Panasonic IMC80A manual

Reference Outline of “ P ANA TERM ® ” , Setup Support Software .............................. 156 Communications ................................................................................... 158 Description on Dividing/Multiplier Ratio ................................................ 178 Conformance to EC Directives/UL Standards ........[...]

156 x 1 x 3 x 4 x 5 x 6 ST A TUS ALM CODE Connecting to CN X6 RS-232 Cable DV0P1960 (For DOS/V) Outline of “P ANA TERM ® ”, Setup Support Software Connection Method Installing P ANA TERM ® on Hard Disk <Cautions/Remarks> 1. The capacity of hard disk memory should be 15 MB or more. As OS, prepare Windows ® 95, Windows ® 98, Windows ® [...]

157 [Reference] Reference Starting P ANA TERM ® <Cautions/Remarks> 1. Once you have installed “ P ANA TERM ® ” on the hard disk, you do not have to reinstall it every time you boot up. 2. Before you start, connect the driver with the power supply , motor , and encoder . For the startup procedure, refer to the manual of the corresponding[...]

158 Communications Outline of Communications With a personal computer or host NC connected with MINAS-E Series through RS232C-compliant serial communications, you can do the following: (1) Rewriting parameters (2) Browsing and clearing status and history of alarm data (3) Monitoring control status including status, I/O, etc. (4) Saving and Loading [...]

159 [Reference] Reference Communications Specification Connection of Communications Line MINAS-E Series has RS232C communications port. and is capable of communications between the host as follows: RS232C Communications In RS232C communications, a host and the driver are connected 1:1 and communicate with each other according to the RS232C transmis[...]

160 Communications Communications Method Set RS232C communications baud rate with Pr0C. Any change to these parameters will be valid when you power on the control power supply . For detailed information, refer to list of parameters related to the following communications: RS232C Full-duple x, asynchronous communication method 2400, 4800, 9600bps 8 [...]

161 [Reference] Reference Host MINAS-E Received Data T ransmitted Data (1) ENQ (05h) (2) EO T (04h) (3) Data Block (4) A CK (06h) (or NAK (15h)) (5) ENQ (05h) (6) EO T (04h) (7) Data Block (8) A CK (06h) (or NAK (15h)) x 1 x 3 x 4 x 5 x 6 S TAT U S ALM CODE Line Control Direction of transmission and conflict are solved. Reception mode … The modul[...]

162 Communications Configuration of Data Block A data block to be transmitted in physical phase is configured as illustrated below: N : This is the number of command bytes (0 - 240), which indicates the number of parameters needed by a command. axis : This defines a module ID assigned to parameter No.00 axis name of the driver . (1 - 15) command : [...]

163 [Reference] Reference Example of Data Communication Example of Changing Parameters The following illustrates time-series communications data flow when a change is made to a parameter . Communications should be conducted in the sequence of outline, (1) individual writing of parameters and (2) writing to EEPROM if storage is needed. In this examp[...]

164 Communications State T ransition Diagram RS232C Communications Idling Receiving module Transmitting Module Waiting for EOT Transmission of block Waiting for ACK/NAK Receiving Remaining blocks Waiting for the number of command bytes There are requests for transmission (within the number of retries). ENQ transmission and T2 start. There are reque[...]

165 [Reference] Reference Communications Timing RS232C Communications T3 T3 T4 Request for transmission Permission to transmit ACK/NAK Data block Request for transmission Permission to transmit ACK/NAK Data block T5 T4 T3 T3 T5 T4 T5 Code T3 T4 T5 Name Continuous inter-character time Driver response time Host response time Minimum Stop bit length 4[...]

166 Communications Details on Communications Commands command 0 mode 1 Readout of CPU version information Received data 0 axis checksum 0 1 Error code Transmitted data For version information, Ver. is divided into high order data and low order data and sent back. (The decimal point returns low-order 4 bits of the high order data as "0".) [...]

167 [Reference] Reference command 1 mode 1 Setting of RS232C protocol parameters Received data 3 axis T1 T2 checksum 1 1 RTY M/S Error code Transmitted data Setting of the previous protocol parameters remains valid until execution of this command completes. The updated parameter setting will be valid from a next command after execution of this comm[...]

168 Communications command 2 mode 1 Readout of the command pulse counter Received data 0 axis checksum 2 1 Error code Transmitted data A current command position is expressed by absolute coordinates from the start-up time. (Cumulative sum of the number of command pulses) The counter value is 32 bits. For the counter value, "-" indicates C[...]

169 [Reference] Reference command 2 mode 4 Readout of current speed Received data 0 axis checksum 2 4 Error code Transmitted data This command is used to read current speed (unit [r/min]). An output value is 16 bits. For the counter value, "-" indicates CW and "+" indicates CCW. bit7 0 : Normal 1 : Error 6543210 3 axis Data (cur[...]

170 Communications command 2 mode 7 Readout of input signal Received data 0 axis checksum 2 7 Error code Transmitted data For "CW overtravel inhibited", "CCW overtravel inhibited" and speed zero clamp, "1" indicates the open status. For other input signals, "0" indicates the open status. bit7 0 : Normal 1 : E[...]

171 [Reference] Reference command 2 mode 9 Readout of current speed/torque/deviation counter Received data 2 9 Error code Transmitted data The speed and torque output values are 16 bits and deviation output value is 32 bits. The unit and sign of output data are same for command Nos. 24, 25, and 26. bit7 0 : Normal 1 : Error 65 Command error 43210 0[...]

172 Communications command 2 mode A Readout of status/input signal/output signal Received data 0 axis checksum 2 A Error code Transmitted data Meanings of each bit for control mode, status, input signal, output signal, and warning data are same as those of command No.20 (command=2, mode=0), 27 (mode=7), and 28 (mode=8). bit7 0 : Normal 1 : Error 65[...]

173 [Reference] Reference command 8 mode 1 Individual writing of parameters Received data 3 axis Parameter No. Parameter value L H checksum 8 1 Error code Transmitted data This command just changes a parameter temporarily. If you wish to write to EEPROM, execute writing to EEPROM of parameter (mode=4) Be sure to set 0 to unused parameters. Otherwis[...]

174 Communications command 9 mode 1 Individual readout of alarm history Received data 1 axis History No. checksum 9 1 Error code Transmitted data History No.1 to No.14 indicate the 1st to 14th previous alarm history, respectively. bit7 0 : Normal 1 : Error 6543 No. error 210 3 axis History No. Alarm No. Error code checksum 9 1 command 9 mode 2 Batc[...]

175 [Reference] Reference command 9 mode 4 Alarm clear Received data 0 axis checksum 9 4 Error code Transmitted data This command clears the current alarm (only applicable to alarms that can be cleared). bit7 0 : Normal 1 : Error 6543210 1 axis Error code checksum 9 4 command 9 mode 3 Alarm history clear Received data 0 axis checksum 9 3 Error code[...]

176 Communications command B mode 1 Page readout of user parameters Received data 1 axis Page No. checksum B 1 Transmitted data A page number is designated from 0 to 7, and 16 parameters are read from each page designation. 82h axis Page No. Parameter value L (No.0) H MIN value L (No.0) H MAX value L (No.0) H Attribute L (No.0) H B 1 command B mode[...]

177 [Reference] Reference command B mode 2 Page writing of user parameters Received data 21h axis Page No. Parameter L (No.0 value) H Parameter value L (No.1 value) H ~ Parameter value L (No.0fh value) H checksum B 2 Error code Transmitted data The command writes 16 parameters at once. Be sure to set 0 to unused parameters. Otherwise, data error wi[...]

178 Pulse row position command Distance: P1 [P] Traveling speed: F [PPS] Command dividing multiplier ratio Servo driver D = Pr46 x 2 Pr4B Pr4A Servo motor Encoder Gear Machine Rotation speed: N [r/min] Reduction ratio: R Number of encoder pulses E [P/r] 10000 = (phase A/B 2500 [P/r] x 4) Example of driving ball screw using the servo motor Descripti[...]

179 [Reference] Reference = 5 10 0.005 x 10000 x 1 = 0.25 20 0.0005 x 10000 x 1 D = ... Formula (3) ... Formula (5) L ∆ M x E x R Then, distance per command pulse (mm) is as follows: (position resolution) ... Formula (6) D = F x 60 N x E Pr46 = 10000 Pr4A = 0 Pr4B = 2000 Pr46 = 10000 Pr4A = 0 Pr4B = 10000 D = Pr4B Pr46 x 2 Motor rotation speed (r[...]

180 Conformance to EC Directives/UL Standards EC Directives The EC Directives apply to all such electronic products as those having specific functions and directly sold to general consumers in EU countries. These products are required to meet the EU unified standards and to be furnished with CE Marking. However , our AC servo meet the EC Directives[...]

181 [Reference] Reference Peripheral Equipment Environment The servo driver should be used under Contamination Level 2 or 1 specified by IEC60664-1 (housing the driver in an IP54 control box). Control bo x Controller P ow er supply for insulated type interface Po we r Insulating transf ormer Circuit breaker Leakage breaker(RCD) Surge absorber Noise[...]

182 Noise Filter When, one set of noise filters is installed in the power unit with two or more drivers, be sure to consult with the noise filter manufacturer . Surge Absorber Install the surge absorber on the primary line of the noise filter . <Note> When conducting voltage-resistant test on the machine/equipment, remove the surge absorber .[...]

183 [Reference] Reference Noise Filter for Signal cables Provide all the cables (power supply cable, motor cable, encoder cable, interface cable) with the noise filter for signal cable. Grounding (1) Don ’ t fail to connect the servo driver protective earth terminal ( ) and the protective earth plate of the control panel together . (2) When conne[...]

184 Optional Parts ( ø 9.8) (40) (50) L (5.6) (12.0) (10.0) For pressure connection terminal M4 Manufactured by Tyco Electronics AMP K.K. Connector 172157-1 Pin 170362-1 or 170366-1 (50) (50) L ( ø 11) (10.0) (12.0) (4) (4) Manufactured by Tyco Electronics AMP K.K. Manufactured by Molex Incorporated Connector 172159-1 Pin 170362-1 or 170366-1 Con[...]

185 [Reference] Reference Connector Kits for Power Supply of the Driver (1) Part No. DV0P2870 (2) Components (3) Pin arrangement of connector for CN x 1 (4) Recommended manual pressure bonding tool (Customers are requested to provide it by themselves.) Name Connector (10P) Connector Pin Manufacturer ’s part No. 5557-10R-210 5556PBTL Number 1 6 Ma[...]

186 Optional Parts Connector Kits for Connection of Motor and Encoder Used for: MUMA 50W to 400W Incremental 2500 pulse 5-wire (1) Part No. DV0P3670 (2) Components <Note> Y ou may use parts of other manufacturer equivalent to the above parts for such components as connector , connec- tor cover , etc. (3) Pin arrangement of connector CN X4 plu[...]

187 [Reference] Reference (5) Pin arrangement of connector for junction of encoder cable (6) Pin arrangement of connector for junction of motor power line (7) Pin arrangement of connector for connector CN X3 <Cautions> 1. The above table shows arrangement of pins viewed from the pin inserting direction of the connector . Also check pin Nos. c[...]

188 Optional Parts Connector Kit for Connection with Host Controller (1) Part No. DV0P0770 (2) Components (3) Pin arrangement of connector X5 (pin 26) (viewed from the soldering side of the connector) 14 GND 16 OA– 18 OB– 20 OZ– 22 PULS1 24 SIGN1 26 FG 15 OA+ 17 OB+ 19 OZ+ 21 CZ 23 PULS2 25 SIGN2 1 COM+ 3 A-CLR 7 CWL 9 ALM 11 BRK- OFF 13 COM?[...]

189 [Reference] Reference Communications Cable (Connection with Personal Computer) (1) Part No. DV0P 1960 (for DOS/V compatible machines) “P ANA TERM ® ”, software for communications control (1) Part No. DV0P4230 (Japanese version) DV0P4240 (English version) (2) This is supplied in the form of a 3.5 inch floppy disk. <Cautions> For detai[...]

190 Optional Parts External Regenerative Resistor Female terminal 5556PBTL (or 5556PBT) 4.3 4.3 57 300 65 52 10 60 t0.6 Part No. DV0P2890 DV0P2891 Manufacturer ’ s model name 45M03 45M03 Ohmic V alue 50 Ω 100 Ω Rated Power 10W 10W Operating T emperature for Built-in T emperature Fuse 130 ± 2 ˚ C 130 ± 2 ˚ C Specification Manufactured by: [...]

191 [Reference] Reference Reactor • The former Agency of Natural Resources and Energy of Ministry of International T rade and Industry (present Ministry of Economy , T rade and Industry) established higher harmonics suppression guidelines in September 1994. (1) Drivers rated 4kW or lower are subject to “ Higher Harmonics Suppression Guidelines [...]

192 Surge Absorber for Motor Brake • The recommended parts are specified items to measure the brake release time. List of Manufacturers of Peripheral Equipment As of February 2003 Recommended Parts +81-6-6908-1 131 http://www .mew .co.jp +81-44-833-431 1 http://www .iwakimusen.co.jp/ +81-3-3621-2703 http://www .semitec.co.jp/ +81-6-6233-951 1 htt[...]

193 [Reference] Reference Driver (Frame K) Estimated Mass 0.35 kg Dimensional Outline Drawing Driver (Frame L) Estimated Mass 0.4 kg[...]

194 Dimensional Outline Drawing MUMA Series 50W to 400W Motor LL LF LR LE 200 LG LBh7 Sh6 Output 50W , 100W 200W , 400W LG 230mm 220mm LL 75.5 92.5 96 107 124 129 Output (W) 50 100 200 124 400 50 100 200 S 8 11 8 11 Model LB 22 50 22 50 LE 2 3 2 3 LF 7 7 LR 24 30 14 24 157 400 14 30 MUMA5A P1 MUMA01 P1 MUMA02 P1 MUMA04 P1 MUMA5A P1 MUMA01 P1 MUMA02[...]

Reference 195 [Reference] Specification of Keyed V ersion (Dimension) Shaft-end Center T ap TP Output 50W , 100W 200W 400W Screw M3 M4 M5 Depth 6 8 10 LA 48 70 48 70 LZ 4.5 3.4 4.5 3.4 LW 14 20 14 20 LK 12.5 18 12.5 18 KW 3 4 3 4 Mass (kg) 0.40 0.50 1.5 0.60 0.70 1.4 0.96 1.9 KH 3 4 3 4 LH 34 43 34 43 RH 6.2 8.5 6.2 8.5 25 25 22.5 22.5 5 5 5 5 11 1[...]

196 Dimensional Outline Drawing LR LR/2 P A M B Radial Load Direction (P) Thrust Load Directions (A, B) Motor Series MUMA When Assembled In Operation Radial Load 147 392 Thrust Load Direction A 88.2 147 Direction B 1 17.6 196 Radial Load 68.6 245 Thrust Load Directions A, B 58.8 98 Motor Output 50W , 100W 200W , 400W Unit: N (1kgf = 9.8N) L P <R[...]

197 [Reference] Reference Supply Voltage of Driver Supply Voltage of Driver: At AC100V/200V Supply Voltage of Driver: AC200V (A dotted line indicates the case in which the supply voltage drops by 10%.) Supply Voltage of Driver: AC100V (A dotted line indicates the case in which the supply voltage drops by 10%.) * In the case of no oil seal and no br[...]

198 M U M A0 1 1P31 N 1~4 5~6 7 8 9 10 Structure of the motor Specifications of Position/Speed Detector Voltage Specification 1 : 100V 2 : 200V Rated Output Checking Model of Servo Motor with Gear How to check the model Lead Wire 5-wire Specification of Rotary Encoder Symbol P Method Incremental Resolution 10000 Symbol MUMA Ty p e Ultra low Inertia[...]

199 [Reference] Reference Check the Combination of Driver and Motor with Gear This driver was designed for use with the motor designated by us. Check a name of the series, rated output, voltage specification, and encoder specification of the motor you plan to use. Incremental Specification 2500 P/r <Note> Y ou must not use any combination oth[...]

200 Dimensional Outline Drawing of Motor with Gear Servo Motor with Gear * 220 refers to 200W or higher . MUMA01 P31N MUMA01 P32N MUMA01 P34N MUMA02 P31N MUMA02 P32N MUMA02 P34N MUMA042P31N MUMA042P32N MUMA042P34N MUMA01 P41N MUMA01 P42N MUMA01 P44N MUMA02 P41N MUMA02 P42N MUMA02 P44N MUMA042P41N MUMA042P42N MUMA042P44N MUMA Without a brake With a [...]

201 [Reference] Reference Detailed View of Shaft End LC LA LZ LD Key Dimensions (B × H × LK) T LN Mass ( kg ) 52 78 52 78 98 52 78 52 78 98 M5 M6 M5 M6 M8 M5 M6 M5 M6 M8 12 20 12 20 12 20 12 20 4 × 4 × 16 6 × 6 × 22 4 × 4 × 16 6 × 6 × 22 8 × 7 × 30 4 × 4 × 16 6 × 6 × 22 4 × 4 × 16 6 × 6 × 22 8 × 7 × 30 2.5 3.5 2.5 3.5 4 2.5 3.[...]

202 Allowable Load of Output Shaft of Servo Motor with Gear LR LR/2 P A M B Radial Load (P) Direction Thrust Loading (A, B) Direction Requests Concerning Installation (1) Do not tap on the shaft when mounting the pulley , sprocket, etc. to the output shaft of the gear head. If you do tap on it, you may hear abnormal sound. (2) Give load to the pull[...]

203 [Reference] Reference Characteristics of Servo Motor with Gear (S-T Characteristics) 1/5 1/9 1/25 100V 100W 200W 100W 200W 400W 200V Driver Supply Voltage Reduction Ratio 4.0 3.72 1.18 2.0 0 Torque 600 1000 500 Rotation Speed [r/min] Instant Operation Area Continuous Operation Area 20.0 16.2 5.39 10.0 0 Torque 600 1000 500 Rotation Speed [r/min[...]

204 Driver Internal Block Diagram CN X1 CN X3 Internal Block Diagram of MINAS-E Driver L 1 L 2 L 3 DC/DC P CN X6 External Regenerative Resistor CN X4 U V W E M RE CN X5 N P +3.3V +5V Gate Drive Power Supply Gate Drive RE Power Supply Alarm Signal Pulse Row Command Pulse Output Control Input Dividing/ Multiplier + + - + + - A/D Position Speed Deviat[...]

205 [Reference] Reference Control Block Diagram Pulse Row Command PULS SIGN Encoder Signal (Phases A/B) Encoder Signal (Phase Z) + + + + - - Input Mode Setting Frequency Pr2B Setting of Filter Pr2C Smoothing Filter Pr4C FIR Filter Pr4E Pr18 1st Position Pr10 Deviation Counter 2nd Pr1B 1st Pr13 Speed Detection Filter Width Pr1E Frequency Pr1D Pr02 S[...]

206 Power Supply Control method Detector Built-in functions Protective Function Monitor Setting Position Control Velocity Control Rotary Encoder Control Input Structure Mass Ambient Conditions Rated Rotation Speed Maximum Rotation Speed Holding Brake Rotary Encoder Structure (dust-proof/drip-proof protection) Mass Ambient Conditions Single-phase 10[...]

207 [Reference] Reference Hit-and-stop Initialization (1) When y ou set a point where the motor hits, as the origin: 1st Initial P oint Initial P oint (3) 2nd T orque Limit 2nd T orque Limit 1st WA R N (T orque being limited) Pin 5 (ZEROSPD/TC) Pin 5 (ZEROSPD/TC) T orque Counter clear command 50% Motor rotation speed WA R N (T orque being limited) [...]

208 Load Pressing Control (1) (2) (3) (4) (5) Distance f or which the motor has not mov ed is held in the de viation counter C = A + B Search Speed (Low Speed) B A The v alue of second torque limit Pin 5 (ZEROSPD/TLC : T orque limit s witching input) Pin 11 (W ARN : Under T orque limit output) T orque Command Motor Rotation Speed (1) (2) (3) (4) (5[...]

[Reference] 209 Reference Index Adjustment Alarm Code Driver Real time Auto Gain T uning (Position Control Mode) Real time Auto Gain T uning (V elocity Control Mode) Gain Adjustment Normal Auto Gain Tuning Cancellation of the Automatic Gain T uning Manual Gain T uning T o Reduce Mechanical Resonance Adaptive Filter Gain Switching Function Anti-Vibr[...]

Index 210 Display (Monitor) Dividing-Multiplier Monitoring Mode EEPROM Writing Mode Parameter Setting Mode Normal Auto Gain T uning Mode Alarm Clear Description on Dividing/Multiplier Ratio 51 50 57 58 59 178 D Items T erms page Encoder Incremental specification 2500P/r 15 E Items T erms page Hit-and-stop Homing Operation Hit-and-stop Initializatio[...]

[Reference] 211 Reference Option Overload T ime Limit Characteristics Noise Filter Surge Absorber Noise Filter for Signal cables T able of Junction Cable by Model Junction Cable for Encoder Junction Cable for Motors Junction Cable for Brakes Communications Cable (Connection with Personal computer) [P ANA TERM ® ], Software for Communications Contr[...]

Index 212 Safety Precautions Servo Motor with Gear Safety Precautions Maintenance and Inspection Model Designation Checking the Combination of the driver and the motor with gear Dimensional Outline Drawing of Motor with Gear Allowable load of Output Shaft of Servo Motor with Gear Characteristics of Servo Motor with Gear (S-T Characteristics) 8 12 1[...]

213 [Reference] Reference Wiring Installation of Driver Installation of Motor General Wiring Diagram Wiring of Main Circuits Wiring Diagrams Connection with Encoder Connection with Personal Computer/Console Connection with Host Controller Wiring in Position Control Mode Wiring in V elocity Control Mode 18 20 24 27 28 29 31 30 67 105 W Items T erms [...]

214 T okyo: Kyobashi MID Bldg, 2-13-10 Kyobashi, Chuo-ku, T okyo 104-0031 TEL (03) 3538-2961 F AX (03) 3538-2964 Osaka: 1-1, Morofuku 7-chome, Daito, Osaka 574-0044 TEL (072) 870-3065 F AX (072) 870-3151 Motor Company , Matsushita Electric Industrial Co., Ltd. Marketing Group Reference[...]

215 [Reference] Reference MEMO[...]

After-Sale Service (Repair) Repair • Ask the seller where the product was purchased for details of repair work. When the product is installed in a machine or device, consult first the manufacture of the machine or device. Cautions for Proper Use • This product is intended to be used with a general industrial product, but not designed or manufac[...]