Hypertherm Automation Family Application Note

Panasonic EtherCAT® Drives Supported by

®

EDGE

Connect CNCs

Application Note

809760 | Revision 8 | June 2019

Hypertherm, Inc.

Etna Road, P.O. Box 5010
Hanover, NH 03755 USA
603-643-3441 Tel (Main Office)
603-643-5352 Fax (All Departments)
[e-mail] (Main Office Email)

800-643-9878 Tel (Technical Service)

[e-mail] (Technical Service Email)

800-737-2978 Tel (Customer Service)

[e-mail] (Customer Service Email)

866-643-7711 Tel (Return Materials Authorization)
877-371-2876 Fax (Return Materials Authorization)

[e-mail] (RMA email)

Hypertherm México, S.A. de C.V.

Avenida Toluca No. 444, Anexo 1,
Colonia Olivar de los Padres
Delegación Álvaro Obregón
México, D.F. C.P. 01780
52 55 5681 8109 Tel
52 55 5683 2127 Fax
[e-mail] (Technical Service Email)

Hypertherm Plasmatechnik GmbH

Sophie-Scholl-Platz 5
63452 Hanau
Germany
00 800 33 24 97 37 Tel
00 800 49 73 73 29 Fax

31 (0) 165 596900 Tel (Technical Service)
00 800 4973 7843 Tel (Technical Service)

[e-mail] (Technical Service Email)

Hypertherm (Singapore) Pte Ltd.

82 Genting Lane
Media Centre
Annexe Block #A01-01
Singapore 349567, Republic of Singapore
65 6841 2489 Tel
65 6841 2490 Fax
[e-mail] (Marketing Email)
[e-mail] (Technical Service Email)

Hypertherm Japan Ltd.

Level 9, Edobori Center Building
2-1-1 Edobori, Nishi-ku
Osaka 550-0002 Japan
81 6 6225 1183 Tel
81 6 6225 1184 Fax
[e-mail] (Main Office Email)
[e-mail] (Technical Service Email)

Hypertherm Europe B.V.

Vaartveld 9, 4704 SE
Roosendaal, Nederland
31 165 596907 Tel
31 165 596901 Fax
31 165 596908 Tel (Marketing)

31 (0) 165 596900 Tel (Technical Service)
00 800 4973 7843 Tel (Technical Service)

[e-mail]
(Technical Service Email)

Hypertherm (Shanghai) Trading Co., Ltd.

B301, 495 ShangZhong Road
Shanghai, 200231
PR China
86-21-80231122 Tel
86-21-80231120 Fax

86-21-80231128 Tel (Technical Service)

[e-mail]
(Technical Service Email)

South America & Central America: Hypertherm Brasil Ltda.

Rua Bras Cubas, 231 – Jardim Maia
Guarulhos, SP – Brasil
CEP 07115-030
55 11 2409 2636 Tel
[e-mail] (Technical Service Email)

Hypertherm Korea Branch

#3904. APEC-ro 17. Heaundae-gu. Busan.
Korea 48060
82 (0)51 747 0358 Tel
82 (0)51 701 0358 Fax
[e-mail] (Marketing Email)
[e-mail]
(Technical Service Email)

Hypertherm Pty Limited

GPO Box 4836
Sydney NSW 2001, Australia
61 (0) 437 606 995 Tel
61 7 3219 9010 Fax
[e-mail] (Main Office Email)
[e-mail]
(Technical Service Email)

Hypertherm (India) Thermal Cutting Pvt. Ltd

A-18 / B-1 Extension,
Mohan Co-Operative Industrial Estate,
Mathura Road, New Delhi 110044, India
91-11-40521201/ 2/ 3 Tel
91-11 40521204 Fax
[e-mail] (Main Office Email)
[e-mail]
(Technical Service Email)

1/28/16

© 2019 Hypertherm Inc. All rights reserved.

EDGE, EDGE Connect, Phoenix, and Hypertherm are trademarks of Hypertherm Inc. and may be registered in the United States and/or other
countries. EtherCAT is a trademark of Beckhoff Automation. All other trademarks are the property of their respective holders.

One of Hypertherm’s long-standing core values is a focus on minimizing our impact on the environment. Doing so is critical to our, and our customers’,
success. We are always striving to become better environmental stewards; it is a process we care deeply about.

Supported Panasonic EtherCAT Drives

MADLN01BE

MADLT15BF

Introduction

The following information is provided to Hypertherm channel partners for reference only, to help you
select and configure an EtherCAT drive that is supported by EDGE Connect CNCs.

NOTE: Work in partnership with your drive manufacturer to select and

configure the drives for your cutting system. Refer to your drive
manufacturer’s drive documentation for technical information about
the drives.

When possible, the following information is provided to support integration of the drives with the
cutting system and the CNC.

• Drive model supported

• Firmware revision supported

• Example drive amplifier file

• Setup and parameter notes

Setup files and parameters provided by Hypertherm can be used for the initial machine setup. We
expect these files and parameters to be modified by the installer for the specific cutting system
configuration and desired performance.

NOTE: Make sure to follow the guidelines and instructions provided by the

drive manufacturer.

Supported Panasonic drive

Series Models Firmware Notes

Minas-A5B

Minas-A6B

• See the Supported
A5B drives listed
alphabetically table
for a list of
supported drives.

MADLN11BE
MADLN05BE
MADLN15BE
MBDLN21BE
MBDLN25BE
MCDLN31BE
MCDLN35BE
MDDLN45BE
MDDLN55BE
MEDLN83BE
MEDLN93BE
MFDLNA3BE
MFDLNB3BE

• 1.01

• 1.01

• 5 digital inputs and 1 Digital Output

are supported.

• 5 Digital Inputs and 1 Digital Output
are supported

EDGE Connect CNCs

809760 3

Supported Panasonic EtherCAT Drives

Supported A5B drives listed alphabetically

MADHT1105B01

MADHT1105B91 MBDHT2110BL1 MDDHT2412BA1 MEDHT7364BA1 MGDHTB4A2B91

MADHT1105BA1 MBDHT2510B01 MDDHT2412BL1 MEDHT7364BL1 MGDHTB4A2BA1

MADHT1105BD1 MBDHT2510B91 MDDHT3420B01 MFDHT5440B01 MGDHTB4A2BL1

MADHT1105BL1 MBDHT2510BA1 MDDHT3420B91 MFDHT5440B91 MGDHTC3B4B01

MADHT1107B01 MBDHT2510BL1 MDDHT3420BA1 MFDHT5440BA1 MGDHTC3B4B91

MADHT1107B91 MCDHT3120B01 MDDHT3420BL1 MFDHT5440BL1 MGDHTC3B4BA1

MADHT1107BA1 MCDHT3120B91 MDDHT3530B01 MFDHTA390B01 MGDHTC3B4BL1

MADHT1107BL1 MCDHT3120BA1 MDDHT3530B91 MFDHTA390B91 MHDHTB4A2B01

MADHT1505B01 MCDHT3120BL1 MDDHT3530BA1 MFDHTA390BA1 MHDHTB4A2B91

MADHT1505B91 MCDHT3520B01 MDDHT3530BL1 MFDHTA390BL1 MHDHTB4A2BA1

MADHT1505BA1 MCDHT3520B91 MDDHT5540B91 MFDHTA464B01 MHDHTB4A2BL1

MBDHT2110BA1 MDDHT2412B91 MEDHT7364B91 MGDHTB4A2B01

MADHT1505BL1 MCDHT3520BA1 MDDHT5540BA1 MFDHTA464B91 MHDHTC3B4B01

MADHT1507B01 MCDHT3520BL1 MDDHT5540BL1 MFDHTA464BA1 MHDHTC3B4B91

MADHT1507B91 MDDHT2407B01 MEDHT4430B01 MFDHTA464BL1 MHDHTC3B4BL1

MADHT1507BA1 MDDHT2407B91 MEDHT4430B91 MFDHTB3A2B01

MADHT1507BL1 MDDHT2407BA1 MEDHT4430BA1 MFDHTB3A2B91

MBDHT2110B01 MDDHT2407BL1 MEDHT4430BL1 MFDHTB3A2BA1

MBDHT2110B91 MDDHT2412B01 MEDHT7364B01 MFDHTB3A2BL1

NOTE:

• To check a drive’s firmware version, use the PANATERM drive software provided by
Panasonic.

• Mixing different brands of drives in one system is not supported.

• All drives must support and be configured for a 1 ms update rate.

• The need for additional I/O depends on the total number of I/O and the I/O style required.

For a list of supported I/O modules, see the EtherCAT® Drives and I/O Modules Supported by
EDGE® Connect CNCs Application Note (809660).

EDGE Connect CNCs

809760 4

Supported Panasonic EtherCAT Drives

Setup and parameters

From a high level, the process of setting up your drives is as follows.

1. Install the firmware using the drive software.

2. Set up the drive parameters per the drive manufacturer’s instructions.

3. Make sure the drives are communicating on the network.

In addition to this application note, also refer to the following sections of the EDGE® Connect Installation
and Setup Manual (809340).

• Section 3: Machine stop strategies and table hardware, for information about:

o How the CNC enables and disables the drives, and stops motion
o Drive enable signals
o Drive Enable output and Drive Disabled input
o Overtravel limits
o Safety circuit

• Section 5: Machine Axes, for information about:

o Axis orientation and positive motion
o Axis assignment and setup

• Section 7: I/O – Inputs and Outputs, for information about:

o How Phoenix® assigns I/O
o Digital I/O and assignment
o Analog I/O and assignment

NOTE:

• Make sure you can remove power, including control (logic) power, from all drives. Refer to
your drive manufacturer’s drive documentation for more information.

• All drives must be set up as linear axes.

• All drives must support and be configured for a 1 ms update rate.

Drive inputs

Phoenix maps 5 digital inputs and 1 digital output.

NOTE: To use Panasonic digital I/O, set it for general purpose use.

Digital inputs Description

DIN1 SI-MON 1/EXT1

DIN2 SI-MON 2/EXT2

DIN3 SI-MON 3

DIN4 SI-MON 4

DIN5 SI-MON 5

EDGE Connect CNCs

809760 5

Supported Panasonic EtherCAT Drives

Drive outputs

Digital outputs Description

DOUT 1 SO2/EX-OUT1

Additional information about parameters

NOTE: Phoenix does not support the EU numbering format of using decimal points (periods) as

numerical separators. Using decimal points as numerical separators will result in incorrect

settings. Example:
Correct - 200,000.00 = Two hundred thousand
Incorrect - 200.000,00 = Two hundred

The following information is about parameters that may need to be modified for some user’s
configurations. Please review the drive’s user manual for details on these settings.

Motor Direction/Encoder Polarity

• To reverse motor direction, you can use Panaterm to edit the EtherCat object and save it to

EEPROM.

o Set object 0x607E = 0x0 for normal direction and 0x607E = 0xE0 for reverse direction

THC setup

• During IHS the drive amplifier may get an error 27.4 Position deviation excess setup. To suppress

this error change 0x3722, Bit5 = 1. If the original value was 0 then writing 0x20 to the object will set
Bit5.

• A starting point for the Sensor THC using a MHMF022L1V2M motor with an A6 amplifier.

o THC settings Servo error tolerance = 0.150

o Stall force = 0.010

o Encoder counts/inch = 1331691(for 262144 counts/rev)

o 5% torque limit for IHS, 50 mg, 150 ipm, 50 ipm, 5 ipm

Output Bit Mask

• In addition to assigning the output to pins 25 and 26 on the drive amplifier, the EtherCAT object

0x60FE:2 = 0x10000 must be set for the output to function properly from the Edge Connect.

Absolute Encoder Configuration

• When using an absolute encoder, it must be configured to ignore the multi-turn over counter. To

understand how this effects homing for the Edge Connect, see the application note Absolute
Positioning for Homing (809870) in the Hypertherm Document Library at

www.hypertherm.com/docs

EDGE Connect CNCs

809760 6

.

Supported Panasonic EtherCAT Drives

• Drive Parameter P0.15 must be set to 2

• Drive Parameter P0.15 must be set to 1 to set encoders to incremental mode

Set I/O behavior for when EtherCAT communication is lost

• Use the Panaterm software to set the following parameter to make the I/O default to off or stay in

the current state when EtherCAT communication is lost to the drives. To set the I/O to turn off when
communication is lost:

o Set bit number 0 to a value of 1 for Class 7, Number 24 (Communication function extended

setup 3)

EDGE Connect CNCs

809760 7

Supported Panasonic EtherCAT Drives

Supported encoder counts

The Minas-A5B series drives support 1.048.576 encoder counts per revolution – metric
(1,048,576 encoder counts per revolution – English). The CNC’s maximum encoder input rate is

32.767 counts per millisecond – metric (32,767 counts per millisecond – English). The drive’s encoder
scaling parameter needs to be adjusted so that the CNC’s maximum encoder input rate is not exceeded
at the table’s designed maximum speed. (Refer to Maximum machine speed per minute below for more
information.)

In the Panasonic PANATERM software, use the Object Editor to set the 0x6091 Motor Revolutions object
to 0x000004. Then save to EEPROM.

Parameter Value

0x6091:1 Motor Revolutions 0x000004

0x6092:1 Feed

• Set to the value to 0x100000
if you want to have 262144
counts/revolution over ECAT

Note: For absolute encoders you
may want to use largest possible
number based on table size

With this parameter set to 4 the encoder counts per revolution will be 262.144 – metric
(262,144 – English). Use this value to calculate encoder counts per mm (inch) and maximum machine
speed.

Encoder counts per mm (inch)

Linear axis example – metric:

In this example the linear axis has the following machine characteristics.

Gear box ratio: 5:1

Lead screw pitch: 150 mm/revolution

Use these values with the following formula to calculate encoder counts per mm, as shown.

262.144

encoder counts

1

motor revolution

motor revolutions

X

pinion revolution

5

1

pinion revolution

X

1

150 mm

(pitch)

8.738,13

=

encoder counts

EDGE Connect CNCs

809760 8

per mm

Supported Panasonic EtherCAT Drives

(max. encoder counts per ms)

(ms per minute)

(max. encoder counts per ms)

(ms per minute)

Linear axis example – English:

In this example the linear axis has the following machine characteristics.

Gear box ratio: 5:1

Lead screw pitch: 5.91 in./revolution

Use these values with the following formula to calculate encoder counts per inch, as shown.

262,144

encoder counts

1

motor revolution

motor revolutions

X

pinion revolution

5

1

pinion revolution

X

1

5.91 in.
(pitch)

221,780.03

=

encoder counts

per inch

Maximum machine speed per minute

Use the encoder counts per mm (inch) with the following formula to calculate the maximum machine
speed. Note that the maximum encoder counts per ms in Phoenix is fixed at 32.767 – metric
(32,767 – English).

Metric example:

32.767

English example:

X

8.738,13

encoder counts per mm

60.000

=

224.993,22 mmpm

Maximum machine speed

32,767

EDGE Connect CNCs

X

221,780.03

encoder counts per inch

809760 9

60,000

=

8,864.73 ipm

Maximum machine speed