Panasonic MINAS S-series Operating Manual

Text of Panasonic MINAS S-series User Guide:

• Panasonic MINAS S-series, - App.41 - Appendixes 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 <Notes> 1. The table above shows the pins alignment, looking from the connector pin inserted direction of the connector. Make sure of the pin numbers marked on the plug for actual connection so that wiring is done correctly. 2. For wiring and connection, refer to "System Configuration and Wiring" on page 22. 4 V 1 U 5 (NC) 2 (NC) 6 W 3 E 2 V 4 E 1 U 3 W 3 B 6 Z 2 A 8 (NC) 1 A

• Panasonic MINAS S-series, - 70 - Troubleshooting The rotation is not smooth. Category Adjustment Wiring Causes The gains are not appropriate. Position commands are not stable. CN I/F signals are chattering. 1) Servo-ON signal 2) Counter clear input signal 3) Zero speed clamp input Internal command speed selection 1, 2 Countermeasures Increase the value of Pr11 (1st velocity loop gain). Set a torque filter (Pr14) and then further increase the value of Pr11. Check the behavior of the motor on the waveform graphic screen of PANATERM “ u

• - 72 - The initial (home) position varies. Troubleshooting Causes When calculating the initial (home) position, the Z-phase output is not detected. Creep speed to initial position is too high. The output of the initial (home) position proximity sensor (dog sensor) is chattering. Noise on encoder wires Z-phase signal is not output. The circuit for Z-phase signal is not

• Panasonic MINAS S-series, - 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(5.906) 168(6.614) 4.1(0.161) 45(1.772 ) 120(4.724) 160(6.299) 5(0.197) MSDS MOTOR CN SIG CN CN POWER CN I/F Power F.L.C Phase Voltage INPUT OUTPUT ENCODER AC SERVO AMPLIFIER instructions before use. Matsushita Electric Industrial Co.,Ltd. 60/75 °C Wire Only Use Copper Conductors Only Refer to Manual for Wiring and Wire Size Refer to Manual for Over Load Protection this Electoronic Equipment(EE). Type B is allowed on the supply side of of direct or indirect con

• Panasonic MINAS S-series, -16- 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. • Place in a well-ventilated, and humid- and dust-free space. • Easy maintenance, inspections and cleaning is also important. Environmental Conditions How to Install The motor can be installed either vertically or horizontally. Observe the following notes. • Horizontal mounting • Place the motor with the cable outlet facing down to prevent the entry of oil and water. • Ver

• Panasonic MINAS S-series, - App. 14 - Acceptable Loads on Output Axes Acceptable Loads on Output Axes L L/2 P A M B Radial load (P) direction Thrust load (A and B) direction Motor series MUMS Acceptable during no operation Acceptable during operation Radial load 147 392 686 Thrust load A direction 88 147 294 B direction 117.6 196 392 Radial load 49 68.6 245 392 Thrust load (A or B direction) 29.4 58.8 98 147 Unit: N (1 kgf = 9.8 N) Motor output 30W 50W, 100W 200W, 400W 750W WWW.100Y.COM.TW WWW.100Y.COM.TW WWW.100Y.COM.TW WWW.100Y.COM.TW WWW.100Y.COM.TW WWW.100Y.COM.TW WWW.10

• Panasonic MINAS S-series, - App.21 - Appendixes Parameters for Time Constants of Gains and Filters: Related to Real Time Auto Tuning PrNo. Parameter Value Function • You can define the response characteristics of position control. Higher the gain you set, quicker the in-position time you can obtain. • To obtain the overall response of the servo system together with the above position gain, set this gain as large as possible. * If Pr20 (inertia ratio) has been set correctly, the unit of values of Pr11 and Pr 19 is Hz. • Integration element of the velocity loop. The smaller the setting, the quicker you can reduce the velocity error to 0. • The integr

• Panasonic MINAS S-series, - 32 - System configuration and wiring • Provides differential outputs of the encoder signals (A, B and Z phases) that come from the divider (equivalent to RS422 signals). • The logical relation between A and B phases can be selected by Pr45 (Output Pulse Logic Inversion). • Not insulated • Z-phase signal output in an open collector • Not insulated • Signal ground for pulse output • Internally isolated from the control power (COM-). Signal Pin Symbol Function I/F No. circuit A-phase output B-phase output Z-phase output Z-phase output Signal ground 15 16 17 18 19 20 21

• - 46 - Theory Determining the parameter Trial Run Set-up of motor speed and input pulse frequency Input pulse frequency (pps) 500k 250k 100k 500k Motor speed (r/min) 3000 3000 3000 1500 2500P/r Pr 46 x 2 Pr 4B Pr 4A 5000 x 2 10000 0 10000 x 2 2000 0 10000 x 2 5000 0 10000 x 2 10000 0 60° Gear Encoder pulse 2500P/r 365 x 2 108 0 Pr46

• Panasonic MINAS S-series, - 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 (-) of an external power supply(12VDC to 24VDC). • The required capacity depends on the I/O circuit configuration. 0.5A or larger is recommended. • When this signal is connected to COM-, the dynamic brake will be released and the amplifier is enabled. (Servo-ON). • If the COM- connection is kept closed for more than 120 ms, the alarm status will be cleared. • Some alarms cannot be cleared by this input. For details, see Protective Functions

• Panasonic MINAS S-series, - 57 - How to improve the response further You can manually adjust the 2nd gain. With the 2nd gain adjustment, you can expect quicker response. <Example> When you want to reduce the noise produced during the stopping (servo-locking), you set the lower gain after the motor stops. <Notes> For setting parameters for other control modes, see Appendix. Action Status Gain Suppress the vibration by lowering the gain Stop (servo-lock) Lower gain (1st gain) Lower gain (1st gain) Higher gain (2nd gain) 1ms 2ms Stop (servo-lock) Run Time Commanded speed Preparations and Adjustments Concept of adjustment OK, if there is no unusual running no

• Panasonic MINAS S-series, - 30 - System configuration and wiring Signal Pin Symbol Function I/F No. circuit Input Signals (Position Control) and their Functions Signal Pin Symbol Function I/F No. circuit Command pulse Command sign • This is the input terminal for command pulses. The maximum allowable input frequency is 500 kpps for line amplifier input and 200 kpps for open collector input. The amplifier is the high-speed photocoupler of TOSHIBA TLP554 or equivalent. • The input impedance of PULSE and SIGN signals is 220Ω. • Command pulses can be input in three different ways. Use Pr42 to select one of

• Panasonic MINAS S-series, - App. 10 - Timing Chart After Power ON (receiving Servo-ON signal) <Caution> * 1. This means that SRV-ON signal is entered mechanically, but not accepted actually. <Notes> • Avoid repeating to switch on and off the main power. • Switch on the main power in about 1 minute more after it is switched off. Internal control power Main power control Dynamic brake Motor energized Activated (braking) Not energized Operation (OFF) Reset Alarm Not input Input Released Energized Released (ON) Released Not alarm Valid 1 Invalid Brake release (BRK-OFF) Internal reset Ser

• Appendixes - App. 57 - • Control Block Diagram Pulse command PULS SIGN Feedback pulse(OA • OB) Feedback pulse(OZ • CZ) Encoder signal A/B phase or Rx Encoder signal (Z phase) ++ + + - - Input mode selection [Pr42] Smoothing filter Pr4C Position 2 [Pr18] Position 1 [Pr10] Position error counter Position error amplifier 2nd [Pr18] 1st [Pr13] Speed detection filter Width [Pr1E] Freq

• - App.37 - Appendixes PrNo. Parameter Range Function description Install an external regenerative discharge resistor (between P (5- pin) and B2 (3-pin) on the relevant connector), and set this parameter as necessary. 6C External regenerative discharge resistor selection 0 ~ 3 Regenerative discharge resistor External regenerative discharge resistor DVOP2890 DVOP2890 External res

• Panasonic MINAS S-series, - App.31 - Appendixes Parameters for Velocity Control PrNo. Parameter Range Function description You can set-up the internal command velocity of 1st - 4th speed to Pr53 - 56 respectively in [r/min] unit, when the internal velocity set-up is enabled with the parameter Pr02 (Setting of Control Mode). <Note> The polarity (+/- sign) of the set values shows the polarity of internal command velocities. Set up the internal command velocity within a range of the motor speed (Standard 4500/5000 (r/min) ). At internal velocity control mode, you can control the time to reach the velocity you set-up, and the time to stop

• Panasonic MINAS S-series, - 69 - Important information The motor does not rotate. Category Parameters Wiring Installation Causes The control mode selected is not correct. The torque limit has been set to 0. The zero speed clamp is ON, so the motor does not operate. Internal velocity set-up parameter is not entered. The circuit for CW/CCW overtravel inhibit is open. CN I/F Servo-ON signal is not received. CN I/F counter clear is ON (shorted). Motor lock Countermeasures Check the value of Pr02 (control mode set-up). 0: position control, 1: internal velocity control, Check the value of Pr5E (torque limit set-up). Change the value to 300 (default). Check the value of Pr06 (

• Panasonic MINAS S-series, - 67 - Equipment Amplifier Motor Standard replacement cycles (hour) about 5 years about 5 years 3 to 5 years (20 to 30 thousand hours) 5000 hours 3 to 5 years (20 to 30 thousand hours) Important information 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. Prohibited Dismantling for inspections or repairs should be done by our company (or our sales agents). Remarks The replacement cycle

• Panasonic MINAS S-series, -6- Caution Safety Precautions Use the motor and amplifier in the specified combination. Failure to observe this in- struction could result in fire. Execute the trial operations with the motor fixed but without motor load connected. Connecting a load to the motor is possible only after successful trial operation. Failure to observe this in- struction could result in in- juries. Avoid extreme adjustment or change. Avoid an operation which causes unstable action. Failure to observe this instruction could result in injuries. If an error occurs, remove th

• Panasonic MINAS S-series, - App. 13 - Appendixes *1. The value of t1 is the value of Pr6B or the time needed for decreasing the motor speed to about 30 r/min , which is shorter. *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". Servo-ON/OFF operation when the motor is in operation With Servo-ON entered With Servo-OFF entered Servo-OFF Servo-ON Released Energized Released (ON) Braking Not energized Operation (OFF) Dynamic brake Motor energized Servo-ON

• Panasonic MINAS S-series, - App.39 - Appendixes Connector for Monitor 1) Part No.DV0P2880 2) Components 3) Pin alignment of connector for CN MON <Notes> 1.The table above shows the pins alignment, looking from the connector pin inserted direction of connector. Make sure of the pin numbers marked on the plug itself for actual connection so that wiring is done correctly. 2. For wiring and connection, refer to "Main circuits" in "System Configuration and Wiring" (page 22). Item Connector (3P) Connector pin Manufacturer's Part No. 51004-0300 50011-8100 Quantity 1 3 Manufacturer Molex Incorporated Remarks For CN MON (3 pi

• Panasonic MINAS S-series, - App. 4 - Install noise filters. Install noise filters (specially designed for signal wires) for all cables (power, motor, encoder and interface wires). Grounding (1) Connect between the servo amplifier's protective earth terminal and control box's protective earth (ground plate) to prevent electric shocks. (2) Multiple connections to a single protective earth terminal should be avoided. There are two protective earth terminals. Surge Absorber Manufacturer's Product No. R•A•V-781BXZ-4 Manufacturer Okaya Electric Industries Co., Ltd. Optional Part No. DVOP1450 Circuit diagram 123 ø4.2 0.2 41 1 UL-1015 AWG16 28 1 5.5 1 11 128.5

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