Panasonic MINAS-A5BL Series Manual
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Panasonic MINAS-A5BL Series Manual

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Motor Business Unit, Smart Factory Solutions Business Division
Automotive & Industrial Systems Company, Panasonic Corporation
R1.00
TECHNICAL REFERENCE
– Functional Specification –
MODEL
Product Name: AC Servo Driver
Product No.: MINAS-A5BL series (EtherCAT communication/ Linear type)
7-1-1 Morofuku, Daito-City, Osaka 574-0044, Japan
Phone : +81-72-871-1212
Fax
Issued on
Oct. 30, 2015
Revised on
.,
: +81-72-870-3151
No. SX-DSV02829

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Summary of Contents for Panasonic MINAS-A5BL Series

  • Page 1 No. SX-DSV02829 TECHNICAL REFERENCE – Functional Specification – MODEL Product Name: AC Servo Driver Product No.: MINAS-A5BL series (EtherCAT communication/ Linear type) Issued on Oct. 30, 2015 Revised on Motor Business Unit, Smart Factory Solutions Business Division Automotive & Industrial Systems Company, Panasonic Corporation...
  • Page 2 Translation is provided unofficially only for the sake of convenience of utilizing the original Japanese specification as a measure of reference. It is not officially reviewed. Motor Business Division Appliances Company of Panasonic Corporation is not liable for any disadvantages caused by utilizing only English specification. Only the Japanese specification is effective.
  • Page 3 No. SX-DSV02829 Revisions Date Page Rev. Description Signed － Oct.30,2015 1.00 First edition Note: The page number (Page) is the current page number at the time of revision. Motor Business Unit, Panasonic Corporation R1.00...
  • Page 4 4-7-3 Pole position detection method setting ......................61 4-7-3-1 CS signal method ............................61 4-7-3-2 Pole position estimation method ....................... 65 4-7-3-3 Pole position recovery method ......................... 67 4-7-4 Automatic linear motor setting with tool ....................... 68 Motor Business Unit, Panasonic Corporation R1.00...
  • Page 5 8-4-1 Example of connection to safety switch ...................... 170 8-4-2 Example of connection to safety sensor ....................... 170 8-4-3 Example of connection to safety controller ....................171 8-4-4 Example of connection when using multiple axes ..................172 8-5 Safety precautions ............................. 173 Motor Business Unit, Panasonic Corporation R1.00...
  • Page 6 9-2-5 When an error (alarm) has occurred (at Servo-ON command) (DB deceleration,Free run deceleration movement) ................................198 9-2-6 When an error (alarm) has occurred (at Servo-ON command) (Emergency stop movement) ..... 199 9-2-7 When an alarm has been cleared (at Servo-ON command) ................. 200 Motor Business Unit, Panasonic Corporation R1.00...
  • Page 7 No. SX-DSV02829 - １ 1．Introduction 1-1 Basic Specification ..............................4 1-2 Function ................................. 5 1-3 Scope ..................................7 Motor Business Unit, Panasonic Corporation R1.00...
  • Page 8 No. SX-DSV02829 - This document describes the functions of the linear motor supported servo amplifier MINAS-A5BL series (read MINAS-A5B as MINAS-A5BL, below) equipped with the EtherCAT communication function. <Software version> This technical reference applies to the servo drivers compatible with software of the following version: Version 1: Ver8.00 or later...
  • Page 9 • All rights reserved. No part of this publication may be reproduced or transmitted in any form without prior permission. • Motor Business Division, Appliances Company, Panasonic Corp. reserves the right to make modifications and improvements to its products and/or documentation, including specifications and software, without prior notice.
  • Page 10 : SR77, SR87 Feedback scale (Compatible with Panasonic-type serial), etc. (For other supported feedback scales, contact us.) ▪ For more information, refer to the Sections 1 – 3. CS signals (CS1, CS2, CS3) or pole position estimation (CS signal unnecessary) Pole detection signal ▪...
  • Page 11 Input mode Command type by EtherCAT command input Speed limit function Speed limit can be set by parameter or EtherCAT. Block Diagram of 2 Degrees of Freedom unavailable Mode(Standard type) (To be continued) Motor Business Unit, Panasonic Corporation R1.00...
  • Page 12 *1) For information on the maximum PDO data length, refer to the section 3-7 in the Technical Reference EtherCAT Communication Specification (SX-DSV02827). *2) For information on the touch probe, refer to the section 6-9-1 in the Technical Reference EtherCAT Communication Specification (SX-DSV02827). Motor Business Unit, Panasonic Corporation R1.00...
  • Page 13 *7) Resolutions between 2048 and 9999 [pulse/r] are supported by A/B phase type scale only. Other scales do not support the range of resolutions. *8) The unit depends on the resolution of the feedback scale. Motor Business Unit, Panasonic Corporation R1.00...

  • Page 14: Table Of Contents

    2-3 I/O connector other signal ........................... 15 2-3-1 Feedback scale output signal .......................... 15 2-3-2 Others ................................15 2-4 I/O signal allocation function ..........................16 2-4-1 Input signal allocation ............................ 16 2-4-2 Assignment of output signal........................... 20 Motor Business Unit, Panasonic Corporation R1.00...

  • Page 15: I/O Connector Input Signal

      External latch input 2 EXT2 guarantee this value. (SI6) • EXT1 can only be assigned to S15. • EXT2 can only be assigned to S16. Motor Business Unit, Panasonic Corporation R1.00...
  • Page 16 “2-4-1 Input signal allocation”. *3) It is possible to monitor the condition of the signals where “○” is attached to the EtherCAT communication monitor on the table with 60FDh (Digital inputs). Motor Business Unit, Panasonic Corporation R1.00...

  • Page 17: I/O Connector Output Signal

    • For details, refer to 4-2-4. • Outputs the warning output signal set to Pr 4.40 Warning “Warning output select 1”  WARN1 — — output 1 • Turns on the output transistor when a selected alarm occurs. Motor Business Unit, Panasonic Corporation R1.00...
  • Page 18 EX-OUT1− (S02−) • When the pole position was estimated, the output Estimated pole transistor is turned ON.  CS-CMP — — position output • For information on the output transistor, refer to Note *6. Motor Business Unit, Panasonic Corporation R1.00...
  • Page 19 When executing set brake signal control using 60FEh (Digital outputs), be sure to use it in PDO and enable the PDO watch dog. In SDO, the communication shutoff cannot be judged, the brake may be kept to be released and it is unsafe. Motor Business Unit, Panasonic Corporation R1.00...
  • Page 20 After the pole position is estimated suc cessfully 2 (Pole position estimation) (does not turn ON on abort) After the pole position is recovered su ccessfully 3 (Pole position recovery) (does not turn ON on abort) Motor Business Unit, Panasonic Corporation R1.00...

  • Page 21: I/O Connector Other Signal

    • This output is connected to the ground terminal Frame ground shell inside of the driver. 14,15 To be used by the — 21, 22 • Keep these pins unconnected. manufacturer. 23, 24 Motor Business Unit, Panasonic Corporation R1.00...

  • Page 22: I/O Signal Allocation Function

    For the purpose of this specification, the status of the input signal is defined as ON when the signal activates the specified function and OFF when the signal deactivates the specified function. And when the photocoupler is turned OFF, time to signal detection becomes long and Variation becomes large. Motor Business Unit, Panasonic Corporation R1.00...

  • Page 23: Class No

    * This pin has a latch correction function. Assign functions to SI8 inputs. SI8 input – — — Setup procedure is the same as described for Pr 4.00. selection 00FFFFFFh *1) For parameter attribute. refer to Section 9-1. Motor Business Unit, Panasonic Corporation R1.00...
  • Page 24 Near home input HOME General purpose monitor input 1 SI-MON1 General purpose monitor input 2 SI-MON2 General purpose monitor input 3 SI-MON3 General purpose monitor input 4 SI-MON4 General purpose monitor input 5 SI-MON5 Motor Business Unit, Panasonic Corporation R1.00...
  • Page 25 The over-travel inhibit input (POT, NOT) and forced alarm input (E-STOP) should normally be set to b-contact, which stops when wire is broken. If a-contact is specified, be sure that there is no safety hazard. Motor Business Unit, Panasonic Corporation R1.00...

  • Page 26: Assignment Of Output Signal

    Applicable Default setting Default Setup name parameter ): decimal notation Position control Velocity control Torque control 00030303h Pr 4.10 BRK-OFF BRK-OFF BRK-OFF (197379) 00101010h Pr 4.11 EX-OUT1 EX-OUT1 EX-OUT1 (1052688) 00010101h Pr 4.12 (65793) Motor Business Unit, Panasonic Corporation R1.00...
  • Page 27 *1) set brake Estimated pole position output CS-CMP *1) “set brake output“ is reversal from logic of 60FEh(digital output). When 60FEh is “1”, the output signal is “OFF” (brake is activate). Motor Business Unit, Panasonic Corporation R1.00...
  • Page 28 • During the frequency response measurement, velocity control is automatically enabled within the amplifier. This causes input and output signals to be assigned according to the velocity control settings. If this matters, set the same function using the same logic in all control modes. Motor Business Unit, Panasonic Corporation R1.00...
  • Page 29 3．Front panel display specification ３ 3-1 Appearance of front panel ........................... 24 3-2 7-segment LED ..............................25 3-3 EtherCAT Indicators ............................28 3-4 Monitor signal output function ..........................30 3-5 Station alias ................................. 33 Motor Business Unit, Panasonic Corporation R1.00...

  • Page 30: Appearance Of Front Panel

    7-segment LED (2-digit) Analog monitor pins (X7) Pin No. Symbol Description Analog monitor 1 Analog monitor 2 Signal ground Reserved 4, 5, 6 (Do not use) NOTE: Pin No.1 from the right, 2, 3 ... Order Motor Business Unit, Panasonic Corporation R1.00...

  • Page 31: 7-Segment Led

    Z phase counter This function is effective only in the case of the serial incremental Feedback scale and in the external scale of the A/B/Z phase, “nA” (not Available) is indicated. (To be continued) Motor Business Unit, Panasonic Corporation R1.00...
  • Page 32 The center LED lights up when it stops (otherwise). For a positive direction For a stoppage For a negative direction When other than Pr9.20 = 1, ‘nA’ is shown. To be used by the Other manufacturer but — not by the user. Motor Business Unit, Panasonic Corporation R1.00...
  • Page 33 (Example of overload in servo-ON state) is (e.g. overload) displayed. Sub code Warning code (approx. 2 s) Normal display Main code (with left dot) (approx. 4 s) Right dot blinks. Motor Business Unit, Panasonic Corporation R1.00...

  • Page 34: Ethercat Indicators

    No. SX-DSV02829 - 3-3 EtherCAT Indicators MINAS-A5BL series has 4 types of EtherCAT indicators(LED). There are 4 patterns of LED indication in addition to “ON” and “OFF” Approx.50ms Flickering Approx.50m Approx.200ms Blinking Approx.200 Approx.1000ms Single flash Approx.200 Approx.200ms Approx.1000ms Double flash Approx.200ms...
  • Page 35 L/A IN, L/A OUT indicator will show the LINK status and operation status of Each port’s physical layer. Indication is lighted in green. Content LINK not established Flickering LINK established. There are data transmission and reception. LINK established. There are no data transmission and reception. Motor Business Unit, Panasonic Corporation R1.00...

  • Page 36: Monitor Signal Output Function

    [r/min] [r/min] -5000 5000 -5000 [r/min] 5000 -2500 2500 -10 V -10 V -10 V • When monitor type is motor speed, and conversion gain is 500 (1 V = 500 r/min). Motor Business Unit, Panasonic Corporation R1.00...
  • Page 37 For the command pulse input, the speed before the command filter (smoothing, FIR filter) is defined as positional command velocity and speed after filter is defined as internal command velocity. Positional command Internal position command speed speed [r/min] [r/min] Positional Position Command command control input filter – Feedback scale data Motor Business Unit, Panasonic Corporation R1.00...
  • Page 38 Travel command = 0 command Velocity command ≠ 0 Velocity control Velocity command = 0 status Torque command ≠ 0 Torque control Torque command = 0 2nd gain Gain selection status 1st gain (Including 3rd gain) Motor Business Unit, Panasonic Corporation R1.00...

  • Page 39: Station Alias

    Function Setting by rotary switch on front panel, and Station Alias － 0 - 2 by Pr7.40 will be station alias. selection Value of SII area (0004h) will be station alias. For manufacturer’s use Motor Business Unit, Panasonic Corporation R1.00...
  • Page 40 4-7-1 Parameter setting according to linear motor/feedback scale specification ............. 55 4-7-2 Current gain setting ............................60 4-7-3 Pole position detection method setting ......................61 4-7-4 Automatic linear motor setting with tool ....................... 68 Motor Business Unit, Panasonic Corporation R1.00...

  • Page 41: Operation Direction Setup

    As opposed to position instructions / speed instructions / Torque instructions, and each offset, Polarity (Operation direction) can be set up. In MINAS-A5BL series, a setup of the hand of cut by parameter Pr0.00 (Operation direction) has not corresponded, the hand of cut is set up by object 607Eh (Polarity) specified to CoE (CiA402).

  • Page 42: Position Control

    Positional command is input based on the EtherCAT communication object. As position control modes, Profile position control (PP), Cyclic position control (csp), Interpolated position(ip), and Homing(hm) are available. For details, refer to Technical Reference, SX-DSV02830”Section 6-6”, EtherCAT communication specification. Motor Business Unit, Panasonic Corporation R1.00...

  • Page 43: Electronic Gear Function

    By using this function, moving amount of the motor per command can be set to the desired value. In MINAS-A5BL series, a setup of an electronic gear ratio with a parameter Pr0.09(Numerator of electronic gear ratio) and Pr0.10(Denominator of electronic gear ratio) has not corresponded, an electronic gear ratio is set up by the object 608Fh(Position encoder resolution), 6091h(Gear ratio) and 6092h(Feed constant) specified to CoE(CiA402).
  • Page 44 No. SX-DSV02829 - <Electronic gear setting example> In the MINAS-A5BL series, it is impossible to set the electronic gear using the “electronic gear numerator (Pr0.09)/denominator (Pr0.10)” in contrast to the MINAS-A5NL series. When setting the electronic gear using the “electronic gear numerator /denominator ” like the MINAS-A5NL, refer to the following.
  • Page 45 <Electronic gear setting and backup by object editor> It is possible to set and back up objects using the object editor of PANATERM. (2) After the setting, write it into EEPROM. (1) Set a value. ①値を設定 Motor Business Unit, Panasonic Corporation R1.00...

  • Page 46: Positional Command Filtering Function

    Even if setting of Pr2.22 (Positional command smoothing filter) is changed, it is not immediately applied to the internal calculation. If the switching as described in *2 occurs during this delay time, the change of Pr2.22 will be suspended. Motor Business Unit, Panasonic Corporation R1.00...
  • Page 47 When the positional command is trapezoidal wave, its waveform will be shaped to S at the output of the filter. Speed [r/min] Positional command before filter Positional command before filter Positional command FIR filter setup time [ms] (Pr 2.23 × 0.1 ms)*1 Time Motor Business Unit, Panasonic Corporation R1.00...

  • Page 48: Positioning Complete Output (Inp/Inp2) Function

    Positioning complete output setup. (Presence/ absence of positional command is not related to this judgment.) bit7：INP Output limit Function 0: Invalid expansion 0–1023 — 1: Valid setup *1) For parameter attribute, refer to Section 9-1. Motor Business Unit, Panasonic Corporation R1.00...
  • Page 49 Note: If Pr9.20 “Pole detection method” = 2 (Pole position estimation) and bit7 = 1 for Pr6.10 “Function setup”, expansion the positioning complete signals 1 (INP1) and 2 (INP2) are turned OFF forcibly until the pole position estimation is finished. Motor Business Unit, Panasonic Corporation R1.00...

  • Page 50: Pulse Regeneration Function (Some Models Not Supported)

    0: Directly output the signals from A, B and Z parallel feedback 0–1 pulse output scales. method 1: Output A and B phase signals recovered from A, B and Z parallel feedback scales. Z-phase is output directly. *1) For parameter attribute, refer to Section 9-1. Motor Business Unit, Panasonic Corporation R1.00...
  • Page 51 Table below shows details of Pr. 0.12 “Reversal of pulse output logic”. Pr0.12 B-phase logic Output source Positive direction operation Negative direction operation A-phase A-phase 0, 2 Nonreversal Feedback scale B-phase B-phase A-phase A-phase 1, 3 Reversal Feedback scale B-phase B-phase Motor Business Unit, Panasonic Corporation R1.00...
  • Page 52 Because this error is generated when the output limit of the pulse regeneration is detected, it is not generated at the maximum frequency. However, detection error may occur if the frequency instantaneously jumps up due to the motor state (irregular speed). Motor Business Unit, Panasonic Corporation R1.00...

  • Page 53: Velocity Control

    *1) For parameter attribute, refer to Section 9-1. Speed [r/min] Motor velocity Pr 4.36 + 10 Pr 4.36 - 10 Time -(Pr 4.36 - 10) -(Pr 4.36 + 10) The speed arrival output AT-SPEED Motor Business Unit, Panasonic Corporation R1.00...

  • Page 54: Speed Coincidence Output (V-Coin)

    Because the speed coincidence detection is associated with 10 r/min hysteresis, actual detection range is as shown below. Speed coincidence output OFF ON timing (Pr 4.35 – 10) r/min Speed coincidence output ON OFF timing (Pr 4.35 + 10) r/min Motor Business Unit, Panasonic Corporation R1.00...

  • Page 55: Velocity Command Acceleration/Deceleration Setting Function

    Deceleration time (ms) = Vc/1000 × Pr 3.13 × 1 ms Speed [r/min] 1000 Stepwise input velocity command Velocity command after acceleration/deceleration process Time Pr 3.13 × 1 ms Pr 3.12 × 1 ms Motor Business Unit, Panasonic Corporation R1.00...
  • Page 56 = Vc/1000 × Pr 3.12 × 1 ms td = Vc/1000 × Pr 3.13 × 1 ms ts = Pr 3.14 × 1 ms • Use with the setup of ta/2 > ts, td/2 > ts Time Motor Business Unit, Panasonic Corporation R1.00...

  • Page 57: Toruqe Control

    Set up the selection method of the speed limit used for toruqe controlling. Speed limit Setting value Speed limit value — select 6080h (Max motor speed) With this amplifier, it becomes 2 fixation. *1) For parameter attribute, refer to Section 9-1. Motor Business Unit, Panasonic Corporation R1.00...

  • Page 58: Setting Regenerative Resistor

    0: Regenerative load factor is 100% when duty factor of external regenerative regenerative resistor is 10%. (Compatible with A4N series) resistor 1–4: For manufacturer’s use (do not setup) *1) For parameter attribute, refer to Section 9-1. Motor Business Unit, Panasonic Corporation R1.00...

  • Page 59: Absolute Setup

    Host controller Servo driver ECAT IN (X2A) ECAT OUT EtherCAT communication interface (X2B) Junction Connector CS signals (CS1,CS2,CS3) * When using the CS signals Junction Connector Head Linear Scale Unit Motor Business Unit, Panasonic Corporation R1.00...

  • Page 60: Linear Motor/Feedback Scale Setting

    No. SX-DSV02829 - 4-7 Linear motor/feedback scale setting The MINAS-A5BL series requires you to set up the linear motor/feedback scale to be connected. Follow the procedures below to set up the linear motor/feedback scale. ■Procedures 1. Set up linear motor/feedback scale parameter (1) Linear motor (motor type, Inertia, toruqe, etc.)

  • Page 61: Parameter Setting According To Linear Motor/Feedback Scale Specification

    Sizes A, H: 12 kHz, sizes B to G: 6 kHz * When the carrier is set to 12 kHz in the sizes B to G, a delaying is necessary. For more information, refer to the delivery specifications. (To be continued) Motor Business Unit, Panasonic Corporation R1.00...
  • Page 62 If this is the case, make sure to set this parameter to zero. Use this parameter only if Pr9.02 is exceptionally unavailable. *1) For information on the parameter attribute, refer to the section 9-1. Motor Business Unit, Panasonic Corporation R1.00...
  • Page 63 * When the carrier is set to 12 kHz in the sizes B to G, a delaying is necessary. For more information, refer to the delivery specifications. *1) For information on the parameter attribute, refer to the section 9-1. Motor Business Unit, Panasonic Corporation R1.00...
  • Page 64 4 m/s. Also, to use the serial communication type at 5 m/s speed, select up to 0.0125 µm resolution for the feedback scale. *3 For the supported feedback scales, contact us. Motor Business Unit, Panasonic Corporation R1.00...
  • Page 65 Note 2: It is a waveform generated when checking the induced voltage in the terminal V by connecting the terminal U with GND. Note 3: It is a waveform generated when checking the induced voltage in the terminal W by connecting the terminal V with GND. Motor Business Unit, Panasonic Corporation R1.00...

  • Page 66: Current Gain Setting

    Integral current 0-32767 In general, use the theoretical value as is calculated using Pr9.12. gain *1) For information on the parameter attribute, refer to the section 9-1. *2) The value is calculated at power-on. Motor Business Unit, Panasonic Corporation R1.00...

  • Page 67: Pole Position Detection Method Setting

    3: reversed reversed The logic setting of CS signal is valid only when the CS signal is selected (Pr9.20 = 1). *1) For information on the parameter attribute, refer to the section 9-1. Motor Business Unit, Panasonic Corporation R1.00...
  • Page 68 Note 2: It is a waveform generated when checking the induced voltage in the terminal V by connecting the terminal U with GND. Note 3: It is a waveform generated when checking the induced voltage in the terminal W by connecting the terminal V with GND. Motor Business Unit, Panasonic Corporation R1.00...
  • Page 69 Note 2: It is a waveform generated when checking the induced voltage in the terminal V by connecting the terminal U with GND. Note 3: It is a waveform generated when checking the induced voltage in the terminal W by connecting the terminal V with GND. Motor Business Unit, Panasonic Corporation R1.00...
  • Page 70 Note 2: It is a waveform generated when checking the induced voltage in the terminal V by connecting the terminal U with GND. Note 3: It is a waveform generated when checking the induced voltage in the terminal W by connecting the terminal V with GND. Motor Business Unit, Panasonic Corporation R1.00...
  • Page 71 Roughly speaking, set the number of pulses corresponding to the electric angle.  This setting is valid only when the pole position estimation is selected (Pr9.20=2). (To be continued) Motor Business Unit, Panasonic Corporation R1.00...
  • Page 72 In this configuration, we recommend you to use the CS signal method (4-7-3-1) or Pole position recovery (4-7-3-3). To use the pole position recovery method, apply the pole position estimation to each linear motor alone. Work Motor Business Unit, Panasonic Corporation R1.00...
  • Page 73 However, EEPROM relevant alarms (Errs36.0 - 2, Errs37.0 - 2) are not cleared. Also, any alarm is not cleared when Err11.0 “Control power undervoltage protection” occurred.  When this method is selected while using the feedback scale of other than absolute type, Err61.2 “Pole position estimation error 3” occurs. Motor Business Unit, Panasonic Corporation R1.00...

  • Page 74: Automatic Linear Motor Setting With Tool

    *1) For information on the parameter attribute, refer to the section 9-1. ▪ To set Pr9.13 “Proportional current gain” and Pr9.14 “Integral current gain” by using the automatic linear motor setting, set Pr9.12 “Automatic current response adjustment” to zero. Motor Business Unit, Panasonic Corporation R1.00...
  • Page 75 After the automatic setting, make sure to reset the power supply of the servo amplifier finally. (For information on how to use the linear motor automatic setting tool, refer to the tool's procedure manual.) Motor Business Unit, Panasonic Corporation R1.00...
  • Page 76  After the automatic setting is finished, make sure to reset the power supply of the servo amplifier and establish the network with the upper controller. If it is tried to establish network with the upper controller without resetting the power supply of the servo amplifier, Err60.3 “Linear motor automatic setting error protection” occurs. Motor Business Unit, Panasonic Corporation R1.00...
  • Page 77 5-2-13 Mode of 2 degrees of freedom control (Standerd type) ................118 5-2-14 Model type damping filter .......................... 121 5-2-15 Viscous friction compensating gain / Model type damping filter application parameter switching function .................................. 125 Motor Business Unit, Panasonic Corporation R1.00...

  • Page 78: Automatic Adjusting Function

    Adaptive filter Estimates the resonance frequency based on the motor velocity and removes the frequency components from torque command to prevent resonant oscillation. Motor Business Unit, Panasonic Corporation R1.00...

  • Page 79: Real-Time Auto Tuning

    • When the speed condition of 100 [r/min] or more and acceleration/deceleration Action pattern condition of 2,000 [r/min] per 1 [s] are not maintained for 50 [ms]. • Acceleration/deceleration torque is smaller than unbalanced weighted/viscous friction torque. Motor Business Unit, Panasonic Corporation R1.00...
  • Page 80 Higher the setup value, higher the velocity response and servo real-time stiffness will be obtained. However, when increasing the value, auto-gain tuning check the resulting operation to avoid oscillation or vibration. (To be continued) Motor Business Unit, Panasonic Corporation R1.00...
  • Page 81 When the torque compensation is updated by the estimated value, it is cleared to 0 (invalid). *2 If the load characteristics estimation is abled, set Pr6.31 "Real-time auto tuning presumption speed" besides 0(stop estimation). (To be continued) Motor Business Unit, Panasonic Corporation R1.00...
  • Page 82 (middle), stiffness setup = enable, fixed parameter = set to a fixed value, gain switching setup = enable, then, × 1+2 × 1+2 × 4+2 × 1+2 × 1+2 × 2 = 1477 *1) For parameter attribute, refer to Section 9-1. Motor Business Unit, Panasonic Corporation R1.00...

  • Page 83: 00 1St Gain Of Position

    When fixed parameter setup is valid, set the parameter to 0. 0–1000 0.1% forward gain Torque feed When fixed parameter setup is valid, set the parameter to 0. 0–6400 0.01 ms forward filter (To be continued) Motor Business Unit, Panasonic Corporation R1.00...

  • Page 84: 2Nd Gain Setup

    Parameter setup can be changed, but disturbance observer is torque disabled. -100-100 compensating gain Disturbance Parameter setup can be changed, but disturbance observer is 10-2500 0.01 ms observer filter disabled. *1) For parameter attribute, refer to Section 9-1. Motor Business Unit, Panasonic Corporation R1.00...
  • Page 85 After the stiffness setting is changed, be sure to stop the motor and check that the stiffness setting is reflected before performing next operation. Note) The positive direction of feedback scale (after reversal of direction of Pr3.26 "Feedback scale & CS reversal") always serves as positive Motor Business Unit, Panasonic Corporation R1.00...
  • Page 86 Stiffness setting of A4L series refers to the setup value (0–15) of A4 series parameter Pr 22 “Real-time auto-tuning machine stiffness selection”. In the vertical axis mode or friction compensation mode (Pr0.02=3,4), Pr1.07 is kept at 9999 until load characteristic estimation is completed. Motor Business Unit, Panasonic Corporation R1.00...

  • Page 87: Adaptive Filter

    • Motor velocity variation with high harmonic component is generated due to non-linear Load factors such as backlash. Command • Acceleration/deceleration is rapid such as 30000 [r/min] per 1 [s]. 3) Limitation The MINAS-A5BL series has the following limitations. Cycle time(communication cycle) Limitation 250μs Use of adaptive filter not allowed 500μs One adaptive filter allowed as the number of valid ones 1000μs...
  • Page 88 3rd and 4th notch filter hold the current value. Setup value 4: Clear result of adaptation Parameters related to the 3rd and 4th notch filter are disabled and results of adaptive operation are cleared. (To be continued) Motor Business Unit, Panasonic Corporation R1.00...
  • Page 89 Pr 2.10 “4th notch frequency” to 5000 (disable), and then enable the adaptive filter again. (3) The 3rd filters (Pr 2.07) and 4th notch filters (Pr 2.10) are written to EEPROM every 30minutes. Upon power up, these data are used as default values during adaptive process. Motor Business Unit, Panasonic Corporation R1.00...

  • Page 90: Real-Time Auto Tuning (2 Degrees Of Freedom Control Mode Standard Type)

     A speed at 100 [r/min] or higher or a acceleration/deceleration of 2000 [r/min] per 1 Operation pattern [s] does not continue for 50 [ms] or longer.  The acceleration/deceleration torque is small with reference to the uneven load/ viscous friction torque. Motor Business Unit, Panasonic Corporation R1.00...
  • Page 91 Specifies the response for enabled real-time auto tuning. A larger Selection of setting increases the speed response and servo stiffness but invites machine stiffness − 0∼31 more vibration. Gradually increase the setting while monitoring the at realtime operation. auto-gain tuning (Continued) Motor Business Unit, Panasonic Corporation R1.00...
  • Page 92 3. Real time auto tuning Not available in 2 degrees of freedom control mode. -32768- − custom setup Always set to 0. 32767 (Continued) *1) For parameter attribute, refer to Section 9-1. Motor Business Unit, Panasonic Corporation R1.00...
  • Page 93 0.1 Hz loop 2nd time constant of 1-10000 0.1 ms velocity loop integration 2nd time constant of 0-2500 0.01 ms torque filter Positional command 0-10000 0.1 ms smoothing filter Tuning filter 0-2000 0.1 ms Motor Business Unit, Panasonic Corporation R1.00...
  • Page 94 0-6400 0.01 ms filter 1st filter of speed If real-time auto tuning is valid (Pr0.02=1∼4), specify "bit4=1." 0-1023 detection If real-time auto tuning is valid (Pr0.02=1∼4), specify "15." Command / tuning 0-99 filter damping Motor Business Unit, Panasonic Corporation R1.00...

  • Page 95: Hysteresis At Position

    Disturbance observer Parameter settings may be changed, but disturbance observer 10-2500 0.01 ms filter compensation function is made invalid. *1) For parameter attribute, refer to Section 9-1. Motor Business Unit, Panasonic Corporation R1.00...
  • Page 96 After the stiffness setting is changed, be sure to stop the motor and check that the stiffness setting is reflected before performing next operation. Motor Business Unit, Panasonic Corporation R1.00...
  • Page 97 For Pr6.48 "Tuning filter," a value with 1 added is set in frames B to G. *2 Pr2.22 "Positional command smoothing filter" is the time constant for the command filter during 2 degrees of freedom control. Motor Business Unit, Panasonic Corporation R1.00...

  • Page 98: Manual Adjusting Function

    No. SX-DSV02829 - 5-2 Manual adjusting function As explained previously, MINAS-A5BL series features the automatic gain tuning function, however, there might be some cases where this automatic gain tuning cannot be adjusted properly depending on the limitation on load conditions. Or you might need to readjust the tuning to obtain the optimum response or stability corresponding to each load.

  • Page 99: Block Diagram Of Position Control Mode

    No. SX-DSV02829 - 5-2-1 Block diagram of position control mode Position control of MINAS-A5BL series, there are four modes. ・ Profile position mode (pp) ・ Cyclic synchronous position mode (csp) ・Interpolated position mode (ip) (Not supported) ・Homing mode (hm) Data of Analog Monitor and Panaterm...

  • Page 100: Block Diagram Of Velocity Control Mode

    No. SX-DSV02829 - 5-2-2 Block diagram of velocity control mode Velocity control of MINAS-A5BL series, there are two modes. ・Profile velocity mode (pv) ・Cyclic synchronous velocity mode (csv) Data of Analog Monitor and Panaterm Data of CiA402 object 60B2h Gain switching Torque offset 1.14...

  • Page 101: Block Diagram Of Torque Control Mode

    No. SX-DSV02829 - 5-2-3 Block diagram of torque control mode Velocity control of MINAS-A5BL series, there are two modes. ・Profile torque mode (tq) ・Cyclic synchronous torque mode (cst) Data of Analog Monitor and Panaterm Data of CiA402 object 60B2h Torque offset Gain switching [0.1%]...

  • Page 102: Gain Switching Function

    Pr 1.05 “2nd gain of poison loop” is large, the Position gain increasing rate of position loop gain can be limited by this 0–10000 0.1 ms switching time parameter. The position loop gain will increase over the time set. (To be continued) Motor Business Unit, Panasonic Corporation R1.00...

  • Page 103: Mode Of Velocity Control Switching

    *2）When an electronic gear ratio is larger than 1/1, even if it is servo-off, the remainder on operation may occur and a feedback scale position deviation may not be set to 0. For details refer to “Section 4-2-4”. Motor Business Unit, Panasonic Corporation R1.00...
  • Page 104 * Unit of level and hysteresis (pulse) is set with feedback scale resolution. * The positional deviation in these contents indicates the deviation between the internal command position and actual position after the filter regardless of the set value of Pr7.23: bit 14. (To be continued) Motor Business Unit, Panasonic Corporation R1.00...
  • Page 105 • Return to the 1st gain when the positional command was kept at 0 during the delay time and the absolute value of actual speed was kept below (level–hysteresis ) (r/min) previously with the 2nd gain. Motor Business Unit, Panasonic Corporation R1.00...
  • Page 106 Set in Pr 1.24 Torque command 0, 4 Select the 1st gain regardless of the status. Select the 2nd gain regardless of the status. Switch with the gain switching input (Gain_SW) 0: 1st gain, 1: 2nd gain Motor Business Unit, Panasonic Corporation R1.00...
  • Page 107 When Pr 1.19 (Position loop gain switching time) is 0, High gain Low gain When Pr 1.19 (Position loop gain switching time) is 5, High gain Low gain 250 µs Motor Business Unit, Panasonic Corporation R1.00...

  • Page 108: Notch Filter

    Use of 3 notch filters allowed 500μs 1000μs 2000μs No limitation (Use of 4 notch filters allowed) 4000μs Parameters MINAS-A5BL series feature 4 normal notch filters. You can adjust frequency and width and depth. Class trib- Title Range Unit Function ute *1) Set the center frequency of the 1st notch filter.
  • Page 109 0.45 -6.9 11.31 0.50 -6.0 13.45 0.60 -4.4 16.00 0.70 -3.1 0.80 -1.9 0.90 -0.9 1.00 Notch filter frequency response Depth 0, width 4 Depth 50, width 4 Depth 0, width 8 Frequency [Hz] Motor Business Unit, Panasonic Corporation R1.00...

  • Page 110: Damping Control

    • Vibration is triggered by other factors than command (such as disturbance). • Ratio of resonance frequency and anti-resonance frequency is large. Load • Vibration frequency is out of the range of 1.0−300.0 [Hz]. Motor Business Unit, Panasonic Corporation R1.00...
  • Page 111 Usually 2nd damping filter set it to 0. 0–1500 0.1 Hz setup Note: The maximum setup value is internally limited to the corresponding damping frequency or 2000–damping frequency, whichever is smaller. (To be continued) Motor Business Unit, Panasonic Corporation R1.00...
  • Page 112 Usually set it to 0. 0–1500 0.1 Hz filter setup Note: The maximum setup value is internally limited to the corresponding damping frequency or 2000–damping frequency, whichever is smaller. *1) For parameter attribute, refer to Section 9-1. Motor Business Unit, Panasonic Corporation R1.00...
  • Page 113 First set it to 0, and increase the setting value little by little if settling time needs to be decreased. As the setting value increases, the settling time can be decreased, but the damping effect is also decreased. Make an adjustment while checking the statuses of the settling time and vibration. Motor Business Unit, Panasonic Corporation R1.00...

  • Page 114: Feed Forward Function

    The feed forward given through EtherCAT communication is added to the feed forward value (internally calculated according to the parameter setting). Parameters For MINAS-A5BL series, the velocity feed forward and torque feed forward can be used. trib- Class No. Title...
  • Page 115 In addition, each feedforward which can setup by EtherCAT communication corresponds to the following control mode. (Not supported) 60B1h valid valid valid valid valid valid invalid invalid (Velocity offset) 60B2h valid valid valid valid valid valid valid valid (Torque offset) Motor Business Unit, Panasonic Corporation R1.00...

  • Page 116: Instantaneous Velocity Observer Function

    Others • Real-time auto-tuning should be disabled. (Pr 0.02=0) • The motor should be of a linear type. (Pr 9.00=1) • No velocity estimation operation is performed during the execution of magnet pole position. Motor Business Unit, Panasonic Corporation R1.00...
  • Page 117 If you change the position loop gain and velocity loop gain, the optimum value of the inertia ratio (Pr 0.04) might have been changed, and you need to make a fine adjustment again. Motor Business Unit, Panasonic Corporation R1.00...

  • Page 118: Disturbance Observer Function

    Conditions which obstruct disturbance observer action • Resonant frequency is lower than the cutoff frequency estimated by the disturbance observer. Load • Disturbance torque contains many high frequency components. • Scale resolution is low. Motor Business Unit, Panasonic Corporation R1.00...
  • Page 119 After setting up Pr 6.24, increase Pr 6.23. The disturbance suppressing capability increases by increasing the gain, but it is associated with increasing volume of operation noise. This means that well balanced setup can be obtained by adjusting Pr6.24 and Pr6.23. Motor Business Unit, Panasonic Corporation R1.00...

  • Page 120: 3Rd Gain Switching Function

    [3rd gain period] Position loop gain = Pr1.00 × Pr6.06/100 Velocity loop gain = Pr1.01 × Pr6.06/100 Velocity loop integration time constant, velocity detection filter and torque filter time constant directly use the 1st gain value. Motor Business Unit, Panasonic Corporation R1.00...

  • Page 121: Friction Torque Compensation

    *1) For parameter attribute, refer to Section 9-1. Note) The positive direction of feedback scale (after reversal of direction of Pr3.26 "Feedback scale & CS reversal") always serves as positive. Motor Business Unit, Panasonic Corporation R1.00...
  • Page 122 Pr 6.07. The dynamic friction compensation value is updated to parameters Pr .6.08 and Pr 6.09 depending on command direction. Note) The positive direction of feedback scale (after reversal of direction of Pr3.26 "Feedback scale & CS reversal") always serves as positive. Motor Business Unit, Panasonic Corporation R1.00...

  • Page 123: 2-Stage Torque Filter

    Set a 2-stage torque filter if high-frequency vibration can’t be removed only using usual 1st and 2nd torque filters. Setting Pr6.43 “2-stage torque filter attenuation term” to 1000 (ζ=1.0), adjust Pr6.42 “2-stage torque filter time constant”. Motor Business Unit, Panasonic Corporation R1.00...

  • Page 124: Mode Of 2 Degrees Of Freedom Control (Standerd Type)

    Tuning filter 0∼2000 0.1ms scale positional deviation near stability, you may be able to obtain improvements with overshoot and vibration waveform. - Set the damping in Pr6.49 "Command response/tuning filter damping setting." (To be continued) Motor Business Unit, Panasonic Corporation R1.00...
  • Page 125 Sets the 2nd viscous friction compensating gain 2nd Viscous 0.1%/ The unit is [rated torque 0.1%/ (10000 r/min)]. friction 0～10000 (10000 compensating r/min) gain *1) For the parameter attributes, refer to Section 9-1. Motor Business Unit, Panasonic Corporation R1.00...
  • Page 126 *3) Polarity was omitted. *4) The calculation method for the positional deviation on PANATERM (reference) varies depending on the setting of command position deviation output switching (bit 14) of 3723h (Communication function extended setup 2). Motor Business Unit, Panasonic Corporation R1.00...

  • Page 127: Model Type Damping Filter

    - The 1st and the 2nd damping filters cannot be used simultaneously. Model type damping Switching is available. For information on the switching function, refer to the filter section 5-2-16 “Viscous friction compensating gain/Model type damping filter application parameter switching function.” Motor Business Unit, Panasonic Corporation R1.00...
  • Page 128 Setting possible within the scope of the 10.0 [Hz]≦2nd Anti-resonance 2nd anti-resonance 0-3000 0.1Hz frequency frequency<2nd Resonance frequency≦300.0 [Hz]. If the setting value is not the above magnitude relationship, vibration suppression filter and filter resonance characteristic is invalid. (To be continued) Motor Business Unit, Panasonic Corporation R1.00...
  • Page 129 The response frequency will increase up to a value of 1 to 4 times of the anti-resonance frequency. The higher the frequency, the smaller the delay in damping control becomes. However, as damping effects gradually decrease, try to find balanced settings. Motor Business Unit, Panasonic Corporation R1.00...
  • Page 130 No. SX-DSV02829 - 124- Example of frequency response measurement by setup support software PANATERM Motor Business Unit, Panasonic Corporation R1.00...

  • Page 131: Viscous Friction Compensating Gain / Model Type Damping Filter Application Parameter Switching Function

    - For information on the viscous friction compensating gain (Pr6.50, Pr6.71), refer to the section 5-2-14. - For information on the model type damping filter (Pr6.61 to Pr6.65, Pr6.66 to Pr6.70), refer to the section 5-2-15. Motor Business Unit, Panasonic Corporation R1.00...
  • Page 132 Long pitch feed Short pitch feed Positional command speed before filtering Short pitch feed Time Completed Not completed Positioning completed 60FEh-01h bit9 60FEh-01h bit8 1 communication cycle or more Setting pattern for applied parameter Motor Business Unit, Panasonic Corporation R1.00...
  • Page 133 6-3-2 Sequence at Servo-Off ..........................133 6-3-3 Sequence at main power OFF ........................134 6-3-4 Sequence at alarm ............................136 6-3-5 Emergency stop upon occurrence of alarm ....................138 6-4 Torque saturation protection function ....................... 140 Motor Business Unit, Panasonic Corporation R1.00...

  • Page 134: Torque Limit Switching Function

    Pr 9.07 (Maximum instantaneous motor current [0.1A]) Pr 9.06 (Rated effective motor current [0.1 Arms]) Torque instructions are restricted at the minimum among The limit value of Pr0.13 or Pr5.22, and The limit value of 6072h. Motor Business Unit, Panasonic Corporation R1.00...

  • Page 135: Motor Working Range Setup Function

    Motor working 0.1 magnet position command input range. 0–1000 range setup pole pitch When the motor movement exceeds the setup value, software limit protection will be triggered. *1) For parameter attribute, refer to Section 9-1. Motor Business Unit, Panasonic Corporation R1.00...
  • Page 136 • Position information is initialized. • Upon returning to home position, etc. • During the execution of magnet pole position estimation • During the automatic setup of the linear motor through the use of tools. Motor Business Unit, Panasonic Corporation R1.00...

  • Page 137: Deceleration Stop Sequence

    *1) For parameter attribute, refer to Section 9-1. *2) During magnet pole position estimation, and automatic linear motor setup, Err 38.0 “Run-inhibition input protection“ is caused by the input of either of POT and NOT. Motor Business Unit, Panasonic Corporation R1.00...
  • Page 138 • In case of deceleration stop on servo (MINAS-A5) side (sequence at time of alarm) (Pr5.04 = 2) Err38.0 "Over-travel inhibit input protection" occurs when POT or NOT is turned on. Therefore, the system operates according to Sequence at alarm. but not to this setting. Motor Business Unit, Panasonic Corporation R1.00...

  • Page 139: Sequence At Servo-Off

    (DB). *6) After immediate stop start, please continue to send Servo off command(PDS command “Disable operation”, “Shutdown”, “Disable voltage”, “Quick Stop”) until the motor is stopped. Motor Business Unit, Panasonic Corporation R1.00...

  • Page 140: Sequence At Main Power Off

    Set up the torque limit at emergency stop. Torque setup for 0–500 When setup value is 0, the torque limit for normal operation is applied emergency stop *1) For parameter attribute, refer to Section 9-1. Motor Business Unit, Panasonic Corporation R1.00...
  • Page 141 30 r/min, it is treated as in stop state regardless of its speed. *5) During magnet pole position estimation and during the automatic setup of scale/CS directions, an immediate stop is disabled and deceleration is enabled with the operation of the dynamic brake (DB). Motor Business Unit, Panasonic Corporation R1.00...

  • Page 142: Sequence At Alarm

    Communication related alarms (Err80.*, Err81.*, Err85.*, Err88.*) information, set by 605Eh (Fault reaction option code). Please refer to section 6-9-2 "6) Fault reaction option code (605Eh)" of Technical Document "EtherCAT Communication Specifications" (SX-DSV02830) for details. Motor Business Unit, Panasonic Corporation R1.00...
  • Page 143 *6) Action B is performed when an alarm requiring emergency stop occurs while performing the dynamic braking (DB) operation with drive inhibition input sequence, sequence at the time of servo OFF or sequence at main power OFF or free-running. Motor Business Unit, Panasonic Corporation R1.00...

  • Page 144: Emergency Stop Upon Occurrence Of Alarm

    30r/min after the elapse of time set by Pr 6.14 Emergency stop time at alarm, the system generates the alarm. The system also enters the alarm state if an alarm that does not require emergency stop occurs in the driver during the sequence of the emergency stop. Motor Business Unit, Panasonic Corporation R1.00...
  • Page 145 If the velocity has exceeded the value set in Pr6.15 "2nd over-speed level setup", energization is shut off and operation is performed according to sequence at alarm operation B. Motor Business Unit, Panasonic Corporation R1.00...

  • Page 146: Torque Saturation Protection Function

    Pr7.16 Setup value0.25ms Err16.1 will not be activated if Err16.1 will be activated if torque saturated has not torque saturated has continued continued for Pr7.16 setup for Pr7.16 setup value0.25ms. value0.25ms, and count will be cleared. Motor Business Unit, Panasonic Corporation R1.00...
  • Page 147 No. SX-DSV02829 - 141- ７ 7．Protective function/Warning function 7-1 List of protective function ..........................142 7-2 Details of Protective function ..........................145 7-3 Warning function ............................... 159 7-4 Setup of gain pre-adjustment protection ......................162 Motor Business Unit, Panasonic Corporation R1.00...

  • Page 148: List Of Protective Function

    Software limit protection 0–2 EEPROM parameter error protection 0–2 EEPROM check code error protection  Over-travel inhibit input protection 1  Over-travel inhibit input protection 2  Over-travel inhibit input protection 3 (To be continued) Motor Business Unit, Panasonic Corporation R1.00...
  • Page 149 Parameter setting error protection 1   Feedback scale connection error protection (Not supported)  Parameter setting error protection 5  Unusual communication IC initialization protection Other Other error protection — — — — Motor Business Unit, Panasonic Corporation R1.00...
  • Page 150 For details, refer to 6-3-4 Sequence at alarm. *6: About EtherCAT communication-related error(Err80.* , Err81.* , Err85.* , Err88.*), front panel indication or alarm indication of PANATERM is delayed from actual occurrence of alarm. Motor Business Unit, Panasonic Corporation R1.00...

  • Page 151: Details Of Protective Function

    7) Timing of pulse input is same as or earlier than Servo-ON. 7) Enter the pulses 100 ms or longer after Servo-ON. Power Module) 8) The dynamic brake circuit was overheated and the thermal 8) Replace the driver. fuse is blown. (Only size F and size G) (To be continued) Motor Business Unit, Panasonic Corporation R1.00...
  • Page 152 Regenerative driver transistor on the servo driver is Replace the driver. Regenerative transistor error defective. protection (To be continued) Motor Business Unit, Panasonic Corporation R1.00...
  • Page 153 If Pr9.10 “Maximum over-speed level” is smaller than 2nd Overspeed Pr6.15 “2nd over-speed level setup”, this occurs when the protection motor speed exceeds the setting of Pr9.10 “Maximum over-speed level.” (To be continued) Motor Business Unit, Panasonic Corporation R1.00...
  • Page 154 Allocate correct function to each connector pin. Output function number error 1 protection Output signals (SO2) are assigned with undefined number. Allocate correct function to each connector pin. Output function number error 2 protection (To be continued) Motor Business Unit, Panasonic Corporation R1.00...
  • Page 155 • When POT is allocated to SI6 or NOT allocated to SI7, Over-travel inhibit over-travel inhibit input setup is set to a value other than make sure that Pr 5.04 over-travel inhibit input setup is set input protection 3 to 1. (To be continued) Motor Business Unit, Panasonic Corporation R1.00...
  • Page 156 (All of CS signals 1, 2, and 3 are high or low) AB-phase missing There are extremely few AB-phase pulses between CS Check the CS signal, A-phase, and B-phase wiring error protection signal changes. connections. (To be continued) Motor Business Unit, Panasonic Corporation R1.00...
  • Page 157 • A feedback current value has been overshot respective • If there is current overshooting present, make adjustments to the torque command during automatic linear motor such as by reducing the current gain. setting. (To be continued) Motor Business Unit, Panasonic Corporation R1.00...
  • Page 158 • A value of 3 has been set to Pr 9.20 when a feedback • Check that the feedback scale is of the absolute type. protection scale that is not of the absolute type is in use. (To be continued) Motor Business Unit, Panasonic Corporation R1.00...
  • Page 159 - Check whether the excessive noise has started the EtherCAT communication cable. - The preset value of Pr7.42(Maximum continuation communication error) bit0-3 is enlarged. - If the error cannot be resolved, shut off and reset the control power. (To be continued) Motor Business Unit, Panasonic Corporation R1.00...
  • Page 160 - 000b was set to bit 2-0 of 0981h of the ESC register and SM2 - The setting of 1C32h-01h should be equal to that of 1C33h-01h. was set to only either 1C32h-01h or 1C33h-01h. (To be continued) Motor Business Unit, Panasonic Corporation R1.00...
  • Page 161 • If error repeats, this might be a failure. establishment Stop using the products, and replace the motor and the initialization driver. error protection • Return the products to the dealer or manufacturer. (To be continued) Motor Business Unit, Panasonic Corporation R1.00...
  • Page 162 - In the calculation process of electronic gear ratio, the den ominator or numerator exceeds an unsigned 64-bit size. - In the final calculation result of electronic gear ratio, the denominator or numerator exceeds an unsigned 32-bit size. (To be continued) Motor Business Unit, Panasonic Corporation R1.00...
  • Page 163 Other No. protection Some error has occurred inside of the driver while products, and replace the motor and the driver. Return the triggering self-diagnosis function of the driver. products to the dealer or manufacturer. Motor Business Unit, Panasonic Corporation R1.00...
  • Page 164 Overload protection does not guarantee error protection due to motor heat buildup, for example. Before use, be sure to check that there are no problems due to motor heat buildup, for example, in the actual operation environment. Motor Business Unit, Panasonic Corporation R1.00...

  • Page 165: Warning Function

    TREX communication status AC_OFF becomes 1 when main power off is warning detection 0−2000 1 ms detected. time 0−9, 2000: Warning detection is disabled. 10−1999: Unit is [ms] • Setting resolution is 2 ms. *1) For parameter attribute, refer to Section 9-1. Motor Business Unit, Panasonic Corporation R1.00...
  • Page 166 When setting of Pr7.14 (Main power off warning detection time) is 10-1999, Main power off instantaneous power interruption occurs bit 12 warning between L1 and L3 and lasts for a time longer than the setting of Pr7.14. Motor Business Unit, Panasonic Corporation R1.00...
  • Page 167 “Pr6.73 < Pr5.12” Overload load factor[%] Pr5.12 Pr6.73 Pr6.74 Time Warning occurrence ・Exiting specification enabled under conditions other than the above one Overload load factor[%] Pr5.12 85% of the Pr5.12 Time Warning occurrence Motor Business Unit, Panasonic Corporation R1.00...

  • Page 168: Setup Of Gain Pre-Adjustment Protection

    Factor in ( ) is margin to prevent frequent activation of over-speed protection. When running the motor at a low speed during initial adjustment stage, setup the overspeed protection by multiplying the adjusting speed by a certain margin to protect the motor against possible oscillation. Motor Business Unit, Panasonic Corporation R1.00...
  • Page 169 During the position control, this function detects the motor position which exceeds the amount of travel set to Pr 5.14 Motor working range setup, and issues Err 34.0 Software limit protection. For details, refer to 6-2 Motor working range setup function. Motor Business Unit, Panasonic Corporation R1.00...
  • Page 170 C1 to C9) For details such as circuit constants in this chapter, refer to the reference specification (SX-DSV02828). Motor Business Unit, Panasonic Corporation R1.00...

  • Page 171: Outline Description Of Safe Torque Off (Sto)

    When STO function operates, the servo driver turns off the servo ready output signal (S-RDY) and enters safety state. This is an alarm condition and the 7-seg LED on the front panel displays the error code number. • PFH value of the safety function: 2.30 × 10 Motor Business Unit, Panasonic Corporation R1.00...

  • Page 172: Specifications Of Input & Output Signals

    To validate this “off” period, turn off the input signal for more than 5 ms. L pulse for self-diagnosis 5 ms or more Safety input signal ms or shorter 5 ms or shorter Servo driver Usual operation STO state operation Motor Business Unit, Panasonic Corporation R1.00...

  • Page 173: External Device Monitor (Edm) Output Signal

    • Maximum delay time from input of safety 1 and 2 signals to output of EDM signal is 6 ms. 8-2-3 Internal signal circuit block diagram See the safety circuit block diagram at the end of This document. Motor Business Unit, Panasonic Corporation R1.00...

  • Page 174: Detailed Functional Description

    Pr 4.39 Brake release speed setup, whichever comes first. Dynamic brake operates to the setting of Pr 5.10 (Sequence at alarm). When safety input 1 or 2 turns off, the state changes to STO condition. Motor Business Unit, Panasonic Corporation R1.00...

  • Page 175: Return Timing From Safety State

    This is an alarm condition and the dynamic brake operates according to Pr 5.10 (Sequence at alarm). This is normal servo-off condition and the dynamic brake operates according to Pr 5.06 (Sequence at Servo-Off). Motor Business Unit, Panasonic Corporation R1.00...

  • Page 176: Example Of Connection

    8-4-2 Example of connection to safety sensor Safety sensor Safety output Servo driver (source) Control output 1 SF1+ Safety input SF1- Control output 2 SF2+ SF2- 24 V EDM+ EDM input EDM- output Motor Business Unit, Panasonic Corporation R1.00...

  • Page 177: Example Of Connection To Safety Controller

    No. SX-DSV02829 - 171- 8-4-3 Example of connection to safety controller EDM input Safety Servo driver controller T31 T33 SF1+ Safety input 1 SF1- G9SX-AD SF2+ SF2- EDM+ EDM- Safety output outoput (source) Motor Business Unit, Panasonic Corporation R1.00...

  • Page 178: Example Of Connection When Using Multiple Axes

    Because approx. 5 mA flows into each circuit during SF input, the current is increased proportionally as the number of axes connected is increased. It is necessary to limit the number of axes connected so that the current does not exceed the maximum output current at the safety controller side. Motor Business Unit, Panasonic Corporation R1.00...

  • Page 179: Safety Precautions

     Dynamic brake and external brake release signal output are not related to safety function. When designing the system, make sure that the failure of external brake release during STO condition does not result in danger condition.  When using STO function, connect equipment conforming to the safety standards. Motor Business Unit, Panasonic Corporation R1.00...
  • Page 180 No. SX-DSV02829 - 174- Safety Circuit Block Diagram Power SF1+ ASIC SF1- SF2+ SF2- EDM+ EDM- Motor Motor Business Unit, Panasonic Corporation R1.00...
  • Page 181 9-2-5 When an error (alarm) has occurred (at Servo-ON command) (DB deceleration,Free run deceleration movement) ................................198 9-2-6 When an error (alarm) has occurred (at Servo-ON command) (Emergency stop movement) ..... 199 9-2-7 When an alarm has been cleared (at Servo-ON command) ................. 200 Motor Business Unit, Panasonic Corporation R1.00...

  • Page 182: List Of Parameters

    External regenerative — 0–3 Set up items related to regenerative resistor. resistor setup Selection of load factor Select the computation method of loading for external — 0–4 factor for external regenerative resistor. regenerative resistor Motor Business Unit, Panasonic Corporation R1.00...
  • Page 183 2nd to 1st gain. Level of torque — 0–20000 Set up the gain switching level. Torque 5-2-4 control switching Hysteresis at torque — 0–20000 Set up the hysteresis at gain switching. Torque 5-2-4 control switching Motor Business Unit, Panasonic Corporation R1.00...
  • Page 184 2 degrees of freedom control. The maximum value is 2000 (=200.0ms). Positional Set up the time constant of the 1st delay filter in 0.1 ms 0–10000 Position 4-2-3 command FIR filter response to the positional command. Motor Business Unit, Panasonic Corporation R1.00...
  • Page 185 CS signal. 4-7-3-1 Enable/disable Z phase open circuit Feedback scale Z phase detection when using feedback scale of AB — disconnection detection 0–1 Position — phase output type. disable 0: Enable, 1: Disable Motor Business Unit, Panasonic Corporation R1.00...
  • Page 186 Select the type of warning issued as — Selection of warning output 2 0–14 the warning output 2. Set up acceptable the number of Positioning complete pulse 0–262144 pulses for positioning complete signal Position 4-2-4 (In-position) range 2 2 (INP2). Motor Business Unit, Panasonic Corporation R1.00...
  • Page 187 4-2-5 (Not supported) 0: Invalid 1: Valid ― For manufacturer’s use — — Permanently set at 4. — — *1) The count up direction of feedback scale always serves as positive. Motor Business Unit, Panasonic Corporation R1.00...
  • Page 188 1: Signal is regenerated method selection • When signal regeneration is selected, the driver (Not supported) reproduces duty of OA and OB, minimizing waveform distortion. *1) The count up direction of feedback scale always serves as positive. Motor Business Unit, Panasonic Corporation R1.00...
  • Page 189 * The least significant bit is bit 0. * To enable model type damping filter, b it0 and bit5 must be set to “1.” Set the time constant of the tuning filter. Tuning filter 0.1ms 0-2000 Position 5-2-14 Motor Business Unit, Panasonic Corporation R1.00...
  • Page 190 ≦1st anti-resonance frequency≦1st response 1st response 5-2-14 0.1Hz 0-3000 Position frequency≦1st anti-resonance frequency x 4≦ frequency 5-2-15 300.0 [Hz]. If the setting value is not the above magnitude relationship,vibration suppression filter and filter resonance characteristic is invalid. Motor Business Unit, Panasonic Corporation R1.00...
  • Page 191 Over-load warning the existing condition (85% of overload level). 0-114 Settings other than “Pr6.74 ≦ Pr6.73 < release level (overload level)” also make overload warnings detected with the existing condition (85% of overload level). Motor Business Unit, Panasonic Corporation R1.00...
  • Page 192 -32768 function — analog monitor and PANATERM – 32767 Extended setup 2 0: Internal command position (after filter) [pluse] - Actual position [pluse] 1: Internal command position (before filter) [pluse] - Actual position [pluse] Motor Business Unit, Panasonic Corporation R1.00...
  • Page 193 Homing return limit Ether r/min 0～20000 the internal minimum speed. Position speed When setting value is greater than the maximum motor speed, it will be limited by the maximum motor speed. Motor Business Unit, Panasonic Corporation R1.00...
  • Page 194 For manufacturer’s use — — Permanently set at 0. — — — For manufacturer’s use — — Permanently set at 0. — — — For manufacturer’s use — — Permanently set at 0. — — — Motor Business Unit, Panasonic Corporation R1.00...
  • Page 195 Set up the proportional current gain. 4-7-2 current gain Integral current ― Set up the integral current gain. 0–32767 4-7-2 gain For manufacturer's Permanently set at 0. For manufacturer's Permanently set at 0. For manufacturer's Permanently set at 0. Motor Business Unit, Panasonic Corporation R1.00...
  • Page 196 Always set to 0. For manufacturer’s ― ― ― ― ― Always set to 0. For manufacturer’s ― ― ― ― ― Always set to 100. For manufacturer’s ― ― ― ― ― Always set to 0. Motor Business Unit, Panasonic Corporation R1.00...
  • Page 197 30 For manufacturer's use Permanently set at 4. 31 For manufacturer's use Permanently set at 3. 32 For manufacturer's use Permanently set at 929. Note) Class 15 cannot be referred to in EtherCAT communication. Motor Business Unit, Panasonic Corporation R1.00...

  • Page 198: Timing Chart

    *1. The servo ready is turned on when all the following conditions are satisfied: “Initialization of microcomputer is completed”, “Main power supply is established”, “No alarm is issued”, and “Synchronization (phase matching) between EtherCAT communication and servo is completed and EtherCAT communication is established”. Motor Business Unit, Panasonic Corporation R1.00...
  • Page 199 For information on the set brake output details, refer to the section 6-9-3 in the Technical Reference EtherCAT Communication Specification (SX-DSV02830). The set brake output can be released in the servo-off state.Therefore, In consideration of safety, please control the set brake output. Motor Business Unit, Panasonic Corporation R1.00...

  • Page 200: Servo-On Signal Accept Timing On Power-Up: When Magnet Pole Position Estimation Is Invalid (Pr 9.20 = 0, 1, 3)

    *1. The servo ready is turned on when all the following conditions are satisfied: “Initialization of microcomputer is completed”, “Main power supply is established”, “No alarm is issued”, and “Synchronization (phase matching) between EtherCAT communication and servo is completed and EtherCAT communication is established”. Motor Business Unit, Panasonic Corporation R1.00...
  • Page 201 For information on the set brake output details, refer to the section 6-9-3 in the Technical Reference EtherCAT Communication Specification (SX-DSV02830). The set brake output can be released in the servo-off state.Therefore, In consideration of safety, please control the set brake output. Motor Business Unit, Panasonic Corporation R1.00...

  • Page 202: Servo-On/Off Action While The Motor Is At Stall (Servo-Lock)

    *4. A brake release output (BRK-OFF) is different from the set brake of 60FEh via EtherCAT communication. For information on the set brake output details, refer to the section 6-9-3 in the Technical Reference EtherCAT Communication Specification (SX-DSV02830). Motor Business Unit, Panasonic Corporation R1.00...

  • Page 203: Servo-On/Off Action While The Motor Is In Motion

    *6. A brake release output (BRK-OFF) is different from the set brake of 60FEh via EtherCAT communication. For information on the set brake output details, refer to the section 6-9-3 in the Technical Reference EtherCAT Communication Specification (SX-DSV02830). Motor Business Unit, Panasonic Corporation R1.00...

  • Page 204: When An Error (Alarm) Has Occurred (At Servo-On Command) (Db Deceleration,Free Run Deceleration Movement)

    *3. A brake release output (BRK-OFF) is different from the set brake of 60FEh via EtherCAT communication. For information on the set brake output details, refer to the section 6-9-3 in the Technical Reference EtherCAT Communication Specification (SX-DSV02830). Motor Business Unit, Panasonic Corporation R1.00...

  • Page 205: When An Error (Alarm) Has Occurred (At Servo-On Command) (Emergency Stop Movement)

    If Pr4.38 is set to greater than or equal to Pr6.14, the brake operates after the length of time set for Pr4.38 elapses. If Pr4.38 is set to less than Pr6.14, the brake does not operate after the length of time set for Pr4.38 elapses, but the brake operates at the time of transition to non-energizing. Motor Business Unit, Panasonic Corporation R1.00...

  • Page 206: When An Alarm Has Been Cleared (At Servo-On Command)

    *1. A brake release output (BRK-OFF) is different from the set brake of 60FEh via EtherCAT communication. For information on the set brake output details, refer to the section 6-9-3 in the Technical Reference EtherCAT Communication Specification (SX-DSV02830). Motor Business Unit, Panasonic Corporation R1.00...

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