTPUT RATED 3000 r/min FREQ. REV. MatsushitaElectric Industrial Co..Ltd.
  • Page 15 provided with key way are standard. Introduction Check the Combination of Amplifier and Motor The amplifier has been designed for use in combination with the specified motors only. Check the specifications (Series symbol, output rating, voltage rating and encoder type) of the motor you want to use.
  • Page 16 With the incremental type encoder: 2500P/r -15-...
  • Page 17 Power Motor supply for Amplif amplifier Series Motor type Volta Outp Revolut Encode Amplifier symbo r type type ratin rating 1-phase, MUDS3A1 Type1 MU MUMS3AZ 100V MUDS5A1 MUMS5AZ inerti MUDS011 MUMS011A 100V MUDS021 Type2 MUMS021A MUDS041 Type3 MUMS041A 1-phase, MUDS022 Type2 200V 200 MUMS022A...
  • Page 18 3-phase, MUDS023 MUMS022A 200V MUDS043 Type2 MUMS042A MUDS083 Type3 MUMS082A **** -17-...
  • Page 19 Parts Description Amplifier Example: MUDS023A1A Example: MUDS042A1A -18-...
  • Page 20 (3-phase, 200V 200W: Type 1) (1-phase, 200V 400W: Type 3) -19-...

  • Page 21: Motor

    Status LED Alarm code LED Rotary switch Main power for gain (GAIN) input connector tuning (L1, L2, L3,P, B) Motor connection (U, V, W, E) Earth connectionsCheck pins (CN MON) <Notes> For detailed information for each of motor types, see the drawings in the Appendix (App.50 to 52).
  • Page 22 Encoder cable Motor cable Encoder Brake cable ( Motor with electromag - Frame netic brake only ) Mounting bolt holes (4) Flange <Notes> For detailed information for each of motor types, see the drawings in the Appendix (App.48 & 49). Installation The amplifier and motor should be properly installed to avoid failures, mechanical damages and injuries.
  • Page 23 Storage humidity Not greater than 90%RH (free from condensation) Vibration Not greater than 5.9m/s (0.6G) at 10 to 60 Hz Altitude Not greater than 1000 m How to Install •This is a rack-mount type. Place the amplifier vertically. Allow enough space surrounding for ventilation.

  • Page 24: Motor

    Installation Motor Location • Indoors, where the amplifier is not subjected to rain water and direct sun beams. • Avoid the place where the amplifier is subjected to corrosive gases, flammable gases,grinding liquids, oil mists, iron powders and cutting particles. •...
  • Page 25 With gear High precision and normal type: 24 m/s2 (2G) or less (At rotation) Standard type: 49 m/s2 (5G) or less Shock Motor only 98 m/s2 (10G) or less With gear High precision and normal type: 98 m/s2 (10G) or less Standard type: 24 m/s2 (2G) or less How to Install...

  • Page 26: Wiring

    • Flexible coupling is recommended in order to keep the radial load smaller than the permis- sible value, which is designed exclusively for servo motors with high mechanical stiffness. • For the permissible shaft load, see "Allowable Shaft Loads Listing" in Appendix. Installation Notes •...
  • Page 27 Reactor (L) main power. Non-Fuse Breaker (NFB) Used to protect the power lines: overcurrent will shut off the circuit. Prevents the external noise from the power line, and reduces the effect of the noises gen- erated by the servo motor. Magnetic Contactor (MC) Turns on/off the main power of the servo Used together with a surge absorber.
  • Page 28 <Notes> Regenerative Where residual-current-operated discharge resistor protective device (RCD) is used for protection in case of direct or indirect contact. Only RCD of Type B is allowed on supply side of this Electronic Equipment (EE). -27-...
  • Page 29 -28-...
  • Page 30 List of Available Components Main circuit Amplifier wire diameter Required (L1, L2, Circuit Power Magnetic Series Voltage Output breaker contactor (at the Noise U, V, W, rated load) (rated current) filter (contacts) MUDS 1- 30 ~ Approx. K 2 5 1 D V O P 1 4 4 BMFT61041N 0.75mm...
  • Page 31 System Configuration and Wiring • The model numbers of circuit breaker and magnetic contactors shown in the above list are manufactured by Matsushita Electric Works, Ltd. • Use the circuit breaker as shown in App.3 to meet relevant EC Directives. •...
  • Page 32 <Note> • In case that alarm occurs, construct the circuits so that the main power is switched off. Main Circuits Always ask to an electric engineer for wiring. Don't turn on the main power until the wiring and connectings are completed, to avoid electric shocks.
  • Page 33 System Configuration and Wiring See the nameplate of the amplifier to check the power specification. Install a non-fuse breaker or leakage breaker. The latter should be a special one intended for inverters, i.e. with a countermeasure against higher harmonics. Install a noise filter without fail. Powe r suppl Install a surge absorber to the magnetic contactor...

  • Page 34: For Encoder

    CN SIG Connector (For Encoder) The cable length between the amplifier and motor should be max. 20 m. If you use a longer cable, contact the dealer or sales agent. Separate these wiring min. 30 cm from the main circuit wires. Don't lay these wires in the same duct of the mains or bundle with them.
  • Page 35 System Configuration and Wiring Convenient functions of high operability can be obtained such as monitor and parameter setting and setting change and waveform graphic display. Connection screw - 34 -...

  • Page 36: For Controller

    List of Available Components CN I/F Connector (For Controller) Place the peripheral devices such as the controller max. 3 m away from the amplifier. Separate these wiring min. 30 cm from the main circuit wires. Don't lay these wires in the same duct of the mains or bundle with them.
  • Page 37 Connector cover 1 0 3 2 6 - 5 2 A 0 - 0 • The CN I/F pins assignment is shown in "Optional Parts" in Appendix. - 36 -...
  • Page 38 - 37 - System configutration and wiring...
  • Page 39 - 38 -...
  • Page 40 - 39 -...
  • Page 41 System configuration and wiring CN I/F Connector Input Signals (Common) and their Functions Signal Pin No. Symbol Function • Connect to (+) of an external Control signal COMÅ{ power (+) power supply(12VDC to 24VDC). • Use power supply of ± ±...
  • Page 42 Position error C L / The function differs depending on counter INTSPD2 the control mode. page clear/Internal command • Clears the position error counter. Position COM- velocity control Connect to to clear the counter. selection 2 • Use Pr4D to select the clear mode (0 Default: level 1: Edge) •...
  • Page 43 System configuration and wiring ZEROSPD is disabled. 1 [ Default] ZEROSPD is enabled Command D I V / The function differs depending on the control INTSPD1 mode. pulse page • This i scaler Posit s the input to switch command pulse scaler. contr •...
  • Page 44 Signal Symbol Function circuit • If COM- is opened when the movable part of the overtravel machine has moved to CW exceeding the limit, page the motor does not generate torque. inhibit • If the COM- is opened when the movable part of CCWL overtravel themachine has moved CCW exceeding the...
  • Page 45 System configuration and wiring • The function differs depending on the I n - p o s i t i COIN o n / control mode. At-speed Posi tion n-position output cont tput(transistor) turns ON when th • position error is below the eset value b •...
  • Page 46 Overl Outp oad warning output effect level) ut(transistor) turns ON when the overload (the ive torque is more than 85% of the overload trip warning is activated. Does not function, although displayed. Signal Symbol Function circuit • Provides differential outputs of the A-phase OA + output...
  • Page 47 System configuration and wiring Signal Symbol Function circuit • Outputs the motor speed, or voltage in proportion Speed monitor signal to the commanded speed with polarity. page output + : CCW rotation – : CW rotation • Use Pr07 (Velocity Monitor Selection) to switch between actual and commanded speed, and to define the relation between speed and output voltage.
  • Page 48 • Signal ground for monitor signal Signal ground ----- • Internally isolated from the control power (COM- Others Signal Symbol Function circuit • Internally connected to the earth terminal. Frame ------ ground Output Signals (Others) and their Functions - 47 -...
  • Page 49 System configuration and wiring CN I/F Connector - 48 -...
  • Page 50 - 49 -...

  • Page 51: Cn Mon Connector

    System configuration and wiring Open Collector Output Maximum r • Outputs Z-phase signals among those 30 V, from the encoder. The outputs are non- insulated. • Receive these signal with high-speed photo coupler at controller side, since these Z-phase signal width is normally narrow.

  • Page 52: Parameter Setting

    Parameter Setting Overview The servo amplifier has various parameters that are used for adjusting or setting the features or functions of the amplifier. This section describes the purpose and functions of these parameters. Understanding these parameters is essential for obtaining the best, application- specific operation of the amplifier.

  • Page 53: Description

    <Notes> Parameters marked with * are enabled, when set data are written to EEPROM, main power is once turned OFF and then turned ON again. Parameters for Selecting Function Parameter description Range Default Unit Parameter Pr** Axis address Åñ0 0 0 ~ 15 ------ (Internal use)
  • Page 54 Åñ1 (Internal use) ------ ------ Åñ1 2nd position loop gain 0 ~ 2000 1 0 0 Åñ1 2nd velocity loop gain 1 ~ 3500 1 0 0 Åñ1 2nd velocity loop integration time constant 1 ~ 1000 2nd speed detection filter Åñ1 0 ~ 5 ------...
  • Page 55 3 7 ~ 3 9 (Not available) ----- ----- 3 E ~ 3 F (Internal use) ----- ----- Parameters for Position Control Parameter Parameter description Range Default Unit (Pr**) Command pulse multiplier set-up 1 ~ 4 ----- Command pulse logic inversion 0 ~ 3 ----- Command pulse input mode set-up...
  • Page 56 Åñ5 2nd internal speed - 10000 ~ r/min 10000 Åñ5 3rd internal speed - 10000 ~ r/min 10000 Åñ5 4th internal speed - 10000 ~ r/min 0000 (Internal use) Åñ5 ----- 3 0 0 ----- Åñ5 Acceleration time set-up 0 ~ 5000 2ms/kr/min Åñ5 Deceleration time set-up...

  • Page 57: Amplifier

    Åñ6 Mech. break action set-up at 0 ~ 100 motor in motion External regenerative discharge 0 ~ 2 ------ resistor selection 6 D ~ (Internal use) ------ ------ For values marked with *, see <Note> in page 36. Set-up range of excessive positional deviation of Pr63 is "Set-up value x 256 pulses". Set-up is made before shipment so that the excessive positional deviation error takes place at value in excess of 1875 x 256 pulses.
  • Page 58 Setting the Parameters for amplifier, storing them, and writing in the memory (EEPROM) Monitoring input/output status, monitoring pulse input, monitoring load ratio. Checking current error status and error history Measurement of wave form graphic data, and storage and reading of the data Automatic tuning Measurement of frequency characteristics How to Connect...
  • Page 59 Double click on the setup program (Setup. exe) in the floppy disk. (PANATERM“ setup program will start.) 5) Click on to start the setup program. 6) Keep the operation according to the guide of the setup program. (When indication to replace the setup disk appears, follow this instruction.) 7) Click on to start the setup routine.
  • Page 60 Inspections before Trial Run 1) Inspecting the wiring • Make sure that all wire connections (especially main power and motor output ) are correct. • Make sure that there is no short, and earth wires are properly connected. • Make sure that there is no poor connections. Operation with CN I/F Connected 1) Connect CN I/F.

  • Page 61: Trial Run

    Trial Run 3) Turn the main power (amplifier) ON. 4) Check the defaults of the parameters. Control mode setting (Pr2 value: 0). 5) Connect between SRV-ON (CN I/F pin 2) and COM- (CN I/F pin 13) to make Servo-On active. Themotor will be kept excited.
  • Page 62 10000 2 5 0 k 3 0 0 0 10000 5 0 0 0 1 0 0 k 3 0 0 0 10000 2 0 0 0 5 0 0 k 1 5 0 0 5000 1 0 0 0 0 * You can set any value by setting any value for the numerator and denominator.
  • Page 63 Trial Run Test Run at Internal Velocity Control Mode Select the internal velocity control mode (Pr02: 1) for the control mode. Run with zero speed clamp input (ZEROSPD) (5 pin) switch close, and rotate the motor with thecombination of the internal command speed selection INTSPD 1 (6 pin) and INTSPD 2 (4 pin). Check the motor speed on the PANATERM“...
  • Page 64 Internal speed DIV/INTSPD1 CL/INTSPD2 (6 pin) (4 pin) 1st speed (Pr53) OPEN OPEN 2nd speed (Pr54) CLOSE OPEN 3rd speed (Pr55) OPEN CLOSE 4th speed (Pr56) CLOSE CLOSE Input Signal Status Input signal Monitor display Servo-ON Speed zero ---- Stop with clamp - 63 -...
  • Page 65 Trial Run Fundamental Operations and LED Indications - 64 -...
  • Page 66 2.Check LED status. Make sure that the alarm code LED is not flashing. LED color Meaning Main power is on. Amplifier power is on. Green Flashing when warning occurs. (Overload, Orange excessive regenerative energy) Alarm Set the rotary switch to This indicator will start flashing when an alarm occurs.

  • Page 67: Adjustments

    Adjustments Purposes of Gain Adjustment In case of the servo motor, the motor is required to act per any command without any time delay, or without missing any commands. To ensure this, gain adjustment is necessary. <Example: ball screw> Feed forward set-up Gain set-up: low Gain set-up: high +200...
  • Page 68 Velocity loop integration time constant : 50 Velocity feed forward : 50 - 67 -...
  • Page 69 Adjustments Applicability of Automatic Adjustment Item Conditions • Must be at least three times as large as the motor inertia, but not greater than 20 Load inertia times. • Must not fluctuate much • The machine (motor load) and its coupling must have a higher mechanical stiffness. Load •...
  • Page 70 • The inherent frequency (resonance) of the machine significantly affects the gain adjustment of the servo motor. If the machine has a lower resonance frequency (i.e. lower stiffness), you can't set the high response of the servo system. - 69 -...

  • Page 71: How To Adjust Gain

    Adjustments How to Adjust Gain Start · Adjust setting to value suitable for machine Turn gain adjustment rotary switch GAIN CW. · For table of rotary set values and machine configuration. see page configuration, Actioon OK? Abnormal sound or vibration occurs. Return gain adjustment rotary switch GAIN to original position.
  • Page 72 • If the machine enters to oscillation (abnormal sound and vibration), shut off the power immediately,or change to Servo-OFF. How to Use "Normal Auto-Gain" Tuning Automatic tuning is available when the gain adjustment rotary switch GAIN is set to "0" position only.

  • Page 73: How To Use "Real Time Auto-Gain" Tuning

    Adjustments • Avoid operation near the limit switch or Error message Either one of Alarm, Servo-Off or Position Error Counter Clear activated. homeposition sensor. displayed • Turn to Servo-ON. • Cancel the Position Error Counter Clear. • Values gain The load inertia cannot be calculated. Execute again with Pr10 and Pr11 affecting reduced to 10 and 50 respectively.

  • Page 74: How To Adjust Gain Manually

    • With a larger value, the response to the change in load inertia (acceleration) is quicker. Start the motor. 6) If the fluctuation in load inertia is small, stop the motor (machine), and set Pr21 to 0 to fix the gain(in order to raise the safety).
  • Page 75 Adjustments Guidance Values of Gains, and How to Adjust See the table below for the guidance values of gains, if the inertia ratio has been set correctly. Velocity loop Position loop gain Velocity loop gain integration time P r 1 1 P r 1 0 Machine constant...
  • Page 76 Pr14 1st torque filter time change the value. Adjust the value so that "Pr11 set-up constant value x Pr14 set-up value" may be smaller than 10000. If vibration takes place, make Pr14 larger and Pr11 smaller. If you want to improve the response further, adjust Pr15 (Velocity Feed Forward) within the extent that the motor (machine) does not generate abnormal sound or vibration.
  • Page 77 Adjustments Commanded Action speed Stop Stop Time Status servo-lock ) (servo-lock) Suppress Lower gain Higher gain Lower gain the vibration by Gain (1st gain) nd gain (1st gain) lowering the gain Parameter Parameter description Guidance value Concept of adjustment Pr10 1st position loop gain Value same as the 2nd position loop...

  • Page 78: Gain Tuning Using Gain Adjustment Rotary Switch

    Gain Tuning Using Gain Adjustment Rotary Switch Set the rotary switch depending on machine configuration. Then while For increasing gain checking movement of machine, in- crease the rotary switch value one by one. larger, gain will Note For lowering gain <Notes>...
  • Page 79 Adjustments If the machine is not stiff, vibration and noise may be generated due to the resonance by shaft torsion, and you mey not be able to set-up the higher gains. You can suppress the resonance by 2 types of the filters. 1 .Torque command filter (Pr14 and Pr1C Set the filter's time constant so that the frequency components around the...
  • Page 80 What are the Protective Functions? The amplifier has various protective functions. When one of the protections is activated, the motor trips according to the timing chart shown in "Error Handling" in Appendix, and the Servo Alarm Output (ALM) is turned off. Actions to be taken after trip events •...
  • Page 81 Protective Functions Undervoltage The P-N voltage of the main power Measure the terminal-to-terminal voltage converter is lower than the specified (between L1, L2 and L3). voltage during Servo-ON. 1) Increase capacity 1) The main power line voltage is too mainpower or replace it with a larger low.An instantaneous outage occurred.
  • Page 82 *Overcurrent The current flowing in the converter is larger 1) Disconnect motor wires, error than the specified value. enterServo-ON. If this trouble happens 1) The amplifier failed (due to immediately, replace the amplifier with a defectivecircuits or IGBT parts). new one (that is working correctly). 2) Check if the U.
  • Page 83 Protective Functions Overload Overload protection is activated via the Check on waveform graphic screen of “ error specified time limiting operation when the PANATERM whether the torque (current integration of a torque command exceeds wave) is surging or not. Check the overload the specified overload level.
  • Page 84 abnormal heat generation, resulting in ng of the motor. burni - 83 -...
  • Page 85 Protective Functions Alarm Protection Cause Countermeasures Code No. * Encoder A/ B- No encoder A- and B-phase pulse is Correct the encoder wiring per the detected. The encoder failed. wiring diagram. Correct the connection phase of the pins. error * Encoder Due to no communication between the encoder and amplifier, the detective communication...
  • Page 86 Error counter The value of the position error counter is Check that the motor operates per the over flow over 2 (134217728). position command pulse. See the torque monitor to check that the output torque does not get saturated. Readjust the gains.
  • Page 87 Maintenance and Inspections EÅ Routine maintenance and inspections are essential for proper and satisfactory operation of the amplifier and motor. Notes to Maintenance/Inspections Personnel 1)Power-on/off operations should be done by the operators themselves. 2)For a while after power off, the internal circuits is kept charged at higher voltage. Inspections should be done a while (about 10 minutes), after the power is turned off and the LED lamp on the panel is extinguished.
  • Page 88 If the actual operating conditions differ from things mentioned above, the inspection cycles may change accordingly. Replacement Guidance Parts replacement cycles depend on the actual operating conditions and how the equipment has been used. Defective parts should be replaced or repaired immediately. Dismantling for inspections or repairs should be done by our company (or our sales agents).
  • Page 89 - 88 -...
  • Page 90 The motor does not rotate. Category Causes Countermeasures Parameters The control mode selected is not Check the value of Pr02 (control mode set-up). correct. 0: position control, 1: internal velocity control, The torque limit has been set to 0. Check the value of Pr5E (torque limit set-up). Change the value to 300 (default).
  • Page 91 Troubleshooting The rotation is not smooth. Category Causes Countermeasures Adjustment The gains are not appropriate. Increase the value of Pr11 (1st velocity loop gain). Set a torque filter (Pr14) and then further increase the value of Pr11. Position commands are not stable. Check the behavior of the motor on the waveform “...
  • Page 92 “ Reading in-position signals Use the waveform graphic screen of PANATERM occurs at the edge. monitor the position error when the in-position signals are received. Read the in-position signals at a mid point on the time span, not at the edge. form width If the command pulses are deformed or narrowed, adjust...
  • Page 93 Troubleshooting Noise on encoder wires Take measures to reduce the noise (noise filters, ferrite cores, etc.). Properly connect the shield wires of I/F cables. Use twist-paired wires. Separate the signal and power wires. Z-phase signal is not output. Monitor the Z-phase signal using an oscilloscope. Check that the ground terminal 14 of CN I/F CZ (Z phase signal open collector output) is connected to the ground terminal of the controller.
  • Page 94 Installation Resonance between the machine Adjust the value of Pr14 (Torque filter time constant). and motor occurs. Check the mechanical resonance using the frequency “ characteristics analysis program in PANATERM . If a resonance occurs, set Pr1D(notch frequency). Motor bearing Operate the motor without load in order to check the sound and vibration near the bearing.
  • Page 95 Troubleshooting Overshoot or undershoot The motor overheats (burnt) Category Causes Countermeasures Adjustment Gains are not correct. Check the gains using the wave form graphics “ monitoring function of PANATERM , speed monitor (SP) and/or torque monitor (IM). Adjust the gains. See "Adjustments"...
  • Page 96 The scale is not appropriate. Correct the values of Pr46 (numerator of 1st command pulse ratio), Pr4A (Multiplier of numerator of command pulse radio) and Pr4B (denominator of pulse command ratio). See "Details of Parameters" chapter. Appendixes Conform to EC Directives and UL Standards App.
  • Page 97 Troubleshooting • Gain switching conditions for each control mode App. 54 • Block diagrams App. 56 • Specifications of amplifier App. 58 - App.1 - - 96 -...

  • Page 99: Conformance To Ec Directives And Ul Standards

    EC Directives Conformance to EC Directives and UL Standards The EC Directives apply to all such electronic products as those having specific functions and directly sold to general consumers in EU countries. These products are required to meet the EU unified standards and to be furnished with CE Marking.
  • Page 100 IEC61000-4-6 High Frequency Conduction - Immunity Test IEC61000-4-11 Instantaneous Outage - Immunity Test EC: International Electrotechnical Commission EN: Europaischen Normen EMC: Electromagnetic Compatibility Peripheral Equipment Environment The servo amplifier should be used under Contamination Level 2 or 1 specified by IEC606641 (housing the amplifier in an IP54 control box).
  • Page 101 If several amplifiers are used, and a single noise filter is installed at the power supply, consult the manufacturer of the noise filter. Conformance to EC Directives and UL Standards Install a surge absorber at the primary side of the noise filter. <Notes>...
  • Page 102 41 1 - App. 5 -...
  • Page 103 (2) Multiple connections single protective earth terminal should be avoided. There are two protective earth terminals. Surge Absorber Peripheral Devices Applicable to Amplifiers (EC Directives) Surge Absorber Optional Part Manufacturer's Manufacturer Product No. R•A•V-781BXZ-4 DVOP1450 Okaya Electric Industries Co., Ltd. Circuit diagram ø4.2 UL-1015 AWG16...
  • Page 104 Install noise filfers 39 1 34 1 Noise Filter Weight: 62.8 g Optional Part Manufacturer's Manufacturer Product No. DVOP1441 3SUP-A10H-ER-4 Okaya Electric Industries Co., DVOP1442 3SUP-A30H-ER-4 Ltd. The noise filters conform to UL508C (File No. E164620) to satisfy the following conditions. 1) The servo amplifier should be used under Contamination Level 2 or 1 specified by IEC606641 (housing the amplifier in an IP54 control box).

  • Page 105: Holding Brake

    Holding brake The brake is to hold the work (movable part coupled to a vertical motor axis) to prevent it from falling by gravity in case the servo power is lost. <Caution> The holding brake is to hold the work, not stop its motion. Never use the brake for decelerating and stopping the machine.

  • Page 106: Dynamic Brake

    BRK-OFF Signal • See Timing Chart describing the timing of issuing BRK-OFF signal, e.g. torelease the brake after power-on, and activate the brake in case a servo-off/ alarm occurs during the operation of the motor. • The timing (delay) of deactivating BRK-OFF signal (i.e. activating the brake) after the motoris freed into a non-excited status in case of Servo-OFF or alarm event can be adjusted by using Pr6B (brake output delay time set-up at motor in motion).
  • Page 107 <Notes> 1. The dynamic brake should be used for emergency stop only. Do not start or stop the motor by switching servo-on signal on or off. Otherwise, dynamic brake circuit may be broken. 2. The dynamic brake should be on for just a short time for emergency. If the dynamic brake is activated duringa high-speed operation, leave the motor stopped for at least three minutes.
  • Page 108 Options of the operation through deceleration and stop by turning on Servo- OFF (Pr69) Operating conditions Sequenc Positio e at Servo-OFF (Pr69) n error During After stop deceleration counter Pr69 Clear Free Free Free Free Hold Free Free Free Free Options of the operation through deceleration and stop by turning on a protective function (Pr68) Operating conditions...
  • Page 109 Operating conditions DB inhibition at overtravel limit (Pr66) During After stop deceleration Pr66 Free Free Free Timing Chart After Power ON (receiving Servo-ON signal) Internal control power approx. 700 ms Main power control Dynamic brake Activated (braking) Released Motor energized Not energized Energized approx.
  • Page 110 After an Alarm event (during Servo-ON) Alarm Error (alarmed) Normal Dynamic brake Operation (braking) 2 approx.1 to 5 ms Not energized Motor energized Energized Servo alarm Alarm Not alarm Set by Pr6B Brake release Operation (OFF) Released (ON) ( BRK-OFF approx.

  • Page 111: App

    Timing Chart After an Alarm is cleared (during Servo-ON) 120 ms or more Alarm clear Entry of Clear signal ( A-CLR ) Dynamic brake Operation (braking) Released Not energized approx, 50 Motor energized Energized approx, 10 Brake release Operation (OFF) Released (ON) ( BRK-OFF ) Servo alarm...
  • Page 112 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 in operation With Servo-ON entered Servo-ON Servo-OFF Servo-ON...
  • Page 113 Dynamic brake Motor energized Brake release (BRK- OFF) Motor speed A Brake release (BRK- OFF) Motor speed B *2. During deceleration, Servo-ON does not become active until the motor stops, even if you attempt to turn on SRV-ON again. *3. For the operation of the dynamic brake at Servo-OFF, see the explanation of Pr69 in "Details of Parameters".
  • Page 114 (A or B direction) MUMS 117.6 29.4 50W, 100W 68.6 58.8 200W, 400W 750W - App. 17 -...
  • Page 115 Homing operation (Precautions) In the returning operation to the home position using the controller, if the initialization signal (Z-phase signal from the encoder) is entered before the motor is not substantially decelerated (after the proximity sensor is activated), the motor may not stop at the required position.
  • Page 116 Parameters for Function Selection Default setting is shown by [ ]. PrNo. Parameter Value Function Axis address If multiple axes are used, it is necessary for the amplifier to identify the current axis accessed by the host (e. g. PC employing RS232C).

  • Page 117: Details Of Parameters

    Details of Parameters * You can easily set-up the internal speed with contact inputs only. * There are 4 options of internal velocity commands. Each com-mand data can be set using Pr53 (1st speed), Pr54 (2nd speed) , Pr55 (3rd speed) and Pr56 (4th speed).
  • Page 118 PrNo. Parameter Value Function Control mode set-up continue ( continued *Example of 4 speeds operation using internal velocity command In addition to DIV/INTSPD1 and CL/INTSPD2, zero speed clamp input (ZEROSPD) and Servo-On input (SRV-ON) are required as the input to control start and stop of the motor. SRV-ON input Servo-On ZEROSPD input...
  • Page 119 Details of Parameters Default setting is shown by [ ]. Function or other similar motion, overtraveling of se mechanical damages. To avoid this, provide limit switches at each end so er the limit switch position can be Work CCW direction Amplifier Limit Limit...
  • Page 120 - App.23 -...
  • Page 121 Details of Parameters PrNo. Paramete r Value Function Warning 0 ~ 5 You can define the function of warning output (WARN: CN outp I/F 12-pin). selection Varue Function Remarks Torque in-limit For details of these f u n c t i o n s , s e e t h e s e c t i o n o f C N I / F Zero speed detection Connector on page31.
  • Page 122 Parameters for Time Constants of Gains and Filters: Related to Real Time Auto Tuning PrNo. Parameter Value Unit Function - App.25 -...
  • Page 123 Details of Parameters • You can define the response characteristics of 1st position 10 ~ 1 / s loop gain position control. Higher the gain you set, 2000 quicker the in-position time you can obtain. [ 50 ] • To obtain the overall response of the servo velocity loop gain 3500...
  • Page 124 • Use this function to reduce the over and undershoot of thespeed, chattering of the in- position signal. PrNo. Parameter Value Unit Function • This amplifier provides 2(two) sets (1st. position 1 / s loop gain 2000 and2nd.) of gain and time constant for position [100] loop, velocity loop, velocity detection filter and torque command filter.
  • Page 125 Details of Parameters — • You can set-up the time constant (eight Disturbance 0 ~ 8 torque options) of the primary delay filter inserted in observer the Disturbance torque observer. Value of Pr1F 0 ~ 7 [ 8 ] Disturbance The smaller the setting is, the torque larger the suppression you can...
  • Page 126 — • You can define the operating mode of the real Real time o 0 ~ 3 time auto tuning. tuning set- Value Real tim e auto t uning Fluctuation of load inertia during operation [ 0 ] Not use d ---------- Rarely fluctuates Fluctuates slowly...
  • Page 127 PrNo. Parameter Range Unit Function description • You can select the switching between PI and P action or Details of Parameters 2nd gain action 0 ~ 1 ----- set-up switching between the 1st and 2nd gains. Value Gain selection and switching Fixed to the 1st gains [ 0 ] *1 (switching between PI and P possible)
  • Page 128 PrNo. Parameter Range Unit Function description • You can set-up the delay time when switching from the Position control x 166 µs switching delay 2nd. to the 1st. gain when the actual status shifts out of 10000 time the preset condition with Pr31. [ 0 ] •...
  • Page 129 Details of Parameters Parameters for Position Control - App.32 -...
  • Page 130 PrNo. Parameter Range Function description (continued) Maximum per missible fre quency and minimum required time width of command pulse inputs I/F for input ting Maximum Minimum required time width [ µs ] PULSE/SIG N signals permissible frequency Interface for 500kps line drivers Interface for 200kpps...
  • Page 131 Details of Parameters - App.34 -...
  • Page 132 Default : [ Parameter PrNo. Range Function description Parameters for Pulse Command Scaler (Pr46 through Pr4B) Pulse command scaling function (electronic gear) Numerator of • Purpose command pulse 10000 1) You can set-up any motor speed or work travel amount per input command ratio [10000] pulse.
  • Page 133 Details of Parameters You can select the numerator of the command scalar. *1 Select the 1st. or 2nd. numerator with scalar input switching (DIV: CN I/F Pin 6) . DIV off 1st numerator (Pr46) selection (continued) DIV on 2nd numerator (Pr47) selection <Example>...
  • Page 134 PrNo. Parameter Range Function description Smoothing This filter is a primary delay filter that is inserted after the scaling function 0 ~ 7 in the command pulse input portion. filter set-up Purpose of this ilter tion of the motor that may appear when the command input is rough.
  • Page 135 Details of Parameters Parameters for Velocity Control Parameter PrNo. Range Function description 1 st internal You can set-up the internal command velocity of 1st - 4th speed 10000 speed to Pr53 - 56 respectively in [r/min] unit, when the internal velocity 10000 set-up is enabled with the parameter Pr02 (Setting of Control Mode).
  • Page 136 Sequences Default : [ - App.39 -...
  • Page 137 Details of Parameters Parameter PrNo. Range Function description • You can set-up the output timing of the in-position signal (COIN: CN In-position range I/F Pin 10), completing the travel of the motor (work), after the 32767 command pulse entry. [10] •...
  • Page 138 • You can set-up the output timing of at-speed signal At-speed 10000 (COIN:CN I/F 10 pin) by setting motor speed [r/min] in [1000] internal velocity control mode. • The at-speed signal (COIN) is output, when the motor speed exceeds set value of this parameter Pr62. Setting Pr62 wor ks in both CW/CCW of...
  • Page 139 Details of Parameters Disabled. T he motor continues to run, even though the pulse counts exceeds et by he level s Pr63, judging that no unusual situation is found. Parameter PrNo. Range Function description DB inhibition at 0 ~ 1 You can set-up the conditions for decelerating the motor after the over- overtravel limit travel limit input (CCWL: CNI/F Pin 9 or CWL:...
  • Page 140 Sequence Defines the following processes after Servo-OFF (SER-ON signal: at servo-off CN I/F Pin 2). [ 0 ] 1) Operating conditions during deceleration and after stop 2) Process for clearing the position error counter For the relations among Pr69 values, operating conditions and process for clearing the position error counter, see App.8ÅgDynamic brakeÅh.
  • Page 141 Details of Parameters Default: [ elease signal (BRKOFF) or current (servo free) in e motor. Brake engaged Brake engaged Pr6A motor current (servo free) elease signal (BRKOFF) in motion, not during the engaged Not energized Approx. 30 r/min esistor (between P (5pin) nd set this parameter as - App.44 -...
  • Page 142 power protection resistor overload ng on the capacity of the ative discharge resistor. for the external resistor 0% of the duty. d as operating limit of the 00% duty. s thermal fuse. protected any more ormal in burning of circuit is not operated. <Notes>...

  • Page 143: Optional Parts

    Optional Parts MINAS-S series Cables Fig. Motor type Cable Part No. 2 - 1 MUMS30 ~ 750W Encoder cable (2500 P/r, 11 wires), MFECAO**OEAA incremental encoders 3 - 1 Motor cable MFMCAO**OAEB 4 - 1 Brake cable MFMCBO**OGET Encoder Relay Cables Motor Relay Cables (Robotop ®...
  • Page 144 Motor Brake Relay Cables (Robotop , 600V DP) ® MFMCBO OGET fig 4-1 L (m) Part No. 40(1.575) MFMCB0030GET MFMCB0050GET MFMCB0100GET 5.6(0.220) MFMCB0200GET Connector for Monitor 1) Part No.DV0P2880 2) Components Item Manufacturer's Part Quantity Manufacturer Remarks Molex For CN MON Connector (3P) 5 1 0 0 4 - 0 3 0 0 Incorporated...
  • Page 145 Optional Parts Connector Kits for Power Source for Amplifier 1) Part No. DV0P2870 2) Components Item Manufacturer's Quantity Manufacturer Remarks Part No. Connector (10-pin) 5 5 5 7 - 1 0 R - 2 1 Molex POWER connector Incorporated (10-pin) Connector pin 5 5 5 6 P B T L 3) Pin alignment of the connector for CN POWER connector...
  • Page 146 Connector For CN I/SIG 1 0 1 2 0 - 3 0 0 0 V E SUMITOMO (20pin) Connector Cover 1 0 3 2 0 - 5 2 A 0 - 0 Connector(15P) For encoder cable 1 7 2 1 6 3 - 1 Tyco Electronics (15 pins)
  • Page 147 Optional Parts ( NC) (NC) (NC) (NC) 6) Pin alignment of relay connector for motor cable Pin alignment of connector for CN MOTOR <Notes> 1. The table above shows the pins alignment, looking from the connector pin inserteddirection of the connector. Make sure of the pin numbers marked on the plug for actual connection so that wiring is done correctly.
  • Page 148 Connector SUMITOMO For CN I/F 1 0 1 2 6 - 3 0 0 0 V E (26 pins) Connector cover 1 0 3 2 6 - 5 2 A 0 - 0 3) Alignment of CN I/F (26 pins) (Looking from where the plug is soldered) 2500P/R NC ) NC )
  • Page 149 Optional Parts Interface Cables for controller connection <Notes> For example, Orange (Red 1) for Pin No.1 means that the lead wire is colored in orange with one dot mark in red. Communication Cables (for connection to personal computer) 1) Part No. DVOP1960 (for DOS/V) - App.52 -...
  • Page 150 2) Part No. DVOP1160 (for PC98 series) Communication Control Software PANATERM® 1) Part No. DVOP2820 (English Version) 2) 3.5 inches Floppy Disks <Notes> For the operating environment and other details, see the Instructions for PANATERM ® External Regenerative Discharge Resistor Product Specifications number...
  • Page 151 Optional Parts Be sure to assemble the amplifier with the machine and check the operating limit so that the surface temperature of the regenerative discharge resistor may be 100Åé or lower on poor conditions likely to cause generation of regenerative discharge resistance (such as high supply voltage, large load inertia and short deceleration time).
  • Page 152 Optional Parts Reactor Amplfier Voltage Rated Reactor output Part No. MUDS Singlephase 30W ~ DVOP227 1 00V 100W 100W 200W ~ DVOP228 400W Singlephase 30W ~ DVOP220 400W 2 0 0 V 100W ~ 400W 3-phase 30W ~ 400W 200V 100W ~ 400W Inductance...
  • Page 153 Dimensions Single- 4 0 0 W DVOP221 phase 200V 3-phase 7 5 0 W 200V 56 - App.

  • Page 154: Recommended Parts

    Recommended Parts Manufacturer/agent Equipment Contact and surge absorber Matsushita Electric Works, Ltd. 1 - 0 6 - 6 9 0 8 - 1 1 3 1 No fuse breaker IWAKI MUSEN KENKYUSHO 1 - 0 4 4 - 8 3 3 - 4 3 1 1 Regenerative discharge resistor CO., LTD Kantou Area...

  • Page 155: Dimensions

    Dimensions Kantou Area 8 1 - 0 4 4 - 8 4 4 - 8 1 1 1 Chubu Area 8 1 - 0 5 6 5 - 2 9 Tyco Electronics AMP - 0 8 9 0 Kansai Area 8 1 - 0 6 - 6 5 3 3 - 8 2 3 2 Kantou Area 8 1 - 0 4 6 2 - 6 5 - 2 3 1 3 Chubu Area...
  • Page 156 Motor MUMS Series 30W ~ 750W Encoder wire dimension LH 30W -100W 200W -750W 0.079 9.055 Model Output(W) LL S LR mm(Inch) L B MUMS3AZA1 3 0 2 . 6 0.276 5 7 2 4 MUMS5AZA1 2 . 9 7 2 0 .
  • Page 157 Dimensions KWh9 Key way type (Dimentions incl. key) Weight(kg) 5 . 8 0 . 3 0 Depth4.5 1 2 . 5 6 . 2 0 . 4 0 0 . 5 0 4 . 5 8 . 5 0 . 9 6 2 2 .
  • Page 158 Amplifier Type 1 Weight: 0.7 kg unit: mm(Inch) Back panel mount type Amplifier Type 2 Weight: 0.9 kg unit: mm(Inch) 61 - App.
  • Page 159 Dimensions Back panel mount type (Standard) Amplifier Type 3 eight: 1.2 kg unit: mm(Inch) Back panel mount type 62 - App.
  • Page 160 63 - App.

  • Page 161: Characteristics

    Dimensions Characteristics 64 - App.
  • Page 162 Gain Switching Conditions Position Control Mode Åú : the parameter valid, -: invalid) Gain switching conditions Parameters for position control Delay time Åñ1 Level Hysteresis Åñ2 P r 3 1 Switching conditions Figure Pr32 Pr33 Pr34 Fixed to 1st gain ----- ----- -----...

  • Page 163: Specifications

    Specifications Internal velocity control mode Gain switching is disabled(fixed to 1 gain). Speed command S Speed N dela nd Gain Torque T Leve Speed N Dela 1 st st Gain 1 st COIN dela 1 st 2 nd Gain Speed command S Leve delay nd Gain...
  • Page 164 67 - App.
  • Page 165 Specifications 68 - App.
  • Page 166 Power + 10% Single-phase 100V system Single-phase, AC100 - 115V 50/60Hz - 15% + 10% Single-phase 200V system Single-phase, AC200 - 230V 50/60Hz - 15% + 10% 3-phase 200V system 3-phase, AC200 - 230V 50/60Hz - 15% Permissible frequency Max. ± 5% variation Control system IGBT PWM control (sine wave control)
  • Page 167 Specifications Weight See "Outer Views and Dimensions". Working environment See "Installation". Rated speed 3000r/min Maximum speed 30W-400W:5000r/min.750W:4500r/min Holding brake DC24V See "Holding brake built in servo motor". Rotary encoder Incremental encoder, 11 wires, 2500 P/r Structure (Dust proof and drip proof) IP65 (Except connector, shaft run-through area and reduction gear) Weight...
  • Page 168 Electric Data Electric data of this product (Instruction Manual, CAD data) can be downloaded from the following site. http://industrial.panasonic.com/ww/i_e/25000/motor_fa_e/motor_fa_e.html Memorandum (Fill in the blanks for convenience in case of inquiry or repair) Date of Model MUDS...
  • Page 169 Place of purchase — Telephone No.( Motor Company, Matsushita Electric Industrial Co., Ltd. 7-1-1, Morofuku, Daito, Osaka 574-0044, J apan TEL: +81-72-871-1212 IMB49 S0300-4066...

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