Panasonic PANATERM Ver. 3.7 Instruction Manual

INSTRUCTION MANUAL

AC SERVO AMPLIFIER MINAS SERIES

SETUP SUPPORT SOFTWARE

PANATERM® Ver. 3.7

（For Windows®98/Windows®Me/Windows®2000/Windows®XP）

● Thank you very much for buying setup support software
PANATERM® for Panasonic Digital AC Servo Amplifier

● Read thoroughly instruction manual to use the software
correctly. After reading, keep the manual where it

is always available.

■ Contents

ページ

Safety Precautions················ 2

1.INTRODUCTION ···················· 5

Checking the contents

of the package ··· 5

Outline of PANATERM

®

············· 6

2.SYSTEM CONFIGURATION ··········· 8

Checking the

applicable amplifiers ·· 8
Hardware configuration ··········· 8
Software configuration ··········· 10
Communication cable ·············· 11

3.SETUP···························· 12

4.BASIC OPERATION················· 14

Key notation ····················· 14
Procedure for selecting
and operating menu ··· 14

Procedure for terminating menu ····· 15

Inputting a value ················ 15
Filling ·························· 15
Tool tip text ···················· 16

5.STARTUP AND TERMINATION ········ 17

Connection ······················· 17
Startup ·························· 18
Termination ······················ 18

6.OPERATION ······················· 19

Determining whether to

communicate with amplifier ·· 19

PANATERM screen (Parent
window and window menu)·· 22
Parameters······················· 24
Monitor·························· 34
Alarm···························· 41
Waveform graphic················· 43
Auto tuning······················ 52
Frequency characteristics········ 54
Positioning parameter············ 58
Positioning monitor·············· 64
Version·························· 69
Communication setting············ 70

7.TROUBLESHOOTING················· 71

Failure in setup ················· 71
PANATERM does not start ·········· 71
Failure in communication ········· 72
Failure in printing ·············· 72

PANATERM

®

can not be uninstalled · 73

PANATERM

®

malfunction ············ 73

Failure in axis setting ·············· 74

Supplement ························ 75

Printer setting ·················· 75

－ 2 －

Safety Precaution Important

Observe the following instructions without fail.

Instructions to be observed to avoid personal injury and
property damage are given in the following way.

■ The degree of injury and damage caused by failure in

observing the instructions or improper usage is indicated
in the following format.

CAUTION

Indicates a potentially hazardous situation which
may result in injury or property damage

－ 3 －

Do not connect the communication
cable when the power is on to the

amplifier or the personal

computer.

Failure to follow this could result
in injuries.

Do not connect or disconnect the
communication cable after the
software is started.

Failure to follow this could result
in injuries.

After turning on or off the
power to the amplifier,
shut down PANATERM®,
and re-start it.

Failure to follow this could result
in injuries.

Do not bring any magnetized
article close to the disk
containing this software.
(Such as a motor. Do not
bring it close to the disk.)

Failure to follow this could result
in injuries.

CAUTION

－ 4 －

Safety Precaution Important

Avoid storing the disk containing
this software in locations exposed to
high humidity or liquids.

Failure to follow this could result
in the loss of data.

Avoid storing the disk containing
this software where much dust or
strong magnetism occurs.

Failure to follow this could result
in the loss of data.

Avoid storing the disk containing
this software in places like where the
temperature is too high or too low (the storage
temperature should be between 5 to 60 ℃).

Failure to follow this could result
in the loss of data.

Avoid storing the disk containing
this software where the disk is exposed to
direct sunlight.

Failure to follow this could result
in the loss of data.

CAUTION

－ 5 －

1.INTRODUCTION

Checking the contents of the package

PANATERM

®

setup CD-ROM : 1pcs.

Check the following points.
(1) Check that you got the product that you had ordered.

Product No.: DV0P4460

(2) Make sure that the product has not been damaged by an

accident during transportation.

If there are any unconformity, contact distributor where you
obtained it.

Notes to Users

1．It is forbidden to use the product for lease without

permission of the rightful claimant.

2．The law prohibits copying the contents of this product

onto a hard disk, MO, PD and other media without

permission of the creator and the rightful claimant.

3．The producer, Matsushita Electric Industrial Co., Ltd.,

and the rightful claimant are not liable for any
accident caused by the use of this software in any case.

4．It is forbidden to copy any part of this document

without permission of Matsushita Electric Industrial
Co., Ltd.

－ 6 －

1.INTRODUCTION

Outline of PANATER

As MINAS series amplifier has a function to establish serial
communication with a marketed personal computer through
RS-232C, you can change parameters and monitor a control
status of the amplifier on personal computer with mouse and
keyboard. When several amplifiers are connected to each
other through RS-485, you can change parameters and monitor
a control status of the amplifiers (up to 16 amplifiers).
When you use the software,
please read the instruction manual of the amplifier, too.

◆ Microsoft® Windows® are trademarks of Microsoft Corporation in USA.

◆ PANATERM

®

is a trademark of Matsushita Electric Industrial Co.,Ltd.

－ 7 －

When one amplifier is connected:

Amplifier

SER

DV0P1960

Personal computer

PANATERM

cable

※The name of the connector is a NINAS-A series.

When several amplifiers are connected (MINAS-A4,A3,A series):

Amplifiers(Series MINAS-A4,A3,A)

ID（RSW）

NET NET NET NET

SER SER SER SER

012 F

Up to 16 units

DV0P1960

DV0P197□　cable

Personal computer

PANATERM

※ The name of the connector is a NINAS-A series.

－ 8 －

2.SYSTEM CONFIGURATION

Checking the applicable amplifiers

This software is dedicated to Panasonic Series MINAS AC servo
amplifiers. It is inapplicable to other amplifiers. The product
numbers of applicable amplifier sevies are shown below.

MINAS-A Series :M*DA***#**
MINAS-A3 Series :M*DC*****
MINAS-A4 Series :M#DD*****
MINAS-A4A Series :M#DD*****A
MINAS-A4N Series :M#DD*****N
MINAS-A4P Series :M#DD*****P
MINAS-A4T Series :M#DD*****T
MINAS-B Series :M*DB***#*D
MINAS-E Series :M*DE*****P
MINAS-S Series :M*DS******
And the amplifier models can be checked by the character #
of above product numbers.
(The characters in * vary depending on amplifier model.)

■Notes:
・Please ask our sales agency if this software is for the MINAS

series amplifier you try to use.

－ 9 －

Hardware configuration

To use this software, the following devices are required.
Establish a system, referring to the instruction manuals
enclosed with the devices.
The software may not operate normally in operating environment
not conforming to the recommended specifications.

□ Personal computer

・CPU : Pentium 100MHz or more
・Memory : 16MB or more (32MB recommended)
・Hard disk capacity (vacancy of 25MB or more recommended)
・OS : Windows®98, Windows®Me, Windows®2000, Windows®XP (US version)
・Communication speed of serial communication port : 2400bps or more
(The software may not operate normally using USB-to-Serial adapter.)
□ Display
・Resolution : 640*480 (VGA) or more (desirably 1024*768)
・Number of colors : 256colors or more
□ CD-ROM drive
CD-ROM drive operable on the above-mentioned personal computer

■Notes:
・Even when there are terminals, such as COM1 and COM2, they may be

unavailable for PANATERM

®

in the following cases.

 When devices, such as a built-in modem, use the communication

ports (See the instruction manual for personal computer.)

 When the port amplifier software has not been set correctly

(Click the “start” button, “Set”, “Control panel”, “System”,
“Device manager” and “Port” successively, and the screen on which
the setting can be checked will appear. For details, see the
instruction manual for personal computer.)

・If you use hardware not listed, you should check for normal

operation.

－ 10 －

2.SYSTEM CONFIGURATION

Software configuration

To use this software, the following OS is required. To software may not
operate on an OS not conforming to the recommended specifications.

□Windows®98, Windows®Me, Windows®2000 or Windows®XP

To use this software, use the US version of Windows®.

■Notes:
・You are asked to prepare Windows

®

.
・We do not guarantee the operation on another OS.
・If you use another OS, you should verify the operation.
・Use PANATERM

®

under the conditions set when Windows® was introduced

and update to the newest version.

・PANATERM

®

may not operate under the influence of applications

installed on your computer.

・PANATERM

®

is applicable to the versions of Windows®98, Me, 2000, XP
(available as of Jan. 2004). It may operate differently on another
version.

－ 11 －

Communication cable

An optional cable is available to connect the connector (SER)
on the amplifier front panel and the connector for RS-232C on
the personal computer.

○Between personal computer and amplifier

DV0P1960（D-SUB9-pin）（cable length : 2000[mm]）

Also an optional cable is available to connect the connector
(NET) on the amplifier front panel and the connector (SER) of
another amplifier for establishing communication between the
amplifiers through RS-485.

○Between amplifiers (Available only for MINAS-A4,A3,A series)

DV0P1970（cable length : 200[mm]）
DV0P1971（cable length : 500[mm]）
DV0P1972（cable length : 1000[mm]）

■Notes:
・The connection cable for RS-232C cannot be used for other devices.

－ 12 －

3.SETUP

Install PANATERM® on the hard disk of the personal computer
using setup CD-ROM. PANATERM® cannot be installed on the
network drive. It cannot be installed or setup by any other
means, such as the copy function. It cannot be started from a
CD-ROM.

1 Turn on the power to the personal computer, and start

Windows® (If any software has been started, terminate it.)

2 Insert the PANATERM® setup CD-ROM into the CD-ROM drive.

If the autorun program starts at this time, execute
operation according to the guidance, and move on to 5.

3 Start Explorer (for Explorer starting procedure, see the

manual for Windows®), and switch to the CD-ROM drive.

4 Double-click the setup program on the CD-ROM.

Japanese version setup is in “Japanese” directory. English

version setup is in “English” directory.

Execute setup.exe on Windows®98,Me, 2000, and SetupXP.exe

on Windows®XP.

(If the “Add application” menu on the control panel is used,
the software may not be installed normally.)
In the middle of the procedure, you will be asked to replace
the setup disk. It is not failure, so keep pushing OK button
until the following screen is displayed.

5 The PANATERM

®

setup program will start.

－ 13 －

6 To start the setup procedure, click “OK”.
7 Execute operation according to the guidance given by the

setup program. Follow the instructions.

8 Click , and installation of PANATERM® will be started.

Click “Exit Setup”, and PANATERM® will not be installed.
If necessary, click “Change directory”, and specify the
directory and the drive in which PANATERM® will
be installed. (If they are not specified, PANATERM® will be
installed in the “C: /Program Files /PANATERM” directory.)

9 When the message “Setup completed” appears, click “OK”.

Then, the setup procedure is finished.

10 Close all applications, and restart Windows®, (If indows®

is not restarted, PANATERM® may not be added to the program
menu.)

※If any error occurs during setup, an error message is

displayed. Remove the cause of the error, referring to Section
“Failure in setup”(page 71).

－ 14 －

4.BASIC OPERATION

Key notation

This document uses general key notation independent of the type
of keyboard. The notation in this document may differ from that
on your keyboard. Read the key names shown below for those on
your keyboard.

Notation

Details

[↑][←]
[↓][→]

Up, down, left and right cursor keys.
Pressing these keys moves the cursor on the menu.
The selected item is shown in reverse display.

Numeric

（0～9）

Numeric keys.
Input a desired numeric.

“ESC”

Escape key indicated on the keyboard as “Esc” or “ESC”.
Use this key to return the input value to the initial value.

“ENTER”

Enter key indicated on the keyboard as “Enter”,
“ENTER”, or “RETURN”. Press this key to select and
execute a menu. Or press it after inputting a value.

“BS”

Backspace key indicated on the keyboard as “BS” or
“Back space”. Use this key to erase a character when
inputting a file name or a value.

Procedure for selecting and operating menu

Place the mouse pointer on the menu item or operation button to
be selected, and click the mouse left button. Then, the selected
item will be executed.
On reverse the menu item to be selected using the up, right,
down or left key, and press the “Enter” key. Then, the item can
be executed.
The item can be selected using “TAB” key or “SHIFT” and
“TAB” keys.
Menu and window operations are the same as the general
operations on Windows®. For details about these operations, see
the reference manual enclosed with Windows®.

－ 15 －

Procedure for terminating menu

When a menu contains “End”, click the mouse left button on “End”, and the
menu will be terminated. Or click the in the upper right-hand corner of
the window to terminate the menu.

Inputting value

To input a value, use the numeric keys on the keyboard. To redo input,
erase the input value using the “BS” key. Press the “ESC” key, and the
value will return to the initial value.
When there are incrementing and decrementing buttons (▲ and ▼) near the
numeric input field, the value can be changed by clicking the mouse on
these buttons.
Numeric data for changing parameters are displayed in decimal. The data
can be input also in binary and in hexadecimal. Alphabetic characters in
hexadecimal value can be input in uppercase or lowercase.
An input value can be cancelled by pressing the “ESC” key.

Filing

When the file must be specified to load or save parameters, a common file
dialog is displayed.

“Save in” : Specify the file location (Drive and directory). Click

the ▼ mark, and the folder list will appear. Select the
pertinent folder from the list.

“File name” : Specify the file name.
“Save as type” : The file type is displayed.

－ 16 －

4.BASIC OPERATION

■Notes:

・Files to be handled by PANATERM® will be given extensions to identify

them. Do not change the extensions. Files with changed extensions
may not be handled by the program.

 Parameter file : File name.prm
 Parameter extraction status file : File name.prs
 Waveform graphic measurement condition file : File name.wgc
 Waveform graphic measurement result file : File name.wgd
 Parameter and waveform graphic measurement result file :

File name.wgp

 Frequency characteristic measurement condition file :

File name.fcc

 Frequency characteristic measurement result file :

File name.fcd

 Parameter and frequency characteristic measurement

result file : File name.fcp

 Frequency characteristic file : File name.idt
 Positioning parameter file : File name.ncp

・Do not delete files related to PANATERM

®

. It can disable PANATERM®.

(If not specified, PANATERM

®

will be installed in C:/Program Files
/PANATERM/ Do not delete any files in this directory. Particularly
the C:/Program Files/PANATERM/ini directory contains important

files for controlling the operation of PANATERM

®

.)

Tool tip text

Place the mouse pointer on a displayed item, the explanation of
the item will appear.

－ 17 －

5.STARTUP AND TERMINATION

Connection

Connection of cable (DV0P1960) for RS-232C

Make sure that power has been disconnected from the amplifier and
personal computer. Surely insert the cable plug on the miniDIN side
to the connector (EX. MINAS-A:CN SER) of the amplifier, and insert
the plug on the 9- side to the RS-232C connector COM1 port of the
personal computer.
For MINAS-A4,AⅢ,A series amplifier, set ID (RSW) to any of 1 to F.
For connection, please read the instruction manual of the amplifier.

Amplifier

SER

DV0P1960

Personal computer

PANATERM

cable

※The name of the connector is a MINAS-A series.

Connection of cable(DV0P197□) for RS-485(MINAS-A4,A3,A series)

To connect several amplifiers, connect the connector of each
amplifier as shown below. Set the ID (RSW) of the amplifier
connected with the personal computer to 0, and set the other
amplifier IDs (RSWs) to 1 to F, taking care not to duplicate
an ID.

Amplifiers (Series MINAS-A4,AⅢ,A)

ID（RSW）

NET NET NET NET

SER SER SER SER

012 F

Up to 16 units

DV0P1960

DV0P197□　cable

Personal computer

PANATERM

※The name of the connector is a MINAS-A series.

－ 18 －

5.STARTUP AND TERMINATION

Startup

1 Turn on the power to the personal computer to start Windows®.
2 Turn on the power to the amplifier.
3 Click “Start” of Windows

®

.

(For “Start”, see the manual for Windows

®

.)

4 Select “PANATERM” from the “Program” menu, and click it.

(Or start Explorer, and double-click the execution file of
PANATERM

®

(ex. C:/Program Files/PANATERM/PANATERM.exe).)

5 The opening splash will appear. The opening splash will be

displayed for 2 seconds, and automatically change to the
PANATERM

®

screen.

Termination

1 To terminate PANATERM®, click “Exit of Panaterm” in the “File”

menu on the PANATERM

®

screen.

(Or click at the right end on the title bar on the PANATERM

®

screen, and PANATERM

®

will be terminated in the same manner.)

2 A message will be displayed to confirm your intention of

terminating PANATERM

®

.

To terminate, click “Yes”. Not to terminate, click “No”.

■Notes:

・Note that all information will be lost if you terminate the

program without saving set information and obtained data.

－ 19 －

6.OPERATION

Determining whether to communicate with amplifier

After PANATERM® is started, a dialog will appear to determine
whether to communicate with the amplifier. Also when “File”,
and “Communication with the
amplifier” are selected
in the parent window of
PANATERM®, or when
“Communication with the
amplifier” on the window
menu is clicked, the
dialog will be displayed.

Determining whether to communicate with amplifier
“Communicate with the amplifier”

Communication with the amplifier directly connected Through
RS-232C will be provided. As soon as parameters received
from the amplifier are edited or set, the changed parameters
will be introduced to the amplifier. The model of the
connected amplifier is automatically identified.

“Communicate with the amplifier (via RS-485)”

Communication with the amplifier connected through RS-485
will be provided through the amplifier whose axis address (ID)
is 0. As soon as parameters received from the amplifier are
edited or set, the changed parameters will be introduced to
the pertinent amplifier. The model of the connected amplifier
is automatically identified.

“No communication”

Parameters saved in files can be freely edited irrespective
of connection of amplifiers.
The model of the corresponding amplifier will be selected from
the menu.

－ 20 －

6.OPERATION

Communication port
Select the communication port.

○Auto-set :The port to which the amplifier has been connected

is automatically identified.

○COM1 to 16 : The specified port is used.

Selecting the axis address (ID)
When several amplifiers are connected through RS-485, select
the amplifier axis address. PANATERM® will monitor the
parameter setting and the status of the amplifier having the
specified axis address.
Clicking “Search” searches for connected amplifiers. Click on
the amplifier to be selected.

■Notes:

・If the number of actually connected amplifiers from differs from the number

of amplifiers that have been proved to be connected by the search function,
the IDs (RSWs) in the front panels of the amplifiers may have been set
incorrectly. Make sure that the ID(RSW) of the amplifier connected to the
personal computer has been set to 0 and the IDs (RSWs) of the other
amplifiers have been set to 1 to F without duplication.
Set the amplifier IDs (RSWs) while the power is off to all amplifiers.

・MINAS-S series,MINAS-E series and MINAS-B series have no RS-485 function.

Please use communication with the amplifier directly connected through
RS-232C.

・It takes approx. 1 min. to search for amplifiers.

－ 21 －

Selecting the model

Select series and model of the amplifier

1 Select series of the amplifier out of the list below.

Please reter to p.8 “Checking the applicable amplifiers”
for the correspondence of the amplifier product number
and the series name.

2 Select model of the amplifier out of the list below.

“OK” : Validates the selection.
“Cancel” : Invalidates the selection.

－ 22 －

6.OPERATION

PANATERM® screen(Parent window and window menu)

After PANATERM® is started, this PANATERM® screen (parent window)
will appear. The functions of PANATERM

®

can be used by opening
the function windows in this parent window. Several function
windows can be simultaneously opened.

(1) PANATERM

®

screen (parent window)

Title bar

The model code, axis address (ID) and communication port status
are shown.

Menu bar

Four commands, “File”, “Display”, “Window” and “Help”, are
displayed.

File Setting

Close
Exit of Panaterm

(1) Title bar
(2) Menu bar

Selection of the axis address(ID)
Model selection
Communication with the amplifier
Communication set-up

－ 23 －

Display Window menu

Parameters
Monitor
Alarm
Waveform graphic
Auto tuning
Frequency characteristics
Positioning parameters
Positioning monitor
Close all windows

Window Display in piles

Display horizontally
Display vertically

Help Version information

(2) Window menu
You can call various function windows of PANATERM® from this
menu. You can also call the windows from the menu bar in the
parent window.

Display of window
You can call each function window.
Click the mouse button on the mouse
button on the item to be selected.

Setting

・Selection of the axis address (ID) :

usable when communication through RS-485 is executed

・Communication with the amplifier : Usable when communicating with the

amplifier

・Model selection : Usable when communication with the amplifier is not

executed