Panasonic MDDDT5540 Manual de usuario Pagina 1

AC Servo Motor DriverMINAS S-seriesOperating Manual• Thank you very much for your buying Panasonic AC Servo Motor Driver,A-series.• Before use, read t

-10-IntroductionCheck the Combination of Amplifier and MotorThe amplifier has been designed for use in combination with the specified motors only.Che

- App.26 - Default : [ ]You can set-up the multiplication when [quadrature pulse input]is selected with Pr42(Command pulse input mode set-up)

- App.27 -AppendixesOutput pulsesper single turnPulse outputlogic inversionYou can set-up encoder pulse counts per singleturn, which is to be fe

- App.28 - Default : [ ]PrNo.ParameterRange FunctiondescriptionPulse command scaling function (electronic gear)• Purpose1) You can set-up any motor

- App.29 -AppendixesPrNo.ParameterRange Functiondescription You can select the numerator of the command scalar. *1 Select the 1st. or 2nd. numerator w

- App.30 -PrNo.ParameterRange FunctiondescriptionThis filter is a primary delay filter that is inserted after the scalingfunction in the command puls

- App.31 -AppendixesParameters for Velocity ControlPrNo.ParameterRange FunctiondescriptionYou can set-up the internal command velocity of 1st - 4t

- App.32 -PrNo.ParameterRange FunctiondescriptionYou can add a quasi S-shaped acceleration/deceleration to thevelocity command, so that smooth o

- App.33 -AppendixesPrNo.ParameterRange Functiondescription• You can set-up the output timing of the in-position signal (COIN: CN I/F Pin 10), comple

- App.34 -Details of ParametersPrNo.ParameterRange Functiondescription• You can set-up the output timing of at-speed signal (COIN:CN I/F 10 pin) by

- App.35 -AppendixesPrNo.ParameterRange Functiondescription666869DB inhibition atovertravel limitSequenceat alarmSequenceat servo-off0 ~ 10 ~ 30 ~

-11-Before UseWith the incremental type encoder: 2500P/rMotorAmplifiertypeType1Type2Type3Type2Type3Type1Type2Type3SeriessymbolMUMSSuperLow inertiaVol

- App.36 - Default: [ ]PrNo.ParameterRange FunctiondescriptionDefines the duration from the shutdown of motor current (servofree) to OFF (i.e. b

- App.37 -AppendixesPrNo.ParameterRange FunctiondescriptionInstall an external regenerative discharge resistor (between P (5-pin) and B2 (3-pin) o

- App.38 -Optional PartsMINAS-S series CablesEncoder cable (2500 P/r, 11wires), incremental encodersMotor cableBrake cableMUMS30 ~ 750WFig. No.M

- App.39 -AppendixesConnector for Monitor1) Part No.DV0P28802) Components3) Pin alignment of connector for CN MON<Notes>1.The table above sho

- App.40 -ItemConnectorConnector CoverConnector(15P)Connector PinConnector(4P)Connector PinConnector(6P)Connector PinQuantity111151414ManufacturerSUMI

- App.41 -Appendixes5) Pin alignment of relay connector for encoder cable6) Pin alignment of relay connector for motor cable7) Pin alignment of connec

- App.42 -3) Alignment of CN I/F (26 pins) (Looking from where the plug is soldered)<Notes>1.Before making connections, check the Pin Numbers

- App.43 -AppendixesInterface Cables for controller connection1) Part No. DVOP08002) Dimension3) Wire table137.21326142000503912.714Shell kit: 10326-5

- App.44 -Optional PartsCommunication Cables (for connection to personal computer)1) Part No. DVOP1960 (for DOS/V)2) Part No. DVOP1160 (for PC98

- App.45 -AppendixesExternal Regenerative Discharge ResistorPart.No.DV0P2890DV0P2891Resistance50 Ω100 ΩSpecificationsProductnumber45M0345M03Manufac

-12-Parts DescriptionAmplifier<Notes>For detailed information for each of motor types, see the drawings in the Appendix(App.50 to 52).Example:

- App.46 -M4M4M4M4Optional PartsReactorRated outputReactorPart No.MUDSSingle-phase100VSingle-phase200V3-phase200VSingle-phase200V3-phase200V30W ~ 10

- App.47 -AppendixesSurge Absorber for Motor BrakePeripheral Equipment Manufacturers81-06-6908-113181-044-833-4311Kantou Area81-03-3621-2703Chubu Ar

- App.48 -LLLFLRLE7.874LHLBh7øSh6DimensionsMUMS Series 30W ~ 750WWithout brakeLL2.6572.9723.6423.7804.8625.6103.8984.2134.8825.0796.1616.949Output(W

- App.49 -AppendixesLA1.7243.8741.7243.874Without brakeLZM3Depth4.54.56.5M3Depth4.54.56.5MUMSWith brakeLW1314202513142025LK1212.51822.5221212.51822.

- App. 50 -Dimensions Amplifier Type 1 Weight: 0.7 kg unit: mm(Inch)Back panel mount type(Standard) 5.2(0.205)R2.6(0.102)5.2(0.205) 3(0.118 )9

- App. 51 -Appendixes Amplifier Type 2 Weight: 0.9 kg unit: mm(Inch)3(0.118 )Back panel mount type(Standard)R2.6(0.102)5.2(0.205)9(0.354)150(5

- App. 52 -DimensionsAmplifier Type 3 Weight: 1.2 kg unit: mm(Inch)Back panel mount type(Standard) 15(0.591)50(1.969)182(7.165)2.3(0.091)160(6.29

- App. 53 -AppendixesCharacteristics100100115150 200 250 300 350 400 450101Time(sec)Overload Protection: Time Limiting CharacteristicsMUMS 30W~100WMUM

- App. 54 -Pr31012345678FigureABCDESwitching conditionsFixed to 1st gainFixed to 2nd gainGain switching input, 2nd gainselected with GAIN On2nd gain s

- App. 55 -Appendixes<Notes>The figures above do not reflect the gain switching timing delay caused by hysteresis( Pr34) .Speed NATorque TLev

-13-<Notes>For detailed information for each of motor types, see the drawings in the Appendix(App.48 & 49).MotorExample: Super Low-Inertia

- App. 56 -CN POWERCN MOTORL 1L 2L 3DC/DCPCN SERCN SIGUVWEMRECN I/FNP±12V+5V++-++-A/DEEPROMBMSDSALM CODESTATUSInternal Block Diagram of MINAS-S Ampli

Appendixes- App. 57 -• Control Block DiagramPulse commandPULSSIGNFeedback pulse(OA • OB)Feedback pulse(OZ • CZ)Encoder signalA/B phase or RxEncoder si

- App. 58 -SpecificationsPowerEncoderBuilt-infunctionsProtectivefunctionsMonitorSettingPosition ControlVelocity controlRotaryencoderSingle-phase 100

Motor Company, Matsushita Electric Industrial Co., Ltd.7-1-1, Morofuku, Daito, Osaka 574-0044, J apanTEL: +81-72-871-1212After-Sale Service (Repair )R

-14-InstallationThe amplifier and motor should be properly installed to avoid failures, mechanical damages and injuries.AmplifierLocation• Indoors, wh

-15-Mounting Direction and Space Requirements• Allow enough space to ensure enough cooling.• Install fans to provide a uniform distribution of tempera

-16-InstallationMotorLocation• Indoors, where the amplifier is not subjected to rain water and direct sun beams.• Avoid the place where the amplifie

-17-Cable: Stress Relieving• Make sure that the cables are not subjected to moments or vertical loads due to externalbending forces or self-weight at

-18-• Main CircuitsNon-Fuse Breaker (NFB)Used to protect the power lines:overcurrent will shut off the circuit.Noise Filter (NF)Prevents the externa

-19-1234567890STATUSALM CODEGAINCN SERCN I/FCNSIGCNPOWERCNMOTORCommunicationcontrol softwarePANATERM“CN SER(to connect a PC or controller)CN SIG(to c

Parts Description•••••••••••12Amplifier ••••••••••••••••••••••••••••••••••••• 12Motor ••••••••••••••••••••••••••••••••••••••••• 13Installation •••••••

- 20 -System Configuration and WiringList of Available ComponentsAs these models with * are used for both 1-phase 200V and 3-phase 200V, make a

- 21 -Preparations and AdjustmentsFor 3-phase 200VACFor 1-phase 100V/200V<Note>• In case that alarm occurs, construct the circuits so that t

- 22 -System Configuration and WiringMain CircuitsAlways ask to an electric engineer for wiring.Don't turn on the main power until the wir

- 23 -Preparations and AdjustmentCN SIG Connector (For Encoder)Wiring InstructionsThe cable length between the amplifier and mo-tor should be max.

- 24 -CN SER ConnectorSystem Configuration and WiringFor RC232C communicationsConnect a personal computer to the amplifier with RS232C at 1:1, and

- 25 -List of Available ComponentsCN I/F Connector (For Controller)Wiring InstructionsPlace the peripheral devices such as thecontroller max. 3 m aw

- 26 -System configutration and wiringCircuits Available for Typical Control Modes• CN I/F Wiring for Position Control14.7kΩ220Ω220ΩCOM+PULS2SIGN1S

- 27 -• CN I/F Wiring for Internal Velocity ControlPreparations and Adjustments14.7kΩCOM+PULS2SIGN1SIGN2OA+OA-OB+OB-OZ+OZ-CZSPMIM2223242515GND141617

- 28 -System configuration and wiring• Connect to (+) of an external power supply(12VDC to 24VDC).• Use power supply of 12V±10%Å`24V±10%• Connect to

- 29 -The function differs depending on the control mode.The function differs depending on the control mode.GAIN/ZEROSPDDIV/INTSPD1Gainswitching/Spe

Troubleshooting••••••••••••••••••••••••••••••68After-Sale Service•••••••••••••••••••••• Back coverDetails of Parameters ••••••••••••• App. 16Optional

- 30 -System configuration and wiringSignalPinSymbol FunctionI/FNo.circuitInput Signals (Position Control) and their FunctionsSignalPinSymbol Func

- 31 -Preparations and AdjustmentsSignalPinSymbol FunctionI/FNo.circuitServo alarmIn-position/At-speedMechanicalbrake releaseWarning• This output

- 32 -System configuration and wiring• Provides differential outputs of the encoder signals(A, B and Z phases) that come from the divider(equivalent

- 33 -Preparations and AdjustmentsCN I/F ConnectorInterface Circuit (Input Circuit)PI Command pulse input circuit1) Line Amplifier I/F• Th

- 34 -System configuration and wiring Sequence output circuit• This comprises a Darlington amplifier withan open collector. This is connecte

- 35 -Preparations and Adjustments1kΩ1kΩSP123IMGNDMeasuring instrument or external circuitCN MON1914CZMaximum rating: 30V, 50mAGNDHigh-speed photo c

- 36 -Parameter SettingOverviewThe servo amplifier has various parameters that are used for adjusting or set-ting the features or functions of the a

- 37 -Preparations and AdjustmentsParameters for Selecting FunctionParameters for Adjusting Time Constants of Gain Filters, etc.ParameterNO.Pa

- 38 -Parameter SettingParameters for Defining the Real Time Auto Gain TuningParameters for Adjustments (for 2nd Gain)Parameter No.Parameter desc

- 39 -Preparations and AdjustmentsParameters for Position ControlParameters for Velocity and Torque ControlParameter No.Parameter description Ran

-4- DANGERSafety PrecautionsObserve the following precautions in order to avoid injuries of opera-tors and other persons, and mechanical damage

- 40 -Pulser/minr/min256Pulse------------------------------------2ms2ms------------Åñ6 0Åñ6 1Åñ6 2Åñ6 3Åñ6 4Åñ6 5Åñ6 6Åñ6 7Åñ6

- 41 -Setting the Parameters • You can set the Parameters with your personal computer with the S-series communication software PANATERM“. <Not

- 42 -Installing PANATERM“ on a hard disc <Notes> 1. The memory capacity of the hard disc should be 15MB or more. Prepare OS of Windows“95or Wi

- 43 -Starting PANATERM“ <Notes> 1. Once you install PANATERM“ on your hard disc, you do not have to install it again fornext use. 2. Before u

- 44 -1234567890STATUSALM CODEGAINCN SERCN I/FCNSIGCNPOWERCNMOTORControllerCN I/FCN SIGMotorGroundMachine(motor load)PowerTrial RunInspections before

- 45 -Preparations and AdjustmentsOperation with CN I/F Connected1) Connect CN I/F.2) Connect the control signal (COM+/-) to the power supply (12 to

- 46 -TheoryDeterminingtheparameterTrial RunSet-up of motor speed and input pulse frequencyInput pulsefrequency(pps)500k250k100k500kMotorspeed(r/min)

- 47 -No.05Input signalServo-ONSpeed zero clampMonitor display+ A----Stop with +AInput Signal StatusPrNo.Pr02Pr04Pr06Pr53~Pr56Pr58Pr59Pr5AParameter

- 48 -Trial RunFundamental Operations and LED Indications1234567890STATUSALM CODEGAINCN SERCN I/FCNSIGCNPOWERCNMOTORMotorPower supplyCN POWER1. Turn

- 49 -Preparations and AdjustmentsCN MOTORCN I/FCN SIGSet the rotary switch to default "0" position for GAIN adjustment.2.Check LED status

-5- DANGERGround the earth terminalof the amplifier.Failure to observe thisinstruction could result inelectric shocks.Don't touch the r

- 50 -Normal modeauto gain tuningReal timeauto gain tuningManual gain tuningGain tuning using the rotaryswitch for gain adjustmentGain set-up: lo

- 51 -The auto gain tuning affects the values of the following six parameters.• Pr15 (Velocity Feed Forward) will be automatically changed to 0%, if

- 52 -AdjustmentsHow to Adjust GainStartEndAutomatic adjustment (automatic gain tuning)Manual gain tuningTorque command filterDo you need higher respo

- 53 -Preparations and AdjustmentsDriving methodBall screw + direct couplingBall screw + timing beltTiming beltGear, or rack & pinionOthers: lo

- 54 -How to Use "Real Time Auto-Gain" TuningAutomatic tuning is available when the gain adjustment rotary switch GAIN isset to "0&qu

- 55 -Position loop gainPr101005050MachineBall screwTiming beltRack & pinionVelocity loop gainPr11502525Velocity loop integration time constan

- 56 -How to Adjust the Gain at Position Control Mode1) Input the inertia ratio of Pr20. For horizontal axis, take measurements on the basis of "

- 57 -How to improve the response furtherYou can manually adjust the 2nd gain.With the 2nd gain adjustment, you can expect quicker response.<Exa

- 58 - For increasing gainFor lowering gainNote1234567890Gain Tuning Using Gain Adjustment Rotary SwitchSet the rotary switch depending onmachine

- 59 -To reduce the mechanical resonanceIf the machine is not stiff, vibration and noise may be generated due to the resonanceby shaft torsion, and yo

-6-CautionSafety PrecautionsUse the motor andamplifier in the specifiedcombination.Failure to observe this in-struction could result in fire.Execute

- 60 -Protective FunctionsWhat are the Protective Functions? The amplifier has various protective functions. When one of the protections is activ

- 61 -Important informationOvervoltageerror1) The internal regenerative dischargeresistor is disconnected.2) The external regenerative dischargeresis

- 62 -Protection*OvercurrenterrorCauseThe current flowing in the converteris larger than the specified value.1) The amplifier failed (due to defective

- 63 -ProtectionOverloaderrorAlarmCode No.16CountermeasuresCheck on waveform graphic screen ofPANATERM“ whether the torque(current wave) is surg

- 64 -Protection* Encoder A/B-phaseerror* Encodercommunicationerror* Encoderconnectionerror* Encodercommunicationdata errorPositionerrorOver-speederro

- 65 -Important information*) Status LED indicator (STATUS) and alarm code LED indicator (ALM CODE) start flashingsimultaneously.ProtectionError

- 66 -Maintenance and InspectionsÅE Routine maintenance and inspections are essential for proper and satisfactory op-eration of the amplifier and mo

- 67 -EquipmentAmplifierMotorStandard replacement cycles (hour)about 5 yearsabout 5 years3 to 5 years (20 to 30 thousand hours)5000 hours3 to 5

- 68 -TroubleshootingThe motor does not rotate.[Check Points]Coupling loosened?1234567890STATUSALM CODEGAINCN SERCN I/FCNSIGCNPOWERCNMOTORController

- 69 -Important informationThe motor does not rotate.CategoryParametersWiringInstallationCausesThe control mode selected is notcorrect.The torque li

-7-Caution*Provide appropriate settings as a preparedness againstthe accidental restart of the machine in order to ensurethe safety of personnel.This

- 70 -TroubleshootingThe rotation is not smooth.CategoryAdjustmentWiringCausesThe gains are not appropriate.Position commands are notstable.CN I/F

- 71 -Important informationPositioning accuracy is bad.CategorySystemAdjustmentParameterWiringInstallationCausesPosition commands (amount ofcomman

- 72 -The initial (home) position varies.TroubleshootingCausesWhen calculating the initial(home) position, the Z-phaseoutput is not detected.C

- 73 -Important informationThe motor produces an abnormal sound and/or vibration.CausesThe gains are too large.The velocity detection filter isn

- 74 -CategoryAdjustmentInstallationCountermeasuresCheck the gains using the wave form graphics moni-toring function of PANATERM“, speed monitor (SP)a

- 75 -Conform to EC Directives and UL Standards App. 2Holding brake App. 6Dynamic brake App. 8Timing chart App. 10Allowable loads on output axes Ap

- App. 2 -Conformance to EC Directives and UL StandardsEC DirectivesThe EC Directives apply to all such electronic products as those having specific f

- App. 3 -AppendixesPowerSingle-phase 100V : Single-phase 100 to 115V +10%/-15%, 50/60HzSingle-phase 200V : Single-phase 200 to 230V +10%/-15%, 50/60H

- App. 4 -Install noise filters.Install noise filters (specially designed for signal wires) for all cables (power, motor, encoderand interface wires).

- App. 5 -AppendixesManufacturer's Product No.3SUP-A10H-ER-4ManufacturerOptional Part No.DVOP1441DVOP1442Install noise filfersManufacturer's

-8-1~3 5~611~12478910IntroductionAfter Opening the Package• Make sure that the product is what you have ordered.• Check whether the product has been

- App. 6 -Holding brakeThe brake is to hold the work (movable part coupled to a vertical motor axis) to prevent it fromfalling by gravity in case the

- App. 7 -AppendixesBRK-OFF Signal• See Timing Chart describing the timing of issuing BRK-OFF signal, e.g. torelease the brake after power-on, and act

- App. 8 -Dynamic Brake (DB)The amplifier has a dynamic brake for emergency use. Observe the following precautions.<Notes>1. The dynamic brake s

- App. 9 -Appendixes3) Options of the operation through deceleration and stop by turning on Over-travel Inhibit (CWL or CCWL) (Pr66)D BD BFree runF

- App. 10 -Timing ChartAfter Power ON (receiving Servo-ON signal)<Caution> *1. This means that SRV-ON signal is entered mechanically, but not ac

- App. 11 -AppendixesAfter an Alarm event (during Servo-ON)*1. The value of t1 is the value of Pr6B or the time needed for decreasing the motor speedt

- App. 12 -Timing ChartAfter 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

- App. 13 -Appendixes*1. The value of t1 is the value of Pr6B or the time needed for decreasing the motor speed toabout 30 r/min , which is shorter.*2

- App. 14 -Acceptable Loads on Output AxesAcceptable Loads on Output AxesLL/2PAMBRadial load (P) directionThrust load (A and B) directionMotorseriesMU

- App. 15 -AppendixesHoming operation (Precautions) In the returning operation to the home position using the controller, if the initializationsig

-9-StraightABCDOil sealNoneYesBrakeNoneYesNoneYesKey wayEFGH1~3 5~611~12478910Check the Model of MotorName plateTypeSerial NoRevolution ratingModel D

- App.16 -Details of ParametersParameters for Function SelectionPrNo. ParameterValueFunctionIf multiple axes are used, it is necessary for thea

- App.17 -AppendixesPrNo. ParameterValueFunction02(continued)Control modeset-up(continued)* Example of 4 speeds operation using internal velocity com

- App.18 -Details of ParametersPrNo. ParameterValueFunctionFor linear motion or other similar motion, overtraveling of the work may causemec

- App.19 -AppendixesPrNo. ParameterValueFunctionYou can switch whether to enable or disable the zerospeed clamp input (ZEROSPD, CN I/F Pin 5).06 ZERO

- App.20 -Details of ParametersPrNo. ParameterValueFunctionYou can define the function of warning output(WARN: CN I/F 12-pin).090CWarning ou

- App.21 -AppendixesParameters for Time Constants of Gains and Filters: Related to Real Time Auto TuningPrNo. ParameterValueFunction• You can define

- App.22 -PrNo. ParameterValueUnit Function• This amplifier provides 2(two) sets (1st. and2nd.) of gain and time constant for position loop,velocity l

- App.23 -AppendixesPrNo. ParameterValueUnit Function• You can set-up the ratio of load inertia to themotor's rotor inertia.• Set values change b

- App.24 -PrNo.ParameterRange Unit Functiondescription• You can select the switching between PI and P action or switching between the 1st and 2nd g

- App.25 -AppendixesPrNo.ParameterRange Unit Functiondescription• You can set-up the delay time when switching from the 2nd. tothe 1st. gain when the