Panasonic MINAS S Operating Manual

AC Servo Motor Driver

MINAS S-series

Operating Manual

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Be sure give this instruction manual to the user.

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• Thank you very much for your buying Panasonic AC Servo Motor Driver,A-series.

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• Before use, read through this manual to ensure proper use. Keep this manual at an easily

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accessible place so as to be referred anytime as necessary.

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Table of Contents

Before Use

Safety Precautions

•••••4

Introduction •••••••••••••8

After Opening the Package•••••••••••••••• 8 Check the Model Number of Amplifier •••••••••••••••••• Check the Model Number of Motor ••••••••••••••••••• Check the Combination of Amplifier and Motor •••••••••••••••••••••

8 9

10

Parts Description

Amplifier ••••••••••••••••••••••••••••••••••••• 12 Motor ••••••••••••••••••••••••••••••••••••••••• 13

Installation •••••••••••••••••14

Amplifier ••••••••••••••••••••••••••••••••••••• 14 Motor ••••••••••••••••••••••••••••••••••••••••• 16

•••••••••••12

Preparations and Adjustments

System Configuration and Wiring •••••

General Wiring Diagram List of Available Components Main Circuits ••••••••••••••••••••••••••••••• 22

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CN SIG Connector

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For Encoder ••••••••••••••••••••••••••••• 23

CN SER Connector ••••••••••••••••••••••• 24

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CN I/F Connector

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For Controller •••••••••••••••••••••••••••• 25

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CN MON Connector ••••••••••••••••••• 35

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Parameter Setting

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Overview •••••••••••••••••••••••••••••••••••• 36 Parameter Groups and Listing

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Setting the Parameters ••••••••••••••••••• 41

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Overview of PANATERM

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How to Connect•••••••••••••••••••••••••••• 41

••••••••••••••••••••••• 18

•••••••••••••••••• 20

•••••••••••36

••••••••••••••• 36

••••••••••••••• 41

“

18

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Trial Run •••••••••••••••••••44

Inspections before Trial Run Operation with CN I/F Connected •••••••••••••••••• 45

••••••••••••••••••• 44

Adjustments•••••••••••••••50

Purposes of Gain Adjustments Types of Gain Adjustments •••••••••••••• 50 How to Adjust Gain •••••••••••••••••••••••• 52 How to Use

"Normal Auto-Gain" Tuning

How to Use "Real Time

Auto-Gain" Tuning •••••••••••••••• 54 How to Adjust Gain Manually Gain Tuning Using

Gain Adjustment Rotary Switch To reduce the mechanincal

resonance

- 2 -

••••••••••••••••••••••••••• 59

••••••••••••••• 50

••••••••••••••• 55

•••••••••• 53

••••••••• 58

Important Information

Protective Functions •••••••••••

60 Maintenance and Inspections ••••••••••• 6 6

Troubleshooting

••••••••••••••••••••••••••••••68

After-Sale Service

•••••••••••••••••••••• Back cover

Appendixes

Conformance to EC Directives and UL Standards Holding Brake ••••••••••••••••••••••••• App. 6 Dynamic Brake•••••••••••••••••••••••• App. 8 Timing Chart ••••••••••••••••••••••••• App. 10 Acceptable Loads on Output Shaft ••••••••••••••• Homing Operation (Precautions) ••••••••••••••

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••••••••••• App. 2

App. 14 App. 15

Details of Parameters ••••••••••••• App. 16 Optional Parts ••••••••••••••••••••••• App. 38 Recommended Parts •••••••••••••• App. 47 Dimensions •••••••••••••••••••••••••• App. 48 Characteristics •••••••••••••••••••••• App. 53 Specifications ••••••••••••••••••••••• App. 54

- 3 -

Safety Precautions

Observe the following precautions in order to avoid injuries of operators and other persons, and mechanical damages.

The following DANGER and CAUTION symbols are used according to the level of dangers possibly occur-

ring if you fail to observe the instructions or precautions indicated.

(Important)

DANGER CAUTION

The following symbols indicate what you are not allowed to do, or what you

must observe.

Indicates a potentially hazardous situation which, if not avoided, will result in death or serious injury. Indicates a potentially hazardous situation which, if not avoided, will result in minor or moderate injury and physical damage.

This symbol indicates that the operation is prohibited. This symbol indicates that the operation must be performed without fail.

DANGER

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An over-current protection, earth leakage breaker, over-temperature protection and

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emergency stop should be installed.

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Failure to observe this instruction could result in electric shocks, injuries and/or fire.

Don't insert your hands in the amplifier.

Failure to observe this instruction could result in burns and/or electric shocks.

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Install the amplifier securely to pre-

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vent fire hazard and personal injury

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resulting from earthquake.

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Failure to observe this instruction could result in electric

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shocks, injuries and/or fire.

Be sure to check safety after occurrence of earthquake.

Failure to observe this instruction could result in electric shocks, injuries and/or fire.

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-4-

DANGER

Before Use

Don't touch the rotating part of the motor in motion.

Don't subject the product to water splash, corrosive gases, flammable gases and combustible things.

Failure to observe this in-

Rotating part

Failure to observe this instruction could result in injuries.

Do not expose the cables to sharp edges, excessive pressing forces, heavy loads or pinching forces.

Failure to observe this instruction could result in electric shocks,

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malfunction and/or damages.

Perform the transportation, wiring and inspection at least 10 minutes after the power off.

Always ask to an electrical engineer for wiring.

struction could result in fire.

Failure to observe this instruction could result in electric shocks.

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of the amplifier.

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Ground the earth terminal

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Failure to observe this instruction could result in electric shocks.

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Install an external emergency stop device so that you can shut off the power in any emergency cases.

Failure to observe this instruction could result in injuries, electric shocks, fire, malfunction and/or mechanical damages.

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-5-

Safety Precautions

Caution

(Important)

Use the motor and amplifier in the specified combination.

Failure to observe this instruction could result in fire.

If an error occurs, remove the causes for the error and secure the safety before restarting the operation.

Failure to observe this

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instruction could result in injuries.

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 instruction could result in injuries.

Don't touch the motor, amplifier or its regenerative discharge resistor, since they become hot.

Failure to observe this instruction could result in burns.

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Avoid extreme

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adjustment or change.

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Avoid an operation

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which causes unstable

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action.

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Failure to observe this

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instruction could result in injuries.

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Don't modify, dismantle or repair the amplifier.

Failure to observe this instruction could result in fire, electric shocks and/or injuries.

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-6-

Caution

Before Use

Don't hold the cables or motor shaft when transporting the motor.

After recovery from the power failure, the equipment may restart suddenly. Don't approach the equipment

Failure to observe this Failure to observe this instruction could result in injuries.

Don't block the heat dissipation hole or insert

*Provide appropriate settings as a preparedness against

the accidental restart of the machine in order to ensure the safety of personnel.

Observe the voltage specified.

instruction could result in

injuries.

foreign matters in it.

Failure to observe this instruction could result in electric shocks,

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injuries and/or fire.

Failure to observe this instruction could result in electric shocks, injuries and/or fire.

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Make sure that the wirings are made

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correctly.

This equipment should be treated as an industrial waste when it is disposed of.

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Failure to observe this instruction could result in electric shocks, injuries.

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Do not turn on/off the main power frequently. Failure to observe this instruction could result in malfunctions.

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-7-

Introduction

After Opening the Package

• Make sure that the product is what you have ordered.

•

Check whether the product has been damaged or not during transportation.

If the product is not correct, or it has been damaged, contact dealer or sales agent.

Check the Model of Amplifier

Name plate

Model

Rated input voltage

Rated motor output

AC SERVO DRIVER

MUDS3A1A1A

Model No.

INPUT OUTPUT ENCODER

Voltage

100-115V 32V 1ø 3ø

Phase

1.0A 1.0A

F.L .C Freq.

50/60Hz 0~333.3Hz Power 60/75 Wire Only Use Copper Conductors Only Refer to Manual for Wiring and Wire Size Refer to Manual for Over Load Protection

30W

SER.NO.

00010001

Number of pulses of the encoder(resolution)

2500P/R

Rated output current

Serial Number

Model Designation

1~3 5~6

478910

11~12

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Symbol

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Applicable motors

MUD

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MUMÅi

Extra low inertia

Åj

Series symbol S: S-series

Custom specification 1 (1, 2, 3...) 1: Standard

Rotary encoder (see Table 1-b)

Power supply

1: Single-phase, 100V 2: Single-phase, 200V 3: Three-phase, 200V 5: Three-phase/Single-phase, 200V

(common phase)

Rated motor output (see Table 1-a)

Custom specification

Custom specification 2 (A, B, C...) A: Standard

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-8-

Check the Model of Motor

Name plate

Type

Rated output

Revolution rating

Model Designation

AC SERVO MOTOR

Model No.

MUMS042A1A

INPUT 3ØAC

RATED OUTPUT RATED FREQ.

200

RATED REV.

3000

92

V A1.6 kW

0.2 Hz

r/min

0.64

CONT. TORQUE RATING S1 INS. CLASS B (TÜV) A (UL) IP65 CONNECTION SER No.

00010001

MatsushitaElectric Industrial Co..Ltd.

Made in Japan

Before Use

Nm

Serial No

1~3 5~6

Symbol

MUM

Type

Super low inertia

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Table 1-a

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Symbol

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3A

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5A

01

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Table 1-c

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Oil seal

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None

Rated Motor Output

Rated output

30W 50W

100W

Symbol

02 04 08

Rated output

200W 400W 750W

Motor Structure

Brake

None

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Yes

None

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Yes

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Straight

A

B C D

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478910

Custom specification 1 1: Standard

Rotary encoder

Series symbol S: S-series

Rated output (see Table 1-a)

Table 1-b

Symbol

A

Shaft

Key way

Rotary Encoder

Type

Incremental

(see Table 1-b)

Voltage 1: 100V 2: 200V Z: 100/200V

Specifications

No. of pulses

2500P/r

∑ Specifications with the shaft provided with key way are standard.

11~12

Custom specification 2

Motor structure (see Table 1-c)

Resolution

10000

E F G H

-9-

Lead wire

11- wire

Introduction

Check the Combination of Amplifier and Motor

The amplifier has been designed for use in combination with the specified motors only. Check the specifications (Series symbol, output rating, voltage rating and encoder type) of the motor you want to use.

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-10-

With the incremental type encoder: 2500P/r

Power

supply for

amplifier

MUDS3A1A1A

1-phase,

MUDS5A1A1A

100V

MUDS011A1A MUDS021A1A MUDS041A1A MUDS022A1A

1-phase,

MUDS042A1A

200V

MUDS3A5A1A

3-phase/

1-

MUDS5A5A1A

phase,

MUDS015A1A

200V

MUDS023A1A

3-phase,

MUDS043A1A

200V

MUDS083A1A

Amplifier

Series

type

symbol

Type1

MUMS

Super

Type2 Type3 Type2 Type3

Type1

Type2 Type3

Low

inertia

Motor type

MUMS3AZ MUMS5AZ MUMS011A MUMS021A MUMS041A MUMS022A MUMS042A MUMS3AZA MUMS5AZA MUMS012A MUMS022A MUMS042A MUMS082A

**** ****

****

**** **** **** ****

****

**** **** **** **** ****

Motor

Voltage

100V

200V

Output

rating 30W

50W 100W 200W 400W 200W 400W

30W

50W 100W 200W 400W 750W

Revolution

rating

3000r/min

Encoder

Incremental 2500P/r, 11 wires

Before Use

type

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-11-

Parts Description

Amplifier

Example: MUDS023A1A (3-phase, 200V 200W: Type 1)

STATUS

MSDS

ALM CODE

GAIN

CN SER

Main power

input connector

(L1, L2, L3,P, B)

CN POWER

CN I/F

Communication connector CN SER

Controller connection (CN I/F)

Example: MUDS042A1A (1-phase, 200V 400W: Type 3)

Status LED

MSDS

CN POWER

STATUS

ALM CODE

GAIN

CN SER

CN I/F

Alarm code LED

Rotary switch for gain (GAIN) tuning

Motor

connection

(U, V, W, E)

Earth

connections

CN MOTOR

CN SIG

MON

CN

Encoder connection (CN SIG)

Check pins

CN MOTOR

CN SIG

Check pins

CN

(CN MON)

MON

(CN MON)

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<Notes>

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For detailed information for each of motor types, see the drawings in the Appendix

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(App.50 to 52).

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-12-

Motor

Example: Super Low-Inertia Motor (MUMS Series, 400W)

Encoder cable

Motor cable

Encoder

Brake cable (Motor with electromagnetic brake only )

Flange

Frame

Mounting bolt holes (4)

Before Use

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<Notes> For detailed information for each of motor types, see the drawings in the Appendix (App.48 & 49).

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-13-

Installation

The amplifier and motor should be properly installed to avoid failures, mechanical damages and injuries.

Amplifier

Location

• Indoors, where the amplifier is not subjected to rain water and direct sun beams. Note that the amplifier is not a waterproof structure.

• 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.

• Place in a vibration-free space.

Environmental Conditions

Item

Ambient temperature

Ambient humidity

Storage temperature

Storage humidity

Vibration

Not greater than 90%RH (free from condensation)

0 to 55˚C (free from freezing)

-20 to 80˚C (free from condensation)

Not greater than 90%RH (free from condensation)

Not greater than 5.9m/s2 (0.6G) at 10 to 60 Hz

Altitude

How to Install

•

This is a rack-mount type. Place the amplifier vertically. Allow enough space surrounding for ventilation. Front panel mount type (recessed)

Conditions

Not greater than 1000 m

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STATUS

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MSDS

ALM CODE

GAIN

CN SER

CN I/F

CN POWER

CN SIG

CN MOTOR

Earth connection (M4 screw) tightening torque shall not exceed 0.39 ~ 0.59 N·m.

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-14-

Mounting Direction and Space Requirements

• Allow enough space to ensure enough cooling.

• Install fans to provide a uniform distribution of temperature in the control box. The airflow of fan is more than 0.43m amplifier.

• Observe the environmental requirements for the control box, mentioned in the previous page.

3

/min. And it should be located 10 cm away from the

Before Use

Fan Fan

min. 100mm

min. 40mm

STATUS

MSDS

ALM CODE

GAIN

CN SER

CN I/F

CN POWER

min. 10mm

CN SIG

CN MOTOR

STATUS

MSDS

ALM CODE

GAIN

CN SER

CN I/F

CN POWER

min. 10mm

CN SIG

CN MOTOR

STATUS

MSDS

ALM CODE

GAIN

CN SER

CN I/F

CN POWER

min. 10mm

CN SIG

CN

MOTOR

STATUS

MSDS

ALM CODE

GAIN

CN SER

CN I/F

CN POWER

min.

CN SIG

CN MOTOR

40mm

min. 100mm

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-15-

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

Item

Ambient temperature

Ambient humidity

Storage temperature

Storage humidity

Vibration

Shock

Motor only With gear (At rotation) Motor only With gear

0 to 40˚C (free from freezing)

Not greater than 85%RH (free from condensation)

-20 to 80˚C (free from freezing)

Not greater than 85%RH (free from condensation)

49 m/s2 (5G) or less at rotation, 24.5 m/s2 (2.5G) or less at rest High precision and normal type: 24 m/s2 (2G) or less Standard type: 49 m/s2 (5G) or less 98 m/s2 (10G) or less High precision and normal type: 98 m/s2 (10G) or less Standard type: 24 m/s2 (2G) or less

Conditions

How to Install

The motor can be installed either vertically or horizontally. Observe the following notes.

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• Horizontal mounting

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Place the motor with the cable outlet facing down to prevent the entry of oil and water.

•

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• Vertical mounting

• If a motor is coupled with a reduction gear, use a motor equipped with oil seal so that oil

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in the reduction gear may not enter into the motor.

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Oil and Water Protections

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• This motor(IP65 rating) can be used where it is subjected

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to water and/or oil drops, but is not water - or oil - proof.

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Therefore, the motors should not be placed or used in

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such environment.

•

If the motor is coupled with a reduction gear, use the motor

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with oil seals to prevent the reduction gear oil from

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entering into the motor.

•

Don't use the motor with the cables being immersed in oil

or water.

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-16-

Cable

Motor

Oil and water

Cable: Stress Relieving

•

Make sure that the cables are not subjected to moments or vertical loads due to external

bending forces or self-weight at the cable outlets or connections.

• In case the motor is movable, secure the cable (proper one supplied together with the motor) to a stationery part (e.g. floor), and it should be extended with an additional cable which should be housed in a cable bearer so that bending stresses can be minimized.

• Make the bending radius of cables as large as possible.

(Minimum bend radius: 20 mm)

Permissible Shaft Load

• Make sure that both of radial and thrust load to be applied to the motor shaft during installation and running, are within the specified value of each model.

Pay extra attention to installing a rigid coupling (especially an excess bending load which may

• cause the damages and/or wear of the shaft and bearings).

• Flexible coupling is recommended in order to keep the radial load smaller than the permissible value, which is designed exclusively for servo motors with high mechanical stiffness.

For the permissible shaft load, see "Allowable Shaft Loads Listing" in Appendix.

•

Installation Notes

•

Don't hit the shaft with a hammer directly while

attaching/detaching the coupling to the motor shaft.(otherwise the encoder at the opposite

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end of the shaft will be damaged).

• Try perfect alignment between shafts (misalignment may cause vibration, and damages of the bearings).

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Motor

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-17-

Before Use

System Configuration and Wiring

General Wiring Diagram

• Main Circuits

Non-Fuse Breaker (NFB) Used to protect the power lines: overcurrent will shut off the circuit.

Noise Filter (NF) Prevents the external noise from the power line, and reduces the effect of the noises generated by the servo motor.

Magnetic Contactor (MC) Turns on/off the main power of the servo motor. Used together with a surge absorber.

Reactor (L) Reduces the harmonic current in the main power.

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Terminals P and B

• In case of use under large regenerative

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energy, connect an external

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regenerative discharge resistor to P

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and B terminals.

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Ground

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<Notes>

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Where residual-current-operated

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protective device (RCD) is used for protection in case of direct or indirect contact. Only RCD of Type B is allowed on supply side of this Electronic Equipment (EE).

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Regenerative discharge resistor

-18-

Personal computer

4

Preparations and Adjustments

STATUS

ALM CODE

GAIN

CN SER

9

8

0

7

6

1

5

2

4

3

Communication control software PANATERM

“

CN SER

CN

I/F CN POWER

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CN I/F

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CN MOTOR

CN SIG

(to connect a PC or controller)

(to connect a controller)

(to connect an encoder)

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23

Hazardous Voltage

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Others; Low Voltage circuit

Encoder cable

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Motor cable

Power supply for motor

brake

(24VDC)

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-19-

System Configuration and Wiring

List of Available Components

Amplifier

Voltage

Series

30 ~ 50W

100W

1-phase,

200W

100V

400W

30 ~ 50W

*1-phase,

100W

200V

MUDS

As these models with * are used for both 1-phase 200V and 3-phase 200V, make a choice according to the power source.

200W

1-phase,

400W

200V

30 ~ 50W

*3-phase,

100W

200V

200W 400W

3-phase,

750W

200V

Output

Required Power (at the rated load)

Approx. 0.3kVA Approx.

0.4kVA

Approx.

0.5kVA

Approx.

1.0kVA

Approx.

0.3kVA

Approx.

0.5kVA

Approx.

0.9kVA

Approx.

0.3kVA

Approx.

0.5kVA

Approx. 0.9kVA

1.3kVA

Approx.

Circuit

breaker

(rated current)

BK251 (5A)

BK2101 (10A) BK351 (5A)

BK3101 (10A) BK351 (5A)

BK3101(10A) BK3151 (15A)

Noise

filter

DVOP1441

DVOP1442

DVOP1441

DVOP1442

DVOP1441

DVOP1442

Magnetic contactor (contacts)

BMFT61041N (3P+1a)

BMFT61541N (3P+1a) BMFT61541N (3P+1a)

MMFT61042N (3P+1a)

0.75mm ~ 0.85mm AWG 18

Main circuit wire diameter

(L1 , L2, L3,

U, V, W, E)

2

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•

When these wires are used, wire length between circuit breaker and amplifier should be less than 3 m.

•

The model numbers of circuit breaker and magnetic contactors shown in the above list are manufactured by

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Matsushita Electric Works, Ltd.

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• Use the circuit breaker as shown in App.3 to meet relevant EC Directives.

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•

The model number of noise filters (options) shown in the above are manufactured by Okaya Electric Industries

Co., Ltd.

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<Notes>

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• CN POWER, CN MOTOR and earth terminals Wires should be copper conductors of a temperature rating of 60˚C or above.

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•

Earth wire diameter should be 2.0 mm2 (AWG14) or larger.

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•

Please also consider the electrochemical potentials between metal conductor including closed loop terminals.

The electrochemical potentials shall be less than 0.6V.

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- 20 -

For 3-phase 200VAC

3-phase

200V

172167-1

White or yellow

Motor

Red

Black

Green/yellow

1

2

3

4

NFB

172159-1

tyco Electronics AMPtyco Electronics AMP

Noise filter

12~24V

MC

5557-10R-210

5557-06R-210

V

DC

ON

ALM

MC

OFF

L

10

L1

8

L2

6

L3

5

3

1

4 6

W

3

9

ALM

13

COM –

P

N

P

N

B

U

V

E

For 1-phase 100V/200V

Single-phase 100V or

Single-phase 200V

NFB

172167-1 172159-1

tyco Electronics AMP tyco Electronics AMP

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Red

White or yellow

Black

Green/yellow

1

2

3

4

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Motor

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Noise filter

12~24V

MC

5557-10R-210

5557-06R-210

V

DC

ON

MC

ALM

MC

OFF

L

10

L1

L2

6

L3

5

3

1

4 6

3

9

ALM

13

COM –

P

N

P

P N

B

U

V

W

E

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<Note>

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In case that alarm occurs, construct the circuits so that the main power is switched off.

•

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- 21 -

Preparations and Adjustments

System Configuration and Wiring

Main Circuits

Always ask to an electric engineer for wiring. Don't turn on the main power until the wiring and connectings are completed, to avoid electric shocks.

Wiring Instructions

•

Make necessary connections. For wire diameter, see List of Available Components (page 20).

•

Securely insert connectors.

See the nameplate of the amplifier to check the power specification.

Install a non-fuse breaker or leakage breaker. The latter should be a special one intended for inverters, i.e. with a countermeasure against higher harmonics.

Install a noise filter without fail. Install a surge absorber to the magnetic

contactor coil.

Power

supply

D class ground: 100Ω max.

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For wire diameter, see page 20.

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NFB

NF MC L

CN POWER

5

P

B

1

U

Red White or

yellow Black

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Green yellow

1

V

2

W

3

E

4

10

L1

L2

L3

6

CN MOTOR

3

14

6

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Motor

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Power supply for

DC

elector magnetic brake

24V

(Min, 0.5A)

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Install an AC reactor. For three-phase 200V,connect L1(10pin), L2(8pin), and L3(6pin). For single-phase 100V and 200V, connect L1(10pin) and L3(6pin).

Connect to the grounding system of the facility. Never fail to connect between the amplifier's protective earth terminal ( ) and control board's protective earth terminal (ground plate) in order to avoid electric shocks.

Ensure to connect matching in color between the motor wires and terminals (U, V, W and E).

Don't short circuit or ground. Don't connect to the main power.

The electromagnetic brake is not polar-sensitive. For power capacities, see the App. 7. For use of the brake, see "Holding Brake" in App. 6.

Install a surge absorber.

- 22 -

CN SIG Connector (For Encoder)

Wiring Instructions

The cable length between the amplifier and motor should be max. 20 m. If you use a longer cable, contact the dealer or sales agent.

Separate these wiring min. 30 cm from the main circuit wires. Don't lay these wires in the same duct of the mains or bundle with them.

Motor

Power

Encoder

min.30cm

max.20m

POWER

MSDS

ALARM

GAIN

RS232C

CN I/F

CN POWER

CN SIG

CN MOTOR

Preparations and Adjustment

Wiring Diagrams

ing cables see the "Optional Parts" for connectors, and

When you prepare your own connect-

172171-1

tyco Electronics AMP

Yellow Orange

Yellow Green

Blue

Red

Pink

Light

Blue

Purple

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White Black

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tyco Electronics AMP

5

Z

6

Z

3

B

4

B

1

A

2

A

11

RX

12

RX

13

+5V

14

0V

15

FG

172163-1

11

12

9

10

7 8

17 18

3 1 4 2

20

CN SIG

Z

Z B B

A A

RX

+5V

0V

+5V

0V FG

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Moter side

Connecting cable

Driver side

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1) Follow the wiring diagram and use the

2) Wire material: 0.18 mm

2

(AWG24) or more, shielded twist-paired wire Å@with an enough bending durability,

3) Signal/power paired wires should be of a twist-paired type.

4) Shield:

• The shield at the amplifier side should be connected to Pin 20 (FG) of CN SIG Connector.

• The shield at the motor side should be connected to: connector of 15 pins type

5) If the cable is longer than 10 m, the encoder power line (+5V and 0V) should be dual per the figure shown left.

6) Other terminals should be left

unconnected.

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- 23 -

System Configuration and Wiring

MSDS

CN I/F

ALM CODE

STATUS

GAIN

CN SER

CN SER Connector

For RC232C communications

Connect a personal computer to the amplifier with RS232C at 1:1, and use the communication control software "PANATERM“" (Option). Operate "PANATERM“" on the personal computer. Convenient functions of high operability can be obtained such as monitor and parameter setting and setting change and waveform graphic display.

Connection

Exclusive connection cable (Option) See App. 44.

CN SER RS232C connector

Personal

computer

Insert and pull out connector after cutting power to both personal computer and amplifier

Securely tighten the fixing screw

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- 24 -

List of Available Components

CN I/F Connector (For Controller)

Wiring Instructions

Controller

Power

supply

Motor

max. 3 m

min. 30 cm

POWER

MSDS

ALARM

GAIN

RS232C

CN I/F

CN POWER

CN SIG

CN MOTOR

Place the peripheral devices such as the controller max. 3 m away from the amplifier.

Separate these wiring min. 30 cm from the main circuit wires. Don't lay these wires in the same duct of the mains or bundle with them.

T

he control power (VDC) between COM+ and COM- should

Preparations and Adjustments

be supplied by the customer (recommended voltage: +12VDC to +24VDC).

COM+

GND

1 2

Use a shielded twist-paired type for the wiring of pulse input, encoder signal output, etc.

Do not apply power higher than 24V or 50mA to control

V

DC

signal output terminal.

If you directly activate a relay using the control signal,install a diode in parallel to the relay as

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COM-

FG

CN I/F

shown in the left figure. Without a diode or with it but placed in the opposite direction, the amplifier will be damaged.

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• CN I/F Connector Specifications

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Receptacle on the

amplifier side

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10226-52A2JL

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• The CN I/F pins assignment is shown in "Optional Parts" in Appendix.

Connector to controller side

Part description

Solder type plug (Soldering type)

Connector cover

The Frame Ground (FG) is connected to an earth terminal in the amplifier.

Part No.

10126-3000VE

10326-52A0-008

Manufacturer

Sumitomo

three M

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- 25 -

System configutration and wiring

1

4.7k

Ω

220

Ω

220

Ω

COM+

PULS2

SIGN1

SIGN2

GND

OA+

OA

OB+

OB

OZ+

OZ

CZ

SPM

IM

22

23

24

25

14

15

16

17

20

330Ω

1

2

3

21

18

19

1K

PULS1

SRV-ON

A-CLR

CL

GAIN

DIV

CWL

CCWL

ALM

COIN

BRKOFF

COM-

WARN

CN I/F

FG

2

3

4

5

6

7

8

9

10

11

13

12

26

V

DC

12~24V

CN MON

GND

Monitor pin

If this is an open collector I/F,

see P1 in page 33.

Velocity monitor

output

Torque monitor

output

Command

pulse input

A-phase

output

B-phase

output

Z-phase

output

Z-phase output (open collector)

2nd gain switching

Servo-ON

Alarm clear

Position error counter clear

Command pulse scaler switch

CW overtravel inhibit

CCW overtravel inhibit

Servo alarm

In-position

Mechanical brake release

Alarm

(Pr09)

Scaler

Circuits Available for Typical Control Modes

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• CN I/F Wiring for Position Control

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- 26 -

1

4.7k

Ω

COM+

PULS2

SIGN1

SIGN2

OA+

OA

OB+

OB

OZ+

OZ

CZ

SPM

IM

22

23

24

25

15

GND

14

16

17

20

21

1

2

3

18

19

1K

PULS1

SRV-ON

A-CLR

INTSPD2

ZEROSPD

INTSPD1

CWL

CCWL

ALM

COIN

BRKOFF

WARN

COM

-

CN I/F

FG

3

4

2

5

6

7

8

9

10

11

12

13

26

V

DC

12~24V

220

Ω

220

Ω

CN MON

GND

330Ω

Servo-ON

Alarm clear

CCW overtravel inhibit

A-phase

output

B-phase

output

Z-phase

output

CW overtravel inhibit

Servo alarm

At-speed

Mechanical brake release

Alarm

(Pr09)

Internal vel .cmnd.select 1

Internal vel .cmnd.select 2

Speed zero clamp

Scaler

Z-phase output (open collector)

Monitor pin

Velocity monitor

output

Torque monitor

output

Preparations and Adjustments

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• CN I/F Wiring for Internal Velocity Control

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- 27 -

System configuration and wiring

CN I/F Connector

Input Signals (Common) and their Functions

Signal

Control signal power

(+)

Control signal

(-)

power

Servo-ON

Alarm

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clear

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Position error

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counter

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clear/Internal

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command velocity

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selection 2

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Symbol Function

No.

COMÅ{

1

13

COMÅ|

2

SRV-ON

<Notes>

1. This signal becomes effective about two seconds after power on (see the Timing chart).

2. Don't use this Servo-ON or Servo-OFF signal to turn on or off the motor. (See App.8)

Allow at least 100ms delay after the amplifier is enabled before any

• command input is entered.

•

By opening the connection to COM- , the amplifier will be disabled(Servo-OFF) and

the current flow to the motor will be inhibited.

•

Operation of the dynamic brake and clearing action of the position error counter can be

selected using Pr69 (Sequence under Servo-OFF).

3

A-CLR

4

CL/

INTSPD2

Position control

Internal velocity control

•

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 on page 60.

The function differs depending on the control mode.

• Clears the position error counter. Connect to COMto clear the counter.

•

Use Pr4D to select the clear mode (0 Default: level 1: Edge)

•

The internal velocity selection 2 (input) is valid. 4 kinds of

velocity settings are available by combination with DIV/ INTSPD1 input. See control mode setting Pr02 (APP. 16).

I/F

circuit

Å\Å\

SI

page 33

SI

page 33

SI

page 33

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- 28 -

Signal

Gain switching/ Speed zero clamp

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Symbol Function

No.

GAIN/

5

ZEROSPD

Position control

Internal velocity

control

The function differs depending on the control mode.

•

The functions depend on the value of Pr30.

•

Gain switching input results. Input for switching PI/P

operation and No. 1/No. 2 gains.

Connection

Pr30

to COM-

value

0

Open

(Default)

Close

1

Open Close At Pr31 value of 2

•

For No.2 Gain change Funcution, see Protective Adjustments on page 57.

•

Speed zero clamp input results. With COM- open, the

velocity command is considered zero.

• This input can be made disabled using Pr06.

• Default: Contact is set. With COM- open, the velocity command is considered zero.

Pr06 value

0

1

[Default]

Speed loop:PI(ProportionalÅEIntegration) operation Speed loop: P (Proportion) operation #1 gain selection (Pr10, 11, 12, 13, 14) #2 gain selection (Pr 18, 19, 1A, 1B, 1C)

ZEROSPD is disabled. ZEROSPD is enabled

Function

Meaning

I/F

circuit

SI

page 33

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Command pulse scaler

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switch/ Internal

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command

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velocity

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selection 1

6

INTSPD1

Position control

DIV/

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Internal velocity control

The function differs depending on the control mode.

This is the input to switch command pulse scaler.

•

With COM- closed, the numerator of the command scaler is changed

from the value stored in Pr46 (Numerator of 1st Command Scaler) to the value stored in Pr47 (Numerator of 2nd Command Scaler).

<Note> Don't enter command pulses 10 ms after or before switching.

•

The internal velocity selection 1 (input) is valid. 4 kinds of velocity

settings are available by the combination with CL/INTSPD2 input.

• See control mode setting Pr02 (APP. 16).

SI

page 33

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- 29 -

Preparations and Adjustments

System configuration and wiring

Signal

CW overtravel inhibit

CCW overtravel inhibit

Symbol Function

No.

7

CWL

8

CCWL

•

If COM- is opened when the movable part of the

machine has moved to CW exceeding the limit, the motor does not generate torque.

•

If the COM- is opened when the movable part of the

machine has moved CCW exceeding the limit, the motor does not generate torque.

•

When Pr04 (Overtravel Limit Input Disabled) = 1, CWL

and CCWL inputs are disabled. The default is "Disabled" (1).

•

The dynamic brake can be made operable during CWL/

CCWL inputs valid. Use Pr66 (Dynamic Brake Inactivation at Overtravel Limit) to make the dynamic brake operable. The default is to allow the dynamic brake to operate. (Pr66 value is 0.)

I/F

circuit

SI

page 33

SI

page 33

Input Signals (Position Control) and their Functions

Signal

Command pulse

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Command

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sign

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Symbol Function

No.

22

23

24

25

PULS1

PULS2

SIGN1

SIGN2

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 the following. (See App.26.)

1) Quadrature (A and B) input

2) CW (PULSE)/CCW (SIGN) pulse input

3)

Command pulse (PULS)/Sign (SIGN) input

I/F

circuit

PI

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- 30 -

Panasonic MINAS S Operating Manual

Specifications and Main Features

Frequently Asked Questions

User Manual

Safety Precautions

After Opening the Package

Check the Model of Amplifier

Check the Model of Motor

Check the Combination of Amplifier and Motor

Parts Description

Amplifier

Motor

Installation

Amplifier

Motor

System Configuration and Wiring

General Wiring Diagram

List of Available Components

Main Circuits

CN SIG Connector (For Encoder)

CN SER Connector

CN I/F Connector (For Controller)

CN I/F Connector