Panasonic IMC80A User Manual

Reference

Page

Outline of “PANATERM®”, Setup Support Software ..............................156

Communications ...................................................................................158

Description on Dividing/Multiplier Ratio ................................................178

Conformance to EC Directives/UL Standards ....................................... 180

Optional Parts .......................................................................................184

Recommended Parts ............................................................................192

Dimensional Outline Drawing ................................................................193

Allowable Load of Output Shaft ............................................................196

Motor Characteristics (S-T Characteristics) ..........................................197

Servo Motor with Gear ..........................................................................198

Dimensional Outline Drawing of Motor with Gear .................................200

Allowable Load of Output Shaft of Servo Motor with Gear ...................202

Characteristics of Servo Motor with Gear (S-T Characteristics) ........... 203

Driver Internal Block Diagram ...............................................................204

Control Block Diagram ..........................................................................205

Specifications (Driver/Motor) .................................................................206

Hit-and-stop Initialization and Load Pressing Control ...........................207

Index .....................................................................................................209

Reference .............................................................................................214

After-sale Service (Repair) ........................................................ Back cover

155

Outline of “PANATERM®”, Setup Support Software

Connection Method

RS-232 Cable

STATUS

ALM CODE

DV0P1960 (For DOS/V)

Connecting to CN X6

Please contact us for the latest version of setup disk of

“PANATERM®”, setup support software.

• DV0P4230 (Japanese version)

Windows® 95, Windows® 98, Windows® NT, Windows® 2000, Windows® Me, Windows® XP (Each Japanese version)

• DV0P4240 (English version)

Windows® 95, Windows® 98, Windows® NT, Windows® 2000, Windows® Me, Windows® XP (Each English version)

Installing PANATERM® on Hard Disk

1. The capacity of hard disk memory should be 15 MB or more. As OS, prepare Windows® 95, Windows® 98,

Windows® NT, Windows® 2000,Windows® Me and Windows® XP (each of them should be a Japanese version).

2. You can start “PANATERM®” only after installing it on the hard disk with the setup disk, by following the steps

described below.

Steps of Procedure

(1) Power on your personal computer and start a corresponding OS (If there is any running application program,

terminate it).

(2) Insert PANATERM® Setup disk 1 into the floppy disk drive.

(3) Start Explorer and select the floppy disk drive.

(For starting of Explorer, see the manual of the corresponding OS.)

(4) Double click on the setup program (Setup.exe) on the floppy disk (Then, PANATERM® setup program will

start.).

(5) To start the setup program, press .

(6) Operate by following the guidance of the setup program.

(Follow the instruction to change the setup disc 1 to disc 2 during the course.)

(7) Click on button, and setup will start.

(8) Click when the message “Setup completed” appears.

Start installation

(9) Close all application programs and then restart Windows®. When it restarts, PANATERM® will be added to

the program menu.

156

[Reference]

Reference

Starting PANATERM®

1. Once you have installed “PANATERM®” on the hard disk, you do not have to reinstall it every time you boot up.

2. Before you start, connect the driver with the power supply, motor, and encoder. For the startup procedure, refer

to the manual of the corresponding OS.

Steps of Procedure

(1) Power on your personal computer and start the corresponding OS.

(2) Turn on the driver.

(3) Click on Start button of the corresponding OS of the personal computer.

(For the startup procedure, refer to the manual of the corresponding OS.)

(4) Select PANATERM® in the program .

(5) After opening splash is displayed for 2 seconds, PANATERM® screen will appear.

For any detailed information on operation/functions of “PANATERM®”, refer to the operating instructions of

“PANATERM®”.

* Windows®, Windows® 95, Windows® 98, Windows® NT, Windows® 2000, Windows® Me, Windows® XP are the

trademarks of Microsoft Corporation in the United States.

157

Communications

Outline of Communications

With a personal computer or host NC connected with MINAS-E Series through RS232C-compliant serial

communications, you can do the following:

(1) Rewriting parameters

(2) Browsing and clearing status and history of alarm data

(3) Monitoring control status including status, I/O, etc.

(4) Saving and Loading parameters

Advantages

• You can write parameters all at once from the host when starting the machine.

• As you can display operating condition of the machine, serviceability will improve.

Note that the following application programs for a personal computer and cables are available for use. For

information of PANATERM®, refer to the instruction manual of PANATERM®.

Name of Optional Components

PANATERM Japanese version (WIN95/98/Me/NT4.0/2000/XP)

PANATERM English version (WIN95/98/Me/NT4.0/2000/XP)

Connection cable for personal computer (DOS/V)

For the latest version, please contact us.

Model Name

DV0P4230

DV0P4240

DV0P1960

158

[Reference]

Reference

Communications Specification

Connection of Communications Line

MINAS-E Series has RS232C communications port. and is capable of communications between the host as follows:

RS232C Communications

In RS232C communications, a host and the driver are connected 1:1 and communicate with each other

according to the RS232C transmission protocol.

RS232C

Host

STATUS

ALM CODE

(ID)=1

You can change settings of the module ID with Pr00. In particular, you may set the same module ID unless

there is management problem on the host side.

Interface of Communication Connector Unit

Connection with a Host through RS232C

MINAS-E

X6Host

RTS

CTS

RXD

TXD

DTR

DSR

Equivalent to ADM202E

TXD

RXD

+5V

<Note>

You must leave pins 1, 2, 6, 7 and 8 of X6 unconnected.

159

Communications

Communications Method

RS232C

Full-duplex, asynchronous communication method

Communications baud rate

Data

Parity

Start bit

Stop bit

Set RS232C communications baud rate with Pr0C. Any change to these parameters will be valid when you

power on the control power supply. For detailed information, refer to list of parameters related to the following

communications:

List of User Parameters Related to Communications

2400, 4800, 9600bps

8 bit

1 bit

PrNo.

Time for data transmission is calculated with the following expression, for instance, in the case of 9600 [bps]:

When the baud rates of 2400 bps and 4800 [bps] are used, data transmission time will be 4.17 [ms/byte] and

2.08 [ms/byte], respectively. Note, however, actual communication time will be added time necessary for

processing received command, and necessary for switching between a line and transmission/reception control.

Parameter Name

Shaft name

Setting of baud rate for RS232C communications

(1000/9600) x (1 + 8 + 1) = 1.04 [ms/byte]

Start bit

Range of Setting

1 - 15

0 - 2

Data

Refer to descriptions on parameters on pages 88 and 116.

Set the communications speed of RS232C communications. 0 : 2400[bps] 1 : 4800[bps] 2 : 9600[bps] A change will be valid when you power on the control power supply.

Stop bit

Functional Description

Handshaking Code

For line control, the following codes are used.

Name

ENQ EOT ACK NAK

Code

05h 04h 06h 15h

Functions

Transmission request

Ready for receiving

Acknowledgement

Negative acknowledgement

ENQ …When the module has a block to transmit, it sends ENQ.

EOT … When the module is ready to receive a block, it sends EOT. The line enters transmission mode when

sending ENQ and receiving EOT. It enters reception mode when receiving ENQ and sending EOT.

ACK … When a received block is judged normal, ACK is returned.

NAK … When a received block is judged as abnormal, NAK is returned. A judgment is made based on

checksum and timeout.

160

Reference

Transmission Sequence

Transmission Protocol

RS232C

Host MINAS-E

[Reference]

(1) ENQ (05h)

(2) EOT (04h)

(3) Data Block

(4) ACK (06h)

(or NAK (15h))

(5) ENQ (05h)

(6) EOT (04h)

(7) Data Block

(8) ACK (06h)

Received Data

Transmitted Data

STAT US

ALM CODE

(or NAK (15h))

Line Control

Direction of transmission and conflict are solved.

Reception mode …The module enters reception mode after receiving ENQ and returning EOT.

Transmission mode … The module enters transmission mode after sending ENQ and receiving EOT.

When there occurs a conflict between the transmitting module and receiving module:

When subsequent to transmission of ENQ, a slave receives ENQ while waiting for EOT, priority is given to

ENQ sent from a maser, and the slave enters the reception mode.

Transmission Control

Entering transmission mode, a module transmits a command block continuously and then waits for reception

of ACK. When the module receives ACK, transmission is complete. When the number of transferred

command bytes is incorrect, ACK may not be returned. When ACK is not returned within T2 period, or when

NAK or any code other than ACK is received, transmission retry will be executed. The retry will start with

ENQ.

Receiving Control

Entering receiving mode, the module receives transmitted blocks continuously. It obtains the number of

command bytes from the first byte, and receives as many command bytes as that number plus 3. When the

sum of received data is zero, reception is considered successfully ended and ACK is returned. When

abnormal checksum or timeout between characters occurs, NAK is sent.

161

Communications

Configuration of Data Block

A data block to be transmitted in physical phase is configured as illustrated below:

1 byte

axis

commandmode

Parameter

(N bytes)

check sum

N : This is the number of command bytes (0 - 240),

which indicates the number of parameters needed by a command.

axis : This defines a module ID assigned to parameter No.00 axis name of the driver. (1 - 15)

command : This is the control command (0 - 15).

mode : This is the command execution mode (0 - 15),

which differs depending on a command.

check sum : This is 2’s complement of the total number of bytes, ranging from the first byte to the byte immedi-

ately before the checksum byte.

Protocol Parameter

The following parameters can control transfer of a block. A user can set these parameters to any value with INIT

command to be described later.

Name

Timeout between character transmissions

RTY

M/S

T1 .... • This is allowable time between module identification byte and ENQ/EOT, or time from reception of a

character code by this device to that of a next character code in a transmission/reception data block.

When this specified time is exceeded, timeout error occurs and NAK is returned to the transmitting

module.

T2 .... • This is allowable time after this device transmits ENQ till it receives EOT. When this specified time is

exceeded, it means that the receiving module is not ready to receive data or fails to receive ENQ code

for some reason. In this case, ENQ code will be resent to the receiving module (number of retries).

• This is allowable time after EOT is sent out till a first character is received. When this specified time is

exceeded, NAK is returned and the receiving mode ends.

• This is allowable time after checksum byte is sent out till ACK is received. When this specified time is

exceeded, ENQ code is resent to the receiving module, as in the case of reception of NAK.

Function

Protocol time limit

Retry limit

Master/slave

Initial Value

5 (0.5 second)

10 (10 seconds)

1 (once)

0 (slave)

Range of Settings

1 - 255

1 - 8

0, 1( master)

Unit

0.1 second

1 second

once

RTY ..... This shows the maximum number of retries. When this specified value is exceeded, transmission error

occurs.

M/S ..... This shows switching of a master/slave. When conflict of ENQ transmission occurs, this parameter

determines to which priority is given. (0=slave mode, 1=master mode) Transmission of the module

defined as a master should take precedence.

162

[Reference]

Reference

Example of Data Communication

Example of Changing Parameters

The following illustrates time-series communications data flow when a change is made to a parameter.

Communications should be conducted in the sequence of outline, (1) individual writing of parameters and (2) writing

to EEPROM if storage is needed. In this example of hardware connection, the device is directly connected with a

host through RS232C communications with user ID=1. Data is represented in hexadecimals.

(1) Individual Writing of Parameters

Host

MINAS-E(

Host

MINAS-E(

Host

MINAS-E(

05 03 01 18 0B 00 00 D9

(ENQ)

04 06

(EOT) (ACK)

(2) Writing of Parameters to EEPROM

04 06 05 00 01 48

(EOT) (ACK) (ENQ)

05 01 01 18 00 E6 04

(ENQ) (EOT)

B7 04 06

(EOT) (ACK)

06 05 01 01 48 00 B6

(ACK) (ENQ)

(Note) For details of commands, refer to “List of Communications Commands” on Page 166.

163

Communications

State Transition Diagram

RS232C Communications

There are requests for transmission (within the number of retries).

ENQ transmission and T2 start.

Transmitting Module

ENQ is received and in slave mode.

ENQ is returned to receiving buffer (To reception processing)

There are requests for transmission but the number of retries is exceeded.

The number of retries is to be reset once. A request for transmission is cleared.

Waiting for EOT

T2 timeout

The number of retries is counted once. T2 stop Transmission buffer is cleared.

EOT is received. Size Number of command bytes + 3 T2 stop

Transmission of block

Waiting for ACK/NAK

NAK is received or T2 times out.

The number of retries is counted once. T2 STOP Transmission buffer is cleared.

One character is received.

Size Number of command bytes - 1

Size becomes zero.

T2 START

ACK is received.

The number of retries is reset. T2 stop The request for transmission is cleared.

ENQ

EOT is transmitted. T2 start

T2 timeout

NAK is transmitted. T2 stop

Waiting for the number

of command bytes

The number of command bytes is received.

Size Number of command bytes +3 Sum Number of command bytes T1 start, T2 stop

Idling

T1 times out or checksum error occurs when size becomes 0.

NAK is transmitted. T1 stop

Remaining blocks

One character is received.

Size Number of command bytes -1 Sum Sum + received characters T1 start

Receiving module

Receiving

Reception is successful (checksum is OK when size becomes 0).

ACK is transmitted. T1 stop

164

Reference

Communications Timing

RS232C Communications

[Reference]

Host Driver

Driver Host

Host Driver

Driver Host

Code

T3 T3T4

Request for transmission

Permission to transmit

T3 T3T5 T4 T5

Request for transmission

Name

Continuous inter-character time

Driver response time

Host response time

T5 T4

Data block

ACK/NAK

Permission to transmit ACK/NAK

Data block

Minimum

Stop bit length

4ms

2ms

Maximum

Protocol parameter T1

Protocol parameter T2

The time represents a period of time from stop bit rising edge.

165

Communications

List of Communications Commands

command

mode

1 5 6

0 1 2 4 5 6 7 8 9 A

0 1 4

0 1 2 3 4

0 1 2

Description

NOP Readout of CPU version Readout of the driver model name Readout of the motor model name INIT Setting of protocol parameters POS, STATUS, I/O Readout of status Readout of the command pulse counter Readout of the feedback pulse counter Readout of current speed Readout of current torque output Readout of the current deviation counter Readout of input signal Readout of output signal Readout of current speed/torque/deviation counter Readout of status/input signal/output signal PARAMETER Individual readout of parameters Individual writing of parameters Writing of parameters to EEPROM ALARM Readout of current alarm data Individual readout of alarm history Batch readout of alarm history Alarm history clear (also on EEPROM) Alarm clear PARAMETER Individual readout of user parameters Page readout of user parameters Page writing of user parameters

<Note>

Be sure to use the above commands only. We could not guarantee proper operation of the driver when you

transmit a command not listed above.

Details on Communications Commands

command

Error code

bit7 0 : Normal 1 : Error

For version information, Ver. is divided into high order data and low order data and sent back. (The decimal point returns low-order 4 bits of the high order data as "0".) A version is expressed by digits of 0 to 9 (Example: Ver.3.13 is composed of high order data 30h and low order data 13h). This indicates the CPU version.

mode

Readout of CPU version information

Received data

Command error

Transmitted data

axis

checksum

43210

Version (high order)

axis

(low order) Error code checksum

166

[Reference]

Reference

command

Error code

bit7 0 : Normal 1 : Error

mode

Readout of the driver model name

Command error

Received data

axis

checksum

43210

The driver model name is 12 characters and transmitted by ASCII code. ex. "MKDET1505 "

command

mode

Readout of the motor model name

Received data

axis

checksum

Transmitted data

0Dh axis

Driver Model Name (high order)

Driver Model Name (low order)

Error code checksum

Transmitted data

0Dh axis

Motor Model Name (high order)

Error code

bit7 0 : Normal 1 : Error

Command error

43210

The motor model name is 12 characters and transmitted by ASCII code. ex. "MUMA012P1 "

command

Error code

bit7 0 : Normal 1 : Error

mode

Setting of RS232C protocol parameters

Command error

Received data

axis

11 T1 T2

RTYM/S

checksum

RTY error

T2 error

Motor Model Name (low order)

Error code checksum

Transmitted data

axis

Error code checksum

T1 error

M/S error

Setting of the previous protocol parameters remains valid until execution of this command completes. The updated parameter setting will be

valid from a next command after execution of this command.

M/S=0 indicates "SLAVE" mode, while M/S=1 indicates "MASTER".

The RTY code is 4 bit and M/S is 1 bit.

Unit of T1 and T2 are 0.1 second and 1 second, respectively.

167

Communications

command

Status

bit7 6 5

Error code

bit7 0 : Normal 1 : Error

mode

Readout of status

CCW Torque being output

Command error

The control modes are defined as follows:

High speed response positioning control mode

Internal velocity control mode

High function positioning control

command

mode

Readout of the command pulse counter

Received data

axis

checksum

4 CW Torque being output

43210

Received data

axis

checksum

CCW rotating

Transmitted data

axis

Control mode

Status Error code checksum

CW rotating

1 Less than DB permission speed

Transmitted data

axis

Counter value L

0 Torque being limited

Error code

bit7 0 : Normal 1 : Error

Command error

43210

checksum

A current command position is expressed by absolute coordinates from the start-up time. (Cumulative sum of the number of command pulses) The counter value is 32 bits. For the counter value, "-" indicates CW and "+" indicates CCW.

168

[Reference]

Reference

command

Error code

bit7 0 : Normal 1 : Error

mode

Readout of the feedback pulse counter

Command error

Received data

axis

checksum

Transmitted data

axis

Counter value L

Error code checksum

3210

A current position of the feedback pulse counter is expressed by absolute coordinates from the start-up time. For the counter value, "-" indicates CW and "+" indicates CCW. The feedback pulse counter indicates a cumulative sum of pulses of the position detector, which corresponds to a position of the motor that really moves.

command

mode

Readout of current speed

Received data

axis

checksum

Transmitted data

axis

Data (current speed) L

Error code checksum

Error code

bit7 0 : Normal 1 : Error

6543210

Command error

This command is used to read current speed (unit [r/min]). An output value is 16 bits. For the counter value, "-" indicates CW and "+" indicates CCW.

command

Error code

bit7 0 : Normal 1 : Error

mode

6543210

Readout of current torque output

Received data

axis

checksum

Command error

This command is used to read current torque output (unit: to be converted as rated torque = 2000). An output value is 16 bits.

Transmitted data

axis

Data (torque) L

Error code checksum

169

Communications

command

Error code

bit7 0 : Normal 1 : Error

mode

Readout of the current deviation counter

Command error

Received data

axis

checksum

Transmitted data

axis

Data (deviation) L

Error code

checksum

3210

This command is used to read a current value of the deviation counter. (unit [pulse]) An output value is 32 bits. "+" indicates that the encoder is in CW direction and "-" indicates that the encoder is in CCW direction relative to the position command.

command

mode

Readout of input signal

Received data

axis

checksum

Transmitted data

axis

Data L

Error code

checksum

Error code

bit7 0 : Normal 1 : Error

Data

bit7 Reserved

bit15

Reserved

bit23

Reserved

bit31

Reserved

6543210

6 Command dividing/ multiplier switching

Reserved

Command error

5 Zero speed clamp

13 Internal velocity command selection 2

21 Reserved

29 Reserved

4 Control mode switching

12 Internal velocity command selection 1

20 Reserved

28 Reserved

3 CCW overtravel inhibited

Reserved

21 CCW overtravel inhibited

Counter cleared9Gain switching8Reserved

Reserved

Alarm cleared0Servo-ON

Reserved

For "CW overtravel inhibited", "CCW overtravel inhibited" and speed zero clamp, "1" indicates the open status. For other input signals, "0" indicates the open status.

Data H

Reserved

170

[Reference]

Reference

command

Warning data

bit7 Overload bit5 Over-regeneration bit0 Battery

Error code

bit7 0 : Normal 1 : Error

Data

bit7 Reserved

bit15

Reserved

bit23

Reserved

mode

6543210

Reserved

Readout of output signal

Received data

axis

checksum

Command error

5 Torque being limited

13 Dynamic brake activated

21 Reserved

Zero speed detected

Reserved

Transmitted data

axis

Data L

Data H

Warning data L

Error code

checksum

3 Electromagnetic brake released

Reserved

21 Positioning completed

Reserved

Servo alarm

Speed achieved8Reserved

Reserved

Servo ready

Reserved

bit31

Reserved

The following table shows the relation between each signal and operation.

Signal Servo ready Servo alarm

In positioning completed

Electromagnetic brake released

Zero speed detected Torque being limited

Achieved speed

Dynamic brake activated

command

mode

Positioning not completed

Electromagnetic brake running

Zero speed not detected

Torque not being limited

Not achieved speed

Dynamic brake released

Readout of current speed/torque/deviation counter

not Ready

Normal condition

Received data

axis

checksum

Reserved

Servo ready

Abnormal condition

Positioning being completed

Electromagnetic brake released

Zero speed detected Torque being limited

Speed being achieved

Dynamic brake being activated

Reserved

Transmitted data

axis

Data L

(Speed) H Data L (Torque) H Data L

Reserved

Error code

bit7 0 : Normal 1 : Error

Command error

43210

The speed and torque output values are 16 bits and deviation output value is 32 bits. The unit and sign of output data are same for command Nos. 24, 25, and 26.

171

(Deviation) H

Error code

checksum

Communications

command

Error code

bit7 0 : Normal 1 : Error

mode

Readout of status/input signal/output signal

Command error

Received data

axis

checksum

43210

Transmitted data

0Dh axis

Control mode

Status

Input signal L

Input signal H Output signal L

Output signal H Warning data L Warning data H

Error code

checksum

Meanings of each bit for control mode, status, input signal, output signal, and warning data are same as those of command No.20 (command=2, mode=0), 27 (mode=7), and 28 (mode=8).

172

[Reference]

Reference

command

Error code

bit7 0 : Normal 1 : Error

command

mode

Individual readout of parameters

Command error

Individual writing of parameters

Parameter value L

Received data

axis

Parameter No.

checksum

Received data

axis

Parameter No.

checksum

No. error

Transmitted data

axis

Parameter value L

Error code

checksum

210

Transmitted data

axis

Error code

checksum

Error code

bit7 0 : Normal 1 : Error

Data error

Command error

No. error

210

This command just changes a parameter temporarily. If you wish to write to EEPROM, execute writing to EEPROM of parameter (mode=4) Be sure to set 0 to unused parameters. Otherwise, data error will occur.

command

Error code

bit7 0 : Normal 1 : Error

mode

6543210

Data error Command error

Writing of parameters to EEPROM

Received data

axis

checksum

Transmitted data

axis

Error code

checksum

Control LV

This command is used to write a set parameters to EEPROM. Transmission data will be returned after completion of EEPROM writing. Writing to EEPROM may take approx. 5 seconds max. (if all parameters are changed). When writing of parameters fails, data error will occur. When control power supply LV is detected, control LV of error code will be returned, and parameter writing will be disabled.

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