Panasonic MINAS A6 Series Manuals

Panasonic MINAS A6 Series Operating Instructions Manual (560 pages)

AC Servo Motor & Driver

Brand: Panasonic | Category: Servo Drives | Size: 45.24 MB

Table of Contents

4
1 1 . before Using the Products

13
- Before Using the Products
  
  13
- 1 Introduction
  
  14
  - Outline
    15
  - On Opening the Product Package
    15
- 2 Driver
  
  16
  - Check of the Model
    16
  - Parts Description
    17
    
    A to B-Frame
    17
    
    C to D-Frame
    17
    
    E-Frame
    18
    
    F-Frame
    18
  - Specifications
    19
  - Block Diagram
    26
- 3 Motor
  
  28
  - Check of the Model
    28
  - Parts Description
    30
- 4 Check of the Combination of the Driver and the Motor
  
  31
  - Absolute Specifications, 23-Bit
    31
- 5 Installation
  
  32
  - Driver
    32
  - Motor
    37
  - Permissible Load at Output Shaft
    39
- 6 Permissible Load at Output Shaft Motor
  
  40
2 1 . Preparation

41
- Preparation
  
  41
- 1 Conformance to International Standards
  
  42
  - Standards
    43
  - Composition of Peripheral Equipments
    44
- 2 System Configuration and Wiring
  
  50
- 3 Wiring to the Connector, X1
  
  72
  - Connecting Host Computer
    72
- 4 Wiring to the Connector, X2
  
  72
  - Connecting Communication Connector
    72
- 5 Wiring to the Connector, X3
  
  74
  - Safety Function Connector
    74
- 6 Wiring to the Connector, X4
  
  75
  - Connection to Host Controller
    75
- 7 Wiring to the Connector, X5
  
  76
  - Connect on to External Scale
    76
- 8 Wiring to the Connector, X6
  
  78
  - Connection to Encoder
    78
- 9 Timing Chart
  
  81
  - Timing on Power-Up
    81
  - Alarm
    82
  - Servo-Lock
    83
  - Servo-ON/OFF
    84
- 10 Built-In Holding Brake Outline
  
  85
  - Specifications
    86
- 11 Dynamic Brake
  
  87
  - Outline
    87
  - Condition Setting Chart
    88
- 12 Setup of Parameter and Mode
  
  90
  - Outline / Setup / Connection
    90
  - Composition and List of Parameters
    91
  - List of Parameters
    92
  - Setup of Torque Limit
    110
- 13 Setup of Command Division and Multiplication Ratio (Electronic Gear Ratio)
  
  112
  - Relation between Electronic Gear and Position Resolution or Traveling Speed
    112
  - How to Use the Front Panel
    114
- 14 How to Use the Front Panel Setup
  
  115
3 . Connection 1

147
- Outline of Mode
  147
- Connection
  
  148
- Outline of Mode Position Control Mode
  
  148
  - Control Block Diagram
    148
  - Velocity Control Mode
    152
  - Torque Control Mode
    155
  - Full-Closed Control Mode
    158
- Control Block Diagram
  
  160
- Wiring Diagram to the Connector, X4
  
  167
  - Example of Control Mode Specific Wiring
    167
  - Connecting Example to Host Controller
    169
- Inputs and Outputs on Connector X4
  
  179
  - Interface Circuit (Input)
    179
  - Interface Circuit (Output)
    182
  - Input Signal and Pin no
    184
  - Output Signal and Pin no
    194
- IF Monitor Settings
  
  200
  - How to Assign Various I/O Functions to the I/F
    200
4 . Setup 1

203
- Setup
  
  204
- 1 Details of Parameter
  
  204
  - List of Parameters
    204
  - [Class 0] Basic Setting
    208
  - [Class 1] Gain Adjustment
    220
  - [Class 2] Damping Control
    225
  - [Class 3] Velocity/ Torque/ Full-Closed Control
    234
  - [Class 4] I/F Monitor Setting
    242
  - [Class 5] Enhancing Setting
    254
  - [Class 6] Special Setting
    270
1. Details of Parameter

276
- [Class 7] Special Setting
  286
- 2 Trial Run (JOG Run)
  288
5 1 . Adjustment

293
- Adjustment
  
  293
- 1 Gain Adjustment
  
  294
  - Outline
    294
- 2 Real-Time Auto-Gain Tuning Basic
  
  296
  - Two-Degree-Of-Freedom Control Mode Standard Type
    303
  - Related Page
    304
    
    Inertia Ratio
    306
    
    Setup Value [0]
    306
    
    Two-Degree-Of-Freedom Control Mode Synchronous Type
    311
    
    Setup Value [0]
    315
- 3 Adaptive Filter
  
  319
  - Outline
    319
  - Adjustment in Position Control Mode
    323
  - Adjustment in Velocity Control Mode
    324
  - Adjustment in Torque Control Mode
    324
  - Adjustment in Full-Closed Control Mode
    325
  - Gain Switching Function
    326
  - Suppression of Machine Resonance
    330
- 5 Manual Gain Tuning (Application) Damping Control
  
  333
  - Torque
    335
  - Model-Type Damping Filter
    335
  - Feed Forward Function
    340
  - Load Variation Suppression Function
    342
  - 3Rd Gain Switching Function
    345
  - Compensation
    347
    
    Friction Torque Compensation
    347
    
    Pr6.08
    348
    
    Inertia Ratio Switching Function
    349
    
    Hybrid Vibration Damping Function
    351
    
    Quadrant Projection Suppression Function
    352
    
    Two-Degree-Of-Freedom Control Mode (Position Control)
    354
    
    Two-Degree-Of-Freedom Control Mode (Velocity Control)
    356
    
    Two-Degree-Of-Freedom Control Mode (Full-Close Control)
    357
    
    Two-Stage Torque Filter
    359
- 6 About Homing Operation
  
  361
  - Press & Hold Control
    363
- 7 Applied Functions
  
  364
6 . When in Trouble 1

373
- When in Trouble
  
  374
- When in Trouble What to Check
  
  374
- Setup of Gain Pre-Adjustment Protection
  
  401
- Troubleshooting
  
  404
7 1 . Supplement

411
- 1 Safety Function
  
  412
  - Outline
    412
  - Input & Output Signals
    414
  - Safety Circuit Block Diagram
    415
  - Timing Chart
    416
  - Example of Connection
    418
- 2 Absolute System
  
  420
  - Outline
    420
  - Configuration
    421
  - Battery (for Backup) Installation
    423
  - Transferring Absolute Data
    427
  - Transferring External Scale Absolute Data
    431
  - Display of Battery Alarm
    435
  - Outline of Setup Support Software, "PANATERM
    436
- 4 Communication
  
  437
  - Outline
    437
  - Specifications
    438
7 1 4. Communication

449
- Communication
  
  450
  - Read Software Version Information
    450
- Read Driver Model
  
  450
  - Read Motor Model
    450
    
    A Read Driver Serial Number
    451
    
    B Read Motor Serial Number
    451
    
    Details of Communication Command
    451
    
    Read Status
    453
  - Read Feedback Pulse Counter
    454
    
    Read Input Signal
    455
  - Read Output Signal
    456
  - B Read Overload Load Ratio
    458
  - C Read External Scale
    459
    
    Read Absolute Encoder
    460
    
    Read External Scale Deviation and Aggregate Pulse
    460
  - Read Individual User Parameter Attributes
    462
- Write Multiple User Parameters
  
  464
  - 2 Read Current Alarm Data
    464
  - Clear Alarm History
    465
  - Alarm Clear
    465
- 5 Motor Characteristics (S-T Characteristics)
  
  467
  - Motor
    468
- 6 Dimensions
  
  488
  - B-Frame
    489
  - C-Frame
    490
  - D-Frame
    491
  - E-Frame
    492
  - F-Frame
    493
  - Motor
    495
- 7 Options
  
  518
  - Noise Filter
    518
  - Surge Absorber
    520
  - Ferrite Core
    521
  - Junction Cable for Encoder
    522
  - Junction Cable for Motor (Without Brake)
    527
  - Junction Cable for Motor (with Brake)
    534
  - Junction Cable for Brake
    538
  - Connector Kit
    539
  - Battery for Absolute Encoder
    550
  - Mounting Bracket
    551
  - Reactor
    552
  - External Regenerative Resistor
    554
  - Recommended Components(Surge Absorber for Motor Brake)
    556
  - List of Peripheral Equipments
    557
  - Warranty
    558
  - Cautions for Proper Use
    559

Panasonic MINAS A6 Series Technical Reference (306 pages)

AC Servo Driver

Brand: Panasonic | Category: Servo Drives | Size: 7 MB

Panasonic MINAS A6 Series Reference Specifications (70 pages)

AC Servo Driver

Brand: Panasonic | Category: Servo Drives | Size: 6.84 MB

Table of Contents
3
1 Scope

4
2 Model Designation Code

4
3 Product Line-Up

5
4 General Specifications

7
- Specifications by Model
  8
5 Appearance and Part Names

9
- Product View
  9
- Name Plate
  13
6 Configuration of Connectors and Terminal Blocks

14
7 Dimensions

26
8 Wiring

38
- Used Cables and Maximum Cable Lengths
  38
- Various Connectors
  38
- Precautions for Wiring
  39
  - Wiring to Connector X4
    46
  - Pulse Train Command
    48
  - Pulse Train Interface
    48
  - Feedback Pulse of Rotary Encoder
    50
  - Wiring to Connector X6
    51
9 Compliance with Global Standards

52
10 Safety Precautions

60
11 Life and Warranty

64
- Life Expectancy of the Driver
  64
- Typical Life
  64
- Warranty Period
  64
12 Others

65
13 Specification for each Model

66

Panasonic MINAS A6 Series Reference Specifications (55 pages)

Brand: Panasonic | Category: Servo Drives | Size: 16.97 MB

Table of Contents
4
1 Scope

6
2 Model Designation

8
3 Product Line-Up

8
- Driver Module
  8
- Accessories (Included Connectors)
  9
4 Specifications

10
5 Appearance and Name of each Part

12
6 Dimensions

16
7 Configuration of Connectors and Terminal Blocks

18
8 Wiring and System Configuration

33
- Wire Rods Used and Maximum Wiring Length
  33
- Wire Processing
  34
- Assembly Instructions
  36
  - B2CF Series
    36
  - BVFL Series
    37
- Precautions for Wiring
  38
  - Wiring to the Power Connector and the Terminal Block
    38
- Dynamic Brake
  40
- Mounting Direction and Interval
  41
9 Compliance with the International Standards

42
- List of Compatible Standards for the Servo Drive
  42
- Functional Safety
  43
- EU Directive / UK Regulation
  44
  - Compliance with the EMC Directive / Regulation
    44
  - Power Supply
    45
  - Molded-Case Circuit-Breaker (MCCB)
    45
  - Insulated Power Supply for Control (24 V)
    45
  - Noise Filter 1
    45
  - Noise Filter 2
    45
  - Surge Absorber
    45
  - Motor Cable
    46
  - Encoder Cable
    46
  - Grounding
    46
- Compliance with the UL Standard
  47
- Radio Waves Act of South Korea
  47
- Harmonic Suppression Measures
  47
10 Safety Precautions

48
11 Life Span

52
- Expected Life Span of the Power Supply and Driver Module
  52
- Standard Life Span
  52
  - In-Rush Current Protection Circuit
    52
  - Cooling Fan
    52
12 Warranty

53
- Warranty Period
  53
- Warranty Scope
  53
- Warranty Service
  53
13 Network Security

54
14 Others

55

Panasonic MINAS A6 Series Operating Instructions Manual (99 pages)

AC Servo Motor & driver

Brand: Panasonic | Category: Controller | Size: 6.36 MB

Panasonic MINAS A6 Series Quick Start Manual (34 pages)

Position control with Beckhoff host controller over EtherCAT

Brand: Panasonic | Category: Servo Drives | Size: 2.04 MB

Panasonic MINAS A6 Series Quick Start Manual (24 pages)

Position control with TRIO host controller over EtherCAT

Brand: Panasonic | Category: Controller | Size: 1.96 MB

Panasonic MINAS A6 Series Quick Start Manual (22 pages)

Brand: Panasonic | Category: Servo Drives | Size: 2.75 MB

Panasonic MINAS A6 Series Quick Start Manual (18 pages)

Position control by block operation using Modbus commands

Brand: Panasonic | Category: Servo Drives | Size: 4.46 MB

Table of Contents
3
1 Introduction

4
- Before You Start
  4
- About this Document
  4
- Related Documents
  4
- Available Software
  5
2 Functional Overview

6
3 Wiring

7
- Recommendations for Wiring
  7
- Connectors of the Servo Driver
  7
4 Make Parameter Settings in PANATERM

10
5 Function Test

14
6 Help Us Improve

16
7 Record of Changes

17

Panasonic MINAS A6 Series Quick Start Manual (19 pages)

Brand: Panasonic | Category: Servo Drives | Size: 1.87 MB

Panasonic MINAS A6 Series Quick Start Manual (17 pages)

PANATERM Ethernet over EtherCAT (EoE)

Brand: Panasonic | Category: Servo Drives | Size: 0.92 MB

Table of Contents
3
1 Introduction

4
- Before You Start
  4
- About this Document
  4
- Related Documents
  4
- Available Software
  5
2 Functional Overview

6
3 Wiring

8
- Basic Wiring of the MINAS A6 Multi
  8
- Connect the Ethercat Communication Cable
  8
4 Set up the Host Controller

9
5 Connect PANATERM Via Eoe

13
6 Activate the Twincat Runtime Software License

14
7 Help Us Improve

15
8 Record of Changes

16
9 Panasonic Hotline

17

Panasonic MINAS A6 Series Quick Start Manual (17 pages)

PANATERM for Safety Safe Speed Monitoring (SSM)

Brand: Panasonic | Category: Servo Drives | Size: 1.66 MB

Panasonic MINAS A6 Series Manuals

Table of Contents

Table of Contents

1 1 . before Using the Products

Before Using the Products

1 Introduction

2 Driver

3 Motor

4 Check of the Combination of the Driver and the Motor

5 Installation

6 Permissible Load at Output Shaft Motor

2 1 . Preparation

Preparation

1 Conformance to International Standards

2 System Configuration and Wiring

3 Wiring to the Connector, X1

4 Wiring to the Connector, X2

5 Wiring to the Connector, X3

6 Wiring to the Connector, X4

7 Wiring to the Connector, X5

8 Wiring to the Connector, X6

9 Timing Chart

10 Built-In Holding Brake Outline

11 Dynamic Brake

12 Setup of Parameter and Mode

13 Setup of Command Division and Multiplication Ratio (Electronic Gear Ratio)

14 How to Use the Front Panel Setup

3 . Connection 1

Connection

Outline of Mode Position Control Mode

Control Block Diagram

Wiring Diagram to the Connector, X4

Inputs and Outputs on Connector X4

IF Monitor Settings

4 . Setup 1

Setup

1 Details of Parameter

1. Details of Parameter

5 1 . Adjustment

Adjustment

1 Gain Adjustment

2 Real-Time Auto-Gain Tuning Basic

3 Adaptive Filter

5 Manual Gain Tuning (Application) Damping Control

6 About Homing Operation

7 Applied Functions

6 . When in Trouble 1

When in Trouble

When in Trouble What to Check

Setup of Gain Pre-Adjustment Protection

Troubleshooting

7 1 . Supplement

1 Safety Function

2 Absolute System

4 Communication

7 1 4. Communication

Communication

Read Driver Model

Write Multiple User Parameters

5 Motor Characteristics (S-T Characteristics)

6 Dimensions

7 Options

Table of Contents

Table of Contents

1 Scope

2 Model Designation Code

3 Product Line-Up

4 General Specifications

5 Appearance and Part Names

6 Configuration of Connectors and Terminal Blocks

7 Dimensions

8 Wiring

9 Compliance with Global Standards

10 Safety Precautions

11 Life and Warranty

12 Others

13 Specification for each Model

Table of Contents

1 Scope

2 Model Designation