Panasonic MINAS A6N Series Operating Instructions Manual
  1. Manuals
  2. Brands
  3. Panasonic Manuals
  4. Servo Drives
  5. MINAS A6N Series
  6. Operating instructions manual
Panasonic MINAS A6N Series Operating Instructions Manual

Panasonic MINAS A6N Series Operating Instructions Manual

Ac servo motor & driver
Hide thumbs Also See for MINAS A6N Series:
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
131
132
133
134
135
136
137
138
139
140
141
142
143
144
145
146
147
148
149
150
151
152
153
154
155
156
157
158
159
160
161
162
163
164
165
166
167
168
169
170
171
172
173
174
175
176
177
178
179
180
181
182
183
184
185
186
187
188
189
190
191
192
193
194
195
196
197
198
199
200
201
202
203
204
205
206
207
208
209
210
211
212
213
214
215
216
217
218
219
220
221
222
223
224
225
226
227
228
229
230
231
232
233
234
235
236
237
238
239
240
241
242
243
244
245
246
247
248
249
250
251
252
253
254
255
256
257
258
259
260
261
262
263
264
265
266
267
268
269
270
271
272
273
274
275
276
277
278
279
280
281
282
283
284
285
286
287
288
289
290
291
292
293
294
295
296
297
298
299
300
301
302
303
304
305
306
307
308
309
310
311
312
313
314
315
316
317
318
319
320
321
322
323
324
325
326
327
328
329
330
331
332
333
334
335
336
337
338
339
340
341
342
343
344
345
346
347
348
349
350
351
352
353
354
355
356
357
358
359
360
361
362
363
364
365
366
367
368
369
370
371
372
373
374
375
376
377
378
379
380
381
382
383
384
385
386
387
388
389
390
391
392
393
394
395
396
397
398
399
400
401
402
403
404
405
406
407
408
409
410
411
412
413
414
415
416
417
418
419
420
421
422
423
424
425
426
427
428
429
430
431
432
433
434
435
436
437
438
439
440
441
442
443
444
445
446
447
448
449
450
451
452
453
454
455
456
457
458
459
460
461
462
463
464
465
466
467
468
469
470
471
472
473
474
475
476
477
478
479
480
481
482
483
484
485
486
487
488
489
490
491
492
493
494
495
Table of Contents

Advertisement

Quick Links

Download this manual
•
Thank you for purchasing this Panasonic product.
•
Before operating this product, please read the instructions carefully.
•
Read the the Safety Operating Instructions before using the products (P.6 to 9).
•
Save this manual for future use.
•
This product is for industrial equipment. Do not use this product other than this(at general household etc.).
Operating Instructions (Overall)
AC Servo Motor & Driver
MINAS A6N series
Rev.2.00

Advertisement

Table of Contents
loading

Related Manuals for Panasonic MINAS A6N Series

Summary of Contents for Panasonic MINAS A6N Series

  • Page 1 Operating Instructions (Overall) AC Servo Motor & Driver MINAS A6N series • Thank you for purchasing this Panasonic product. • Before operating this product, please read the instructions carefully. • Read the the Safety Operating Instructions before using the products (P.6 to 9).
  • Page 2 Thank you for purchasing Digital AC Servo Motor & Driver, MINAS A6N series. This instruction manual contains information necessary to correctly and safely use the MINAS A6N series motor and driver. By reading this instruction manual, you will learn how to...

  • Page 3: Organization Of This Manual

    Organization of this manual Before Using the Products Check of the Driver Model ... Installation Describes how to identify and select the desired product and components, how to read the specifications, and how to install the equipment. Preparation Setup and Wiring Shows the setting, wiring, and describes how to make wiring and to use the front panel.

  • Page 4: Table Of Contents

    Contents page Organization of this Manual ..................... 3 Safety Precautions ......................6 Maintenance and Inspections ..................10 Software Version ......................12 1. Before Using the Products ..............1-1 1. Introduction ....................... 1-2 2. Driver ........................1-4 3. Motor ........................1-11 4.
  • Page 5 page 5. Adjustment ......................5-1 1. Gain Adjustment ....................... 5-2 2. Real-Time Auto-Gain Tuning ..................5-4 3. Adaptive Filter ......................5-28 4. Manual Gain Tuning (Basic) ................... 5-31 5. Manual Gain Tuning (Application) ................5-43 6. Application Function ....................5-65 6.

  • Page 6: Safety Precautions

    Safety Precautions Please observe safety precautions fully. The following explanations are for things that must be observed in order to prevent harm to people and damage to property. • Misuses that could result in harm or damage are shown as follows, classified according to the degree of potential harm or damage.
  • Page 7 In the case of the motor with shaft end keyway, do Failure to observe this instruc- not touch the keyway with bare hands. tion could result in personal Do not touch the rotating portion of the motor injury. while it is running. Do not touch the motor, servo driver, heat sink, Failure to observe this instruc- regenerative resistor and dynamic brake resister,...
  • Page 8 Safety Precautions Please observe safety precautions fully. Caution Do not hold the motor cable or motor shaft during Failure to observe this instruc- the transportation. tion could result in injury. Failure to observe this instruc- Do not drop or cause topple over of something tion could result in injury and during transportation or installation.
  • Page 9 Make an appropriate mounting of the Product Failure to heed these require- matching to its wight and output rating. ments will result in personal Observe the specified mounting method and di- injury or malfunction. rection. Use the eye bolt of the motor for transportation of Using it for transportation of the the motor only, and never use this for transporta- machine will cause personal...

  • Page 10: Maintenance And Inspections

    Maintenance and Inspections Routine maintenance and inspection of the driver and motor are essential for the proper and safe operation. Notes on Maintenance and Inspection 1) Turn on and turn off should be done by operators or inspectors themselves. While power is veing supplied, do not approach the motor and the machine driwen by the motor in case of malfunctioning.
  • Page 11 Guideline for Parts Replacement Parts replacement cycle varies depending on the actual operating conditions. Defective parts should be replaced or repaired when any error have occurred. Disassembling for inspection and repair should be carried out only by authorized dealers or service Prohibited company.

  • Page 12: Software Version

    Software Version Software Version Software Available Functional change contents version PANATERM 6.0.0.6 CPU1 Ver1.04 Initial release CPU2 Ver1.01 or later Function extended edition 1 6.0.0.8 Additional function Related page CPU1 Ver1.05 CPU2 Ver1.02 or later 1) Extend the quadrant projection suppression function P.3-98, P.5-58 2) Correction function for detection delay of latch position P.3-105, P.3-109, P.3-114 Function extended edition 2...
  • Page 13 Software Version Software Version Software Available Functional change contents version PANATERM Function extended edition 3 Additional function Related page A6N series technical reference, 1) Extended range of absolute data RTEX communication specification 7-2-4 6.0.1.5 CPU1 Ver1.21 A6N series technical reference CPU2 Ver1.21 or later functional specification 9-1...
  • Page 14 MEMO Rev.2.00...

  • Page 15: Before Using The Products

    . Before Using the Products 1. Introduction Outline ......................1-2 On Opening the Product Package ...............1-3 2. Driver Check of the Model ..................1-4 Parts Description ..................1-6 Specifications....................1-8 3. Motor Check of the Model ..................1-11 Parts Description ..................1-14 4. Check of the Combination of the Driver and the Motor Absolute Specifications, 23-bit..............1-15 Rev.2.00...

  • Page 16: Introduction

    CP (Continuous Path) . To meet all kinds of requirements, MINAS A6N series are designed to correspond to the mode that can completely control place (Profile or Cyclic) , speed, and torque. The fastest commu- nication cycle is 0.0625 ms, which decreased 25 % of what it use to be.
  • Page 17 1. Introduction Before Using On Opening the Product Package the Products • Make sure that the model is what you have ordered. • Check if the product is damaged or not during transportation. • Check if the Safety Operating Instructions are included or not. •...

  • Page 18: Driver

    2. Driver Before Using Check of the Model the Products Contents of Name Plate Model number Serial Number e.g.) : P16 0 2 0001N Lot number Month of production AC SERVO DRIVER Year of production (Lower 2 digits of AD year) QR code MADLN15NE Model No.
  • Page 19 2. Driver Check of the Model Model Designation M A D L N 1 5 N E 10~12 Frame-size symbol Symbol Frame Series Special specifications Symbol Series name A-frame (letters and numbers) A6 series B-frame C-frame Driver type D-frame Safety function ■Rotary specifications E-frame Symbol...
  • Page 20 2. Driver Before Using Parts Description the Products A to B-frame (100 V/200 V) Charge lamp Front panel Connector XA: Connector X7: Monitor connector for main power connection 05JFAT-SAXGGKK-A (JST) Connector X1: USB connector Main power input terminals Connector X2A: RX connector Control power input terminals Connector X2B: TX connector...
  • Page 21 2. Driver Parts Description E-frame (200 V) Charge lamp Connector XA: Front panel for main power connection 05JFAT-SAXGSA-L(JST) Connector X7: Monitor connector Connector X1: USB connector Main power input terminals Connector X2A: RX connector Control power input terminals Connector X2B: TX connector Terminals for external regenerative resistor Connector X4: Parallel I/O connector...
  • Page 22 2. Driver Before Using Specifications the Products +10 % Main circuit Single phase, 100 V to 120 V 50 Hz/60 Hz –15 % 100 V +10 % Control circuit Single phase, 100 V to 120 V 50 Hz/60 Hz –15 % A to +10 % Single/3-phase, 200 V to 240 V...
  • Page 23 2. Driver Specifications Positive direction drive inhibit, negative direction drive inhibit, latch signal, near home position, Control input etc. Control output Positioning completion etc. Input mode Command type by RTEX command Pulse input Smoothing filter Either a primary delay filter or a FIR type filter can be selected against command input. Model-type damping filter Available (2 filters available) 2-degree-of-freedom control system...
  • Page 24 2. Driver Specifications Control input Positive direction drive inhibit, negative direction drive inhibit, latch signal, etc. Control output At speed etc. Torque Input mode Command type by RTEX command command input Speed limit function Speed limit value cane be set by parameter. (Switched by RTEX command.) Single-turn absolute function Available(The absolute encoder is connected.) Available(No hindrance for the motor’s normal run.

  • Page 25: Motor

    3. Motor Before Using Check of the Model the Products Contents of Name Plate Serial Number Model e.g.) : 15 1 00001N MSMF5AZL1A1 Rated input voltage/current Lot number QR code 15100001N Month of production 20151001 Rated output Year of production (Lower 2 digits of AD year) Rated frequency Manufacture date...
  • Page 26 3. Motor Check of the Model Model Designation M S M F 5 A Z L 1 A 1 10~11 Type Motor rated output Special specifications Symbol Specifications Symbol Output Motor structure 50 W Low inertia (50 W to 5.0 kW) 100 W Design order 200 W...
  • Page 27 3. Motor Check of the Model Model Designation Motor structure MQMF、MHMF(Below □80) Symbol Shaft Holding brake Oil seal Motor I/F Key way With Connector Leadwire Without With Without With Round type type (Protective lip) Threaded ● ● ● ● ● ●...
  • Page 28 3. Motor Before Using Parts Description the Products 50 W to 1.0 kW( □ 80 ) • MSMF • MQMF 100 W to 400 W 50 W to 1.0 kW( □ 80 ) • MHMF [with Brake] Connector for encoder Connector for brake Connector for encoder Connector for motor...

  • Page 29: Check Of The Combination Of The Driver And The Motor

    4. Check of the Combination of the Driver and the Motor Before Using Absolute Specifications, 23-bit the Products This driver is designed to be used in a combination with the motor which are specified by us. Check the series name of the motor, rated output torque, voltage specifications and encoder specifications.
  • Page 30 MEMO 1-16 Rev.2.00...

  • Page 31: Preparation

    . Preparation 1. Composition of Peripheral Equipments A to B-frame (100 V/200 V Type) ...............2-2 C to D-frame (100 V/200 V Type) ..............2-4 E-frame (200 V Type).................2-6 F-frame (200 V Type) .................2-8 2. Conformance to International Standards About Conformance to International Standards ........2-10 Peripheral Equipments ................2-14 3.

  • Page 32: Composition Of Peripheral Equipments

    1.Composition of Peripheral Equipments A to B-frame (100 V/200 V Type) Preparation 接続例（A 〜 B 枠 100 V/200 V の場合） Connecting Example of A to B-frame (100 V/200 V Type) Mains and Residual current device (RCD) Mains Apply the voltage designated on the Residual nameplate from the power source.
  • Page 33 1.Composition of Peripheral Equipments A to B-frame (100 V/200 V Type) : High voltage PC (to be supplied by customer) Handle lever Use this for connector Wiring to the Connector, X7 　 P.2-64 connection. Store this • Monitor output after connection for Setup support software “PANATERM”...
  • Page 34 1.Composition of Peripheral Equipments C to D-frame (100 V/200 V Type) Preparation 接続例（A 〜 B 枠 100 V/200 V の場合） Connecting Example of C to D-frame (100 V/200 V Type) Mains and Residual current device (RCD) Mains Residual Apply the voltage designated on the current device nameplate from the power source.
  • Page 35 1.Composition of Peripheral Equipments C to D-frame (100 V/200 V Type) : High voltage PC (to be supplied by customer) Handle lever Use this for connector Wiring to the Connector, X7 　 P.2-64 connection. Store this • Monitor output Setup support software “PANATERM” after connection for Please download from our web site.
  • Page 36 1.Composition of Peripheral Equipments E-frame (200 V Type) Preparation Connecting Example of E-frame (200 V Type) Mains and Residual current device (RCD) Mains Residual Apply the voltage designated on the current device nameplate from the power source. Wiring to the Connector, XA P.2-35 Circuit Breaker (MCCB) •...
  • Page 37 1.Composition of Peripheral Equipments E-frame (200 V Type) : High voltage PC (to be supplied by customer) Wiring to the Connector, X7 P.2-64 Handle lever • Monitor output Use this for connector connection. Store this Charge lamp Setup support software “PANATERM” after connection for (Red LED) Please download from our web site.
  • Page 38 1.Composition of Peripheral Equipments F-frame (200 V Type) Preparation Connecting Example of F-frame (200 V Type) Mains and Residual current device (RCD) Mains Apply the voltage designated on the Residual current device nameplate from the power source. Connection with input P.2-37 power supply Circuit Breaker (MCCB)
  • Page 39 1.Composition of Peripheral Equipments F-frame (200 V Type) : High voltage PC (to be supplied by customer) Setup support software “PANATERM” Wiring to the Connector, X7 P.2-64 Please download • Monitor output from our web site. Charge lamp (Red LED) Wiring to the Connector, X1 P.2-43 •...

  • Page 40: Conformance To International Standards

    2. Conformance to International Standards About Confomance to Internationl Standards Preparation EC Directives The AC servos meet the relevant EC Directives for Low Voltage Equipment so that the machine or equipment comprising our AC servos can meet EC Directives. EMC Directives MINAS Servo System conforms to relevant standard under EMC Directives setting up certain model (condition) with certain locating distance and wiring of the servo motor and the driver.
  • Page 41 Pursuant to the directive 2004/108/EC, article 9(2) : Europaischen Normen Panasonic Testing Centre EMC : Electromagnetic Compatibility Panasonic Service Europe, a division of : Underwriters Laboratories Panasonic Marketing Europe GmbH CSA : Canadian Standards Association Winsbergring 15, 22525 Hamburg, F.R. Germany •...
  • Page 42 2. Conformance to International Standards About Conformance to International Standards Installation Environment Use the servo driver in the environment of Pollution Degree 1 or 2 prescribed in IEC- 60664-1 (e.g. Install the driver in control panel with IP54 protection structure.) 100 V/200 V Metaric control box Power...
  • Page 43 2. Conformance to International Standards About Conformance to International Standards • Details of previous chart and cable Ferrtie Symbol Connecting to Connecting Cable Name Length Memo Shield coil Single Circuit Breaker ① Noise filter Power Line phase/3- Unattached Unattached (MCCB) phase ②...
  • Page 44 2. Conformance to International Standards Peripheral Equipments Preparation Power Supply 100 V type: +10 % +10 % Single phase, 100 V to 120 V 50 Hz/60 Hz (A to C-frame) –15 % –15 % 200 V type: +10 % +10 % Single/3-phase, 200 V to 240 V 50 Hz/60 Hz...
  • Page 45 2. Conformance to International Standards Peripheral Equipments Noise Filter Applicable Voltage specifications Manufacturer’s Option part No. driver Manufacturer for driver part No. (frame) DV0P4170 Single phase 100 V/200 V SUP-EK5-ER-6 A, B-frame 3-phase 200 V A, B-frame DV0PM20042 3SUP-HU10-ER-6 Single phase 100 V/200 V C-frame 3-phase 200 V Okaya Electric Ind.
  • Page 46 2. Conformance to International Standards Peripheral Equipments Ferrite Coil Option Manufacturer's Symbol Cable Name Amp. frame symbol Manufacturer Qty. part No. part No. (100 V)C (200 V)C, D Power cable (100 V)A, B (200 V)A, B, E DV0P1460 ZCAT3035-1330 TDK Corp. (100 V)A, B, C (200 V)A, B, C, D, E Motor cable...
  • Page 47 2. Conformance to International Standards Peripheral Equipments Residual Current Device Install a residual current device (RCD) at primary side of the power supply. Select a RCD of type.B prescribed in IEC60947-2, JISC8201-2-2 Grounding (1) To prevent electric shock, be sure to connect the ground terminal ( ) of the driver, and the ground terminal (PE) of the control panel.

  • Page 48: List Of Applicable Peripheral Equipments To Driver

    3. List of Applicable Peripheral Equipments of Driver Peripheral Equipments and Wiring Preparation List of Peripheral Equipments Rated operating Required Circuit breaker Noise current of magnetic Rated Noise Surge Power (MCCB) Driver Voltage filter for contactor Contact output filter absorber at the rated configuration...
  • Page 49 3. List of Applicable Peripheral Equipments of Driver Peripheral Equipments and Wiring Diameter Crimp Diameter Crimp Diameter terminal Diameter terminal Required withstand for control withstand for main withstand Voltage Rated Power voltage power withstand Driver voltage of circuit voltage of output at the of control...
  • Page 50 3. List of Applicable Peripheral Equipments of Driver Peripheral Equipments and Wiring Relationship between Wire Diameter and Permissible Current • When selecting a cable, refer to the following selection guide showing relationship be- tween cable specification and current carrying capacity. Example: Power supply 3-phase, 200 V, 35 A, ambient temperature 30 °C Determine the fundamental permissible current according to the •...
  • Page 51 3. List of Applicable Peripheral Equipments of Driver Peripheral Equipments and Wiring Wiring Precautions on Movable Section When wiring cable bear, take the following precautions: • Cable bear wiring The bend radius of the cable must be 10 times or more its finish outside diameter. (For finish outside diameter, refer to P.2-20 How to Install, “Relationship between Wire Diameter and Permissible Current”...

  • Page 52: Installation

    4. Installation Driver Preparation Install the driver properly to avoid a malfunction or an accident. Installation Place 1) Install the driver in a control panel enclosed in noncombustible material and placed in- door where the product is not subjected to rain or direct sunlight. The products are not waterproof.
  • Page 53 4. Installation Driver Mounting Direction and Spacing • Reserve enough surrounding space for effective cooling. • Install fans to provide uniform distribution of temperature in the control panel. • D to F-frame is provided with a cooling fan at the bottom. •...
  • Page 54 4. Installation Driver • Do not use or store the product in a place subject to 5.88 m/s or more vibration or shock, for- eign materials such as dust, metallic powder and oilmist, liquids such as water, oil and grinding fluid, close to flammable materials, or in an atmosphere of corrosive gas (H S, SO , NO , Cl etc.) or inflammable gas under any circumstance. • Be sure to conduct wiring properly and securely. Insecure or improper wiring may cause the mo- tor running out of control or being damaged from overheating. In addition, pay attention not to al- low conductive materials, such as wire chips, entering the driver during the installation and wiring. • Secure the screws and earth screw on the terminal block with the torque specified in the specifi- cation in P.2.19. • Never make an approach to the motor and the machines driven by the motor while power is ap- plied because they may become failure or malfunction. • Do not use servo-on signal (SRV-ON) as the start/stop signal. Doing so may damage the built-in dynamic brake circuit in the driver. • Pay attention to the ambient temperature of the amplifier meeting the operating temperature range. The driver will generate heat while the motor is in operation. Using the driver in a sealed control box may cause an abnormal heating of the control box.
  • Page 55 4. Installation Motor Preparation Install the motor properly to avoid a breakdown or an accident. Installation Place Since the conditions of location affect a lot to the motor life, select a place which meets the conditions below. 1) Indoors, where the products are not subjected to rain or direct sun beam. The products are not waterproof.
  • Page 56 4. Installation Motor Oil/Water Protection 1) Do not submerge the motor cable to water or oil. 2) Install the motor with the cable outlet facing downward. Motor 3) Avoid a place where the motor is always subject- Cable ed to oil or water. 4) Use the motor with an oil seal when used with the Oil / Water gear reducer, so that the oil may not enter to the...
  • Page 57 4. Installation Permissible Load at Output Shaft Preparation Radial load (P) direction Thrust load (A and B) direction Unit : N (1 kgf=9.8 N) At assembly During running Motor Thrust load Thrust load A Motor output series Radial thrust Radial thrust A-direction B-direction B-direction 50 W, 100 W...
  • Page 58 4.Installation Permissible Load at Output Shaft Formula of Load Formula of Load Motor Motor Motor Motor and load point and load point series output series output relation relation 3533 26754 850 W to 1.8 kW 50 W L+39 L+11.5 4905 63504 100 W 2.4 kW...

  • Page 59: Wiring Of The Main Circuit

    5. Wiring of the Main Circuit A to B-frame (100 V/200 V Type) Preparation Wiring Sequence 1) Wire connector (XA and XB). (The method of connection refer to P.2-39） 2) Connect the wired connector to the driver. Fully insert the connector to the bottom until it is locked. Caution •...
  • Page 60 5. Wiring of the Main Circuit A to B-frame (100 V/200 V Type) • A to B-frame (100 V/200 V Type) Symbol Name Description Connector Pin No. 100 V type: Single phase AC100 to 120 Ｖ +10 % 50/60 Hz input. −15 % Main power AC200 to 240 Ｖ...
  • Page 61 5. Wiring of the Main Circuit A to B-frame (100 V/200 V Type) System Configuration and Wiring Power supply 3-phase 200 V • In Case of Leadwire type • In Case of connector type Built-in thermal Built-in thermal protector of an protector of an external external...
  • Page 62 5. Wiring of the Main Circuit C to D-frame (100 V/200 V Type) Preparation Wiring Sequence 1) Wire connector (XA and XB).(The method of connection refer to P.2-39） 2) Connect the wired connector to the driver. Fully insert the connector to the bottom until it is locked. Caution •...
  • Page 63 5. Wiring of the Main Circuit C to D-frame (100 V/200 V Type) • C to D-frame (100 V/200 V Type) Symbol Name Description Connector Pin No. 100 V type: Single phase AC100 to 120 Ｖ +10 % 50/60 Hz input. −15 % Main power AC200 to 240 Ｖ...
  • Page 64 5. Wiring of the Main Circuit C to D-frame (100 V/200 V Type) System Configuration and Wiring Power supply 3-phase • In Case of Leadwire type • In Case of connector type Built-in thermal Built-in thermal protector of an protector of an external external regenerative...
  • Page 65 5. Wiring of the Main Circuit E-frame (200 V Type) Preparation Wiring Sequence 1) Wire connector (XA, XB and XC). (The method of connection refer to P.2-39） 2) Connect the wired connector to the driver. Fully insert the connector to the bottom until it is locked. •...
  • Page 66 5. Wiring of the Main Circuit E-frame (200 V Type) • E-frame (200 V Type) Symbol Name Description Connector Pin No. Main power +10 % 3-phase　AC200 to 240 Ｖ 50/60 Hz input. −15 % input terminal Control power +10 % Single phase　AC200 to 240 Ｖ 50/60 Hz input.
  • Page 67 5. Wiring of the Main Circuit F-frame (200 V Type) Preparation Wiring Sequence 1) Take off the cover fixing screws, and detach the terminal cover. 2) Make wiring Use clamp type terminals of round shape with insulation cover for wiring to the termi- nal block.
  • Page 68 5. Wiring of the Main Circuit F-frame (200 V Type) • F-frame (200 V Type) Symbol Terminal Name Description (Upper to bottom) Main power 3-phase　AC200 to 240 Ｖ +10 % 50/60 Hz input. −15 % input terminal Control power input Single phase　AC200 to 240 Ｖ...
  • Page 69 5. System Configuration and Wiring Wiring Method to Driver Connector Preparation • Follow the procedures below for the wiring connection to the Connector How to Connect 10 mm (A to D type) 1. Strip the cable. 13 mm (E type) •...
  • Page 70 5. System Configuration and Wiring Specifications of Motor Connector Preparation When leadwire type was be used • When the motors of <MSMF, MQMF, MHMF> are used, they are connected as shown below. Connector: Made by Tyco Electronics k.k, (The figures below show connectors for the motor.) PIN No.
  • Page 71 5. System Configuration and Wiring Specifications of Motor Connector MHMF(50 W, 100 W) PIN No. Application U-phase Connector for motor V-phase W-phase Ground Tightening torque of the screw (M2) 0.085 N·m to 0.095 N·m JN11AH06NN2 (screwed to plastic) * Be sure to use only the screw supplied with the connector, to avoid damage.
  • Page 72 5. System Configuration and Wiring Specifications of Motor Connector （1.0 kW(□100) to 5.0 kW） , MDMF, MGMF, MHMF （1.0 kW(□130) to 5.0 kW） • When the motors of <MSME > are used, they are connected as shown below. Connector: Made by Japan Aviation Electronics Industry, Ltd. (The figures below show connectors for the motor.) •...

  • Page 73: Wiring To The Connector, X1

    6. Wiring to the Connector, X1 Connecting Host Computer Preparation This is used for USB connection to a personal computer. It is possible to change the pa- rameter setting and perform monitoring. Connector Application Symbol Description Pin No. VBUS Use for communication with personal D−...
  • Page 74 7. Wiring to the Connector, X2A and A2B Connecting to Communication Cable Preparation Connecting to communication cable. [X2A] RX connector Connector Name Symbol Description Pin no. Unused — Connect to pin 1 on TX connector of sending side node. Unused —...

  • Page 75: Wiring To The Connector, X2A, X2B

    7. Wiring to the Connector, X2A and X2B Connecting to Communicatino Cable Tips on Wiring (1) Be sure to use shielded twisted pair (STP) compatible with CAT5e or higher category. • If both ends of the shield are not grounded, EMC performance will degrade. •...
  • Page 76 7. Wiring to the Connector, X2A and X2B Connecting to Communicatino Cable Example of Connecting to Connector X2A, X2B Connection to X2A MAX: 100 m Connector X2B RJ45 plug RJ45 plug (When A6N servo driver is Connector X2A White/Green used in the preceding circuit) RX＋...

  • Page 77: Wiring To The Connector, X4

    8. Wiring to the Connector, X4 Connection to I/O Preparation Tips on Wiring Peripheral apparatus such as host controller should be located or shorter within 3 m. Peripheral Equipments 30 cm or longer Separate the main circuit at least 30 cm away. Power supply Do not pass them in the same duct, nor bind them together.
  • Page 78 8. Wiring to the Connector, X4 Connecting Example Preparation Example of Connecting to Connector X4 I-COM 4.7 kΩ SI-MON5 (SI1) 1 kΩ Normal Open 4.7 kΩ POT (SI2) 1 kΩ Normal Close 4.7 kΩ NOT (SI3) 1 kΩ Normal Close 4.7 kΩ...
  • Page 79 8. Wiring to the Connector, X4 Input Signal and Pin No. Preparation Input Signal Source Input signal source Title of signall Related control mode RTEX communications I-COM Symbol monitor • Connect to the positive or negative terminal of the external DC source (12–24 V). •...
  • Page 80 8. Wiring to the Connector, X4 Input Signal and Pin No. Control Input Signal Control input signal SI1to SI8 can be allocation can be changed. The logic can be changed. Note • How to use refer to P.3-64''Pr4.00 SI1 Input selection''. •...
  • Page 81 8. Wiring to the Connector, X4 Input Signal and Pin No. • Function allocatable to control input Title of signal Forced alarm input Related control mode RTEX communications ○ E-STOP Symbol monitor • Generates Err 87.0 ''Forced alarm input error''. Title of signal Positive direction over-travel inhibition input Related control mode RTEX communications...
  • Page 82 8. Wiring to the Connector, X4 Input Signal and Pin No. Title of signal External latch input 1 Related control mode RTEX communications ○ Symbol EXT1 monitor Title of signal External latch input 2 Related control mode RTEX communications ○ Symbol EXT2 monitor...
  • Page 83 8. Wiring to the Connector, X4 Input Signal and Pin No. Title of signal External servo on input Related control mode RTEX communications ○ Symbol EX-SON monitor • External servo on input. • When both this input and either of RTEX communication servo on command or the setup support tool (PANATERM) servo on command are on, the servo on command for servo control process is turned on.
  • Page 84 8. Wiring to the Connector, X4 Output Signal and Pin No. Preparation Output Signals Control output signal SO1to SO3 can be allocation can be changed. The logic can be changed. Note • How to use refer to P.3-66''Pr4.10 SO1 Input selection''. •...
  • Page 85 8. Wiring to the Connector , X4 Output Signal and Pin No. Title of signal External brake release signal ＊1 Related control mode RTEX communications Symbol BRK-OFF — ＊2 monitor • Outputs the timing signal which activates the holding brake of the motor. •...
  • Page 86 8. Wiring to the Connector , X4 Output Signal and Pin No. Title of signal Positioning complete 2 ＊1 Related control mode RTEX communications Symbol INP2 — ＊2 monitor • Outputs the positioning complete signal 2. Turns ON the output transistor upon completion of positioning.
  • Page 87 8. Wiring to the connector , X4 Output Signal and Pin No. Title of signal Velocity command ON/OFF output ＊1 Related control mode RTEX communications — V-CMD Symbol ＊2 monitor • Turns on output transistor when the velocity command is applied while the velocity is controlled.
  • Page 88 8. Wiring to the Connector , X4 Output Signal and Pin No. Title of signal Deterioration diagnosis velocity output ＊1 Related control mode RTEX communications Symbol V-DIAG — ＊2 monitor • Output transistor turned ON when motor speed is within the range of Pr4.35 “Speed coincidence range”...
  • Page 89 8. Wiring to the Connector , X4 Output Signal and Pin No. Encoder Output Signal • Output signal circuit Line driver (Differential output) output • Output the divided encoder outputs AM26C31 or AM26C32 or equivalent equivalent (A, B-phase) in differential through each line driver.
  • Page 90 8. Wiring to the Connector , X4 Output Signal and Pin No. Others Frame ground Title of signal Related control mode Shell RTEX communications — Symbol monitor • This output is connected to the earth terminal inside of the driver. Manufacturer's use Title of signal Related control mode...

  • Page 91: Wiring To The Connector, X6

    9. Wiring to the Connector, X6 Connection to Encoder Preparation Connect to Encoder connection cable. Connector Title Symbol Description Pin No. Encoder power supply Encoder power supply output Ground of encoder power supply I n t e r n a l l y c o n n e c t e d t o t h e c o n n e c t o r BTP-0 Absolute encoder battery X4,Absolute encoder battery input BTP-I,...
  • Page 92 9. Wiring to the Connector, X6 Connection to Encoder Wiring Diagram Connector X6 • In case of 23-bit absolute encoder (as mutli-turn data was be used ) ● MSMF 50 W to 1.0 kW( □80 ), ●MQMF 100 W to 400 W, ● MHMF 50 W to 1.0 kW( □80 ) Leadwire type White +5 V...
  • Page 93 9. Wiring to the Connector, X6 Connection to Encoder • In case of 23-bit absolute encoder (as single turn data was be used ) ● MSMF 50 W to 1.0 kW( □80 ), ●MQMF 100 W to 400 W, ● MHMF 50 W to 1.0 kW( □80 ) White Leadwire type +5 V...

  • Page 94: Wiring To The Connector, X7

    10. Wiring to the Connector, X7 Monitor Output Preparation The connector X7 of the front panel is for monitor output. 　Analogue output: 2 systems It is possible to switch the output signal by setting parameters. Output circuit 1kΩ 1kΩ AM2 2 Measuring instrument Connector X7...

  • Page 95: Built-In Holding Brake

    11. Built-in Holding Brake Outline Preparation In the applications where the motor drives the vertical axis, this brake would be used to hold and prevent the work (moving load) from falling by gravity while the power to the servo is shut off. Caution Use this built-in brake for "Holding"...
  • Page 96 11. Built-in Holding Brake Specifications Preparation Static Exciting Permissible Rotor Engaging Releasing Permissible Permissible Motor Motor friction current Releasing angular inertia time time work (J) per total work series output torque DC A voltage acceleration x 10 –4 kg·m one braking x 10 N·m (at cool-off)

  • Page 97: Dynamic Brake

    12. Dynamic Brake Outline Preparation This driver (A to F-frame) is equipped with a dynamic brake for emergency stop. Pay a special attention to the followings. 1. Dynamic brake is only for emergency stop. Caution Do not start/stop the motor by turning on/off the Servo-ON signal (SRV-ON). Otherwise it may damage the dynamic brake circuit of the driver.
  • Page 98 11. Dynamic Brake Condition Setting Chart Preparation 1) Setup of Driving Condition from Deceleration to after Stop by Main Power-off (Pr5.07) Sequence at main Driving condition power-off (Pr5.07) Contents of During After stalling deviation deceleration Pr6.36 = 0 Pr6.36 = 1 Setup value of Pr5.07 counter Clear...
  • Page 99 11. Dynamic Brake Condition Setting Chart 3) Setup of Driving Condition from Deceleration to after Stop by Activation of Protective Function (Pr5.10) Sequence at over-travel Driving condition inhibit input (Pr5.10) Contents of During After deviation deceleration stalling counter Setup value of Pr5.10 Clear Free-run Clear...

  • Page 100: How To Use The Front Panel

    13. How to Use the Front Panel Setup Preparation Operation and Display of the Front Panel COM LED Network States LED LINK LED Node address setting rotary switch Setting range: 0 to 31 Analog monitor connector (X7) 2-digit 7-segment LED for display Node Address •...
  • Page 101 13. How to Use the Front Panel Setup 7-segment LED Display of the Power supply on Control power up All off All on 〈Display of Node address〉 ［ｎ Ａ］ （ Node Address） （approx. 0.6 s） Setup of RSW(e.g. MSD = 0, LSD = 3) (Pn.7.01 The time specified by “Address display time after powering-on setting”) Normal display (when Pr 7.00 [LED display] is 0.)
  • Page 102 13. How to Use the Front Panel Setup The reason of alarm display. ■ General warning Alarm Alarm Description Overload protection Load factor is 85 % or more the protection level. Over-regeneration alarm Regenerative load factor is 85 % or more the protection level. Battery alarm Battery voltage is 3.2 V or lower.
  • Page 103 13. How to Use the Front Panel Setup Network Status LED Status indication and description of RTEX network status LED (COM/LINK). COM LED LINK LED 　　 ■ LINK LED Display Description status Not connected Not lit (Transmission node is not powered on, or cable is broken etc.) Connected normally Lit green (TX of transmission node and RX of local node are correctly connected electrically.)
  • Page 104 MEMO 2-74 Rev.2.00...

  • Page 105: Setup

    . Setup 1. Outline of Command Input and Network Setup of Command Input and Network ............3-2 2. Outline of Mode Positon Control Mode .................3-6 Velocity Control Mode..................3-9 Torque Control Mode .................3-11 Block Diagram of Control Mode ..............3-12 3. Setup and List of Parameters Outline・Setup・Connection ..............3-15 List of Parameters ..................3-16 4.

  • Page 106: Outline Of Command Input And Network

    1.Outline of Command Input and Network Sutup of Command Input and Network Setup Control Mode and Command Input Mode MINAS-A6N has 4 command input modes, can be selected based on RTEX communication command controllor. Pr0.01 Control mode Command input mode ①...
  • Page 107 1.Outline of Command Input and Network Command Input、Network Setup ③ Cyclic velocity control (CV) mode In this Velocity Control Mode, the host controller generates the command velocity and up- dates it (or transmits updated command) at the communication cycle. RTEX communication Command position Motion profile...
  • Page 108 1.Outline of Command Input and Network Command Input、Network Setup Basic Specifications of Network Item Specifications Topology Ring 100BASE-TX （IEEE 802.3） Physical layer Baud rate 100 Mbps Communication 0.0625、0.125、0.25、0.5、1.0、2.0 ms cycle • The cycle at which command or response RTEX frame is transferred. (physical data •...
  • Page 109 1.Outline of Command Input and Network Command Input、Network Setup ○ :Compatible、−:Not compatible (2)32 byte mode Commu- Command update cycle [ms] nication 0.125 0.25 cycle [ms] PP CP CV CT PP CP CV CT PP CP CV CT PP CP CV CT PP CP CV CT PP CP CV CT 0.0625 —...
  • Page 110 2.Outline of Con trol Mode Position Control Mode Setup Outline Control the position based on the positional command of RTEX communication command from the host controller. Below describes the Basic Settings necessary for position control. As Position Control Modes, profile position control (PP) and Cyclic position control (CP) are available.

  • Page 111: Outline Of Control Mode

    2.Outline of Control Mode Position Control Mode ② Positional command filtering function To make the positional command divided or multiplied by the electronic gear smooth, set the command filter. ● Relevant parameters Panameter Unit Title Range Function Sets the time constant of first order lag filter Command for the position command.
  • Page 112 2.Outline of Control Mode Position Control Mode ■ Command on pulse regeneration function Maximum frequency of regenerated pulse output Phase A is 4 Mpps (after multiplied by 4), If the movement speed exceeds this frequency, the regeneration will Phase B not function correctly.
  • Page 113 2.Outline of Con trol Mode Velocity Control Mode Setup Outline This function controls the velocity according to the velocity command RTEX communication command sent from the host controller. Below describes the basic set up of the velocity con- trols. Available Velocity Control Mode is the cyclic Velocity Control Mode (CV control mode) which updates the command velocity through RTEX communication command.
  • Page 114 2.Outline of Control Mode Velocity Control Mode ② Speed coincidence output (V-COIN) This signal is output when the motor speed is equal to the velocity specified by the velocity command. The motor speed is judged to be coincident with the specified speed when the difference from the velocity command before/after acceleration/deceleration is within the range specified by Pr 4.35 “Speed coincident range”.
  • Page 115 2.Outline of Con trol Mode Torque Control Mode Setup Outline This function performs torque control based on torque command of RTEX communication command sent from the host controller. Below describes Basic Setting of torque control to be used. In addition to the torque command, the speed limit command is required to maintain the motor at a speed below the limited value.
  • Page 116 2.Outline of Con trol Mode Block Diagram of Control Mode Setup Position Mode ●Profile position control mode (PP) ●Cyclic position control mode (CP) ＊2 Internal command Internal positional Command speed Command position position (before filter) Electronic MSPD command speed [r/min] (Upstream of filter) CMD_POS IPOS [Command unit] gear reverse...
  • Page 117 2.Outline of Control Mode Block Diagram of Control Mode Velocity Mode ●Cyclic velocity control mode (CV) Gain switching Torque feed forward 2nd setup 1.14 Mode 1.20 [0.1 %] Delay time 1.21 Torque FF Level 1.22 unit conversion Hysteresis 1.23 Torque feed Friction forward Velocity control...
  • Page 118 2.Outline of Control Mode Block Diagram of Control Mode Torque Control Mode ●Cyclic torque control mode (CT) Gain switching 2nd setup 1.14 Mode 1.24 Command torque CTRQ Delay time 1.25 [0.1 %] Level 1.26 Torque FF Hysteresis 1.27 Absolute unit value conversion Sign...
  • Page 119 ① RTEX communication ② combination of the setup support software, “PANATERM” and PC. ③ Application “Panasonic Motor Setup App” of iPhone and Android. Setup of PC The personal computer and connector X1 of MINAS A6N can be connected by commercial USB cable.After downloading and installing the support software PANATERM from our...
  • Page 120 3. Setup and List of Parameter List of Parameters Setup Class of Parameter For MINAS A6N, Parameters are classified into 11 categories. Parametr No. Title content page ＊ 1 Class 00 to 18 Basic Setting Parameter of Basic Setting P.3-39 00 to 78 Gain adjustmeng Parameter of Gain adjustmeng...
  • Page 121 3.Setup and List of Parameters List of Parameters 【Class 0】 　Basic Setting Parametr No. Default Related control mode Detail Title Range Unit Attribute D,E,F page Class type type type ○ ○ ○ Rotational direction setup 0 to 1 − 3-39 ○...
  • Page 122 3.Setup and List of Parameters List of Parameters Parametr No. Default Related control mode Detail Title Range Unit Attribute D,E,F page Class type type type ○ ○ ○ 1st time constant of torque filter 0 to 2500 0.01 ms 3-47 ○...
  • Page 123 3.Setup and List of Parameters List of Parameters Related control Parametr No. Default mode Detail Title Range Unit Attribute page D,E,F Class type type type For manufacturer’s use − − − For manufacturer’s use − − − For manufacturer’s use −...
  • Page 124 3.Setup and List of Parameters List of Parameters Related control Parametr No. Default mode Detail Title Range Unit Attribute page D,E,F Class type type type For manufacturer’s use − − − For manufacturer’s use − − − For manufacturer’s use −...

  • Page 125: Setup And List Of Parameters

    3.Setup and List of Parameters List of Parameters Related control Parametr No. Default mode Detail Title Range Unit Attribute page D,E,F Class type type type For manufacturer’s use − − − For manufacturer’s use − − − 3-53 For manufacturer’s use −...
  • Page 126 3.Setup and List of Parameters List of Parameters Related control Parametr No. Default mode Detail Title Range Unit Attribute page D,E,F Class type type type ○ 3rd damping frequency 0 to 3000 0.1 Hz* ○ 3rd damping filter setup 0 to 1500 0.1 Hz* 3-58 ○...
  • Page 127 3.Setup and List of Parameters List of Parameters Related control Parametr No. Default mode Detail Title Range Unit Attribute page D,E,F Class type type type For manufacturer’s use − − − ○ Acceleration time setup 0 to 10000 (1000 r/min) 3-62 ○...
  • Page 128 3.Setup and List of Parameters List of Parameters Related control Parametr No. Default mode Detail Title Range Unit Attribute page D,E,F Class type type type ○ ○ ○ SI8 input selection 0 to 00FFFFFFh 3223857 − 3-65 ○ ○ ○ SO1 output selection 0 to 00FFFFFFh 197379...
  • Page 129 3.Setup and List of Parameters List of Parameters Related control Parametr No. Default mode Detail Title Range Unit Attribute page D,E,F Class type type type Position comparison output pulse ○ ○ ○ 0 to 32767 0.1 ms width setting Position comparison output polarity －...
  • Page 130 3.Setup and List of Parameters List of Parameters Related control Parametr No. Default mode Detail Title Range Unit Attribute page D,E,F Class type type type ○ ○ ○ Sequence at alarm 0 to 7 − 3-83 ○ ○ ○ Torque setup for emergency stop 0 to 500 ○...
  • Page 131 3.Setup and List of Parameters List of Parameters 【Class 5】 　Enhancing Setting Related control Parametr No. Default mode Detail Title Range Unit Attribute page D,E,F Class type type type For manufacturer’s use − − − For manufacturer’s use − − −...
  • Page 132 3.Setup and List of Parameters List of Parameters 【Class 6】 　Special Setting　 Related control Parametr No. Default mode Detail Title Range Unit Attribute page D,E,F Class type type type ○ Velocity deviation excess setup 0 to 20000 r/min ○ Position 3rd gain valid time 0 to 10000 0.1 ms* ○...
  • Page 133 3.Setup and List of Parameters List of Parameters Related control Parametr No. Default mode Detail Title Range Unit Attribute page D,E,F Class type type type For manufacturer’s use − − − 3-96 Dynamic brake operation input ０ to １ ○ ○...
  • Page 134 3.Setup and List of Parameters List of Parameters Parametr No. Default Related control mode Detail Title Range Unit Attribute D,E,F page Class type type type ○ 1st anti-resonance attenuation ratio 0 to 1000 − ○ 1st response frequency 0 to 3000 0.1 Hz* ○...
  • Page 135 3.Setup and List of Parameters List of Parameters 【Class 7】 　Special Setting 2 Related control Parametr No. Default mode Detail Title Range Unit Attribute page D,E,F Class type type type For manufacturer’s use − − − For manufacturer’s use − −...
  • Page 136 3.Setup and List of Parameters List of Parameters Parametr No. Default Related control mode Detail Title Range Unit Attribute D,E,F page Class type type type RTEX monitor select ２ ○ ○ ○ 0 to 32767 − 3-111 RTEX monitor select ３ ○...
  • Page 137 3.Setup and List of Parameters List of Parameters Parametr No. Default Related control mode Detail Title Range Unit Attribute D,E,F page Class type type type For manufacturer’s use − − − RTEX communication synchronization ○ ○ ○ 0 to 7 −...
  • Page 138 3.Setup and List of Parameters List of Parameters 【Class 9】 　For Manufacturer’s Use Parametr No. Default Related control mode Detail Title Range Unit Attribute D,E,F page Class type type type For manufacturer’s use − − − For manufacturer’s use − −...
  • Page 139 3.Setup and List of Parameters List of Parameters 【Class 9】 　For Manufacturer’s Use Parametr No. Default Related control mode Detail Title Range Unit Attribute D,E,F page Class type type type For manufacturer’s use − − − For manufacturer’s use − −...
  • Page 140 3.Setup and List of Parameters List of Parameters Parametr No. Default Related control mode Detail Title Range Unit Attribute D,E,F page Class type type type For manufacturer’s use − − − For manufacturer’s use − − − For manufacturer’s use −...
  • Page 141 3.Setup and List of Parameters List of Parameters Parametr No. Default Related control mode Detail Title Range Unit Attribute D,E,F page Class type type type For manufacturer’s use − − − 3-120 For manufacturer’s use − − − 【Class 15】 　For Manufacturer’s Use Parametr No.
  • Page 142 3.Setup and List of Parameters List of Parameters Detail of Attribute The attribute of a parameter indicates the point at which the modified parameter setting becomes effective. A ： Always effective B ： Do not change while the motor is operating or command is transferred. C ：...

  • Page 143: Details Of Parameter

    4. Details of Parameter [Class 0] Basic Setting Setup Default: [ ] ● A parameter is designated as follows: Pr0.00 　　 Class ● Definition of symbols under “Related mode” - P: position control, S: velocity control, T: torque control. ● For “ Attribute ”,refer to P.3-38 “ Details of Attribute ”. Related Range Unit...
  • Page 144 4.Details of Parameter 【Class 0】 　Basic Setting Default: [ ] Related Range Unit Attribute Default control code Pr0.02 Real-time auto-gain tuning setup 0 to 6 — P S T You can set up the action mode of the real-time auto-gain tuning. Refer to P.5-4 Adjustment “...
  • Page 145 4.Details of Parameter 【Class 0】 　Basic Setting Default: [ ] Two-degree-of-freedom control mode: synchronous type For Two-degree-of-freedom control mode, refer to Pr6.47 (P.3-98). Set up the action mode of the real-time auto-gain tuning. Setup Mode Varying degree of load inertia in motion value Invalid Real-time auto-gain tuning function is disabled.
  • Page 146 4.Details of Parameter 【Class 0】 　Basic Setting Default: [ ] Related Range Unit Attribute Default control code Pr0.04 Inertia ratio ％ 0 to 10000 P S T Set 1st inertia ratio. You can set up the ratio of the load inertia against the rotor (of the motor) inertia. Pr0.04 = (load inertia/ rotor inertia) ×...
  • Page 147 4.Details of Parameter 【Class 0】 　Basic Setting Default: [ ] ■ Command unit 　The command unit is position command unit of electronic gear input from controller. Position control Controller Electronic [pulse] [command unit] gear 　 ※Encoder unit ■ Interrelationship between Pr0.08, Pr0.09 and Pr0.10 during position control Pr0.08 Pr0.09 Pr0.10...
  • Page 148 4.Details of Parameter 【Class 0】 　Basic Setting Default: [ ] Related Output pulse counts per one motor Range Unit Attribute Default control code Pr0.11 revolution 1 to 2097152 pulse/r 2500 P S T You can set up the output pulse counts per one motor revolution for each OA and OB .Therefore,The pulse count of the controller by 4 times is as follows.
  • Page 149 4.Details of Parameter 【Class 0】 　Basic Setting Default: [ ] Related Range Unit Attribute Default control code Pr0.13 1st torque limit ％ 0 to 500 P S T You can set up the limit value of the motor output torque. Note For details of torque limit value, refer to P.3-121.
  • Page 150 4.Details of Parameter 【Class 0】 　Basic Setting Default: [ ] Related Range Unit Attribute Default control code Pr0.16 External regenerative resistor setup A,B-frame: 3 0 to 3 — P S T C to F-frame: 0 With this parameter, you can select either to use the built-in regenerative resistor of the driver, or to separate this built-in regenerative resistor and externally install the regenerative resistor (between B1 and B2 of Connector XB in case of A to D-frame, between B1 and B2 of Connector XC in case of E-frame(200 V), between B1 and B2 of terminal block in case of...
  • Page 151 You can set up the time constant of the 1st delay filter inserted in the torque command portion. You might expect suppression of oscillation caused by distortion resonance. ・ To Panasonic MINAS users: A4 and higher series. Caution Parameter settings shown in this manual may differ from those applied to your product (s).
  • Page 152 4.Details of Parameter 【Class 1】 　Gain Adjustment Default: [ ] Related Range Unit Default Attribute control code Pr1.05 2nd gain of position loop A to C-frame: 480 0 to 30000 0.1 /s D to F-frame: 320 Related Range Unit Default Attribute control code Pr1.06...
  • Page 153 4.Details of Parameter 【Class 1】 　Gain Adjustment Default: [ ] Related Range Unit Default Attribute control code Pr1.14 2nd gain setup 0 to 1 — P S T Arrange this parameter when performing optimum adjustment by using the gain switching function.
  • Page 154 4.Details of Parameter 【Class 1】 　Gain Adjustment Default: [ ] Related Delay time of position control Range Unit Attribute Default control code Pr1.16 switching 0 to 10000 0.1 ms For position controlling : When shifting from the 2nd gain to the 1st gain with Pr1.15 Position control switching mode set at 3, 5 to 10, set up the delay time from trigger detection to the switching operation.
  • Page 155 4.Details of Parameter 【Class 1】 　Gain Adjustment Default: [ ] Related Range Unit Attribute Default control code Pr1.19 Position gain switching time 0 to 10000 0.1 ms For position controlling: If the difference between Pr1.00 1st gain of position loop and Pr1.05 2nd gain of poison loop is large, the increasing rate of position loop gain can be limited by this parameter.
  • Page 156 4.Details of Parameter 【Class 1】 　Gain Adjustment Default: [ ] Related Delay time of velocity control Range Unit Attribute Default control code Pr1.21 switching 0 to 10000 0.1 ms For velocity controlling: When shifting from the 2nd gain to the 1st gain with Pr1.20 Velocity control switching mode set at 3 to 5, set the delay time from trigger detection to the switching operation.
  • Page 157 4.Details of Parameter 【Class 1】 　Gain Adjustment Default: [ ] Related Delay time of torque control Range Unit Attribute Default control code Pr1.25 switching 0 to 10000 0.1 ms For torque controlling : When shifting from the 2nd gain to the 1st gain with Pr1.24 Torque control switching mode set at 3, set up the delay time from trigger detection to the switching operation.
  • Page 158 4. Details of Parameter [Class 2] Damping Control Setup Default: [ ] Related Range Unit Default Attribute control code Pr2.00 Adaptive filter mode setup 0 to 6 — Set up the resonance frequency to be estimated by the adaptive filter and specify the operation after estimation.
  • Page 159 4. Details of Parameter [Class 2] Damping Control Default: [ ] Related Range Unit Default Attribute control code Pr2.04 2nd notch frequency 50 to 5000 5000 P S T Set the center frequency of the 2nd notch filter. The notch filter function will be invalidated by setting up this parameter to "5000". Caution Related Range...
  • Page 160 4. Details of Parameter [Class 2] Damping Control Default: [ ] Related Range Unit Attribute Default control code Pr2.10 4th notch frequency 50 to 5000 5000 P S T Set the depth of notch at the center frequency of the 4th notch filter. Caution In no resonance point is found, the frequency is set to 5000.Notch frequency is automatically set to the 2nd resonance frequency estimated by the adaptive filter.No resonance point was...
  • Page 161 4. Details of Parameter [Class 2] Damping Control Default: [ ] Related Range Unit Attribute Default control code Pr2.13 Selection of damping filter switching 0 to 6 — Among 4 filters select the filters to be used for Damping Control. •...
  • Page 162 4. Details of Parameter [Class 2] Damping Control Default: [ ] Related Range Unit Attribute Default control code Pr2.14 1st damping frequency 0 to 3000 0.1 Hz Related Range Unit Attribute Default control code Pr2.16 2nd damping frequency 0 to 3000 0.1 Hz Related Range...
  • Page 163 4. Details of Parameter [Class 2] Damping Control Default: [ ] Related Range Unit Attribute Default control code Pr2.22 Command smoothing filter A to C-frame: 92 0 to 10000 0.1 ms D to F-frame: 139 [Position Control Mode] • With previous control (Pr6.47 bit0 = 0) Set the time constant of the 1st delay filter in response to the positional command.
  • Page 164 4. Details of Parameter [Class 2] Damping Control Default: [ ] Related Range Unit Attribute Default control code Pr2.23 Command FIR filter 0 to 10000 0.1 ms • Set up the time constant of FIR filter in response to the command. When a square wave command for the target speed Vc is applied, set up the time constant of the 1st delay filter as shown in the figure below.
  • Page 165 4. Details of Parameter [Class 2] Damping Control Default: [ ] Related Range Unit Attribute Default control code Pr2.28 2nd vibration control width setting 0 to 1000 — To conduct fine tuning of 2nd vibration suppression control function. Related Range Unit Default Attribute...
  • Page 166 4. Details of Parameter [Class 3] Velocity/ Torque Control Setup Default: [ ] Related Range Unit Attribute Default control code Pr3.04 For manufacturer’s use — — — Related Range Unit Attribute Default control code Pr3.05 For manufacturer’s use — — —...
  • Page 167 4. Details of Parameter [Class 3] Velocity/ Torque Control Default: [ ] Related Range Unit Attribute Default control code Pr3.17 Selection of speed limit 0 to 1 — You can select the input of the torque command and the speed limit. Setup value SL_SW = 0 SL_SW = 1...
  • Page 168 4. Details of Parameter [Class 4] I/F Monitor Setting Setup Default: [ ] Related Range Unit Attribute Default control code Pr4.00 SI1 input selection 0 to 00FFFFFFh 00323232h — P S T (0 to 16777215) (3289650) Assign functions to SI1 inputs. These parameters are presented in hexadecimals.
  • Page 169 4. Details of Parameter [Class 4] I/F Monitor Setting Default: [ ] Related Range Unit Attribute Default control code Pr4.01 SI2 input selection 0 to 00FFFFFFh 00818181h — P S T (0 to 16777215) (8487297) Related Range Unit Default Attribute control code Pr4.02 SI3 input selection...
  • Page 170 4. Details of Parameter [Class 4] I/F Monitor Setting Default: [ ] Related Range Unit Attribute Default control code Pr4.10 SO1 output selection 0 to 00FFFFFFh 00030303h — P S T (0 to 16777215) (197379) Assign functions to SO1 outputs. These parameters are presented in hexadecimals.
  • Page 171 4. Details of Parameter [Class 4] I/F Monitor Setting Default: [ ] Related Range Unit Attribute Default control code Pr4.11 SO2 output selection 0 to 00FFFFFFh 00101010h — P S T (0 to 16777215) (1052688) Related Range Unit Default Attribute control code Pr4.12 SO3 output selection...
  • Page 172 4. Details of Parameter [Class 4] I/F Monitor Setting Default: [ ] Related Range Unit Attribute Default control code Pr4.21 Analog monitor output setup 0 to 2 — P S T Select output format of the analog monitor. Setup value Output format Signed data output –10 V to 10 V...
  • Page 173 4. Details of Parameter [Class 4] I/F Monitor Setting Default: [ ] ＊1　The direction of monitor data is basically as defined in Pr 0.00 “Rotational direction setup”,However, the direction of encoder rotational data is defined positive when it turns CCW. ＊2 For the command pulse input, the speed before the positional command filter (smoothing, FIR filter) is defined as positional command velocity and speed after filter is defined as internal command velocity.
  • Page 174 4. Details of Parameter [Class 4] I/F Monitor Setting Default: [ ] Related Range Unit Attribute Default control code Pr4.22 For manufacturer’s use — — — Related Range Unit Attribute Default control code Pr4.23 For manufacturer’s use — — — Related Range Unit...
  • Page 175 4. Details of Parameter [Class 4] I/F Monitor Setting Default: [ ] Related Range Unit Attribute Default control code Pr4.33 INP hold time 0 to 30000 1 ms Set up the hold time when Pr4.32 Positioning complete output setup = 3 , 8 Setup value State of positioning complete signal The hold time is maintained definitely, keeping ON state until the next positional command...
  • Page 176 4. Details of Parameter [Class 4] I/F Monitor Setting Default: [ ] Related Range Unit Default Attribute control code Pr4.35 Speed coincidence range 10 to 20000 r/min Set the speed coincidence (V-COIN) output detection timing. Output the speed coincidence (V-COIN) when the difference between the speed command and the motor speed is equal to or smaller than the speed specified by this parameter.
  • Page 177 4. Details of Parameter [Class 4] I/F Monitor Setting Default: [ ] Related Mechanical brake action at Range Unit Default Attribute control code Pr4.37 stalling setup 0 to 32000 1 ms P S T You can set up the time from when the brake release signal (BRK-OFF) turns off to when the motor is de-energized (Servo-free), when the motor turns to Servo-OFF while the motor is at stall.
  • Page 178 4. Details of Parameter [Class 4] I/F Monitor Setting Default: [ ] Related Range Unit Default Attribute control code Pr4.40 Selection of alarm output 1 0 to 40 — P S T Related Range Unit Attribute Default control code Pr4.41 Selection of alarm output 2 0 to 40 —...
  • Page 179 4. Details of Parameter [Class 4] I/F Monitor Setting Related 2nd Positioning complete Range Unit Attribute Default control code Pr4.42 Command (In-position) range 0 to 2097152 8400 unit The INP2 turns ON whenever the positional deviation is lower than the value set up in this parameter, without being affected by Pr4.32 Positioning complete output setup.
  • Page 180 4. Details of Parameter [Class 4] I/F Monitor Setting Default: [ ] Related Range Unit Attribute Default control code Pr4.48 Position comparison value 1 -2147483648 to Command P S T unit 2147483647 Sets comparison value for position compare 1. Related Range Unit Default...
  • Page 181 4. Details of Parameter [Class 4] I/F Monitor Setting Default: [ ] Related Range Unit Default Attribute Position comparison output control code Pr4.57 -2147483648 to assignment setting — P S T 2147483647 Sets output terminal corresponding to position compare 1 to 8 by bit. Multiple position comparison values can be set by one single output terminal.
  • Page 182 4. Details of Parameter [Class 5] Enhancing Setting Setup Default: [ ] Related Range Unit Attribute Default control code Pr5.03 Denominator of pulse output division 0 to 8388608 — P S T For application where the number of output pulses is not an integer, this parameter can be set to a value other than 0 and the dividing ratio can be set by using Pr.
  • Page 183 4. Details of Parameter [Class 5] Enhancing Setting Default: [ ] Related Range Unit Default Attribute control code Pr5.04 Over-travel inhibit input setup 0 to 2 — P S T Set up the operation of the over-travel inhibition (POT, NOT) inputs. Set the parameter according to the specification of upper controller.
  • Page 184 4. Details of Parameter [Class 5] Enhancing Setting Default: [ ] Related Range Unit Default Attribute control mode Pr5.05 Sequence at over-travel inhibit 0 to 2 — P S T When Pr5.04 Over-travel inhibition = 0, specify the status during deceleration and stop after application of the over-travel inhibition (POT, NOT).
  • Page 185 4. Details of Parameter [Class 5] Enhancing Setting Default: [ ] Related Range Unit Attribute Default control mode Pr5.06 Sequence at Servo-Off 0 to 9 — P S T F Specify the status during deceleration and after stop, after servo-off. •Details of Pr 5.06 “Sequence at Servo-off”...
  • Page 186 4. Details of Parameter [Class 5] Enhancing Setting Default: [ ] Related Range Unit Attribute Default control code Pr5.07 Sequence at main power OFF 0 to 9 — P S T Specify the status during deceleration after main power interrupt or after stoppage. The relationship between the setup value of Pr5.06 and the operation and process at deviation counters is the same as that for Pr5.07 (sequence at main power OFF).
  • Page 187 4. Details of Parameter [Class 5] Enhancing Setting Related Default: [ ] Range Unit Default control mode Pr5.10 Sequence at alarm 0 to 7 — P S T Specify the status during deceleration and after stop, after occurrence of alarm. •Details of Pr 5.10 “Sequence at alarm”...
  • Page 188 4. Details of Parameter [Class 5] Enhancing Setting Default: [ ] Related Range Unit Attribute Default control code Pr5.11 Torque setup for emergency stop 0 to 500 P S T Set up the torque limit at emergency stop. Note When setup value is 0, the torque limit for normal operation is applied. Related Range Unit...
  • Page 189 4. Details of Parameter [Class 5] Enhancing Setting Default: [ ] Related Range Unit Attribute Default control code Pr5.20 Position setup unit select 0 to 1 — Specify the unit to determine the range of positioning complete and excessive positional deviation.
  • Page 190 4. Details of Parameter [Class 5] Enhancing Setting Default: [ ] Related External input positive direction Range Unit Attribute Default control code Pr5.25 torque limit ％ 0 to 500 Set up positive direction torque limit when TL-SW=1 with Pr5.21 Selection of torque limit set at 4.
  • Page 191 4. Details of Parameter [Class 5] Enhancing Setting Default: [ ] Related Quadrant projection negative Range Unit Attribute Default control code Pr5.46 direction compensation value -1000 to 1000 0.1 % To set negative direction high-precision torque compensation value for quadrant projection. Related Range Unit...
  • Page 192 4. Details of Parameter [Class 5] Enhancing Setting Default: [ ] Related Range Unit Attribute Default Slow stop S-shape acceleration and control code Pr5.57 deceleration setting 0 to 10000 P S T Sets the S-shape time for immediate stop deceleration stop deceleration processing. This parameter will become valid when Pr6.10 “Function enhancement setting”...
  • Page 193 4. Details of Parameter [Class 5] Enhancing Setting Default: [ ] Related Range Unit Attribute Default Deterioration diagnosis dynamic control code Pr5.72 friction lower limit -1000 to 1000 0.1 % P S T Sets the lower limit values for dynamic friction estimate in deterioration diagnosis judgment of load characteristics estimate after completion of convergence, when deterioration diagnosis warning is valid (Pr6.97 bit 1 = 1).
  • Page 194 4. Details of Parameter [Class 5] Enhancing Setting Default: [ ] Related Range Unit Attribute Default Deterioration diagnosis torque control code Pr5.78 lower limit -1000 to 1000 0.1 % P S T Sets the lower limit values for torque command average value when deterioration diagnosis warning is valid (Pr6.97 bit 1 = 1) and deterioration diagnosis velocity output (V-DIAG) is ・...
  • Page 195 4. Details of Parameter [Class 6] Special Setting Setup Related Range Unit Default Attribute control code Pr6.02 Velocity deviation excess setup 0 to 20000 r/min When the speed deviation (difference between internal positional command and actual speed) exceeds this value, Err24.2 Speed over deviation protection occurs. This protection is not detected when the setup value is 0.
  • Page 196 4. Details of Parameter [Class 6] Special Setting Related Range Unit Default Attribute control code Pr6.10 Function expansion setup -32768 to 32767 — P S T Set up the function in unit of bit. Setup value Function bit 0 Not used Fixed to 0.
  • Page 197 4. Details of Parameter [Class 6] Special Setting Default: [ ] Related Range Unit Attribute Default control code Pr6.14 Emergency stop time at alarm 0 to 1000 1 ms P S T Set up the time allowed to complete emergency stop in an alarm condition. Exceeding this time puts the system in alarm state.
  • Page 198 4. Details of Parameter [Class 6] Special Setting Default: [ ] Related Range Unit Attribute Default control code Pr6.24 Load fluctuation compensating filter 10 to 2500 0.01 ms Sets the filter time constant for the load fluctuation. Related Range Unit Attribute Default control code...
  • Page 199 4. Details of Parameter [Class 6] Special Setting Default: [ ] Related Range Unit Attribute Default control code Pr6.32 Real time auto tuning custom setup −32768 to 32767 — P S T When the operation mode of real time auto tuning is set to the customize (Pr0.02 = 6), set the automatic adjusting function as shown below.
  • Page 200 4. Details of Parameter [Class 6] Special Setting Default: [ ] Select the gain switching related parameter to be used when the real time auto tuning is enabled. Gain switching Setup value Function 10 to 9 setup Use the current setup. Disable gain switching.
  • Page 201 4. Details of Parameter [Class 6] Special Setting Default: [ ] Related Range Unit Attribute Default control code Pr6.37 Oscillation detecting level 0 to 1000 0.1 % P S T Set up the oscillation detecting level. If the effective value of the torque vibration, which is calculated from the motor vibration, is the set value, or higher, in this case oscillation detection warning will be issued.
  • Page 202 4. Details of Parameter [Class 6] Special Setting Default: [ ] Related Range Unit Attribute Default control code Pr6.47＊ Function expansion settings 2 -32768 to 32767 — P S T Set up the function in unit of bit. Setup value Function Two-degree-of-freedom bit 0...
  • Page 203 4. Details of Parameter [Class 6] Special Setting Default: [ ] Related Range Unit Attribute Default control code Pr6.50 Viscous friction compensation gain 0.1 %/ 0 to 10000 （10000 r/min） Command velocity is multiplied by this setting and the result is added to the torque command as compensation value.
  • Page 204 4. Details of Parameter [Class 6] Special Setting Default: [ ] Related Torque saturation anomaly detection Range Unit Attribute Default control code Pr6.57 time 0 to 5000 Set torque saturation error protection detect time. When torque saturation still continues after the preset time, Err16.1 Torque saturation error protection occurs.
  • Page 205 4. Details of Parameter [Class 6] Special Setting Default: [ ] Related Range Unit Attribute Default control code Pr6.60 2nd damping filter depth 0 to 1000 Sets the damping depth of the 2nd resonance oppression notch filter. Related Range Unit Default Attribute control code...
  • Page 206 4. Details of Parameter [Class 6] Special Setting Default: [ ] Related Range Unit Attribute Default control code Pr6.69 2nd antiresonance damping ratio 0 to 1000 Sets the antiresonance damping ratio of the 2nd model type resonance oppression notch filter. Related Range Unit...
  • Page 207 4. Details of Parameter [Class 6] Special Setting Default: [ ] Related Range Unit Attribute Default control code Pr6.76 Number of load estimation 0 to 8 Sets the number (N)for the load estimation. Related Range Unit Default Attribute control code Pr6.87 For manufacturer’s use —...
  • Page 208 4. Details of Parameter [Class 7] Special Setting 2 Setup Default: [ ] Related Range Unit Attribute Default control code Pr7.00 Display on LED 0 to 32767 — P S T Select the type of data display on 7 segment LED of pannel. setup Information on Remarks...
  • Page 209 4. Details of Parameter [Class 7] Special Setting 2 Default: [ ] Related Range Unit Default Attribute control code Pr7.04 For manufacturer’s use — — — Related Range Unit Attribute Default control code Pr7.05 For manufacturer’s use — — — Related Range Unit...
  • Page 210 4. Details of Parameter [Class 7] Special Setting 2 Default: [ ] Related Range Unit Attribute Default control code Pr7.11 Positive side software limit value −1073741823 Command 500000 unit to 1073741823 Related Range Unit Default Attribute control code Pr7.12 Negative side software limit value −1073741823 Command −500000...
  • Page 211 4. Details of Parameter [Class 7] Special Setting 2 Default: [ ] Related Torque saturation error protection Range Unit Attribute Default control code Pr7.16 frequency 0 to 30000 time If torque saturated is continued during a preset frequency, Err 16.1 “Torque saturation protection”...
  • Page 212 4. Details of Parameter [Class 7] Special Setting 2 Default: [ ] Related Range Unit Attribute Default control code Pr7.22 RTEX function extended setup 1 −32768 to 32767 — P S T bit0： Set up RTEX communication data size. setup value Content 【0】...
  • Page 213 4. Details of Parameter [Class 7] Special Setting 2 Default: [ ] bit2 ： RTEX status response condition setup with function of POT/NOT disabled (Pr.5.04 = 1). setup value Content 【0】 Status enabled Fixed to 0 bit3：RTEX status bit arrangement setup of POT/NOT. setup value Content 【0】...
  • Page 214 4. Details of Parameter [Class 7] Special Setting 2 Default: [ ] Related Range Unit Attribute Default control code Pr7.24 RTEX function extended setup 3 −32768 to 32767 — P S T bit0：Specifies output status of EX-OUT1 during communication shut-down after RTEX communication is established..
  • Page 215 4. Details of Parameter [Class 7] Special Setting 2 Default: [ ] Related Range Unit Attribute Default control code Pr7.25 RTEX speed unit setup 0 to 1 — P S T Set up the unit of speed data used in RTEX communication. Set up the unit both for both command data such as command speed and for response data such as actual speed.
  • Page 216 4. Details of Parameter [Class 7] Special Setting 2 Default: [ ] Related Range Unit Attribute Default control code Pr7.31 RTEX monitor select 3 0 to 32767 — P S T Select the monitor type of Response data 3 when non-cyclic command = 0h. If the setup value is 0, torque (TRQ) is monitored.
  • Page 217 4. Details of Parameter [Class 7] Special Setting 2 Default: [ ] Related Range Unit Attribute Default control code Pr7.37 RTEX command setting 3 0 to 2 — P S T Specifies Sub_Command_Data3 of sub command. setup value Content 【0】 Invalid Velocity feedforward [Command unit/s] or [r/min] Torque feedforward [0.1 %]...
  • Page 218 4. Details of Parameter [Class 7] Special Setting 2 Default: [ ] Related Range Unit Attribute Default Signal reading setting for latch control code Pr7.78 trigger with stop function 0 to 3 — The number of readings from latch trigger signal input until internal logic confirmation by driver with Latch mode with stop function is selected.
  • Page 219 4. Details of Parameter [Class 7] Special Setting 2 Default: [ ] Related Number of RTEX continuous Range Unit Attribute Default control code Pr7.95 communication error protection 1 detections 0 to 17 times P S T Set the number of RTEX continuous communication error protection 1 detections. If a continuous CRC error occurs exceeding the number of times set for this parameter, Err83.0 “RTEX continuous communication error protection 1”...
  • Page 220 4. Details of Parameter [Class 7] Special Setting 2 Default: [ ] Related Range Unit Attribute Default control code Pr7.100 For manufacturer’s use — — — Pleses fixed to 0. Related RTEX communication Range Unit Attribute Default control code Pr7.108 synchronization setting 0 to 7 —...
  • Page 221 4. Details of Parameter [Class 8] Special Setting 3 Setup Default: [ ] Related Range Unit Attribute Default control code Pr8.00 For manufacturer’s use — — — Pleses fixed to 0. Related Range Unit Attribute Default control code Pr8.01 Profile linear acceleration constant 10000 1 to 429496 ２...
  • Page 222 4. Details of Parameter [Class 8] Special Setting 3 Default: [ ] Related Profile return to home position Range Unit Attribute Default control code Pr8.12 mode setup 0 to 1 — Specifies a direction in which latch trigger signal is detected during profile home position return. setup value Content 【0】...
  • Page 223 4. Details of Parameter [Class 8] Special Setting 3 Default: [ ] Related Range Unit Attribute Default control code Pr8.15 For manufacturer’s use — — — Pleses fixed to 0. 。 Related Range Unit Default Attribute control code Pr8.19 For manufacturer’s use —...
  • Page 224 4. Details of Parameter ＊１ [Class 9] For Manufacturer’s Use Setup 　　　　　　 Parameters are all manufacturer’s use.Please do not change the default parameters. ＊１　There are of parameters of Class 9 after the software version 1.21. 4. Details of Parameter ＊１ [Class 14] For Manufacturer’s Use Setup 　　　　　　...
  • Page 225 4. Details of Parameter Torque Limit Setup Setup Torque limit setup range is 0 to 300 and default is 300 except the combinations of the motor and the driver listed in the table below. value of value of Frame Model No. Applicable motor torque Frame...
  • Page 226 4. Details of Parameter Position Resolution or Relation of Moving Velocity and Command Division/Multiplication Setup Driver Electronic gear ratio Rotational speed : N[r/min] Pulse train position Pr0.09 command Gear Motor Machine Pr0.10 Travel distance : P1 [P] – Traveling speed : F [PPS] Reduction ratio : R Encoder Encoder pulse counts : E [P/r]...
  • Page 227 4. Details of Parameter Position Resolution or Relation of Moving Velocity and Command Division/Multiplication ∆M×E×R Pr0.09 Electronic gear ratio Pr0.10 Lead of ball screw, L =10 mm Gear reduction ratio, R = 1 0.0005×2 ×1 5×2 41943040 Pr0.09 = 41943040 Position resolution, ∆M =0.005 mm 10×10...
  • Page 228 MEMO 3-124 Rev.2.00...

  • Page 229: Trial Run

    .Trial Run 1.Trial Run Inspection Before Trial Run ................4-2 Setting of Servor Diver.................4-3 Trial Run .....................4-6 Trial Run by PANATERM ................4-6 Setup of Motor Rotational Speed and Input Pulse Frequency ....4-7 2.Homing Operation Outline of Homing Operation ...............4-8 Profile Homing Operation ................4-9 Rev.1.00 Rev.1.00...

  • Page 230: Trial Run

    1.Trial Run Inspection Before Trial Run Trial Run （1）Please make sure of the situation before trial run. ● Wiring ・Is power input（L1、L2、L3、L1C、L2C）miswiring ? ・ Is the earth wire connected to the ground terminal? ・ Motor connection terminals（U、V、W） of the motor and the phase coincidence? ・...
  • Page 231 1.Trial Run Setting of Servo Driver Trial Run （2）The servo driver is set. Many of the settings, depending on the controller interface. In addition, according to the controller, there is an automatic parameter setting. According to the controller specifications, the relevant settings please. ●...
  • Page 232 1.Trial Run Setting of Servo Driver ① Node address is setted by rotary switch of front panel Due to the controller,The existence of “ can not set 0 ” and “ In order to connected network by node address ” etc. Be sure to confirm the controller specifications.
  • Page 233 1.Trial Run Setting of Servo Driver ⑨ The setting of limite single status RTEX communication on the byte 3 on the limit signal (POT,NOT) state, according to the controller specification set Pr7.23. Class No. Attribute Title Range Function ［bit2］ RTEX status response condition setup with function of POT/NOT disabled (Pr.5.04 = 1).
  • Page 234 1.Trial Run Trial Run Trial Run ⑪ The setting of the two-degrees-of-freedom control 　When cyclic Torque control, To set the bit0 of Pr 6.47 to 0, 2 degree of freedom control is disabled. （３） Complete the following steps to start trial run. 　...
  • Page 235 1.Trial Run Setup of Motor Rotational Speed and Input Pulse Frequency Trial Run Input pulse electronic gear Motor rotational Pr0.08 frequency speed (r/min) Command pulse counts per one motor revolution 23bit (pps) 3000 40000 40000 500 K 3000 10000 10000 250 K 3000 5000...

  • Page 236: Homing Operation

    2.Homing Operation Outline of Homing Operation Trial Run When position and using in incremental mode, homing is required before positioning. With MINAS-A6N, the following return-to-home sequences can be used. Title Contents The host controller controls the return-to-home sequence in cyclic position Cyclic homing control (CP) mode.
  • Page 237 2.Homing Operation Profile Homing Operation Trial Run The Profile homing action example is as follows. For specific startup methods, please confirm controller specifications. ① Profile homing 1 (HOME + Z phase) This return-to-home process uses Z phase from HOME sensor as the trigger signal. In this system, the position of the first Z phase after the HOME sensor in homing direction detected the rising edge is denoted as the home position.
  • Page 238 2.Homing Operation Profile Homing Operation 3)Change command code 10h to 17h. 4)The servo driver starts profile operation as command code 10h changes to 17h, accelerates operation (starts operation) according to Pr8.01 “Profile linear acceleration constant” to reach Pr8.13 “Profile home position return velocity 1”. Note that upon starting the profile operation, Homing_Complete is set to 0.
  • Page 239 2.Homing Operation Profile Homing Operation ② Profile homing 2 (HOME) This homing sequence uses HOME sensor as the trigger signal. Home position is defined as the point where HOME sensor detects the rising edge in re- turn-to-home direction.After stopping at the home position, initialize the position information so that this position is set at 0.
  • Page 240 2.Homing Operation Profile Homing Operation 3)Change command code 10h to 17h. 4)The servo driver starts profile operation as command code 10h changes to 17h, accelerates operation (starts operation) according to Pr8.01 “Profile linear acceleration constant” to reach Pr8.13 “Profile home position return velocity 1”. Note that upon starting the profile operation, Homing_Complete is set to 0.
  • Page 241 2.Homing Operation Profile Homing Operation ③ Profile homing 3 (Z phase) This homing sequence uses Z phase as the trigger signal. Define the 1st Z phase position in the homing direction as the home position.Stop at the home and initialize the position information to set this position at 0. Direction of homing can be set to either positive or negative through the setting of Pr8.12 “Profile return to home position mode setup”.
  • Page 242 2.Homing Operation Profile Homing Operation 3)Change command code 10h to 17h. 4)The servo driver starts profile operation as command code 10h changes to 17h, accelerates operation (starts operation) according to Pr8.01 “Profile linear acceleration constant” to reach Pr8.14 “Profile home position return velocity 2”. Note that upon starting the profile operation, Homing_Complete is set to 0.
  • Page 243 2.Homing Operation Profile Homing Operation ④ Profile homing 4 (POT/NOT + HOME) This homing sequence uses HOME sensor as the trigger signal. Home position is defined as the point where HOME sensor detects the rising edge in re- turn-to-home direction. After stopping at the home position, initialize the position information so that this position is set at 0.
  • Page 244 2.Homing Operation Profile Homing Operation 3)Change command code 10h to 17h. 4)The servo driver starts profile operation as command code 10h changes to 17h, accelerates operation (starts operation) according to Pr8.01 “Profile linear acceleration constant” to reach Pr8.13 “Profile home position return velocity 1”. Note that upon starting the profile operation, Homing_Complete is set to 0.
  • Page 245 2.Homing Operation Profile Homing Operation ⑤ Profile homing 6 (POT/NOT + Z phase) This homing sequence uses Z phase as the trigger signal. The first Z phase position where the limit sensor is no longer detected, after reversal of op- eration by limit sensor detection in the return to origin direction, shall become the origin.
  • Page 246 2.Homing Operation Profile Homing Operation 3)Change command code 10h to 17h. 4)The servo driver will start profile operation in the reverse direction of return to origin direction when the command code is changed from 10h to 17h, and will commence acceleration (operation start) under Pr8.01 “Profile linear acceleration constant”...

  • Page 247: Adjustment

    . Adjustment 1. Gain Adjustment Outline .......................5-2 2. Real-Time Auto-Gain Tuning Basic ......................5-4 Two-degree-of-freedom Control Mode Standard Type ......5-10 Two-degree-of-freedom Control Mode Synchronous Type ....5-19 3. Adaptive Filter ..................5-28 4. Manual Gain Tuning (Basic) Outline .....................5-31 Adjustment in Position Control Mode ............5-32 Adjustment in Velocity Control Mode ............5-35 Adjustment in Torque Control Mode ............5-35 Gain Switching Function ................5-36...

  • Page 248: Gain Adjustment

    1. Gain Adjustment Outline Adjustment Purpose t is required for the servo driver to run the motor in least time delay and as faithful as possible against the commands from the host controller. You can make a gain adjust- ment so that you can run the motor as closely as possible to the commands and obtain the optimum performance of the machine.
  • Page 249 1. Gain Adjustment Outline Type Pages Function Explanation to refer Estimates the load inertia of the machine in real time, and automati- Real-time auto-gain tuning P.5-4 cally sets up the optimum gain corresponding to this result. In the two-degree-of-freedom control mode, command response and Two-degree-of-freedom servo rigidity can be independently set with improved responsiveness.

  • Page 250: Real-Time Auto-Gain Tuning

    2. Real-Time Auto-Gain Tuning Basic Adjustment Outline The system estimates the load characteristics in real time, and automatically performs basic gain setting and friction compensation by referring to stiffness parameter. Basic gain automatic Adaptive Friction torque Position/ Torque setting compensation process Velocity command...
  • Page 251 2. Real-Time Auto-Gain Tuning Basic How to Operate 　 1) Bring the motor to stall (Servo-OFF). 2) Set up Pr0.02 (Setup of real-time auto-gain tuning mode) to 1-6. Default is set to 1. *1 Velocity and torque controls are the Setup Real-time auto-gain tuning value...
  • Page 252 2. Real-Time Auto-Gain Tuning Basic Parameters Set/Changed by Real-time Auto-gain Tuning • Parameters which are updated The real-time auto-tuning function updates the following parameters according to Pr0.02 Real-time auto-tuning setup and Pr6.32 Real-time auto-tuning custom setup and by using the load characteristic estimate values. Class No.
  • Page 253 2. Real-Time Auto-Gain Tuning Basic ● Parameters which are set in response to gain switching setup The real-time auto-tuning function sets the following parameters as the gain is switched. Class No. Title Function Sets to 1 if the current setting is not aintained. 2nd gain setup Sets to 10 to enable the gain switching.
  • Page 254 2. Real-Time Auto-Gain Tuning Basic Caution (1) Immediately after the first servo-on upon start up; or after increasing Pr0.03 Real-time auto-tuning stiffness setup, abnormal sound or oscillation may be gener- ated until the load characteristics estimation is stabilized. If such abnormality lasts or repeats for 3 or more reciprocating operations, take the following countermeasures.
  • Page 255 2. Real-Time Auto-Gain Tuning Basic Basic Gain Parameter Setup Table load variation 1st gain 2nd gain suppression function Pr1.00 Pr1.01 Pr1.02 Pr1.04 Pr1.05 Pr1.06 Pr1.07 Pr1.09 Pr6.24 Stiffness Time Time Time Time constant Load fiuctuation Gain of Gain of constant Gain of Gain of constant...

  • Page 256: Two-Degree-Of-Freedom Control Mode Standard Type

    2. Real-Time Auto-Gain Tuning Two-degree-of-freedom Control Mode – Standard Type Adjustment Outline The Two-degree-of-freedom control mode has two types: standard type and synchronization type. Standard type : This is a standard mode. Use this mode normally. Synchronization type : Use this mode for locus control of multiple axes of an articulated robot, etc. This item is an auto tuning function exclusive for the standard type.
  • Page 257 2. Real-Time Auto-Gain Tuning Two-degree-of-freedom Control Mode – Standard Type How to Operate When Pr 0.02 “Real-time auto-gain tuning setup” is set to a value other than 0, control parameter is automatically set according to Pr0.03 “Selection of machine stiffness at real-time auto-gain tuning”...
  • Page 258 2. Real-Time Auto-Gain Tuning Two-degree-of-freedom Control Mode – Standard Type Parameters Set/Changed by Real-time Auto-gain Tuning ● Configure the real-time auto tuning operation by setting the following parameters. Class No. Title Function Specifies the operation mode of real-time auto tuning. Setting Mode Description...
  • Page 259 2. Real-Time Auto-Gain Tuning Two-degree-of-freedom Control Mode – Standard Type Parameters Set/Changed by Real-time Auto-gain Tuning Class No. Title Function Function expansion The automatic adjustment of load change inhibit function is enabled with bit14=1. setup Specifies the load characteristics estimation speed for enabled real-time auto tuning.
  • Page 260 2. Real-Time Auto-Gain Tuning Two-degree-of-freedom Control Mode – Standard Type Parameters Set/Changed by Real-time Auto-gain Tuning ● Parameters which are updated The real-time auto-tuning function updates the following parameters according to Pr0.02 Real-time auto-tuning setup by using the load characteristic estimate values. Class No.
  • Page 261 2. Real-Time Auto-Gain Tuning Two-degree-of-freedom Control Mode – Standard Type Setting Class No. Title Velocity feed forward filter Torque feed forward gain 1000 (100 %) Torque feed forward filter Function expansion setup 2 bit4=1 command response/Adjust filter attenuation term ● Parameters which are set in respons to gain switching setup The real-time automatic tuning sets the following parameters depending on Pr0.02 “Real-time auto-gain tuning setup”.
  • Page 262 2. Real-Time Auto-Gain Tuning Two-degree-of-freedom Control Mode – Standard Type ● Parameters which are set in response to load variation suppression function When Pr0.02 “Real-time auto-gain tuning setup” = 1 to 4 or 6,the following settings and parameters are set automatic for enable/disable state of Pr 6.10 “Function expansion setup”...
  • Page 263 2. Real-Time Auto-Gain Tuning Two-degree-of-freedom Control Mode – Standard Type Caution (1) Immediately after the first servo-on upon start up; or after increasing Pr0.03 Real-time auto-tuning stiffness setup, abnormal sound or oscillation may be gener- ated until the load characteristics estimation is stabilized. If such abnormality lasts or repeats for 3 or more reciprocating operations, take the following countermeasures.
  • Page 264 2. Real-Time Auto-Gain Tuning Two-degree-of-freedom Control Mode – Standard Type Basic Gain Parameter Setup Table load variation Adjustment 1st gain/2nd gain Command response suppression filter function Pr1.00 Pr1.01 Pr1.02 Pr1.04 Pr2.22 Pr6.48 Pr6.24 Pr1.05 Pr1.06 Pr1.07 Pr1.09 Stiffness Time constant [0.1 ms] Velocity Load fiuctuation Position...

  • Page 265: Two-Degree-Of-Freedom Control Mode Synchronous Type

    2. Real-Time Auto-Gain Tuning Two-degree-of-freedom Control Mode – Synchronous Type Adjustment Outline The Two-degree-of-freedom control mode has two types: standard type and synchronization type. Standard type : This is a standard mode. Use this mode normally. Synchronization type: Use this mode for locus control of multiple axes of an articulated robot, etc. This item is an auto tuning function exclusive for the synchronization type.
  • Page 266 2. Real-Time Auto-Gain Tuning Two-degree-of-freedom Control Mode – Synchronous Type How to Operate When Pr0.02 “Real-time auto-gain tuning setup” is set to a value other than 0, control parameter is automatically set according to Pr0.03 “Selection of machine stiffness at real-time auto-gain tuning”...
  • Page 267 2. Real-Time Auto-Gain Tuning Two-degree-of-freedom Control Mode – Synchronous Type Parameters Controlling Operation of Real-time Auto Tuning ● Configure the real-time auto tuning operation by setting the following parameters. Class No. Title Function Specifies the operation mode of real-time auto tuning. Setting Mode Description...
  • Page 268 2. Real-Time Auto-Gain Tuning Two-degree-of-freedom Control Mode – Synchronous Type Parameters Controlling Operation of Real-time Auto Tuning Class No. Title Function Specifies the load characteristics estimation speed for enabled real-time auto tuning. A larger setting allows faster follow-up to the variation in the load characteristics but also increases estimation fluctuation due to disturbance.
  • Page 269 2. Real-Time Auto-Gain Tuning Two-degree-of-freedom Control Mode – Synchronous Type Parameters Changed by Real-time Auto-tuning ● Parameters which are updated The real-time auto-tuning function updates the following parameters according to Pr0.02 “Real-time auto-gain tuning setup” by using the load characteristic estimate value. Class No.
  • Page 270 2. Real-Time Auto-Gain Tuning Two-degree-of-freedom Control Mode – Synchronous Type ● Parameters which are set to fixed value The real-time auto-tuning function sets the following parameters to fixed values or uses the current setup values. Class No. Title Function 1st filter of speed detection 2nd filter of speed detection 1000（100 ％）...
  • Page 271 2. Real-Time Auto-Gain Tuning Two-degree-of-freedom Control Mode – Synchronous Type ● Parameters which are automatic set by Load variation suppression function In case Pr 0.02 “Real-time auto-gain tuning setup” = 1 to 4, the following settings and parameters are set automatic for enable/disable state of Pr 6.10 “Function expansion setup”...
  • Page 272 2. Real-Time Auto-Gain Tuning Two-degree-of-freedom Control Mode – Synchronous Type Caution (1) Immediately after the first servo-on upon start up; or after increasing Pr0.03 “Selection of machine stiffness at real-time auto-gain tuning”, abnormal sound or oscillation may be generated until the load characteristics estimation is stabilized. It is not an abnormality if the load characteristic estimation is stabilized soon.
  • Page 273 2. Real-Time Auto-Gain Tuning Two-degree-of-freedom Control Mode – Synchronous Type Basic Gain Parameter Setup Table load variation Adjustment 1st gain/2nd gain suppression For load variation support mode (Pr0.02 = 6) only filter function Pr1.00 Pr1.01 Pr1.02 Pr1.04 Pr1.00 Pr6.48 Pr6.24 Pr6.24 Pr6.74 Pr6.75...

  • Page 274: Adaptive Filter

    3. Adaptive Filter Adaptive Filter Adjustment Outline This function estimates the resonance frequency from the vibrating component which appears on the motor velocity, and removes the resonance component from the torque command with adaptive filter, thus reduces the resonance vibration. Gain Filter Position/Velocity...
  • Page 275 3. Adaptive Filter Adaptive Filter How to Operate Enter the action command with Pr2.00 Adaptive filter mode set to a value other than 0. If the resonance point affects the motor speed, parameters of 3rd notch filter and/or 4th notch filters are automatically set according to the number of adaptive filters. Set the operation of the adaptive filter to the following parameter.When changing mode, set to 0(Invalid) or 4(Clear) temporarily.
  • Page 276 3. Adaptive Filter Adaptive Filter Caution (1) Immediately after the first servo-on at start up; or after increasing stiffness setting with the real-time auto-tuning enabled, abnormal sound or oscillation may be generated until the adaptive filter stabilizes. If such abnormality lasts or repeats for 3 or more reciprocating operations, take the following countermeasures.

  • Page 277: Manual Gain Tuning (Basic)

    Outline Adjustment On the MINAS A6N series have the auto tuning gain function, when the constraints of load conditions such as auto gain tuning gain adjustment can not be performed, the best response to the individual, or the load is that if you want to achieve stability and need to be readjusted.
  • Page 278 4. Manual Gain Tuning (Basic) Adjustment in Position Control Mode Adjustment position control of MINAS-A6N series as shown in P.3-12 position mode control block dia- gram. Here, in the case of not using the position control mode switching function to gain the basic procedure to gain adjustment.

  • Page 279: Adjustment In Position Control Mode

    4. Manual Gain Tuning (Basic) Adjustment in Position Control Mode ⑤ Setup of torque filter time constant value Please set to torque filter time constant(Pr1.04) as the following equation. （Cutoff frequency of torque filter [Hz]） ×4 ≧ （Cutoff frequency of velocity loop[Hz]） If the action sound is loud,please increase by 10 [0.01 ms].
  • Page 280 4. Manual Gain Tuning (Basic) Adjustment in Position Control Mode ⑨ Setup of notch filter Please determine the vibration frequency of torque command by analog monitor output wavegraphic function or FFT of PANATERM “ ” • Please refer to P.5-25 for the measurement of frequency characteristics of PANATERM “...

  • Page 281: Adjustment In Velocity Control Mode

    4. Manual Gain Tuning (Basic) Adjustment in Velocity Control Mode Adjustment Velocity control of MINAS-A6N series is described in Block Diagram of P.3-13 of Velocity Control Mode. Adjustment in velocity control is almost same as that in position control described in “Ad- justment in Position Control Mode”, and make adjustments of parameters per the proce- dures except the gain setup of position loop gain (Pr1.00).

  • Page 282: Gain Switching Function

    4. Manual Gain Tuning (Basic) Gain Switching Function Adjustment Outline By selecting appropriate gain based on internal data or external signal, the following effects can be obtained. • Decrease the gain at the time of stoppage (servo lock) to reduce vibration. •...
  • Page 283 4. Manual Gain Tuning (Basic) Gain Switching Function Velocity N Velocity command S △ S Torque command Level Level Switch level Switch level Delay 1st gain 1st gain Motor Velocity or command Velocity S Velocity N Level Delay Deviation pulse 2nd gain Level Delay...
  • Page 284 4. Manual Gain Tuning (Basic) Gain Switching Function Usage Example of Gain Switching Function When the sound is loud by motor stops（servo lock）,examples of noise reduction by switch- ing to low gain after motor stops. Refer to the base gain parameter setting list（P.5-9）for adjustment. Command Action velocity...
  • Page 285 4. Manual Gain Tuning (Basic) Suppression of Machine Resonance Adjustment In case of a low machine stiffness, you cannot set up a higher gain because vibration and noise occur due to oscillation caused by axis distortion or other causes. By suppressing the resonance peak at the notch filter, higher gain can be obtained or the level of vibra- tion can be lowered.

  • Page 286: Suppression Of Machine Resonance

    4. Manual Gain Tuning (Basic) Suppression of Machine Resonance Pr2.24 5th notch frequency Set the center frequency of the 5th notch filter. Set the width of notch at the center frequency of the 5th Pr2.25 5th notch width selection notch filter. Set the depth of notch at the center frequency of the Pr2.26 5th notch depth selection...
  • Page 287 4. Manual Gain Tuning (Basic) Suppression of Machine Resonance Notch Width and Depth The width of the notch filter is the ratio of the width of –3dB attenuation frequency band with respect to the notch frequency at its center when depth is 0, and the value is as shown in the table below.
  • Page 288 4. Manual Gain Tuning (Basic) Suppression of Machine Resonance How to Check the Resonance Frequency of the Machine After using setup support software “PANATERM”,frequency characteristics of load can be determined. “The method of Determination” (1) Start up the Setup Support Software, "PANATERM" and bring the frequency charac- teristics measurement screen.

  • Page 289: Manual Gain Tuning (Application)

    5. Manual Gain Tuning (Application) Damping Control Adjustment Outline This function reduces the vibration at the top or on whole of the equipment by removing the vibration frequency components specified by the positional command. Up to 3 fre- quency settings, out of 4 settings in total, can be used simultaneously. Front edge vibrates.
  • Page 290 5. Manual Gain Tuning (Application) Damping Control How to Use (2) Setup of damping depth(Pr6.41) 　 （＊ Only 1st damping filter setup is valid.） First set it to 0, and increase the setting value little by little if settling time needs to be decreased.

  • Page 291: Model-Type Damping Filter

    5. Manual Gain Tuning (Application) Model-type Damping Filter Adjustment Outline This function reduces vibration at the edge or over the entire equipment by removing the vibration frequency components specified by the positional command. The model-type damping filter can also remove resonance frequency components as well as anti-resonance frequency components, enhancing the effect of a conventional damping filter to generate smooth torque commands and offering a better damping effect.
  • Page 292 5. Manual Gain Tuning (Application) Model Type Resonance Oppression Notch Filter Caution This function does not work properly or no effect is obtained under the following condi- tions. Conditions which obstruct the Model type resonance oppres- sion notch filter effect •...
  • Page 293 5. Manual Gain Tuning (Application) Model Type Resonance Oppression Notch Filter Set up the model-type damping filter using the following parameters. Class No. Parameter name Function Defines the resonance frequency of the model-type 1st resonance damping filter's load. frequency The unit is [0.1 Hz]. Defines the resonance attenuation ratio of the model- type damping filter's load.
  • Page 294 5. Manual Gain Tuning (Application) Model Type Resonance Oppression Notch Filter How to Use 1) As preparation, measure the resonance frequency and anti-resonance frequency us- ing the frequency characteristic analysis function of PANATERM in torque velocity mode. Ex.) The figure below shows the measurement result with a belt device. Ignoring small resonances, the resonance frequency at the gain peak and the anti-resonance frequency at the gain valley are as follows: 1st resonance frequency = 130 [Hz], 1st anti-resonance frequency = 44 [Hz]...

  • Page 295: Feed Forward Function

    5. Manual Gain Tuning (Application) Feed Forward Function Adjustment Outline When position control is used, positional deviation can be further reduced when compared with deviation where control is made only by feedback, and response is also improved, by calculating the velocity control command necessary for operation based on the internal positional command, and by adding velocity feed forward to the speed command calculated by comparison with position feedback.
  • Page 296 5. Manual Gain Tuning (Application) Feed Forward Function With the gain set at 100 %, calculatory positional deviation is 0, but significant overshoot occurs during acceleration/deceleration. If the updating cycle of the positional command input is longer than the driver control cycle, or the pulse frequency varies, the operating noise may increase while the velocity feed forward is active.

  • Page 297: Load Variation Suppression Function

    5. Manual Gain Tuning (Application) Load Variation Suppression Function Adjustment Outline This function uses the disturbance torque determined by the disturbance observer to reduce effect of disturbance torque and vibration. This is effective when real-time auto tuning cannot handle load variation sufficiently. Load fluctuation supported function Load Disturbance...
  • Page 298 5. Manual Gain Tuning (Application) Load Variation Suppression Function Related Parameter Class No. Title Function Enables or disables the load variation suppression function. bit1 0: Disables the load variation suppression function 1: Enables the load variation suppression function bit2 0:Disables the load variation stabilization setting Function 1: Enables the load variation stabilization setting expansion...
  • Page 299 5. Manual Gain Tuning (Application) Load Variation Suppression Function How to Use * Before enabling or disabling the load variation suppression function, turn off the servo first. * If this change causes the motor to oscillate or generates an abnormal sound, return to Step [1] and decrease the servo rigidity by one or two levels before repeating the subsequent steps.

  • Page 300: 3Rd Gain Switching Function

    5. Manual Gain Tuning (Application) 3rd Gain Switching Function Adjustment Outline In addition to the normal gain switching function described on P.5-15, 3rd gain switching function can be set to increase the gain just before stopping. The higher gain shortens positioning adjusting time.
  • Page 301 5. Manual Gain Tuning (Application) 3rd Gain Switching Function How to Use While in the condition under which the normal gain switching functions, set the 3rd gain application time to Pr6.05 Position 3rd gain enable time, and set the 3rd gain (scale fac- tor with reference to 1st gain) to Pr6.06 Position 3rd gain magnification ratio.

  • Page 302: Friction Torque Compensation

    5. Manual Gain Tuning (Application) Friction Torque Compensation Adjustment Outline To reduce effect of friction represented by mechanical system, 3 types of friction torque compensation can be applied:ooffset load compensation that cancels constant offset torque, the dynamic friction compensation that varies direction as the operating direc- tion varies and viscous friction torque correction amount that is varied by the command speed.
  • Page 303 5. Manual Gain Tuning (Application) Friction Forque Compensation How to Use The friction torque compensation will be added in response to the entered positional command direction as shown below. [Positive direction] Command speed Pr6.50 Pr6.08 Viscous friction Positive direction torque compensation gain compensation value Pr6.07...

  • Page 304: Quadrant Projection Suppression Function

    5. Manual Gain Tuning (Application) Quadrant Projection Suppression Function Adjustment Outline Control configuration can be switched to suppress quadrant projection occurring during arc interpolation of 2 or more axes. To be used in conjunction with load fluctuation sup- pression function. Applicable range This function can be applicable only when the following conditions are satisfied.
  • Page 305 5. Manual Gain Tuning (Application) Quadrant Projection Suppression Function Related Parameter Class No. Title Function Function expansion bit14: Enables/disables quadrant projection compensation function. setting 2 (0: disabled, 1: enabled) bit 0 : Enables/disables quadrant projection compensation function. (0: disabled, 1: enabled) Function expansion * Please set to 1 to set the amount of quadrant projection setting 3...

  • Page 306: Two-Degree-Of-Freedom Control Mode (Position Control Mode)

    5. Manual Gain Tuning (Application) Two-degree-of-freedom Control Mode (Position Control Mode) Adjustment Outline In the two-degree-of-freedom control mode, command response and servo rigidity can be independently set with improved responsiveness. This mode has enhanced position control functions. Either of the standard type or synchronization type of the two-degree-of-freedom control can be used Applicable Range This function can be applicable only when the following condition are satisfied.
  • Page 307 5. Manual Gain Tuning (Application) Two-degree-of-freedom Control Mode (Position Control Mode) Class No. Title Function Sets time constant of adjustment filter. When the torque filter setting is changed, set the parameter to a value close to real-time auto-tuning setting. Adjust filter Fine adjustment by checking positional deviation of the encoder near setting point may improve overshoot or oscillatory waveform.

  • Page 308: Two-Degree-Of-Freedom Control Mode (Velocity Control Mode)

    5. Manual Gain Tuning (Application) Two-degree-of-freedom Control Mode (Velocity Control Mode) Adjustment Outline In the two-degree-of-freedom control mode, command response and servo rigidity can be independently set with improved responsiveness. This mode has enhanced speed con- trol functions. Only the standard type of two-degree-of-freedom control is available. Applicable Range This function can be applicable only when the following condition are satisfied.

  • Page 309: Two-Stage Torque Filter

    5. Manual Gain Tuning (Application) Two-stage Torque Filter Adjustment Outline In addition to existing 1st and 2nd torque filter (Pr1.04 and Pr1.09), the 3rd torque filter can be set. This 2-stage torque filter will effectively suppress oscillating component in high frequency range. 2nd time constant of torque filter 2nd gain selected...
  • Page 310 5. Manual Gain Tuning (Application) Two-stage Torque Filter Related Parameter Class No. Title Function [Setting range: 0 2500] Sets time constant of 2-stage torque filter. Setup value 0: invalid Two-stage [When using in 2nd filter with Pr6.43≥50] torque filter time Compatible time constant range is 5 159 (0.05 ms 1.59 ms)

  • Page 311: Application Function

    6. Application Functions Torque Limit Switching Function Adjustment Outline This function changes the torque limit value according to the operation direction or torque limit switching command (TI_SW) of RTEX communication. Applicable Range This function can be applicable only when the following condition are satisfied. Conditions under which the Torque limit switching function is activated Control Mode • Position control, velocity control...
  • Page 312 6. Application functions Torque limit Switching Function Content •The torque limit switching mode is shown in the table below: Torque limit Torque limit switching setting Positive Negative direction Pr5.21 switching command (Change rate setting) direction torque torque limit （TL_SW） （Pr5.23、Pr5.24） １...

  • Page 313: Position Comparison Output Function

    6. Application Functions Position Comparison Output Function Adjustment Outline This function enables a general-purpose output or encoder output terminal to output a pulse signal when the actual position passes the position set for the parameter. Specification 3-outputs Photocoupler (Open collector) 3-outputs Line driver Logic Parameter set (Polarity can be set for each output)
  • Page 314 6. Application Functions Position Comparison Output Function Related parameters Class No. Title Function Position Sets pulse width of position comparison output comparison output No pulse output when 0 (zero) pulse width setting Set the polarity of position comparison output by each bit of output terminal.
  • Page 315 6. Application Functions Position Comparison Output Function Class No. Title Function Sets output terminal corresponding to position compare 1 to 8 by bit. Multiple position comparison values can be set by one single output terminal ・Set bits bit0 to 3 ：...
  • Page 316 6. Application Functions Position Comparison Output Function Operation •A time width pulse set in Pr4.44 “Position comparison output pulse width setting” will be output, when the actual position of the encoder passes over the position comparison value (Pr4.48 to Pr4.55), Position Actual position Position comparison value...

  • Page 317: Single-Turn Absolute Function

    6. Application Functions Single-turn Absolute Function Adjustment Outline This function uses the absolute encoder as an absolute system only for single-turn absolute position data without connecting the battery power. The movable range of the motor is limited by single-turn data of the absolute encoder. Applicable Range This function can be applicable only when the following condition are satisfied.
  • Page 318 6. Application Functions Single-turn Absolute Function Input Range of the Command Position for RTEX Communication The following shows the input range of the command position when the single-turn absolute function is enabled. Note that the value below is the input range when the electronic gear ratio is 1/1 and the ab solute home position offset is 0.
  • Page 319 6. Application Functions Single-turn Absolute Function Operation Example When using a 23 bit absolute encoder, the effective range of a single turn is as follows. ⅰ）CCW = Positive direction, electronic gear ratio (Pr0.09/Pr0.10) = 1/1, Pr7.13 “Absolute home position offset” = 0 Load Motor Position upon power-ON...
  • Page 320 6. Application Functions Single-turn Absolute Function Cautions on the Motor Position Upon Power-ON The motor working range is determined depending on the motor position upon power- ON. (Operation example with a 23bit absolute encoder) i) When the power-ON position is as shown in the figure below, the motor working range is the single-turn data range from the power-ON position.

  • Page 321: Continuous Rotating Absolute Encoder Function

    6. Application Functions Continuous Rotating Absolute Encoder Function Adjustment Outline This function allows you to set any upper limit value for absolute encoder multi-turn data. With this function, it is possible to determine the turn angle (position) of a turntable and such other applications, even in the case of continuous turn in one direction.
  • Page 322 6. Application Functions Continuous Rotating Absolute Encoder Function Related Parameter Class No. Title Function Select the use method of the absolute encoder. 0: Use as an absolute system (absolute mode). 1: Use as an incremental system (incremental mode). 2: Use as an absolute system (absolute mode), however ignore the multi-turn counter over.
  • Page 323 6. Application Functions Continuous Rotating Absolute Encoder Function Caution Example of wraparound process: Command position changed from 7FFFFFFFh to 80000000h Servo internal computation Command position (command unit) In positive direction 1 (command unit) relative 7FFFFFFFh displacement In negative direction (wraparound process) 4294967295 (command unit) no relative displacement...
  • Page 324 6. Application Functions Continuous Rotating Absolute Encoder Function Caution •When this function is used for the first time, or Pr6.88 is changed to an arbitrary value and power is re-input, Err92.3 “Inconsistency fault protection of multiple rotation data’s upper limit values” is always generated. However, it is not a fault. Once the driver control power is re-powered on, the error will not occur from the next time.
  • Page 325 6. Application Functions Continuous Rotating Absolute Encoder Function Absolute Home Position Offset When 23bit absolute encoder is used, the absolute home position offset is as shown below. i) CCW = Positive direction, electronic gear ratio (Pr0.09/Pr0.10) = 1/1, Pr6.88 “Absolute en- coder multi-turn data upper-limit value”...

  • Page 326: Deterioration Diagnosis Warning Function

    6. Application Functions Deterioration Diagnosis Warning Function Adjustment Outline This is a function to check the changes in motor and connected equipment characteristics to output deterioration diagnosis warning. Applicable Range This function can be applicable only in the following condition. Operating conditions for Deterioration Diagnosis Warning Function Control Mode •...
  • Page 327 6. Applicatio Functions Deterioration Diagnosis Warning Function Class No. Title Function Deterioration diagnosis viscous Sets the upper and lower limit values for viscous friction friction upper coefficient estimate in deterioration diagnosis judgment when limit value deterioration diagnosis warning is valid (Pr6.97 bit 1 = 1) and load characteristics estimate convergence has been Deterioration completed.
  • Page 328 6. Application Functions Deterioration Diagnosis Warning Function Contents ・The following Deterioration Diagnosis Warning Functions can be used by setting bit 1 of Pr6.97 (Function expansion setting 3) to 1. - Inertia ratio(4-1-1) - Unbalanced load(4-1-2) - Dynamic friction(4-1-3) - Viscous friction coefficient(4-1-4) - Torque command average(2) (1) Deterioration diagnosis warning for load characteristic estimates ・Deterioration diagnosis warning judgment for four load characteristics estimates (inertia...
  • Page 329 6. Application Functions Deterioration Diagnosis Warning Function ・The upper limit and lower limit values for torque command average can be set by parameters Pr5.77 and 5.78 respectively. Deterioration diagnostic warning number AC is generated in case these upper or lower limit values have been exceeded for changes in the load characteristic estimates.

  • Page 330: Latch Mode With Stop Function

    6. Application Functions Latch Mode with Stop Function Adjustment Outline This is the function to stop at the latched position with the input timing of latch trigger signal with stop function (hereafter referred to as the trigger signal), without initialization of position information.
  • Page 331 6. Application Functions Latch Mode with Stop Function Caution • Latch Mode with Stop Function does not start up with the following settings, but returns com mand error(005Fh). - With settings other than cyclic position control (CP), - With settings other than command update cycle 1.0 ms and communication cycle 0.5 ms, - With electronic gear ratio setting smaller than 1.
  • Page 332 . When in Trouble 1. When in Trouble What to Check ? ..................6-2 Protective Function (What is Error Code ?) ..........6-3 List of Error Code ..................6-4 Detail of Error Code ..................6-5 Fall Prevention Function in the Event of Alarms ........6-31 Emergency Stop upon Occurrence of Alarm ..........6-32 Slow Stop Function ..................6-34 Warning Functions ..................6-38...

  • Page 333: When In Trouble

    1. When in Trouble What to Check ? When in Trouble It is normal when the light of LINK and COM is green. Isn't error code No. is displayed ? Is that right now?. Details refer to P.2-73. Is the seeting of node address and parameter correct ? Doesn't the power voltage vary ? Is the power turned on ?

  • Page 334: When In Trouble

    1. When in Trouble Protective Function (What is Error Code ?) When in Trouble ● Various protective functions are equipped in the driver. When these are triggered, according to the P.7-62 “ Timing Chart” (when abnormal),the motor will stall due to error, the driver will turn the Servo-Alarm output (ALM) to off (open).
  • Page 335 1. When in Trouble List of Error Code When in Trouble Error code Attribute Error code Attribute Detail Detail Protective function Protective function can be Immediate can be Immediate page page Main Sub History Main Sub History cleared stop cleared stop ○...
  • Page 336 1. When in Trouble Detail of Error Code When in Trouble Error code No. Protective Causes Measures function Main Sub Under Voltage between P and N of converting 100 V, 200 V product unit of control power supply has fallen Measure L1C-L2C line voltage of connector voltage down and dropped below specified value.

  • Page 337: Protective Function (What Is Error Code ?)

    1.When in Trouble Detail of Error Code Error code No. Protective Causes Measures function Main Sub Main power Instantaneous power failure has occurred Measure the voltage between lines of between L1 and L3 for longer period than connector (L1, L2 and L3). supply the preset time with Pr5.09 (Main power off under-...
  • Page 338 1.When in Trouble Detail of Error Code Error code No. Protective Causes Measures function Main Sub Temperature of the heat sink or power device has been risen over the specified Over-heat temperature. protection 1) Ambient temperature has risen over 1) Improve the ambient temperature and the specified temperature.

  • Page 339: Detail Of Error Code

    1.When in Trouble Detail of Error Code Error code No. Protective Causes Measures function Main Sub Torque Torque saturated has continued for the • Check the operating state of the driver. saturation period set to Pr 7.16 “Torque saturation • Take the same measure as done against anomaly error protection frequency”...
  • Page 340 1.When in Trouble Detail of Error Code Error code No. Protective Causes Measures function Main Sub Data communication between the • Secure the power supply for the encoder encoder is normal, but contents of data of DC4.90 V to 5.25 V)...pay an attention Encoder are not correct.
  • Page 341 1.When in Trouble Detail of Error Code Error code No. Protective Causes Measures function Main Sub ・ Check if multi-turn clear of absolute ＊ Multi-turn clear of absolute encoder Absolute is made through USB communication encoder has been made through USB clear (setup support software PANATERM).
  • Page 342 1.When in Trouble Detail of Error Code Error code No. Protective Causes Measures function Main Sub ＊ ・During validation mode of attribute C ・ Check to see that the servo is OFF during Position parameter of reset command of RTEX validation mode of attribute C parameter of information communication, servo was turned ON.
  • Page 343 1.When in Trouble Detail of Error Code Error code No. Protective Causes Measures function Main Sub ＊ ・ Allocate correct function to each connector Input signals (SI1, SI2, SI3, SI4) are Input assigned with two functions pin. duplicated allocation error 1 protection ＊...
  • Page 344 1.When in Trouble Detail of Error Code Error code No. Protective Causes Measures function Main Sub Motor When a position command within the working range specified input range is given, the motor setup error operates outside its working range protection specified in Pr 5.14 “Motor working range etup”.
  • Page 345 1.When in Trouble Detail of Error Code Error code No. Protective Causes Measures function Main Sub ・ Check that there are not any errors in Over-travel With Pr 5.04, over-travel inhibit input inhibit input setup = 0, both positive and negative switches, wires or power supply which are protection 1 over-travel inhibit inputs (POT/NOT)
  • Page 346 1.When in Trouble Detail of Error Code Error code No. Protective Causes Measures function Main Sub Absolute 1) During a power failure, when only 1) Check the driving from outside in a power outage and the rotational speed at the overspeed battery power is supplied, the motor time, and operate to make it below...
  • Page 347 1.When in Trouble Detail of Error Code Error code No. Protective Causes Measures function Main Sub ・Check that communication cycle set in Phase lock between communication and incomplete servo (PLL lock) could not be completed Pr7.20 “RTEX communication cycle error even after 1s of starting synchronization setup”...
  • Page 348 1.When in Trouble Detail of Error Code Error code No. Protective Causes Measures function Main Sub ・ Check the communication cable for RTEX Error (CRC error) detection for the read of receive data sent to the node itself excessive noise. continues ・...
  • Page 349 1.When in Trouble Detail of Error Code Error code No. Protective Causes Measures function Main Sub ・ Make sure that the host device can RTEX The receive interrupt startup signal was ommunication output from the RTEX communication IC, transmit the signal at the correct timing and cyclic error but the communication got out of sync speed.
  • Page 350 1.When in Trouble Detail of Error Code Error code No. Protective Causes Measures function Main Sub ・ Disagreement in the combination ・ Check the process of upper device for any RTEX of communication cycle, 16/32 byte command problem. mode, semi-closed/full-closed and error control mode protection...
  • Page 351 1.When in Trouble Detail of Error Code Error code No. Protective Causes Measures function Main Sub ＊ ・ Secure encoder power supply voltage at Initialization process of internal position information has not conducted normally Encoder data DC5 V±5 % (4.75 to 5.25 V). Care must be under absolute and semi-closed control recovery taken when the encoder lines are lengthy.
  • Page 352 1.When in Trouble Detail of Error Code Error code No. Protective Causes Measures function Main Sub ・While Pr7.41 “RTEX function extended ・Enlarge the distance between the Z phase Home position setup 5”bit 7 is set to 1, and returning and positive direction/negative direction run return error to the origin by using the Z phase, inhibit input (POT/NOT).
  • Page 353 1.When in Trouble Detail of Error Code Error code No. Protective Causes Measures function Main Sub ＊ ・ Turn off the power once, then re-enter. Fault is determined in RTEX RTEX ・ If error repeats, this might be a failure. communication related peripheral device.
  • Page 354 1.When in Trouble Detail of Error Code Time Characteristics of Err16.0 (Overload Protection) MSMF Overload protection time characteristics MSMF10, 15, 20, 30, 40, 50 MSMF5A, 01, 02 ,04, 08, 09 Time [s] Time [s] 1000 1000 ・MSMF30 When the servo lock ・...
  • Page 355 1.When in Trouble Detail of Error Code Time characteristics of Err16.0 (Overload protection) MDMF Overload protection time characteristics MDMF10, 15, 20, 30 Time[s] MDMF40, 50 Time [s] 1000 1000 ・MDMF40 When the servo lock ・MDMF10, 15, 20, 30 ・MDMF50 When the servo lock， When the servo lock Duringthe rotaption ・MDMF40 ，...
  • Page 356 1.When in Trouble Detail of Error Code Time characteristics of Err16.0 (Overload protection) MHMF Overload protection time characteristics MHMF5A, 01 Time [s] MHMF02, 04 Time [s] 1000 1000 ・MHMF02 When the servo lock ・MHMF5A, 01 ・MHMF04 When the servo lock ・MHMF02, 04 When the servo lock，...
  • Page 357 1.When in Trouble Detail of Error Code Setting Pr5.13 Over-speed level setup and Pr6.15 2nd over-speed level setup In a specific condition, the motor will not stop normally when the immediate stop function is activated. For example, as shown below, when the motor speed exceeds Pr5.13 Over-speed level setup, and immediate stop function is activated, the motor speed cannot be controlled.
  • Page 358 1.When in Trouble Detail of Error Code Torque Saturation Protection（Err16.1） If torque saturated has continued for a fixed period, an alarm can be activated. Relevant parameters Panameter Title Range Unit Function Torque Set the torque saturation error protection detection time. saturation If torque saturation erroneously occurs for a set time, Pr6.57...
  • Page 359 1.When in Trouble Detail of Error Code Allowable Motor Operating Range Setting Function(Err34.0) 1) Outline If the motor with respect to the position command input range exceeds the motor op- erating range that is set by Pr5.14“Motor working range setup”, it can be alarm stop at the Err34.0 “motor movable range set protection”...
  • Page 360 1.When in Trouble Detail of Error Code • In case any of the following conditions are satisfied, the position command input range and the actual motor position for judgment managed inside the amplifier will be cleared and Err34.0 “Motor movable range setting error protection” detection process will be invalidated.
  • Page 361 1.When in Trouble Detail of Error Code 5) Example of movement (1) When no position command is entered (Servo-ON status), The motor movable range will be the travel range which is set at both sides of the motor with Pr5.14 since no position command is entered. When the load enters to the Err34.0 occurrence range (oblique line range), software limit protection will be activated.

  • Page 362: Fall Prevention Function In The Event Of Alarms

    1. Troubleshooting Fall Prevention Function in the Event of Alarms When in Trouble Outline Since the servo drive cuts off motor energization when alarm occurs, a workpiece may fall from the vertical axis such as a robot arm during the period from when brake release output (BRK-OFF) becomes OFF to when external brake actually operates.
  • Page 363 1. Troubleshooting Emergency Stop upon Occurrence of Alarm When in Trouble When an alarm requiring emergency stop occurs, the system controls and immediately stops the motor. 1）Relevant parameters Panameter Title Range Unit Function Specify the status during deceleration and after stop, af- Sequence at Pr5.10 0 to 7...

  • Page 364: Emergency Stop Upon Occurrence Of Alarm

    1.When in Trouble Emergency Stop upon Occurrence of Alarm ・As protection of an alarm requiring emergency stop occurs,please set an allowable over-speed Caution level for Pr6.15 “2nd over-speed level setup”. For the immediate cessation of an error corresponding to the second overspeed protection trip and the error is generated.but, set Pr5.13 to a small value with a sufficient margin for Pr6.15.
  • Page 365 1. Troubleshooting Slow Stop Function When in Trouble Outline When the alarm that must respond to an immediate stop comes on, drop in the vertical axis, etc. is prevented by keeping the motor energized for the time from when the brake release output (BRK-OFF) is turned OFF to when the external brakes actually begin to work.

  • Page 366: Slow Stop Function

    1.When in Trouble Slow Stop Function Class No. Parameter name Set range Units Functions bit 10: Fall prevention function, under alarm 0 :Invalid, 1: Valid Function -32768 Normally set to 1 to activate slow stop function ー Pr6.10 enhancement function 32767 bit 15: Slow stop function settings...
  • Page 367 1.When in Trouble Slow Stop Function Contents Slow stop operation • 　The figure below indicates the case of slow stop operation under alarm. Velocity [r/min] Slow stop action start condition detection *2 Actual motor velocity 3000 Pr5.56 “Slow stop deceleration time setting” 1000 Max.
  • Page 368 1.When in Trouble Slow Stop Function ・S shape processing of slow stop operation 　S shape process at the time of slow stop operation can be made by setting Pr5.57. Refer to the following figure to set Pr5.57. Velocity[rpm] (Velocity control command at time of starting deceleration x Pr5.56 “Slow stop decelerated stop time setting) Velocity control td[ms] ＝...

  • Page 369: Warning Functions

    1. Troubleshooting Warning Functions When in Trouble ● The amplifier is provided with a warning function, in addition to the various protection functions. The alarm will be triggered before the protective function is activated, and you can check the conditions such as overload beforehand. Warning displayed Normal display and warning code（Hex.）...
  • Page 370 1.When in Trouble Warning Functions WngC1h (RTEX accumulated communication error warning) is genera- RTEX No. of ted as number of accumulated communication errors reaches the para- Pr7.27 accumulated error 0 to 32767 meter setting. times warning setup When the setting is 0, the function is disabled and warning is not generated. If Update_Counter is accumulated exceeding the setting value of this RTEX_Update_ parameter and correct update fails, WngC2h (RTEX_Update_Counter...
  • Page 371 1. Troubleshooting List of Warning Code When in Trouble ■ Warning Warning latch Output setting Waning mask Alarm No. Alarm Content Pr4.38/ Pr6.38/Pr6.39 (Hex.) ＊1 Pr6.27 ＊3 ＊2 Corresponding bit Pr4.39 ○ Overload warning Load factor is 85% or more the protection level. Pr6.38　bit7 Over-regeneration Regenerative load factor is 85% or more the...
  • Page 372 1.When in Trouble List of Warning Code *1 The part “○” indicates Pr6.27 “Latched time of warning” and can set the time interval 1 to 10s or no time limit. Note that the battery warning and the end of life warning have “no time limit.” *2 Through Pr4.40 “Warning output select 1”...

  • Page 373: Setup Of Gain Pre-Adjustment Protection

    2. Setup of Gain Pre-adjustment Protection When in Trouble Before starting gain adjustment, set the following parameters based on the conditions of use, to assure safe operation. 1) Setup of over-travel inhibit input By inputting the limit sensor signal to the driver, the bumping against mechanical end can be prevented.
  • Page 374 2. Setup of Gain Pre-adjustment Protection 4) Setup of the excess positional deviation protection During the position control or full-closed control, this function detects potential excessive difference between the position command and motor position and issues Err24.0 ”Position deviation excess protection”. Excess position deviation level can be set by Pr0.14 “Position deviation excess setting.”...
  • Page 375 2. Setup of Gain Pre-adjustment Protection ■ For Pr5.20 = 1 (Detection through encoder positional deviation ) * In this case, the positional deviation cannot be calculated by a formula. So estimate the maximum Pmax of the encoder positional deviation or the full-closed positional deviation by the waveform of a real machine that may be used, and set a value on the safe side.
  • Page 376 2. Setup of Gain Pre-adjustment Protection ■ For Pr5.20 = 1 (Detection through encoder positional deviation ) Pr0.14 “Setup of positional deviation excess” = P1 × (1.2 to 2.0) Factor in ( ) is margin to prevent frequent activation of excess positional deviation rotection.

  • Page 377: About The Protection Function Setting While Returning To The Origin By Using The Z Phase

    About the Protection Function Setting while Returning to the Origin by Using the Z Phase When in Trouble If the following parameters are set, the run inhibit input (POT, NOT) is detected when returning to the Z phase detection position, which is treated as the origin, with the op- eration for returning to origin by using the Z phase.
  • Page 378 3. About the Protection Function Setting while Returning to the Origin by Using the Z Phase ■ Relevant parameters Class No. Parameter name Set range Units Functions Set up the operation of the run-inhibition (POT, NOT) inputs. Set the parameter according to the specification of upper controller. Normally it should be set to 1 (disabled) because the operation is cont- rolled by an upper controller.

  • Page 379: Troubleshooting

    4. Troubleshooting Motor Does Not Run When in Trouble Classification Causes Measures Parameter Setup of the Check that the present 1) Set up Pr0.01 again. control mode is control mode is correct not correct with monitor mode of the UBS communication （PANATERM）...

  • Page 380: Unstable Rotation (Not Smooth)

    4. Troubleshooting Unstable Rotation (Not Smooth) When in Trouble Classification Causes Measures Adjustment Gain adjustment is not proper. Increase the setup of Pr1.01, 1st velocity loop gain. Enter torque filter of Pr1.04 and increase the setup of Pr1.01 again. Wiring Servo on signal of Connector X4 Check the wiring and connection of the Connector X4.

  • Page 381: Origin Point Slips

    4. Troubleshooting Origin Point Slips When in Trouble Classification Causes Measures System Z-phase is not detected. Check that the Z-phase matches to the center of proximity dog. Execute the homing matching to the controller correctly. Homing creep speed is fast. Lower the homing speed at origin proximity.

  • Page 382: Overshoot/Undershoot, Overheating Of The Motor (Motor Burn-Out)

    4. Troubleshooting Overshoot/Undershoot, When in Trouble Overheating of the Motor (Motor Burn-Out) Classification Causes Measures Adjustment Gain adjustment is not proper. Check with graphic function of PANATERM or monitor. Make a correct gain adjustment. Refer to “5. Adjustment”. Installation Load inertia is large. Check with graphic function of USB communication(PANATERM) or monitor.Make an appropriate adjustment.

  • Page 383: Parameter Returns To Previous Setup

    4. Troubleshooting Parameter Returns to Previous Setup When in Trouble Classification Causes Measures Parameter No writing to EEPROM has been Refer to P.3-38, “Detail of Attribute ” of Preparation. carried out before turning off the power. 6-52 Rev.2.00...

  • Page 384: Supplement

    . Supplement 1. Absolute System Outline ..................7-2 Configuration ................7-3 Battery (for Backup) Installation ............7-4 Setup (Initialization) of Absolute Encoder .......... 7-8 2. Outline of Setup Support Software, “PANATERM” Setup on the PC ................. 7-9 3. Motor Characteristics (S-T Characteristics) Motor ..................7-11 4.

  • Page 385: Absolute System

    1. Absolute System Outline Supplement Outline of Absolute System When you compose an absolute system using an absolute encoder, you are not required to carry out homing operation at the power-on, and this function suits very well to such an application as a robot.

  • Page 386: Configuration

    1. Absolute System Configuration Supplement The Configuration of an Absolute System Using an Absolute Encoder （Example of Servo Drive 1 Axis Connection） Connect the motor with absolute encoder and battery of absolute encoder, and setup the pa- rameter Pr0.15 to 0 or 2（set abdolute encoder）,you can capture the exact prsent position information after the power-ON.
  • Page 387 1. Absolute System Battery (for Backup) Installation Supplement After installing and connecting the back-up battery to the motor,execute and absolute encoder setup.Refer to the follwing procedure.　 First Installation of the Battery After installing and connecting the back-up battery to the motor, execute an absolute en- coder setup.

  • Page 388: Battery (For Backup) Installation

    1. Absolute System Battery (for Backup) Installation 3) Install the battery to the battery box. Place the battery with Connect + facing downward. the connector. 4) Close the cover of the battery box. Close the cover not to pinch the connector cable. •...
  • Page 389 1. Absolute System Battery (for Backup) Installation Life of the Battery Following example shows the life calculation of the back-up battery used in assumed ro- bot operation. 2000[mAh] of battery capacity is used for calculation. Note that the following value is not a guaranteed value, but only represents a calculated value.
  • Page 390 1. Absolute System Battery (for Backup) Installation When you Make Your Own Cable for 23bit Absolute Encoder When you make your own cable for 23bit absolute encoder, connect the optional battery for absolute encoder, DV0P2990 as per the wiring diagram below. Connector of the bat- tery for absolute encoder shall be provided by customer as well.

  • Page 391: Setup (Initialization) Of Absolute Encoder

    1. Absolute System Setup (Initialization) of Absolute Encoder Supplement Absolute multi-turn data will be maintained by the absolute encoder battery. When operating the machine for the first time after installing the battery to the absolute en- coder, clear the encoder data (multi-turn data) to 0 at the origin by following the procedure described below.

  • Page 392: Outline Of Setup Support Software, "Panaterm

    If the cable has no noise filter, install a signal noise filter (DV0P1460) to both ends of the cable. In additon to PANATERM,you can debug "Panasonic Motor Setup App" through iPhone, Note Android applications.For details, see the website of Panasonic.

  • Page 393: Setup On The Pc

    No. of colors 24-bit color (True Color) or better Please confirm the latest system requirements on the homepage. 　　　　　　 In additon to PANATERM,you can debug "Panasonic Motor Setup App" through iPhone, Note Android applications.For details, see the website of Panasonic. 7-10...
  • Page 394 3. Motor Characteristics ( Characteristics MSMF Series Supplement (50 W) •Note that the motor characteristics may vary due to the existence of oil seal or brake. MSMF5AZL1 □□ Motor model Unit Brake without with Oil seal without/with Output rating 　MADL □ 01 □□ Matched drive 　MADL □...

  • Page 395: Motor Characteristics (S-T Characteristics)

    3. Motor Characteristics ( Characteristics MSMF Series Supplement (100 W) •Note that the motor characteristics may vary due to the existence of oil seal or brake. MSMF011L1 □□ MSMF012L1 □□ Motor model Unit 　 Brake without with without with Oil seal without/with without/with Output rating...
  • Page 396 3. Motor Characteristics ( Characteristics MSMF Series Supplement (200 W) •Note that the motor characteristics may vary due to the existence of oil seal or brake. MSMF021L1 □□ MSMF022L1 □□ Motor model Unit Brake without with without with Oil seal without/with without/with Output rating...

  • Page 397: Motor

    3. Motor Characteristics ( Characteristics MSMF Series Supplement (400 W) •Note that the motor characteristics may vary due to the existence of oil seal or brake. MSMF041L1 □□ MSMF042L1 □□ Motor model Unit Brake without with without with Oil seal without/with without/with Output rating...
  • Page 398 3. Motor Characteristics ( Characteristics MSMF Series Supplement (750 W to 1.0 kW ( □ 80) •Note that the motor characteristics may vary due to the existence of oil seal or brake. MSMF082L1 □□ MSMF092L1 □□ Motor model Unit Brake without with without...
  • Page 399 3. Motor Characteristics ( Characteristics MSMF Series Supplement (1.0 kW to 2.0 kW) (口100) •Note that the motor characteristics may vary due to the existence of oil seal or brake. MSMF102 L1 □□ MSMF152 L1 □□ MSMF202 L1 □□ Motor model Unit Brake without...
  • Page 400 3. Motor Characteristics ( Characteristics MSMF Series Supplement (3.0 kW to 5.0 kW) •Note that the motor characteristics may vary due to the existence of oil seal or brake. MSMF302L1 □□ MSMF402L1 □□ MSMF502L1 □□ Motor model Unit Brake without with without with...
  • Page 401 3. Motor Characteristics ( Characteristics MQMF Series Supplement (100 W ) •Note that the motor characteristics may vary due to the existence of oil seal or brake. MQMF011L1 □□ MQMF012L1 □□ Motor model Unit Brake without with without with Oil seal without/with without/with Output rating...
  • Page 402 3. Motor Characteristics ( Characteristics MQMF Series Supplement (200 W) •Note that the motor characteristics may vary due to the existence of oil seal or brake. MQMF021L1 □□ MQMF022L1 □□ Motor model Unit Brake without with without with Oil seal without/with without/with Output rating...
  • Page 403 3. Motor Characteristics ( Characteristics MQMF Series Supplement (400 W) •Note that the motor characteristics may vary due to the existence of oil seal or brake. MQMF041L1 □□ MQMF042L1 □□ Motor model Unit Brake without with without with Oil seal without/with without/with Output rating...
  • Page 404 3. Motor Characteristics ( Characteristics MDMF Series Supplement (1.0 kW to 2.0 kW) •Note that the motor characteristics may vary due to the existence of oil seal or brake. MDMF102L1 □□ MDMF152L1 □□ MDMF202L1 □□ Motor model Unit Brake without with without with...
  • Page 405 3. Motor Characteristics ( Characteristics MDMF Series Supplement (3.0 kW to 5.0 kW) •Note that the motor characteristics may vary due to the existence of oil seal or brake. MDMF302L1 □□ MDMF402L1 □□ MDMF502L1 □□ Motor model Unit Brake without with without with...
  • Page 406 3. Motor Characteristics ( Characteristics MGMF Series Supplement (0.85 kW to 1.8 kW) •Note that the motor characteristics may vary due to the existence of oil seal or brake. MGMF092L1 □□ MGMF132L1 □□ MGMF182L1 □□ Motor model Unit Brake without with without with...
  • Page 407 3. Motor Characteristics ( Characteristics MGMF Series Supplement (2.4 kW to 4.4 kW) •Note that the motor characteristics may vary due to the existence of oil seal or brake. MGMF242L1 □□ MGMF292L1 □□ MGMF442L1 □□ Motor model Unit Brake without with without with...
  • Page 408 3. Motor Characteristics ( Characteristics MHMF Series Supplement (50 W) •Note that the motor characteristics may vary due to the existence of oil seal or brake. MHMF5AZL1 □□ Motor model Unit Brake without with Oil seal without/with Output rating MADL □ 01 □□ Matched drive MADL □...
  • Page 409 3. Motor Characteristics ( Characteristics MHMF Series Supplement (100 W) •Note that the motor characteristics may vary due to the existence of oil seal or brake. MHMF011L1 □□ MHMF012L1 □□ Motor model Unit Brake without with without with Oil seal without/with without/with Output rating...
  • Page 410 3. Motor Characteristics ( Characteristics MHMF Series Supplement (200 W) •Note that the motor characteristics may vary due to the existence of oil seal or brake. MHMF021L1 □□ MHMF022L1 □□ Motor model Unit Brake without with without with Oil seal without/with without/with Output rating...
  • Page 411 3. Motor Characteristics ( Characteristics MHMF Series Supplement (400 W) •Note that the motor characteristics may vary due to the existence of oil seal or brake. MHMF041L1 □□ MHMF042L1 □□ Motor model Unit Brake without with without with Oil seal without/with without/with Output rating...
  • Page 412 3. Motor Characteristics ( Characteristics MHMF Series Supplement (750 W to 1.0 kW ( □ 80) •Note that the motor characteristics may vary due to the existence of oil seal or brake. MHMF082L1 □□ MHMF092L1 □□ Motor model Unit Brake without with without...
  • Page 413 3. Motor Characteristics ( Characteristics MHMF Series Supplement (1.0 kW to 2.0 kW) (口130) •Note that the motor characteristics may vary due to the existence of oil seal or brake. MHMF102L1 □□ MHMF152L1 □□ MHMF202L1 □□ Motor model Unit Brake without with without...
  • Page 414 3. Motor Characteristics ( Characteristics MHMF Series Supplement (3.0 kW to 5.0 kW) •Note that the motor characteristics may vary due to the existence of oil seal or brake. MHMF302L1 □□ MHMF402L1 □□ MHMF502L1 □□ Motor model Unit Brake without with without with...

  • Page 415: Dimensions

    4. Dimensions Driver Supplement [Unit: mm] A-frame (Base-mounting Type) (70 ) Mass: 0.8 kg A-frame (Rack-mounting Type) ( 70 ) Mounting bracket (Option) Mounting bracket (Option) Mass: 0.8 kg Related page • P.1-4 “Driver” • P.1-15 “Check of the Combination of the Driver and the Motor” •...

  • Page 416: B-Frame

    4. Dimensions Driver [Unit: mm] B-frame (Base-mounting Type) ( 70 ) Mass: 0.9 kg B-frame (Rack-mounting Type) ( 70 ) Mounting bracket (Option) Mounting bracket (Option) Mass: 1.0 kg Related page • P.1-4 “Driver” • P.1-15 “Check of the Combination of the Driver and the Motor” •...

  • Page 417: C-Frame

    4. Dimensions Driver [Unit: mm] C-frame (Base-mounting Type) 127.4 ( 70 ) ( 18 ) Mass:1.5 kg 127.4 C-frame (Rack-mounting Type) ( 70 ) Mounting bracket (Option) Mounting bracket (Option) ( 18 ) Mass: 1.6 kg 7-34 Rev.2.00...

  • Page 418: D-Frame

    4. Dimensions Driver [Unit: mm] D-frame (Base-mounting Type) 127.4 ( 70 ) ( 18 ) Mass: 1.9 kg 127.4 D-frame (Rack-mounting Type) ( 70 ) Mounting bracket (Option) Mounting bracket (Option) ( 18 ) 2- 5.2 Mass: 2.0 kg Rev.2.00 7-35...

  • Page 419: E-Frame

    4. Dimensions Driver [Unit: mm] E-frame (Base-mounting Type) ( 70 ) 196.5 2- 5.2 ( 18 ) 2- 5.2 Mass: 2.7 kg E-frame (Rack-mounting Type) ( 70 ) 2- 5.2 Mounting bracket (to shipping specification) Mounting bracket (to shipping specification) ( 18 ) 2- 5.2 Mass: 2.7 kg...

  • Page 420: F-Frame

    4. Dimensions Driver [Unit: mm] F-frame (Base-mounting Type) ( 16 ) ( 20 ) 219.5 2- 5.2 2- 5.2 Mass: 5.2 kg F-frame (Rack-mounting Type) ( 16 ) 2- 5.2 Mounting bracket (to shipping specification) Mounting bracket (to shipping specification) 2- 5.2 Mass: 5.2 kg Rev.2.00...

  • Page 421: Motor

    4. Dimensions Motor Supplement ［単位：mm］ MSMF 50 W to 100 W (Leadwire Type) Encoder connector Brake connector Motor connector φLC （5） （7） （ ） Shaft end spec. KWh9 * Dimensions are subject to change without notice. Contact us or a dealer for the latest information. [Unit: mm] MSMF series (Low inertia) Motor output...
  • Page 422 4. Dimensions Motor [Unit: mm] MSMF 50 W to 100 W (Connector Type) Encoder connector Motor connector φLC （ ） Shaft end spec. KWh9 With brake Encoder connector Brake connector Motor connector φLC （ ） Shaft end spec. KWh9 * Dimensions are subject to change without notice. Contact us or a dealer for the latest information. [Unit: mm] MSMF series (Low inertia) Motor output...
  • Page 423 4. Dimensions Motor [Unit: mm] (Leadwire Type) MSMF 200 W to 1.0 kW （口 80） Encoder connector Brake connector Motor connector φLC （5） （7） 　（ ） Shaft end spec. KWh9 * Dimensions are subject to change without notice. Contact us or a dealer for the latest information. [Unit: mm] MSMF series (Low inertia) Motor output...
  • Page 424 4. Dimensions Motor [Unit: mm] (Connector Type) MSMF 200 W to 1.0 kW （口 80） Encoder connector Motor connector φLC （ ） Shaft end spec. KWh9 With brake Encoder connector Brake connector Motor connector φLC （ ） Shaft end spec. KWh9 * Dimensions are subject to change without notice.
  • Page 425 4. Dimensions Motor [Unit: mm] (Encoder Connector Type JN2) MSMF　1.0 kW （口 100） to 5.0 kW （口 100） Encoder connector Motor/Brake connector φLC ） 　（ Shaft end spec. 　M3 through KWh9 * Dimensions are subject to change without notice. Contact us or a dealer for the latest information. [Unit: mm] MSMF series (Low inertia) Motor output...
  • Page 426 4. Dimensions Motor [Unit: mm] MSMF　1.0 kW （口 100） to 5.0 kW(Encoder Connector Type JL10) Encoder connector Motor/Brake connector φLC 　（ ） Shaft end spec. 　M3 through KWh9 * Dimensions are subject to change without notice. Contact us or a dealer for the latest information. [Unit: mm] MSMF series (Low inertia) Motor output...
  • Page 427 4. Dimensions Motor [Unit: mm] MQMF　100 W to 400 W(Leadwire Type) Brake connector Motor connector Encoder connector （5） （7） φLC （2.1） 　（ ） Shaft end spec. KWh9 * Dimensions are subject to change without notice. Contact us or a dealer for the latest information. [Unit: mm] MQMF series (Middle inertia) Motor output...
  • Page 428 4. Dimensions Motor [Unit: mm] MQMF　100 W to 400 W(Connector Type) Encoder connector Motor connector φLC 　（ ） Shaft end spec. KWh9 * Dimensions are subject to change without notice. Contact us or a dealer for the latest information. [Unit: mm] MQMF series (Middle inertia) Motor output 100 W...
  • Page 429 4. Dimensions Motor [Unit: mm] MQMF　100 W to 400 W(Leadwire Type,with Oil Seal(With Protect Lip)) Encoder connector Brake connector Motor connector （5） （7） φLC （2.1） 　（ ） Shaft end spec. KWh9 * Dimensions are subject to change without notice. Contact us or a dealer for the latest information. [Unit: mm] MQMF series (Middle inertia) Motor output...
  • Page 430 4. Dimensions Motor [Unit: mm] MQMF　100 W to 400 W(Leadwire Type,With Oil Seal(With Protect Lip)) Encoder connector Motor connector φLC 　（ ） Shaft end spec. KWh9 * Dimensions are subject to change without notice. Contact us or a dealer for the latest information. [Unit: mm] MQMF series (Middle inertia) Motor output...
  • Page 431 4. Dimensions Motor [Unit: mm] MDMF　1.0 kW to 5.0 kW(Encoder Connector Type JN2) φLC Encoder connector Motor/Brake connector 　（ ） Shaft end spec. 　M3 through KWh9 * Dimensions are subject to change without notice. Contact us or a dealer for the latest information. [Unit: mm] MDMF series (Middle inertia) Motor output...
  • Page 432 4. Dimensions Motor [Unit: mm] MDMF　1.0 kW to 5.0 kW(Encoder Connector Type JL10) Motor/Brake connector Encoder connector φLC 　（ ） Shaft end spec. M3 through KWh9 * Dimensions are subject to change without notice. Contact us or a dealer for the latest information. [Unit: mm] MDMF series (Middle inertia) Motor output...
  • Page 433 4. Dimensions Motor [Unit: mm] MGMF 0.85kW to 4.4kW(Encoder Connector Type JN2) Encoder connector Motor/Brake connector φLC 　（ ） Shaft end spec. 　M3 through KWh9 * Dimensions are subject to change without notice. Contact us or a dealer for the latest information. [Unit: mm] MGMF series (Low inertia) Motor output...
  • Page 434 4. Dimensions Motor [Unit: mm] MGMF 0.85kW to 4.4kW(Encoder Connector Type JL10) Encoder connector Motor/Brake connector φLC 　（ ） Shaft end spec. M3 through KWh9 * Dimensions are subject to change without notice. Contact us or a dealer for the latest information. [Unit: mm] MGMF series (Low inertia) Motor output...
  • Page 435 4. Dimensions Motor [Unit: mm] MHMF 50 W to 100 W(Leadwire Type) Encoder connector Brake connector Motor connector φLC （5） 　（ （7） ） Shaft end spec. KWh9 * Dimensions are subject to change without notice. Contact us or a dealer for the latest information. [Unit: mm] MHMF series (High inertia) Motor output...
  • Page 436 4. Dimensions Motor [Unit: mm] MHMF 50 W to 100 W(Connector Type) Encoder connector Motor connector φLC 　（ ） Shaft end spec. KWh9 With brake Motor/Brake connector Motor/Brake connector φLC 　（ ） Shaft end spec. KWh9 * Dimensions are subject to change without notice. Contact us or a dealer for the latest information. [Unit: mm] MHMF series (High inertia) Motor output...
  • Page 437 4. Dimensions Motor [Unit: mm] MHMF 50 W to 100 W(Leadwire Type,with Oil Seal(With Protect Lip)) Encoder connector Brake connector Motor connector φLC （5） （7） 　（ ） Shaft end spec. （8.6） KWh9 * Dimensions are subject to change without notice. Contact us or a dealer for the latest information. [Unit: mm] MHMF series (High inertia) Motor output...
  • Page 438 4. Dimensions Motor [Unit: mm] MHMF 50 W to 100 W(Connector Type,with Oil Seal(With Protect Lip)) Encoder connector Motor connector φLC 　（ ） Shaft end spec. KWh9 With brake Encoder connector Motor/Brake connector φLC 　（ ） Shaft end spec. KWh9 * Dimensions are subject to change without notice.
  • Page 439 4. Dimensions Motor [Unit: mm] (Leadwire Type) ( 口 80) MHMF 200 W to 1.0 kW Encoder connector Brake connector Motor connector （5） （7） φLC （2.1） 　（ ） Shaft end spec. KWh9 * Dimensions are subject to change without notice. Contact us or a dealer for the latest information. [Unit: mm] MHMF series (High inertia) Motor output...
  • Page 440 4. Dimensions Motor [Unit: mm] (Connector Type) ( 口 80) MHMF 200 W to 1.0 kW Encoder connector Motor/Brake connector φLC 　（ ） Shaft end spec. KWh9 * Dimensions are subject to change without notice. Contact us or a dealer for the latest information. [Unit: mm] MHMF series (High inertia) Motor output...
  • Page 441 4. Dimensions Motor [Unit: mm] (Leadwire Type,with Oil Seal(With Protect Lip)) ( 口 80) MHMF 200 W to 1.0 kW Encoder connector Brake connector Motor connector （5） （7） 　（ φLC ） Shaft end spec. KWh9 * Dimensions are subject to change without notice. Contact us or a dealer for the latest information. [Unit: mm] MHMF series (High inertia) Motor output...
  • Page 442 4. Dimensions Motor [Unit: mm] (Connector Type,with Oil Seal(With Protect Lip)) ( 口 80) MHMF 200 W to 1.0 kW Encoder connector Motor/Brake connector φLC 　（ ） Shaft end spec. KWh9 * Dimensions are subject to change without notice. Contact us or a dealer for the latest information. [Unit: mm] MHMF series (High inertia) Motor output...
  • Page 443 4. Dimensions Motor [Unit: mm] (Encoder Connector Type JN2) ( 口 130) MHMF 1.0 kW to 5.0 kW φLC Encoder connector Motor/Brake connector 　（ ） Shaft end spec. 　M3 through KWh9 * Dimensions are subject to change without notice. Contact us or a dealer for the latest information. [Unit: mm] MHMF series (High inertia) Motor output...
  • Page 444 4. Dimensions Motor [Unit: mm] (Encoder Connector Type JL10) ( 口 130) MHMF 1.0 kW to 5.0 kW Encoder connector Motor/Brake connector φLC 　（ ） Shaft end spec. M3 through KWh9 * Dimensions are subject to change without notice. Contact us or a dealer for the latest information. [Unit: mm] MHMF series (High inertia) Motor output...

  • Page 445: Timing Chart

    5. Timing Chart Power ON Supplement Servo-on Signal Accept Timing on Power-up Control power supply (L1C, L2C) Approx.100 to 300 ms Internal control Established Approx.2 s power supply Approx.1.5 s ＊3 Action of driver CPU Reset Initialization Usually operation 0 s or longer Main power supply (L1, L2, L3) ＊2...

  • Page 446: Alarm

    5. Timing Chart Alarm Supplement When an Error (Alarm) has Occurred (At Servo-ON Command) Alarm Normal Alarm Servo-On status output＊3 0.5～5 ms Engaged ＊2 Dynamic brake Released Non-energized Motor energization Energized Servo-Ready output Output Tr OFF （Not ready） Output Tr ON (S-RDY （Ready）...
  • Page 447 5. Timing Chart Alarm Supplement When an Alarm has been Cleared (At Servo-ON Command) 16 ms or longer Alarm-clear instruction （RTEX command/USB） Dynamic brake Approx. 2 ms Engaged Released Approx. 25 ms Servo-ON status output＊1 Approx. 60 ms Not-energized Energized Motor energization Output Tr OFF Brake release output...

  • Page 448: Servo-Lock

    5. Timing Chart Servo-Lock Supplement Servo-ON/OFF Action while the Motor Is at Stall (Servo-Lock) Remarks To turn on/off the servo during normal operation, first stop the motor. Servo-ON command （EX-SON /RTEX command） Approx.2 ms 1～6 ms Engaged ＊3 Engaged ＊2 Released Dynamic brake Approx.23 ms Servo-ON status output＊4 t1 ＊1 Motor energization Not-energized Energized Not-energized...

  • Page 449: Servo-On/Off

    5. Timing Chart Servo-ON/OFF Supplement Servo-ON/OFF Action while the Motor Is in Motion Timing at emergency stop or trip. Do not repeat this sequence. Remarks Servo-ON Servo-OFF Servo-ON command （EX-SON /RTEX command） ＊4 1～5 ms Engaged ＊3 Engaged ＊3 Dynamic brake Release Approx.

  • Page 450: Block Diagram

    Block Diagram Driver Supplement A, B-frame (100 V/200 V) Fuse Fuse Voltage detection Fuse Gate drive DC/DC Inside power Front panel Current detection Communication control Alarm signal　　　 Position command Control Circuit Speed command Encoder signal Torque command processing Control input limit Control output Pusle output...

  • Page 451: E-Frame (200 V)

    Block diagram Driver E-frame (200 V) Resistance Fuse Fuse Voltage detection Fuse DC/DC Gate drive Inside power Front panel Current detection Communication control Alarm signal　　　 Control Circuit Position command Speed command Encoder signal processing Control input Torque command limit Control output Pusle output F-frame (200 V) Resistance...

  • Page 452: Options

    7. Options Noise Filter Supplement When you install one noise filter at the power supply for multi-axes application, contact to a manufacture of the noise filter. If noise margin is required, connect 2 filters in series to emphasize effectiveness. • Options Option Voltage specifications Manufacturer's...
  • Page 453 7. Options Noise Filter Voltage Option Manufacturer's Applicable driver specifications Manufacturer part No. part No. (frame) for driver DV0P3410 3-phase 200 V 3SUP-HL50-ER-6B F-frame Okaya Electric Ind. Circuit diagram 286±3.0 255±1.0 2-ø5.5 x 7 2-ø5.5 6-6M Label [Unit: mm] • Select a noise filter of capacity that exceeds the capacity of the power source (also Remarks check for load condition).

  • Page 454: Surge Absorber

    7. Options Surge Absorber Supplement Provide a surge absorber for the primary side of noise filter. Option Voltage specifications Manufacturer's Manufacturer part No. for driver part No. DV0P1450 3-phase 200 V R･A･V-781BXZ-4 Okaya Electric Ind. [Unit: mm] 4.2±0.2 ø Circuit diagram (1) (3) UL-1015 AWG16 41±1...

  • Page 455: Ferrite Core

    7. Options Ferrite Core Supplement • Options Option part No. Manufacturer's part No. Manufacturer DV0P1460 ZCAT3035-1330 TDK Corp. 39±1 Remarks To connect the noise filter to 34±1 the connector XB connection Mass: 62.8 g cable, adjust the sheath length 　 　 　...

  • Page 456: Junction Cable For Encoder

    7. Options Junction Cable for Encoder Supplement MSMＦ 50 W～ 1.0 kW(□ 80) MQMF 100 W～ 400 W Compatible MFECA0* * OEAE Part No. motor output MHMF 50 W～ 1.0 kW(□ 80) (Leadwire type) For encode With battery box　 Specifications [Unit: mm] 　...
  • Page 457 7. Options Junction Cable for Encoder MFECA0 ＊＊ 0MJD MSMF 50 W ～ 1.0 kW(□80) (Highly bendable type, Direction of motor shaft) MFECA0 ＊＊ 0MKD MQMF 100 W～ 400 W (Highly bendable type, Opposite direction of motor shaft) Compatible Part No. MFECA0 ＊＊...
  • Page 458 7. Options Junction Cable for Encoder MSMF 1.0 kW(□100)～5.0 kW MDMF 1.0 kW～5.0 kW Compatible MFECA0 ＊＊ 0EPD Part No. motor output MHMF 1.0 kW(□130)～5.0 kW MGMF 0.85 kW～4.4 kW For encode Without battery box ( JL10 One-touch lock type) Specifications [Unit: mm] 　　...
  • Page 459 7. Options Junction Cable for Encoder MSMF 1.0 kW(□100) to 5.0 kW MDMF 1.0 kW to 5.0 kW Compatible MFECA0 ＊＊ 0EPE Part No. motor output MHMF 1.0 kW(□130) to 5.0 kW MGMF 0.85 kW to 4.4 kW For encode With battery box JL10 One-touch lock type) Specifications...
  • Page 460 7. Options Junction Cable for Encoder MSMF 1.0 kW(□100) to 5.0 kW MDMF 1.0 kW to 5.0 kW Compatible MFECA0 ＊＊ 0ETD Part No. motor output MHMF 1.0 kW(□130) to 5.0 kW MGMF 0.85 kW to 4.4 kW Specifications For encode Without battery box ( JN2 One-touch lock type) [Unit: mm] 　　　　　...

  • Page 461: Junction Cable For Motor (Without Brake)

    7. Options Junction Cable for Motor (Without Brake) Supplement MSMF 50 W to 1.0 kW(口 80) MQMF 100 W to 400 W Applicable MFMCA0 ＊＊ 0EED Part No. model MHMF 50 W to 1.0 kW(口 80) (Leadwire type) [Unit: mm] (50) (50) 　　　　...
  • Page 462 7. Options Junction Cable for Motor (Without Brake) MFMCA0 ＊＊ 7UFD (Highly/Standard bendable type, Direction of motor shaft) Applicable MHMF 50 W, 100 W Part No. model (Connector type) MFMCA0 ＊＊ 7UGD (Highly/Standard bendable type, Opposite direction of motor shaft) [Unit: mm] Direction of motor shaft...
  • Page 463 7. Options Junction Cable for Motor (Without Brake) MSMF 1.0 kW(□100) to 2.0 kW, MDMF 1.0 kW to 2.0 kW Applicable MFMCD0 ＊＊ 2EUD Part No. MHMF 1.0 kW(□130) to 1.5 kW, MGMF 0.85 kW to 1.8 kW model (One-touch lock type) [Unit: mm] （50）...
  • Page 464 7. Options Junction Cable for Motor (Without Brake) Applicable MFMCE0 ＊＊ 2ECD MHMF 2.0 kW (Screwed type) Part No. model (50) [Unit: mm] Title Part No. Manufacturer L (m) Part No. ＋0.26 Connector JL04V-6A22-22SE-EB-R MFMCE0032ECD －0.00 Japan Aviation Electronics Ind. ＋0.30 Connector pin JL04-2022CK(14)-R...
  • Page 465 7. Options Junction Cable for Motor (Without Brake) Applicable MFMCE0 ＊＊ 3EUT MGMF 2.4 kW (One-touch lock type) Part No. model （50） Title Part No. Manufacturer L (m) Part No. ＋0.26 Connector JL10-6A22-11SE-EB MFMCE0033EUT Japan Aviation －0.00 Electronics Ind. ＋0.30 Connector pin JL04-2022CK(14)-R MFMCE0053EUT...
  • Page 466 7. Options Junction Cable for Motor (Without Brake) Applicable MFMCE0 ＊＊ 3ECT MGMF 2.4 kW (Screwed type) Part No. model (50) Title Part No. Manufacturer L (m) Part No. ＋0.26 Connector JL10-6A22-22SE-EB MFMCE0033ECT －0.00 Japan Aviation Electronics Ind. ＋0.30 Connector pin JL04-2022CK(14)-R MFMCE0053ECT －0.00...

  • Page 467: Junction Cable For Motor (With Brake)

    7. Options Junction Cable for Motor (With Brake) Supplement MFMCA0 ＊＊ 7VFD (Highly/Standard bendable type, Direction of motor shaft) MHMF 50 W, 100 W Applicable Part No. model (Connector type) MFMCA0 ＊＊ 7VGD (Highly/Standard bendable type, Opposite direction of motor shaft) Direction of [Unit: mm] motor shaft...
  • Page 468 7. Options Junction Cable for Motor (With Brake) MSMF 1.0 kW(口 100) 2.0 kW, MDMF 1.0 kW 2.0 kW Applicable MFMCA0 ＊＊ 2FUD Part No. MHMF 1.0 kW(口 130) 1.5 kW, MGMF 0.85 kW 1.8 kW model (One-touch lock type ）...
  • Page 469 7. Options Junction Cable for Motor (With Brake) Applicable MFMCE0 ＊＊ 2FUD Part No. MHMF 2.0 kW (One-touch lock type ） model [Unit: mm] （50） 　　　　　 Title Part No. Manufacturer L (m) Part No. ＋0.26 Connector JL10-6A24-11SE-EB MFMCE0032FUD Japan Aviation －0.00 Electronics Ind.
  • Page 470 7. Options Junction Cable for Motor (With Brake) MSMF 3.0 kW 5.0 kW, MDMF 3.0 kW 5.0 kW Applicable MFMCA0 ＊＊ 3FCT MHMF 3.0 kW 5.0 kW, MGMF 2.9kW,4.4 kW Part No. model (Screwed type ） [Unit: mm] (50) Title Part No.

  • Page 471: Junction Cable For Brake

    7. Options Junction Cable for Brake Supplement MSMF 50 W to 1.0 kW(口 80) MQMF 100 W to 400 W Applicable MFMCB0 ＊＊ 0GET Part No. model MHMF 50 W to 1.0 kW(口 80) (Leadwire type) [Unit: mm] (40) (50) 　　　　　...

  • Page 472: Connector Kit

    7. Options Connector Kit Supplement Connector Kit for Interface DV0P0770 Part No. • Components Title Part No. Number Manufacturer Note Connector 10126-3000PE Sumitomo 3M For Connector X4 (or equivalent) (26-pins) Connector cover 10326-52A0-008 • Pin disposition (26 pins) (viewed from the soldering side) 1) Check the stamped pin-No.
  • Page 473 7. Options Connector Kit Connector Kit for Encoder DV0PM20010 Part No. • Components Title Part No. Manufacturer Note Connector 3E206-0100 KV Sumitomo 3M For Connector X6 Shell kit 3E306-3200-008 *1 Old model number: 55100-0670 (Japan Molex Inc.) • Pin disposition of connector, connector X6 　• Dimensions [Unit: mm] <Shell kit>...
  • Page 474 7. Options Connector Kit Connector Kit for Power Supply Input DV0PM20032 (For A to D-frame: Single row type) Part No. • Components Title Part No. Number Manufacturer Note Connector 05JFAT-SAXGF J.S.T Mfg. Co., Ltd. For Connector XA Handle lever J-FAT-OT DV0PM20033 (For A to D-frame: Double row type) Part No.
  • Page 475 7. Options Connector Kit Connector Kit for Regenerative Resistor Connection DV0PM20045 (For E-frame) Part No. • Components Title Part No. Number Manufacturer Note Connector 05JFAT-SAXGSA-L J.S.T Mfg. Co., Ltd. For Connector XC Handle lever J-FAT-OT-L Connector Kit for Motor Connection DV0PM20034 (For A to D-frame) Part No.
  • Page 476 7. Options Connector Kit Without Applicable MSMF 50 W to 1.0 kW （ ） DV0PM20035 Part No. Connector Type IP67 model brake • Components Title Part No. Number Manufacturer Note Connector (Driver side) 3E206-0100 KV Sumitomo 3M For Connector X6 (6-pins) ＊1 (or equivalent) Shell kit...
  • Page 477 7. Options Connector Kit MSMF 3.0 kW to 5.0 kW Without MDMF 3.0 kW to 5.0 kW Applicable DV0PM20037 Part No. model brake MHMF 2.0 kW to 5.0 kW MGMF 2.9 kW,4.4 kW • Components Title Part No. Number Manufacturer Note Connector (Driver side) 3E206-0100 KV Sumitomo 3M...
  • Page 478 7. Options Connector Kit MSMF 3.0 kW to 5.0 kW Without MDMF 3.0 kW to 5.0 kW Applicable DV0P4320 Part No. model MHMF 2.0 kW to 5.0 kW brake MGMF 2.9 kW,4.4 kW • Components Title Part No. Number Manufacturer Note Connector (Driver side) 3E206-0100 KV Sumitomo 3M...
  • Page 479 7. Options Connector Kit Connector Kit for Motor/Brake Connection DV0PM20040 Part No. • Components Title Part No. Number Manufacturer Note Connector JN4FT02SJM-R Japan Aviation For brake cable Electronics Ind. Socket contact ST-TMH-S-C1B-3500 • Pin disposition of connector for brake cable [Direction of motor shaft] [Opposite direction of motor shaft] Brake Brake...
  • Page 480 7. Options Connector Kit Connector Kit for Motor/Encoder Connection MSMF　3.0 kW to 5.0 kW MDMF　3.0 kW to 5.0 kW Without Applicable DV0PM24584 Part No. MHMF　2.0 kW to 5.0 kW model brake MGMF　2.9 kW to 4.4 kW (For Encoder connector :JN2 One-touch lock type) • Components Title Part No.
  • Page 481 7. Options Connector Kit Connector Kit for Motor/Encoder Connection MSMF　3.0 kW to 5.0 kW MDMF　3.0 kW to 5.0 kW Without Applicable DV0PM24588 MHMF　2.0 kW to 5.0 kW Part No. model brake MGMF　2.4 kW to 4.4 kW (For Encoder connector :JL10 One-touch lock type) • Components Title Part No.
  • Page 482 7. Options Connector Kit Connector Kit for Safety (Not Applicable to A6N Standard Type) DV0PM20025 DV0PM20103 Part No. Part No. • Components 　　　　　　　　　　　　　　　　　　 • Components Title Part No. Title Part No. Connector 2013595-1 Connector CIF-PCNS08KK-071R Manufacturer Note Manufacturer Note Tyco Electronics Japan G.K For Connector X3 (8-pins) J.S.T Mfg.

  • Page 483: Battery For Absolute Encoder

    7. Options Battery for Absolute Encoder Supplement Battery for Absolute Encoder DV0P2990 Part No. • Lithium battery: 3.6 V 2000 mAh [Unit: mm] Lead wire length 50mm DV0P2990 0 0 0 9 0 0 0 1 ZHR-2 (J.S.T Mfg. Co., Ltd.) 14.5 BAT＋...

  • Page 484: Mounting Bracket

    7. Options Mounting Bracket Supplement A-frame Upper and Bottom side sharing 2pcs Frame symbol of DV0PM20100 Part No. Mounting screw applicable driver M4 × L6 Pan head 4pcs B-frame 2-M4, Pan head [Unit: mm] Upper side 2pcs C-frame Frame symbol of DV0PM20101 Bottom side 2pcs...

  • Page 485: Reactor

    7. Options Reactor Supplement Fig.1 Fig.2 (Mounting pitch) (Mounting pitch) • Wiring of the reactor <3-Phase> • Wiring of the reactor <Single phase> Servo Power driver supply Servo side side driver Power F: Center-to-center distance F: Center-to-center side on outer circular arc distance on supply slotted hole...
  • Page 486 7. Options Reactor Harmonic Restraint Harmonic restraint measures are not common to all countries. Therefore, prepare the measures that meet the requirements of the destination country. With products for Japan, on September, 1994, “Guidelines for harmonic restraint on heavy consumers who receive power through high voltage system or extra high voltage system”...

  • Page 487: External Regenerative Resistor

    7. Options External Regenerative Resistor Supplement Specifications cable core Rated power Activation Manufacturer's (reference) Part No. Resistance outside Mass temperature of part No. diameter Free air with fan built-in thermal protector Ω DV0P4280 RF70M 140±5 ˚C DV0P4281 RF70M B-contact φ 1.27 DV0P4282 RF180B...
  • Page 488 7. Options External Regenerative Resistor DV0P4284 300±1 200±0.5 300±30 6±1 thermostat (light yellow x2) 450±30 8±2 300±30 8±2 280±1 240W 30Ω ［Unit : mm］ DV0P4285 300±1 4-Φ4.5 ４ ５0± ３ ０ ６ ±1 thermostat (light yellow x2) ４ ５0± ３ ０ 8±2 ４...

  • Page 489: Recommended Components(Surge Absorber For Motor Brake)

    7. Options Recommended Components Supplement Surge Absorber for Motor Brake Motor Part No. Manufacturer 50 W ～ 1.0 kW( 口 80) TND15G271K NIPPON CHEMI-CON CORPORATION MSMF 1.0 kW( 口 100) ～ 3.0 kW Z15D151 SEMITEC Corporation NIPPON CHEMI-CON 4.0 kW,5.0 kW TNR9G820K CORPORATION NIPPON CHEMI-CON...

  • Page 490: List Of Peripheral Equipments

    7. Options List of Peripheral Equipments Supplement Peripheral Manufacturer Tel No. components Panasonic Corporation 81-120-878-365 Circuit breaker Eco Solutions Company 81-120-878-365 Surge absorber Panasonic Corporation Automotive & Industrial Systems Company 81-120-101-550 Swich, Relay Regenerative Iwaki Musen Kenkyusho Co., Ltd. 81-44-833-4311...
  • Page 491 MEMO 7-108 Rev.2.00...

  • Page 492: Warranty

    Parts exceeding their standard lifetime specified in this document are excluded. Warranty Scope • Panasonic warrants the replacement of the defected parts of the Product or repair of them when the defects of the Product occur during the Warranty Period, and when the defects are under Panasonic responsibility.This Warranty only covers the Product itself...

  • Page 493: Cautions For Proper Use

    Cautions for Proper Use • Practical considerations for exporting the product or assembly containing the product When the end user of the product or end use of the product is associated with military affair or weapon, its export may be controlled by the Foreign Exchange and Foreign Trade Control Law.

  • Page 494: Revision

    Revisions Date Rev. Page Description Apr. 2017 Rev.1.00 — Newly issued 12,1-7, 1-8,1-09, 3-16,3-32,3-33, 3-73, 3-89,3-95, Oct. 2017 Rev.2.00 3-105,3-110,3-112, Software upgrades correspond to extensions 3-116, 5-80,5-82, 6-4, 6-9,6-10, 6-11, 6-29,6-33 1-7, 3-15, 7-9 Additional USB communication function 1-4, 1-10 Additional nameplate production number corresponding table ー...

  • Page 495: After-Sale Service

    ( Repair and buy parts ) TEL （072）870-3123　FAX（072）870-3152 Acceptance time:Monday through Friday 9:00 ～ 12:00,13:00 ～ 17:00 ( Saturday,Sunday and holidays excepted ) Panasonic Corporation, Motor Business Division, Industrial Sales Group Tokyo: Toranomon 35 Mori Building, 3-4-10, Toranomon, Minato-ku, Tokyo 105-0001 +81-3-5404-5172 FAX +81-3-5404-2920...

Table of Contents