Panasonic Minas-LIQI Series Technical Reference
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Panasonic Minas-LIQI Series Technical Reference

Ac servo amplifier
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No. SR-ZSV00039
TECHNICAL REFERENCE
MODE L
Product name:
AC Servo Amplifier
Product number:
Minas-LIQI series
Issued on March 26, 2012
（REVISION
）
.
.
Received by
Date:
CHECKED
CHECKED
CHECKED
DESIGNED
Motor Business Unit, Appliances Company
Panasonic Corporation
7-1-1 Morofuku, Daito-City, Osaka 574-0044, Japan

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  • Page 1 No. SR-ZSV00039 TECHNICAL REFERENCE MODE L Product name: AC Servo Amplifier Product number: Minas-LIQI series Issued on March 26, 2012 （REVISION ） Received by Date: CHECKED CHECKED CHECKED DESIGNED Motor Business Unit, Appliances Company Panasonic Corporation 7-1-1 Morofuku, Daito-City, Osaka 574-0044, Japan...
  • Page 2 №SR-ZSV00039 REVISIONS Date Page REVISION Signed Kang,Wu Mar. 26, 2012 NEWLY ISSUED Motor Business Unit, Appliances Company, Panasonic Corporation...

  • Page 3: Table Of Contents

    7-2 Details of Protective Functions ......................59 7-3 Warning Functions ...........................64 7-4 Protection Function Setting before Gain Adjustment ..............65 8． Others..............................67 8-1 List of parameters..........................67 8-2 Timing Chart ............................73 8-2-1 Timing Chart of Operations After Turning Power On .............73 Motor Business Unit, Appliances Company, Panasonic Corporation...
  • Page 4 8-2-3 Timing Chart of Servo On/Off When Motor is Operating ............74 8-2-4 Timing Chart of Operations When Alarm is Issued (Servo-On Command Status)....75 8-2-5 Timing Chart of Operations When Alarm is Cleared (Servo-On Command Status) ....76 Motor Business Unit, Appliances Company, Panasonic Corporation...

  • Page 5: 1．Specification Overview

    Pulse count can be arbitrarily specified (up to encoder pulse count). Overvoltage, undervoltage, overspeed, overload, overheat, overcurrent, encoder abnormalities Protective function Position deviation fault, Command pulse division, EEPROM error, etc. Alarm data trace back function Alarm data history can be viewed. Motor Business Unit, Appliances Company, Panasonic Corporation...

  • Page 6: 2．Specifications Of Interface

     Before use, set Pr5.18 "Invalidation of command pulse inhibit Command pulse （SI4） input" to 0. inhibition input ＊  For details, see Section 4-2-7. *1 "-" in the table means that operations do not depend on "on/off" of the input signal. Motor Business Unit, Appliances Company, Panasonic Corporation...
  • Page 7 4.05 (SI* input selection). Note that pin numbers assignable to the following functions cannot be changed. Deviation Counter Clear Input (CL): SI3; Command Pulse Inhibition Input (INH): SI4  No function is allocated to the connector pins marked with "-" in the default setting. Motor Business Unit, Appliances Company, Panasonic Corporation...

  • Page 8: Specifications Of Output Signal Of I/F Connector

    ·The "*" mark attached to pin numbers displays that signal functions can be altered among pins with number 4.10 - 4.10 (which can be selected by SO* output). ·No function is allocated to the connector pins marked with "-" in the default setting. Motor Business Unit, Appliances Company, Panasonic Corporation...

  • Page 9: Input/Output Signal Allocation

    In this specification, a signal input is defined ON when its function is valid; OFF when the function is invalid. *2 For pin numbers assigned as input signals SI1 – SI10, see Specifications. *3 The mark "-" displays that there is no function assigned. Motor Business Unit, Appliances Company, Panasonic Corporation...
  • Page 10 Settings can be made in the same way for Pr4.00. To assign a function to the input SI6. 0～ Set this parameter with the hexadecimal system. SI6 input selection 00FFFFFFh Settings can be made in the same way for Pr4.00. Motor Business Unit, Appliances Company, Panasonic Corporation...
  • Page 11 ・Command Pulse Inhibition (INH) can be assigned only to SI10 Input. If it is assigned to the others, Err33.7 "INH fitting error protection" will occur. ・Control input pins set as invalid do not affect operations. ・Servo-on Input Signal (SRV-ON) must always be assigned. When it is not assigned, Servo-on cannot be activated Motor Business Unit, Appliances Company, Panasonic Corporation...

  • Page 12: Allocation Of Output Signal

    Output signals *1 (): Decimal parameter number Signal 00000001h Pr4.10 SO1 output 00000004h Pr4.11 SO2 output 00000002h Pr4.12 S-RDY SO3 output *1 For pin numbers assigned as output signals SO1 – SO3, see Specifications. Motor Business Unit, Appliances Company, Panasonic Corporation...
  • Page 13 If it is set to other than set values specified in the table, Err33.4「I/F output function code error will occur. And the (No setting) in the table is set to protection function..If it is set to any values ,output will get unstable. Motor Business Unit, Appliances Company, Panasonic Corporation...

  • Page 14: 3．Specifications Of Front Panel

    ＋3 ＋4 ＋5 ＋6 ＋7 ±0 Impossible *1 The setting value is 0 that the arrow of upward direction. The value is increased rotary switch while the arrow is turned by clockwise direction. Motor Business Unit, Appliances Company, Panasonic Corporation...

  • Page 15: Segment Led

    The main code and sub-code(+left dot) of alarm alternantly. Left dot flash while warning occur. code( display alternantly. algorism) （For example:overload） （For example:overload） Normal(about 4s) Warning code（about 2s） Sub-code Main code Left dot flash (＋left dot) Motor Business Unit, Appliances Company, Panasonic Corporation...

  • Page 16: 4．Basic Function

    The table below shows the relationships with positive overtravel limit and negative overtravel limit as examples. Command Direction of Positive overtravel Negative overtravel Pr0.00 direction motor rotation limit limit Positive Enabled  Negative  Enabled Positive Enabled  Negative Enabled  Motor Business Unit, Appliances Company, Panasonic Corporation...

  • Page 17: Position Control

    See the table on the following page for the details. 01  ＊ setup Specifies the counting mode for command pulse input. Command pulse input 03  See the table on the following page for the details. ＊ mode setup Motor Business Unit, Appliances Company, Panasonic Corporation...
  • Page 18 Negative pulse train SIGN PULS Pulse train + Sign SIGN Max. allow- Minimum required time width [μs] PULS/SIGN signal able input frequency Line driver 500 kpps PULS1, 2, SIGN1, 2 Open collector 200 kpps Motor Business Unit, Appliances Company, Panasonic Corporation...

  • Page 19: Command Scaling (Electronic Gear)

    * When the set value of Pr0.08 is 0 and that of Pr0.09 is not 0, the process shown in the above diagram is executed in ac- cordance with the set values of Pr0.09 and Pr0.10. Motor Business Unit, Appliances Company, Panasonic Corporation...

  • Page 20: Position Command Filter

    *3 There is a delay until the change in Pr2.22 " Positional command smoothing filter " is applied to internal calculation. If the switching timing described in *2 comes during the delay, the change may be suspen Motor Business Unit, Appliances Company, Panasonic Corporation...
  • Page 21 *3 There is a delay until the change in Pr2.23 "Position command FIR filter" is applied to internal calculation. If the switching timing described in *2 comes during the delay, the change may be suspended. Motor Business Unit, Appliances Company, Panasonic Corporation...

  • Page 22: Pulse Regeneration

    = (Set value of Pr0.11 / Set value of Pr5.03)  Encoder resolution Set the error detection function (Err28.0 "Limit of pulse replay error Pulse regenerative protection") as valid or invalid. 01  output limit setup 0: Invalid 1: Valid Motor Business Unit, Appliances Company, Panasonic Corporation...
  • Page 23 For positive direction For negative direction PH A PH A Non-reversed Encoder PH B PH B PH A PH A Reverse Encoder PH B PH B ＊Please do not set setting 2 and 3. Motor Business Unit, Appliances Company, Panasonic Corporation...
  • Page 24 When using a phase Z signal, operate the motor by at least one rotation after power-up, make sure that the phase Z signal has been regenerated once and use the second or later phase Z signal. Motor Business Unit, Appliances Company, Panasonic Corporation...

  • Page 25: Counter Clear (Cl)

    Clear once at the edge*1 where the deviation counter clear input turns longer 1 ms min. *1 The deviation counter clear input being OFF represents the input photocoupler being OFF, and the deviation counter clear input being ON represents the input photocoupler being ON. Motor Business Unit, Appliances Company, Panasonic Corporation...

  • Page 26: In-Position Output (Inp)

    Pr0.14 "Position deviation excess setup" is also changed.  The presence/absence of a position command is judged by a command issued after the position command filter. For the position command filter, see Section 4-2-3 "Position Command Filter." Motor Business Unit, Appliances Company, Panasonic Corporation...

  • Page 27: Command Pulse Inhibition (Inh)

    4: 0.166 ms (when the signal is found the same twice or more) A prolonged cycle of reading decreases the likelihood of misoperation caused by noise, but it also reduces responsiveness to signal input. Motor Business Unit, Appliances Company, Panasonic Corporation...

  • Page 28: Setting Of Regenerative Resistor

    External regenerative 03  1: Use an external resistor and provide regeneration over. resistor setup 2: Use an external resistor but not provide regeneration over. Use with no regenerative resistor (no regeneration over). Motor Business Unit, Appliances Company, Panasonic Corporation...

  • Page 29: 5．Gain Adjustment / Damping Control Functions

    At the same time, setting time for positioning is reduced by adding an estimated friction torque to a torque command in advance. 2)Adaptive filter Estimating a resonance frequency using a motor speed and removing the frequency components from a torque command suppresses vibrations caused by resonance. Motor Business Unit, Appliances Company, Panasonic Corporation...

  • Page 30: Real-Time Auto Tuning

     A speed at 100 [r/min] or higher or a acceleration/deceleration of 2000 [r/min] per 1 Operation pattern [s] does not continue for 50 [ms] or longer.  The acceleration/deceleration torque is small with reference to the uneven load/ viscous friction torque. Motor Business Unit, Appliances Company, Panasonic Corporation...
  • Page 31 Appropriate estimation is made against change of load characteristic. * If oscillation automatic detection is made valid from setup support software, this setting is ignored and operation is based on settings of setting value 3. Motor Business Unit, Appliances Company, Panasonic Corporation...
  • Page 32 0.01 ms filter Torque feed forward If fixed parameter setting is valid, specify "0." 01000 0.1% gain Torque feed forward If fixed parameter setting is valid, specify "0." 06400 0.01 ms filter (Continued) Motor Business Unit, Appliances Company, Panasonic Corporation...
  • Page 33 After the stiffness setting is changed, be sure to stop the motor and check that the stiffness setting is re- flected before performing next operation. Motor Business Unit, Appliances Company, Panasonic Corporation...
  • Page 34 Hardness settings of A4 series refers to the setting values (0 to 15) of A4 series parameter Pr22 "Real-time auto tuning machine hardness selection." *2 For 2500[p/r] encoder, a value is limited to 25, a maximal value. Motor Business Unit, Appliances Company, Panasonic Corporation...

  • Page 35: Adaptive Filter

    PANATERM. Current values are retained for parameters related to 3rd and 4th Notch filter. Setting value 4: Clearing adapting results. Parameters related to 3rd and 4th Notch filter are made invalid and adapting results are cleared. (Continued) Motor Business Unit, Appliances Company, Panasonic Corporation...
  • Page 36 Then make the adaptive filter valid again. 3) 3rd notch frequency (Pr2.07) and 4th notch frequency (Pr2.10) are written in EEPROM every 30 minutes. The data are used as the initial values for adaptive processing at the next power-up. Motor Business Unit, Appliances Company, Panasonic Corporation...

  • Page 37: Manual Adjustment

    １） Position control mode block diagram (5-2-1) ２） Gain switching function (5-2-2) ３） Notch filter (5-2-3) ４） Vibration suppression control (5-2-4) ５） Feed forward function (5-2-5) ６） 3rd Gain switching function (5-2-6) ７） Friction torque compensation (5-2-7) Motor Business Unit, Appliances Company, Panasonic Corporation...

  • Page 38: Block Diagram Of Position Control Mode

    Gain [encoder pulses] Filter Pulse regeneration revolution Velocity Reverse Numerator/ detection Pulse output denominator Denominator Torque limit Current control Select Encoder Motor Response Torque command Main power Load Position control block diagram Motor Business Unit, Appliances Company, Panasonic Corporation...

  • Page 39: Gain Switching Function

    Position gain switching sudden increase of position loop gain may be suppressed. 010000 0.1 ms When position loop gain increases, gains change taking time time specified by a setting value. Motor Business Unit, Appliances Company, Panasonic Corporation...
  • Page 40 If the second gain has been previously used, the position command has stayed 0 for the delay time and the absolute value of the actual speed is below “Level – Hysteresis” [r/min], the first gain is used again. Motor Business Unit, Appliances Company, Panasonic Corporation...
  • Page 41 Select 2n d gain regardless of state. １ Switch by gain switching input (GAIN). ２ Open: 1 st gain, short: 2nd gain * In the case that th e logi c is s et at a contact Motor Business Unit, Appliances Company, Panasonic Corporation...
  • Page 42 When “0” is specified for Pr1.19 “Position gain switching time” High gain Low gain When “5” is specified for Pr1.19 “Position gain switching time” 0.5ms High gain Low gain 166µs Motor Business Unit, Appliances Company, Panasonic Corporation...

  • Page 43: Notch Filter

    The depth of a notch filter is an I/O ratio that provides the complete interruption of the center frequency input with a setting of 0 and complete passage with a setting of 100. In [dB], the values are as shown in the rightmost column of the table below on the right. Motor Business Unit, Appliances Company, Panasonic Corporation...
  • Page 44 0.90 -0.9 1.00 Depth: 0 / Width: 8 Notch filter frequency characteristics ノッチフィルタ周波数特性 －3[dB] 深さ０、幅４ Depth:0 / Width: 4 深さ５０、幅４ Depth:50 / Width:4 深さ０、幅８ Depth: 0 / Width: 8 1000 周波数[Hz] Frequency [Hz] Motor Business Unit, Appliances Company, Panasonic Corporation...

  • Page 45: Damping Control

    The ratio of the resonance frequency to the antiresonance frequency is large.  The vibration frequency is out of the 1.0 - 200.0 [Hz] range. Load condition  For the frequency of vibration,the responsion of the position control is low. Motor Business Unit, Appliances Company, Panasonic Corporation...
  • Page 46 Therefore, a sudden action of returning to a correct position may result in temporary rotation of motor faster than originally instructed. Use caution. Motor Business Unit, Appliances Company, Panasonic Corporation...
  • Page 47 Specify the value in the range that does not cause torque saturation in the actual conditions of use. Torque saturation may impair the damping effect. Anti- vibration filter setting appropriate Anti-vibration filter setting too l arge Torque saturation Tor que command Motor Business Unit, Appliances Company, Panasonic Corporation...

  • Page 48: Feed Forward Function

    Pr0.04 “Inertia ratio.” Torque feed forward is made valid by gradually increasing torque feed forward gain with torque feed forward filter Motor Business Unit, Appliances Company, Panasonic Corporation...
  • Page 49 Just as the case with velocity feed forward, specifying a larger time constant for torque feed forward filter reduces operating noises. However, it makes position deviation larger at a changing point of acceleration. Motor Business Unit, Appliances Company, Panasonic Corporation...

  • Page 50: 3Rd Gain Switching

    2nd gain 3rd gain 1st gain Pr1.05～1.09 Pr1.00～1.04 [3rd gain area] Position loop gain=Pr1.00Pr6.06/100 Speed ratio gain=Pr1.01Pr6.06/100 gain value is used for speed integral constant, speed detection filter and torque filter as it is. Motor Business Unit, Appliances Company, Panasonic Corporation...

  • Page 51: Friction Torque Compensation

    Negative direction Specify a dynamic friction compensation value, which is added to torque compensation -100100 torque command when reverse direction position command is input value under position control and full-closed control. Motor Business Unit, Appliances Company, Panasonic Corporation...
  • Page 52 Pr6.07. Also, in accordance with command direction, and in accordance with parameter Pr6.08 or Pr6.09, dynamic friction compensation value is updated. Motor Business Unit, Appliances Company, Panasonic Corporation...

  • Page 53: 6．Applied Functions

    (3) Description  The following table shows the torque limit switch modes. Torque limit switch Positive torque Negative torque Pr5.21 input (TL-SEL) limit limit Pr0.13 Pr0.13 Pr5.22 ＯＦＦ Pr0.13 ＯＮ Pr5.22 Motor Business Unit, Appliances Company, Panasonic Corporation...

  • Page 54: Motor Movement Range Setting

    To set the motor working range in addition to the position command input range. Motor working range 0.1 revo- Exceeding the value set with this parameter will prompt the software 0～1000 setup lution limit protection. Motor Business Unit, Appliances Company, Panasonic Corporation...
  • Page 55  While a position deviation is being cleared (with the deviation counter clear being valid, and the input of the overtravel limit being valid with Pr5.05 “Sequence at over-travel inhibit” = 2)  At the start and end of the trial run performed by communication Motor Business Unit, Appliances Company, Panasonic Corporation...

  • Page 56: Electronic Gear Switching

    The following table shows DIV1 and DIV2, and their corresponding numerators and denominators used for the command scaling. Command scaling ＤＩＶ1 ＤＩＶ2 Numerator Denominator ＯＦＦ ＯＦＦ Pr0.09 Pr0.10 ＯＮ ＯＦＦ Pr5.00 Pr0.10 ＯＦＦ ＯＮ Pr5.01 Pr0.10 ＯＮ ＯＮ Pr5.02 Pr0.10 Motor Business Unit, Appliances Company, Panasonic Corporation...

  • Page 57: Setting Of Sequence Movements

    *6 “During deceleration” refers to the section from the state where the motor is operating until the speed is reduced to 30 r/min or below. Once the speed reduction achieves 30 r/min and thus it transfers to the “After stop” state, the post-stop actions will be performed regardless of the motor speed. Motor Business Unit, Appliances Company, Panasonic Corporation...

  • Page 58: Sequence At Servo Off

    *6 Pr5.07 「 」 。 Please take notice of that dynamic Torque command additional value set the offset toque to be added to the torque command. brake cann’t be appointed as decelerating or stoping. Motor Business Unit, Appliances Company, Panasonic Corporation...

  • Page 59: Emergency Stop At Alarm

    *3 “During deceleration” refers to the section from the state where the motor is operating until the speed is reduced to 30 r/min or below. Once the speed reduction achieves 30 r/min and thus it transfers to the “After stop” state, the post-stop actions will be performed regardless of the motor speed. Motor Business Unit, Appliances Company, Panasonic Corporation...

  • Page 60: Emergency Stop At Alarm

    Err26.0 “Over-speed protection”. If Err26.0 and Err26.1 are detected at the same time, Err26.0 will be displayed but a fast shutdown will not be executed due to Err26.1 that is internally occurring. Motor Business Unit, Appliances Company, Panasonic Corporation...

  • Page 61: 7． Protective/Warning Functions

    *3：If an alarm that can be cleared occurred, you can clear it through the alarm clear input (A-CLR), front panel operation or communication interface. Please execute the alarm clear while stopping without fail after confirming safety. Motor Business Unit, Appliances Company, Panasonic Corporation...
  • Page 62 *5：A fast shutdown refers to an alarm that causes an immediate stop when Pr5.10 “Sequence at alarm” is set to the value between 4 and 7. Please refer to 6-5-4 “Sequence at Alarm” for details. Motor Business Unit, Appliances Company, Panasonic Corporation...

  • Page 63: Details Of Protective Functions

    ⑧ Timing of the pulse input is either the same as or earlier protection ⑧ Wait for 100 ms at the minimum after the servo control is than that of the servo turning on. turned on before entering any pulse. (Continued) Motor Business Unit, Appliances Company, Panasonic Corporation...
  • Page 64 Important: When specifying 2 for Pr0.16, always provide the external protection such as a thermal fuse, as it will loose the protection for the regenerative resistor, resulting in its possible overheat and burnout. (Continued) Motor Business Unit, Appliances Company, Panasonic Corporation...
  • Page 65 Limit of pulse “Output pulse counts per one motor revolution” and replay error Pr5.03 “Denominator of pulse output division.” ・ To disable the detection, set Pr5.33 “Pulse protection regenerative output limit setup” to 0. (Continued) Motor Business Unit, Appliances Company, Panasonic Corporation...
  • Page 66 Pay special attention to the power supply (DC 12 - 24 V) to inhibit input When Pr5.04 is set to 2, either of the see if it is taking too much time to start. protection positive/negative-direction drive prohibition inputs was turned on. (Continued) Motor Business Unit, Appliances Company, Panasonic Corporation...
  • Page 67 Note: Use it so that the effective torque stays within the continuous operating range described in “S-T characteristic” of each motor. For information on “S-T characteristic”, refer to the motor specifications. Motor Business Unit, Appliances Company, Panasonic Corporation...

  • Page 68: Warning Functions

    *3 Each warning detection can be masked using Pr6.38 “Alarm mask setup”. The supported bits are listed in the table. Bit=1 masks the warning detection. *4 The encoder overheat is effective only during using the 20 bit incremental serial encoder . It becomes invalid for other encoders. Motor Business Unit, Appliances Company, Panasonic Corporation...

  • Page 69: Protection Function Setting Before Gain Adjustment

    In addition, when making the motor speed slow at initial adjustment, by establishing a value by multi- plying the speed by the margin, you can use the value as a protection just in case it turns into an oscillation state. Motor Business Unit, Appliances Company, Panasonic Corporation...
  • Page 70 During the position or full closed control, Err34.0 “Software limit protection” is generated by detecting that the motor exceeded the preset position range by more than the rotation amount established in Pr5.14 “Motor working range setup”. For more information, refer to 6-3 “Motor Movement Range Setting.” Motor Business Unit, Appliances Company, Panasonic Corporation...

  • Page 71: 8．Others

    The unit is as per 5.20 “Position setup unit select “. External regenerative 03 To define the setting for the regenerative resistor. Power reset resistor setup Motor Business Unit, Appliances Company, Panasonic Corporation...
  • Page 72 Hysteresis at position 020000 To set the gain switching hysteresis. Always valid control switching Position gain 0.1ms 010000 To set the gain switching time of the position loop gain. Always valid switching time Motor Business Unit, Appliances Company, Panasonic Corporation...
  • Page 73 0.1ms 010000 Always valid smoothing filter command. Positional command To set the time constant of the FIR filter for the position control. 0.1ms 010000 Always valid FIR filter Motor Business Unit, Appliances Company, Panasonic Corporation...
  • Page 74 Positioning com- Sets the allowable number of pulses in the positioning Comman complete signal 2(INP2). plete (In-position) 0262144 Always valid d unit The unit is as per Pr5.20 “Position setup unit select “. range Motor Business Unit, Appliances Company, Panasonic Corporation...
  • Page 75 If the pulse frequency input significantly exceeds this set value, detection may not work correctly. Pulse regenerative Enables/disables the detection of Err28.0 “Limit of pulse replay error protection”. Power 01 output limit setup 0: Invalid 1: Valid reset Motor Business Unit, Appliances Company, Panasonic Corporation...
  • Page 76 Performs the mask setting for warning detection. -32768 Alarm mask setup If the corresponding bit is set to 1, the Power reset 32767 corresponding warning detection is disabled. Motor Business Unit, Appliances Company, Panasonic Corporation...

  • Page 77: Timing Chart

    *6. The signal of SRV-ON from on to the fact of position instruction,the waiting time please set about 100ms at least.Because from SRV-ON to the fact of power to motor need to consume some time,It is possibility the position command cann’t be accepted. Motor Business Unit, Appliances Company, Panasonic Corporation...
  • Page 78 *4. The servo control is not turned on until the motor speed is approximately 30 r/min or less. *5. Whether electricity is turned on to the motor during the servo-off deceleration depends on the value used to set Pr5.06 “Sequence at servo-off” Motor Business Unit, Appliances Company, Panasonic Corporation...
  • Page 79 Pr4.39 “Brake release speed setup” or less, whichever comes first. *2. The operation of the dynamic brake when an alarm has occurred is according to the setting value for Pr5.10 “Sequence at alarm”. Motor Business Unit, Appliances Company, Panasonic Corporation...
  • Page 80 Position/ velo city/ No input Input is p ossible torque command *1. The time to recognize the alarm clear input can be changed with Pr5.16 “Alarm clear input setup”. (The default setting is 120 ms.) Motor Business Unit, Appliances Company, Panasonic Corporation...

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