Panasonic MDDDT3530P manual

AC Servo Motor Driver MINAS S-series Operating Manual • Thank you very much for your buying Panasonic AC Servo Motor Driver ,A-series. • Before use, read through this manual to ensure proper use. Keep this manual at an easily accessible place so as to be referred anytime as necessary . Be sure give this instruction manual to the user .[...]

Parts Description ••••••••••• 12 Amplifier ••••••••••••••••••••••••••••••••••••• 12 Motor ••••••••••••••••••••••••••••••••••••••••• 13 Installation ••••••••[...]

T roubleshooting •••••••••••••••••••••••••••••• 68 After-Sale Service •••••••••••••••••••••• Back cover Deta ils of Param eters ••••••••••••• App . 16 Optional Parts ••••••••••••••••••[...]

-4- DANGER Safety Precautions Observe the following precautions in order to avoid injuries of opera- tors and other persons, and mechanical damages. The following DANGER and CAUTION symbols are used according to the level of dangers possibly occur- ring if you fail to observe the instructions or precautions indicated. The following symbols indicate[...]

-5- DANGER Ground the earth terminal of the amplifier. Failure to observe this instruction could result in electric shocks. Don't touch the rotating part of the motor in motion. Failure to observe this instruction could result in injuries. Rotating part Do not expose the cables to sharp edges, excessive pressing forces, heavy loads or pinching[...]

-6- Caution Safety Precautions Use the motor and amplifier in the specified combination. Failure to observe this in- struction could result in fire. Execute the trial operations with the motor fixed but without motor load connected. Connecting a load to the motor is possible only after successful trial operation. Failure to observe this in- structi[...]

-7- Caution *Provide appropriate settings as a preparedness against the accidental restart of the machine in order to ensure the safety of personnel. This equipment should be treated as an industrial waste when it is disposed of. Don't block the heat dissipation hole or insert foreign matters in it. Failure to observe this instruction could re[...]

-8- 1~3 5~6 1 1~12 47 8 9 1 0 Introduction After Opening the Package • Make sure that the product is what you have ordered. • Check whether the product has been damaged or not during transportation. Check the Model of Amplifier Name plate Model Designation Series symbol S: S-series Rated motor output (see T able 1-a) If the product is not corre[...]

-9- Straight A B C D Oil seal None Ye s Brake None Ye s None Ye s Key way E F G H 1~3 5~6 11 ~ 1 2 47 8 9 1 0 Check the Model of Motor Name plate Type Serial No Revolution rating Model Designation Rated output (see T able 1-a) Motor structure (see T able 1-c) AC SERVO MOTOR RA TING S1 Model No. MUMS042A1A INS. CLASS B (TÜV) A (UL) CONT . TORQUE 0.[...]

-10- Introduction Check the Combination of Amplifier and Motor The amplifier has been designed for use in combination with the specified motors only . Check the specifications (Series symbol, output rating, voltage rating and encoder type) of the motor you want to use.[...]

-11- Before Use With the incremental type encoder: 2500P/r Motor Amplifier type T ype1 T ype2 T ype3 T ype2 T ype3 T ype1 T ype2 T ype3 Series symbol MUMS Super Low inertia Voltage 100V 200V Output rating 30W 50W 100W 200W 400W 200W 400W 30W 50W 100W 200W 400W 750W Revolution rating 3000r/min Encoder t y p e Incremental 2500P/r , 1 1 wires Amplifie[...]

-12- Parts Description Amplifier <Notes> For detailed information for each of motor types, see the drawings in the Appendix (App.50 to 52). Example: MUDS023A1A (3-phase, 200V 200W: Type 1) Example: MUDS042A1A (1-phase, 200V 400W: Type 3) Rotary switch for gain (GAIN) tuning Communication connector CN SER Controller connection (CN I/F) Encoder[...]

-13- <Notes> For detailed information for each of motor types, see the drawings in the Appendix (App.48 & 49). Motor Example: Super Low-Inertia Motor (MUMS Series, 400W) Mounting bolt holes (4) Flange Frame Motor cable Encoder Encoder cable Before Use Brake cable (Motor with electromag- netic brake only )[...]

-14- Installation The amplifier and motor should be properly installed to avoid failures, mechanical damages and injuries. Amplifier Location • Indoors, where the amplifier is not subjected to rain water and direct sun beams. Note that the amplifier is not a waterproof structure. • Avoid the place where the amplifier is subjected to corrosive g[...]

-15- Mounting Direction and Space Requirements • Allow enough space to ensure enough cooling. • Install fans to provide a uniform distribution of temperature in the control box. The airflow of fan is more than 0.43m 3 /min. And it should be located 10 cm away from the amplifier . • Observe the environmental requirements for the control box, m[...]

-16- Installation Motor Location • Indoors, where the amplifier is not subjected to rain water and direct sun beams. • Avoid the place where the amplifier is subjected to corrosive gases, flammable gases, grinding liquids, oil mists, iron powders and cutting particles. • Place in a well-ventilated, and humid- and dust-free space. • Easy mai[...]

-17- Cable: Stress Relieving • Make sure that the cables are not subjected to moments or vertical loads due to external bending forces or self-weight at the cable outlets or connections. • In case the motor is movable, secure the cable (proper one supplied together with the motor) to a stationery part (e.g. floor), and it should be extended wit[...]

-18- • Main Circuits Non-Fuse Breaker (NFB) Used to protect the power lines: overcurrent will shut off the circuit. Noise Filter (NF) Prevents the external noise from the power line, and reduces the ef fect of the noises gen- erated by the servo motor . Magnetic Contactor (MC) T urns on/off the main power of the servo motor . Used together with a[...]

-19- 1 2 3 4 5 6 7 8 9 0 ST A TUS ALM CODE GAIN CN SER CN I/F CN SIG CN POWER CN MOTOR Communication control software PANATERM “ CN SER (to connect a PC or controller) CN SIG (to connect an encoder) CN I/F (to connect a controller) Personal computer Motor cable Power supply for motor brake (24VDC) Encoder cable Preparations and Adjustments Hazard[...]

- 20 - System Configuration and Wiring List of Available Components As these models with * are used for both 1-phase 200V and 3-phase 200V, make a choice according to the power source. • When these wires are used, wire length between circuit breaker and amplifier should be less than 3 m. • The model numbers of circuit breaker and magnetic conta[...]

- 21 - Preparations and Adjustments For 3-phase 200V AC For 1-phase 100V/200V <Note> • In case that alarm occurs, construct the circuits so that the main power is switched of f. 172167-1 5557-10R-210 5557-06R-210 172159-1 1 2 ALM V DC 9 3 6 4 1 3 5 6 8 10 ALM L2 L3 P P P MC L MC NFB MC ON OFF N N B U V E W L1 COM – 13 12~24V 3 4 tyco Elec[...]

- 22 - System Configuration and Wiring Main Circuits Always ask to an electric engineer for wiring. Don't turn on the main power until the wiring and connectings are completed, to avoid electric shocks. Wiring Instructions • Make necessary connections. For wire diameter, see List of Available Components (page 20). • Securely insert connect[...]

- 23 - Preparations and Adjustment CN SIG Connector (For Encoder) Wiring Instructions The cable length between the amplifier and mo- tor should be max. 20 m. If you use a longer cable, contact the dealer or sales agent. Separate these wiring min. 30 cm from the m a i n c i r c u i t w i r e s . D o n ' t l a y t h e s e w i r e s i n the same [...]

- 24 - CN SER Connector System Configuration and Wiring For RC232C communications Connect a personal computer to the amplifier with RS232C at 1:1, and use the communication control software "PANATERM “ " (Option). Operate "PANATERM “ " on the personal computer. Convenient functions of high operability can be obtained such as[...]

- 25 - List of Available Components CN I/F Connector (For Controller) Wiring Instructions Place the peripheral devices such as the controller max. 3 m away from the amplifier . • CN I/F Connector Specifications • The CN I/F pins assignment is shown in "Optional Parts" in Appendix. Separate these wiring min. 30 cm from the main circuit[...]

- 26 - System configutration and wiring Circuits Available for Typical Control Modes • CN I/F Wiring for Position Control 1 4.7k Ω 220 Ω 220 Ω COM+ PULS2 SIGN1 SIGN2 GND OA+ OA - OB+ OB - OZ+ OZ - CZ SPM IM 22 23 24 25 14 15 16 17 20 330 Ω 330 Ω 330 Ω 1 2 3 21 18 19 1K 1K PULS1 SRV -ON A-CLR CL GAIN DIV CWL CCWL ALM COIN BRKOFF COM- W[...]

- 27 - • CN I/F Wiring for Internal V elocity Control Preparations and Adjustments 1 4.7k Ω COM+ PULS2 SIGN1 SIGN2 OA+ OA - OB+ OB - OZ+ OZ - CZ SPM IM 22 23 24 25 15 GND 14 16 17 20 21 1 2 3 18 19 1K 1K PULS1 SRV -ON A-CLR INTSPD2 ZEROSPD INTSPD1 CWL CCWL ALM COIN BRKOFF WARN COM - CN I/F FG 3 4 2 5 6 7 8 9 10 11 12 13 26 V DC 12~24V 220 Ω 2[...]

- 28 - System configuration and wiring • Connect to (+) of an external power supply(12VDC to 24VDC). • Use power supply of 12V ± 10%Å`24V ± 10% • Connect to (-) of an external power supply(12VDC to 24VDC). • The required capacity depends on the I/O circuit configuration. 0.5A or larger is recommended. • When this signal is connected to[...]

- 29 - The function differs depending on the control mode. The function differs depending on the control mode. GAIN/ ZEROSPD DIV/ INTSPD1 Gain switching/ Speed zero clamp Command pulse scaler switch/ Internal command velocity selection 1 5 6 Signal Pin Symbol Fun ctio n I/F No. circuit Pr06 value 0 1 [Default] Meaning ZEROSPD is disabled. ZEROSPD i[...]

- 30 - System configuration and wiring Signal Pin Symbol Fun ctio n I/F No. circuit Input Signals (Position Control) and their Functions Signal Pin Symbol Fun ctio n I/F No. circuit Command pulse Command sign • This is the input terminal for command pulses. The maximum allowable input frequency is 500 kpps for line amplifier input and 200 kpps fo[...]

- 31 - Preparations and Adjustments Signal Pin Symbol Fun ctio n I/F No. circuit Servo alarm In-position/ At-speed Mechanical brake release Warning • This output (transistor) turns of f, when the detector detects an alarm. • The function differs depending on the control mode. • Used to release the motor electromagnetic brake. • Use "Ou[...]

- 32 - System configuration and wiring • Provides differential outputs of the encoder signals (A, B and Z phases) that come from the divider (equivalent to RS422 signals). • The logical relation between A and B phases can be selected by Pr45 (Output Pulse Logic Inversion). • Not insulated • Z-phase signal output in an open collector • Not[...]

- 33 - Preparations and Adjustments CN I/F Connector Interface Circuit (Input Circuit) PI Command pulse input circuit 1) Line Amplifier I/F • This is a good signal transmission method that is less sensitive to noises. We recommend you to use this to maintain the reliability of signals. 2) Open Collector I/F • This uses an external control power[...]

- 34 - System configuration and wiring Sequence output circuit • This comprises a Darlington amplifier with an open collector . This is connected to a relay or photo coupler . • There exists a collector-to-emitter voltage V CE ( SA T) of approx. 1.2V at transistor ON, because of Darlington connection of the output transistor . Note that normal [...]

- 35 - Preparations and Adjustments 1k Ω 1k Ω SP 1 2 3 IM GND Measuring instrument or external circuit CN MON 19 14 CZ Maximum rating: 30V , 50mA GND High-speed photo coupler TOSHIBA TLP554 or equivalent Analogue Monitor Output • Output from CN MON Connector • This output is the velocity monitor signal (SP) or torque monitor signal (IM). ?[...]

- 36 - Parameter Setting Overview The servo amplifier has various parameters that are used for adjusting or set- ting the features or functions of the amplifier. This section describes the pur- pose and functions of these parameters. Understanding these parameters is essential for obtaining the best, application-specific operation of the amplifier.[...]

- 37 - Preparations and Adjustments Parameters for Selecting Function Parameters for Adjusting Time Constants of Gain Filters, etc. Parameter NO. Para mete r descri ptio n Range Default Un i t 1st position loop gain 1st velocity loop gain 1st velocity loop integration time constant 1st speed detection filter 1st torque filter time constant Velocity[...]

- 38 - Parameter Setting Parameters for Defining the Real Time Auto Gain Tuning Parameters for Adjustments (for 2nd Gain) Parameter No. Parameter description Range Default Unit (Pr**) 2nd gain action set-up Position control switching mode Position control switching delay time Position control switching level Position control swiching hysteresis Pos[...]

- 39 - Preparations and Adjustments Parameters for Position Control Parameters f or Velocity and Torque Control Parameter No. Parameter description Range Default Unit (Pr**) (Internal use) (Internal use) (Internal use) 1st internal speed 2nd internal speed 3rd internal speed 4th internal speed (Internal use) Acceleration time set-up Deceleration ti[...]

- 40 - Pulse r/min r/min 256Pulse ------ ------ ------ ------ ------ ------ 2ms 2ms ------ ------ Åñ 6 0 Åñ 6 1 Åñ 6 2 Åñ 6 3 Åñ 6 4 Åñ 6 5 Åñ 6 6 Åñ 6 7 Åñ 6 8 Åñ 6 9 Åñ 6 A Åñ 6 B * 6 C 6 D ~ F In-position range Zero speed At-speed Position error set-up Position error invalidation (Internal use) Dynamic Brake inhibition at[...]

- 41 - Setting the Parameters • Y ou can set the Parameters with your personal computer with the S-series communication software P ANA TERM “ . <Notes> For the use of P ANA TERM “ for parameter handling, see the instruction manual of the soft- ware. Preparations and Adjustments Overview of PANATERM “ Y ou can conduct the following ope[...]

- 42 - Installing PANATERM “ on a hard disc <Notes> 1 . The memory capacity of the hard disc should be 15MB or more. Prepare OS of Windows “ 95 or Windows “ 98. 2. Install PANATERM “ with setup discs, otherwise the software does not work. Procedure 1) Turn on your personal computer. Start Windows “ 95 (or 98). (If there is any appli[...]

- 43 - Starting PANATERM “ <Notes> 1. Once you install PANATERM “ on your hard disc, you do not have to install it again for next use. 2. Before using PANATERM “ , the amplifier, power supply, motor and encoder should be connected. For the procedure for starting PANATERM “ , see the Windows “ manual . Procedure 1) Turn on your perso[...]

- 44 - 1 2 3 4 5 6 7 8 9 0 STATUS ALM CODE GAIN CN SER CN I/F CN SIG CN POWER CN MOTOR Controller CN I/F CN SIG Motor Ground Machine (motor load) Po we r Trial Run Inspections before Trial Run 1) Inspecting the wiring • Make sure that all wire connections (especially main power and motor output ) are correct. • Make sure that there is no short,[...]

- 45 - Preparations and Adjustments Operation with CN I/F Connected 1) Connect CN I/F . 2) Connect the control signal (COM+/-) to the power supply (12 to 24V DC). 3) T urn the main power (amplifier) ON. 4) Check the defaults of the parameters. Control mode setting (Pr2 value: 0). 5) Connect between SRV -ON (CN I/F pin 2) and COM- (CN I/F pin 13) t [...]

- 46 - Theory Determining the parameter Trial Run Set-up of motor speed and input pulse frequency Input pulse frequency (pps) 500k 250k 100k 500k Motor speed (r/min) 3000 3000 3000 1500 2500P/r Pr 46 x 2 Pr 4B Pr 4A 5000 x 2 10000 0 10000 x 2 2000 0 10000 x 2 5000 0 10000 x 2 10000 0 60 ° Gear Encoder pulse 2500P/r 365 x 2 108 0 Pr46 x 2 Pr4B Pr4A[...]

- 47 - No. 0 5 Input signal Servo-ON Speed zero clamp Monitor display + A ---- Stop with +A Input Signal Status PrNo. Pr02 Pr04 Pr06 Pr53 ~ Pr56 Pr58 Pr59 Pr5A Parameter description Control mode set-up Overtravel input inhibit ZEROSPD input selection Acceleration time set-up Deceleration time set-up S-shaped accel/decel time set-up Value 1 1 1 Set [...]

- 48 - Trial Run Fundamental Operations and LED Indications 1 2 3 4 5 6 7 8 9 0 STATUS ALM CODE GAIN CN SER CN I/F CN SIG CN POWER CN MOTOR Motor P ower supply CN POWER 1. T urn on the power .[...]

- 49 - Preparations and Adjustments CN MO T OR CN I/F CN SIG Set the rotary switch to default "0" position for GAIN adjustment. 2.Chec k LED status. Make sure that the alarm code LED is not flashing. (Under the normal operation, the alar m indicator is OFF .) This indicator will star t flashing when an alarm occurs. Alarm codes (see page [...]

- 50 - Normal mode auto gain tuning Real time auto gain tuning Manual gain tuning Gain tuning using the rotary switch for gain adjustment Gain set-up: low Gain set-up: high +Feed forward set-up Adjustments Purposes of Gain Adjustment In case of the servo motor, the motor is required to act per any command without any time delay, or without missing [...]

- 51 - The auto gain tuning affects the values of the following six parameters. • Pr15 (Velocity Feed Forward) will be automatically changed to 0%, if the auto gain tuning is executed. <Notes> The real time auto gain tuning will be disabled in the following cases: 1) Running pattern at a constant speed 2) Running pattern with a small accele[...]

- 52 - Adjustments How to Adjust Gain Start End Automatic adjustment (automatic gain tuning) Manual gain tuning Torque command filter Do you need higher response ? Any affect of the machine resonance ? Actioon OK? Abnormal sound or vibration occurs. Action OK? Action OK? Normal auto gain tuning Real time auto gain tuning Actioon OK? Abnormal sound [...]

- 53 - Preparations and Adjustments Driving method Ball screw + direct coupling Ball screw + timing belt Timing belt Gear, or rack & pinion Others: lower stiffness Mechanical stiffness 4Å`8 3Å`6 2Å`5 1Å`3 1Å`3 1) Start P ANA TERM “ , and click on "Auto tuning" in the window menu to open the automatic tuning screen. 2) Move the [...]

- 54 - How to Use "Real Time Auto-Gain" Tuning Automatic tuning is available when the gain adjustment rotary switch GAIN is set to "0" position only . 1) St art P AN A TERM “ , and go to Parameter Set-up Mode. 2) Set Pr1F (Disturbance torque observer) to 8 (invalid). 3) Set Pr22 (Real time auto tuning machine stiffness). Drivi[...]

- 55 - Position loop gain Pr10 100 50 50 Machine Ball screw Timing belt Rack & pinion Velocity loop gain Pr11 50 25 25 Velocity loop integration time constant Pr12 50 50 200Å`500 Preparations and Adjustments How to Adjust Gain Manually Before Adjustment You may adjust the gains by viewing or hearing the motions and sound of the machine during [...]

- 56 - How to Adjust the Gain at Position Control Mode 1 ) Input the inertia ratio of Pr20. For horizontal axis, take measurements on the basis of "Normal auto tuning". For vertical axis, obtain values through calculations. 2) Conduct adjustments with the parameters shown in the following table taken as guidance values. If you want to imp[...]

- 57 - How to improve the response further You can manually adjust the 2nd gain. With the 2nd gain adjustment, you can expect quicker response. <Example> When you want to reduce the noise produced during the stopping (servo-locking), you set the lower gain after the motor stops. <Notes> For setting parameters for other control modes, se[...]

- 58 - For increasing gain For lo wer ing gain Note 1 2 3 4 5 6 7 8 9 0 Gain Tuning Using Gain Adjustment Rotary Switch Set the rotary switch depending on machine configuration. Then while checking movement of machine, in- crease the rotary switch value one by one. Relationship between Gain Adjustment Rotary Switch Value and Inertia <Notes> ?[...]

- 59 - To reduce the mechanical resonance If the machine is not stiff, vibration and noise may be generated due to the resonance by shaft torsion, and you mey not be able to set-up the higher gains. You can suppress the resonance by 2 types of the filters. 1 . Torque command filter (Pr14 and Pr1C) Set the filter's time constant so that t h e f[...]

- 60 - Protective Functions What are the Protective Functions? The am pl ifi er has various protective functions. When one of the protections is activated, the motor trips according to the timing chart shown in "Error Handling" in Appendix, and the Servo Alarm Output (ALM) is turned off. Actions to be taken after trip events • After a t[...]

- 61 - Important information Overvoltage error 1) The internal regenerative discharge resistor is disconnected. 2) The external regenerative discharge resistor is not suitable so that regenerative energy cannot be absorbed. 3) The amplifier (circuit) failed. 1) Measure the resistance value of the exter- nal resistor installed between P and B am- pl[...]

- 62 - Protection * Overcurrent error Cause The current flowing in the converter is larger than the specified value. 1) The amplifier failed (due to defective circuits or IGBT parts). 2) Motor wires (U, V and W) are shorted. 3) Motor wires are grounded. 4) Motor burned 5) Poor connection of Motor wires 6) The relay for the dynamic brake is melted a[...]

- 63 - Protection Overload error Alarm Code No. 16 Countermeasures Check on waveform graphic screen of PANATERM “ whether the torque (current wave) is surging or not. Check the overload alarm message and load factor using PANATERM “ . 1) Increase the capacity of the amplifier and motor . Lengthen the ramp time of accel- eration/deceleration. Re[...]

- 64 - Protection * Encoder A/ B-phase error * Encoder communication error * Encoder connection error * Encoder communication data error Position error Over-speed error Command pulse sealer error Protective Functions Alarm Code No. 20 21 22 23 24 26 27 Countermeasures Correct the encoder wiring per the wiring diagram. Correct the connection of the [...]

- 65 - Important information *) Status LED indicator (STATUS) and alarm code LED indicator (ALM CODE) start flashing simultaneously. Protection Error counter over flow * EEPROM parameter error * EEPROM check code error Overttravel inhibit * Other error Alarm CodeNo. 29 36 37 38 99 * Countermeasures Check that the motor operates per the position com[...]

- 66 - Maintenance and Inspections Å E Routine maintenance and inspections are essential for proper and satisfactory op- eration of the amplifier and motor. Notes to Maintenance/Inspections Personnel 1)Power-on/off operations should be done by the operators themselves. 2)For a while after power off, the internal circuits is kept charged at higher [...]

- 67 - Equipment Amplifier Motor Standard replacement cycles (hour) about 5 years about 5 years 3 to 5 years (20 to 30 thousand hours) 5000 hours 3 to 5 years (20 to 30 thousand hours) Important information Replacement Guidance Parts replacement cycles depend on the actual operating conditions and how the equipment has been used. Defective parts sh[...]

- 68 - Troubleshooting The motor does not rotate. [Check Points] Coupling loosened? 1 2 3 4 5 6 7 8 9 0 STATUS ALM CODE GAIN CN SER CN I/F CN SIG CN POWER CN MOTOR Controller Motor Machine The voltage of the power is correct? Is the power fed? Power line connections firmly secured? The magnetic brake improperly activated? Abnormal sound from the mo[...]

- 69 - Important information The motor does not rotate. Category Parameters Wiring Installation Causes The control mode selected is not correct. The torque limit has been set to 0 . The zero speed clamp is ON, so the motor does not operate. Internal velocity set-up parameter is not entered. The circuit for CW/CCW overtravel inhibit is open. CN I/F [...]

- 70 - Troubleshooting The rotation is not smooth. Category Adjustment Wiring Causes The gains are not appropriate. Position commands are not stable. CN I/F signals are chattering. 1) Servo-ON signal 2) Counter clear input signal 3) Zero speed clamp input Internal command speed selection 1, 2 Countermeasures Increase the value of Pr11 (1st velocity[...]

- 71 - Important information Positioning accuracy is bad. Category System Adjustment Parameter Wiring Installation Causes Position commands (amount of command pulses) are not cor- rect. Reading of in-position signals occurs at the edge. The form and width of the com- mand pulses deviate from the specified values. The position loop gain is too small[...]

- 72 - The initial (home) position varies. Troubleshooting Causes When calculating the initial (home) position, the Z-phase output is not detected. Creep speed to initial position is too high. The output of the initial (home) position proximity sensor (dog sensor) is chattering. Noise on encoder w ires Z-phase signal is not output. The circuit for [...]

- 73 - Important information The motor produces an abnormal sound and/or vibration. Causes The gains are too large. The velocity detection filter is not proper. Resonance between the ma- chine and motor occurs. Motor bearing Electromagnetic sound, gear sound, braking sound, hub sound, rubbing sound from the encoder, etc. Countermeasures Decrease th[...]

- 74 - Category Adjustment Installation Countermeasures Check the gains using the wave form graphics moni- toring function of PANATERM “ , speed monitor (SP) and/or torque monitor (IM). Adjust the gains. See "Adjustments" chapter. Check the load inertia using the wave form graphics moni- toring function of PANATERM “ , speed monitor C[...]

- 75 - Con form to EC Directives and UL Standards App. 2 Holding brake App. 6 Dynamic brake App. 8 T iming chart App. 10 Allowable loads on output axes App. 14 Homing operation (Precautions) App. 15 Details of Parameters App. 16 Optional Parts (Amplifier power connection connector kit, encoder relay cable, motor replay cable, motor brake relay cabl[...]

- App. 2 - Conformance to EC Directives and 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 servos meet the E[...]

- App. 3 - Appendixes Power Single-phase 100V : Single-phase 100 to 1 15V +10%/-15%, 50/60Hz Single-phase 200V : Single-phase 200 to 230V +10%/-15%, 50/60Hz Three-phase 200V : Three-phase 200 to 230V +10%/-15%, 50/60Hz (1) Use under the environment of Over-voltage Category III specified by IEC60664-1. (2) The power for interface should be marked CE[...]

- App. 4 - Install noise filters. Install noise filters (specially designed for signal wires) for all cables (power , motor , encoder and interface wires). Grounding (1) Connect between the servo amplifier's protective earth terminal and control box's protective earth (ground plate) to prevent electric shocks. (2) Multiple connections to [...]

- App. 5 - Appendixes Manufacturer's Product No. 3SUP-A10H-ER-4 Manufacturer Optional Part No. DVOP1441 DVOP1442 Install noise filfers Manufacturer's Product No. ZCA T3035-1330 Manufacturer TDK Corporation Optional Part No. DVOP1460 39 1 34 1 30 1 13 1 Weight: 62.8 g Noise Filter ABC DEFG HI J NO KM L 188 DVOP1441 160 145 130 110 95 70 55[...]

- App. 6 - Holding brake The brake is to hold the work (movable part coupled to a vertical motor axis) to prevent it from falling by gravity in case the servo power is lost. <Notes and Cautions> 1. The brake coil has no polarities. 2. The power supply for the brake should be supplied by the customer . Do not use the control power (VDC) for dr[...]

- App. 7 - Appendixes BRK-OFF Signal • See Timing Chart describing the timing of issuing BRK-OFF signal, e.g. to release the brake after power-on, and activate the brake in case a servo-of f/ alarm occurs during the operation of the motor. • The timing (delay) of deactivating BRK-OFF signal (i.e. activating the brake) after the motor is freed i[...]

- App. 8 - Dynamic Brake (DB) The amplifier has a dynamic brake for emergency use. Observe the following precautions. <Notes> 1. The dynamic brake should be used for emergency stop only. 2. The dynamic brake should be on for just a short time for emergency. If the dynamic brake is activated during a high-speed operation, leave the motor stopp[...]

- App. 9 - Appendixes 3) Options of the operation through deceleration and stop by turning on Over-travel Inhibit (CWL or CCWL) (Pr66) D B D B Free run Free run D B Free run Free run D B Clear 0 Pr68 1 2 3 Sequence at alarm-on (Pr68) Position error counter Operating conditions During deceleration After stop D B Free run Free run Free run 0 Pr66 1 D[...]

- App. 10 - T iming Chart After Power ON (receiving Servo-ON signal) <Caution> * 1. This means that SRV -ON signal is entered mechanically , but not accepted actually . <Notes> • Avoid repeating to switch on and of f the main power . • Switch on the main power in about 1 minute more after it is switched of f. Internal control power [...]

- App. 11 - Appendixes After an Alarm event (during Servo-ON) *1. The value of t1 is the value of Pr6B or the time needed for decreasing the motor speed to approx. 30 r/min, which is shorter . *2. For the operation of the dynamic brake following an alarm event, see the explanation of Pr68 in "Details of Parameters". Alarm Dynamic brake Mo[...]

- App. 12 - T iming Chart After an Alarm is cleared (during Servo-ON) *1. The value of t depends on the value of Pr6A. *2. For the operation of the dynamic brake at Servo-OFF , see the explanation of Pr69 in "Details of Parameters". Servo-ON/OFF operation when the motor is stopped Dynamic brake Motor energized Brake release (BRK-OFF) Moto[...]

- App. 13 - Appendixes *1. The value of t1 is the value of Pr6B or the time needed for decreasing the motor speed to about 30 r/min , which is shorter . *2. During deceleration, Servo-ON does not become active until the motor stops, even if you attempt to turn on SR V -ON again. *3. For the operation of the dynamic brake at Servo-OFF , see the expl[...]

- App. 14 - Acceptable Loads on Output Axes Acceptable Loads on Output Axes L L/2 P A M B Radial load (P) direction Thrust load (A and B) direction Motor series MUMS Acceptable during no operation Acceptable during operation Radial load 147 392 686 Thrust load A direction 88 147 294 B direction 1 17.6 196 392 Radial load 49 68.6 245 392 Thrust load[...]

- App. 15 - Appendixes Homing operation (Precautions) In the returning operation to the home position using the controller , if the initialization signal (Z-phase signal from the encoder) is entered before the motor is not substantially decelerated (after the proximity sensor is activated), the motor may not stop at the required position. T o avoid[...]

- App.16 - Details of Parameters Parameters for Function Selection Pr No. Parameter Value Function If multiple axes are used, it is necessary for the amplifier to identify the current axis accessed by the host (e. g. PC employing RS232C). You can identify axi s address by number with this parameter. 00 02 Axis address Control mode set-up 0 ~ 15 [ 1[...]

- App.17 - Appendixes Pr No. Parameter Value Function 02 (continued) Control mode set-up (continued) * Example of 4 speeds operation using internal velocity command In addition to DIV/INTSPD1 and CL/INTSPD2, zero speed clamp input (ZEROSPD) and Servo-On input (SRV-ON) are required as the input to control start and stop of the motor. <Notes> A[...]

- App.18 - Details of Parameters Pr No. Parameter Value Function For linear motion or other similar motion, overtraveling of the work may cause mechanical damages. To avoid this, it is necessary to provide limit switches at each end so that traveling over the limit switch position can be inhibited. <Notes> 1. With Pr04 = 0 and CCW/CW off (not[...]

- App.19 - Appendixes Pr No. Parameter Value Function You can switch whether to enable or disable the zero speed clamp input (ZEROSPD, CN I/F Pin 5). 06 ZEROSPD input selection 0 ~ 1 You can select/set-up the relationship between the voltage to be fed-out to the speed monitor signal output (SP: CN MON 1 Pin) and the actual speed (or command velocit[...]

- App.20 - Details of Parameters Pr No. Parameter Value Function You can define the function of warning output (WARN: CN I/F 12-pin). 09 0C Warning output selection Baud rate set-up of RS232C 0 ~ 5 0 ~ 2 Function Torque in-limit Zero speed detection Alarm signal Overregeneration alarm Overload alarm Does not function, although displayed. Remarks Fo[...]

- App.21 - Appendixes Parameters for Time Constants of Gains and Filters: Related to Real Time Auto Tuning Pr No. Parameter Value Function • Y ou can define the response characteristics of position control. Higher the gain you set, quicker the in-position time you can obtain. • T o obtain the overall response of the servo system together with t[...]

- App.22 - Pr No. Parameter Value U ni t Function • This amplifier provides 2(two) sets (1st. and 2nd.) of gain and time constant for position loop, velocity loop, velocity detection filter and torque command filter . • The functions and meanings of these 2nd gains or time constants are the same as those of the 1st ones mentioned in the previou[...]

- App.23 - Appendixes Pr No. Parameter Value U ni t Function • Y ou can set-up the ratio of load inertia to the motor's rotor inertia. • Set values change by operating gain adjustment rotary switch GAIN. (See page 58.) • The load inertia can be estimated by executing the auto gain tuning, and this result will be reflected in this paramet[...]

- App.24 - PrNo. Parameter Range Un i t Function description • Y ou can select the switching between PI and P action or s w i t c h i n g b e t w een the 1st and 2nd gains. *1 Switch the PI and P action with the gain switching input (GAIN: CN I/F Pin 5). *2 See Adjustment for the conditions for switching between the 1st and 2nd gains. • Y ou ca[...]

- App.25 - Appendixes PrNo. Parameter Range Un i t Function description • Y ou can set-up the delay time when switching from the 2nd. to the 1st. gain when the actual status shifts out of the preset condition with Pr31. • This parameter is enabled when Pr31 is set to 3,5 and 6, and you can define the level of judgement for switch from the 1st. [...]

- App.26 - Default : [ ] You can set-up the multiplication when [quadrature pulse input] is selected with Pr42(Command pulse input mode set-up). You can individually set-up the logic of 2-series of pulse com mand inputs (PULSE and SIGN). You can set-up the type of command pulse to be given to the amplifier from the controller. There are three types[...]

- App.27 - Appendixes Output pulses per single turn Pulse output logic inversion You can set-up encoder pulse counts per single turn, which is to be fed-out to the controller. Set- ting in scalar.Set the required pulse counts per single turn in [Pulse/rev] unit directly. Note that the set-up of the larger counts than the encoder pulses is disabled.[...]

- App.28 - Default : [ ] PrNo. Parameter Range Function description Pulse command scaling function (electronic gear) • Purpose 1) Y ou can set-up any motor speed or work travel amount per input command pulse. 2) Y ou can increase the nominal command pulse frequency with scaling, when your required speed can't be obtained due to the capacity [...]

- App.29 - Appendixes PrNo. Parameter Range Function description Y ou can select the numerator of the command scalar . *1 Select the 1st. or 2nd. numerator with scalar input switch ing (DI V: CN I/ F Pin 6) . <Example> • Basic relation is defined so as the motor runs one revolution with the command input of encoder resolution(f), when the s[...]

- App.30 - PrNo. Parameter Range Function description This filter is a primary delay filter that is inserted after the scaling function in the command pulse input portion. ÅEYou can set-up the time constant of the smoothing filter in 8 s t e p s w i t h P r 4 C . You can set-up the conditions for clearing the position error counter, i.e. for issui[...]

- App.31 - Appendixes Parameters for Velocity Control PrNo. Parameter Range Function description You can set-up the internal command velocity of 1st - 4th speed to Pr53 - 56 respectively in [r/min] unit, when the internal velocity set-up is enabled with the parameter Pr02 (Setting of Control Mode). <Note> The polarity (+/- sign) of the set va[...]

- App.32 - PrNo. Parameter Range Function description You can add a quasi S-shaped acceleration/deceleration to the velocity command, so that smooth operation can be obtained in such a case as a large impact shock will be given at starting or stopping with a linear acceleration/deceleration. • Y ou can limit the max. motor torque with this parame[...]

- App.33 - Appendixes PrNo. Parameter Range Function description • Y ou can set-up the output timing of the in-position signal (COIN: CN I/ F Pin 10 ), completing the travel of the motor (wo rk ), af te r th e co mma nd pulse entry . • The in-position (positioning complete) signal (COIN) will b e fed-out when the position error counter pulse s [...]

- App.34 - Details of Parameters PrNo. Parameter Range Function description • Y ou can set-up the output timing of at-speed signal (COIN: CN I/F 10 pin) by setting motor speed [r/min] in internal velocity control mode. • The at-speed signal (COIN) is output, when the motor speed exceeds set value of this parameter Pr62. • Y ou can set-up the [...]

- App.35 - Appendixes PrNo. Parameter Range Function description 66 68 69 DB inhibition at overtravel limit Sequence at alarm Sequence at servo-off 0 ~ 1 0 ~ 3 0 ~ [ 0 ] During deceleration DB Free run DB Free run After stop DB DB Free run Free run Operating conditions Position error counter Cleared You can set-up the conditions for decelerating th[...]

- App.36 - Defau lt: [ ] PrNo. Parameter Range Function description Defines the duration from the shutdown of motor current (servo free) to OFF (i.e. brake energized) of the brake release signal (BRK- OFF) in transition to Servo-OFF during the motor in motion, not during the halt as handled by Pr6A. 6B Mechanical brake action set-up at motor in mot[...]

- App.37 - Appendixes PrNo. Parameter Range Function description Install an external regenerative discharge resistor (between P (5- pin) and B2 (3-pin) on the relevant connector), and set this parameter as necessary. 6C External regenerative discharge resistor selection 0 ~ 3 Regenerative discharge resistor External regenerative discharge resistor [...]

- App.38 - Optional Parts MINAS-S series Cables Encoder cable (2500 P/r, 11 wires), incremental encoders Motor cable Brake cable MUMS30 ~ 750W Fig. No. Motor type Cabl e Pa rt No. 2-1 3-1 4-1 MFECAO**OEAA MFMCAO**OAEB MFMCBO**OGET fig2-1 MFECAO**OEAA ø 9.2(0.362) 20(0.787) L 3M 10320 23(0.906) 17(0.669) 4(0.157) 4(0.157) L (m) 3 5 10 20 Part No. M[...]

- App.39 - Appendixes Connector for Monitor 1) Part No.DV0P2880 2) Components 3) Pin alignment of connector for CN MON <Notes> 1.The table above shows the pins alignment, looking from the connector pin inserted direction of connector. Make sure of the pin numbers marked on the plug itself for actual connection so that wiring is done correctly[...]

- App.40 - Item Connector Connector Cover Connector(15P) Connector Pin Connector(4P) Connector Pin Connector(6P) Connector Pin Quantity 1 1 1 15 1 4 1 4 Manufacturer SUMITOMO 3M Tyco Electronics AMP Tyco Electronics AMP Remarks For CN I/SIG ( 20pin) For encoder cable (15 pins) For motor cable (4 pins) F o r C N M O T O R (6-pin) Optional Parts Conn[...]

- App.41 - Appendixes 5) Pin alignment of relay connector for encoder cable 6) Pin alignment of relay connector for motor cable 7) Pin alignment of connector for CN MOTOR <Notes> 1 . The table above shows the pins alignment, looking from the connector pin inserted direction of the connector. Make sure of the pin numbers marked on the plug for[...]

- App.42 - 3) Alignment of CN I/F (26 pins) (Looking from where the plug is soldered) <Notes> 1.Before making connections, check the Pin Numbers stamped on the plugs. 2.For the symbols and functions of the pins, see the section "System Configuration and Wiring" on the page 26 . Item Connector Connector cover Manufacturer's Part[...]

- App.43 - Appendixes Interface Cables for controller connection 1) Part No. DVOP0800 2) Dimension 3) Wire table 1 37.2 13 26 14 2000 50 39 12.7 14 Shell kit: 10326-52A0-008 Sumitomo 3M or the equivalents Plug: 10126-3000VE Sumitomo 3M or the equivalents <Notes> For example, Orange (Red 1) for Pin No.1 means that the lead wire is colored in o[...]

- App.44 - Optional Parts Communication Cables (for connection to personal computer) 1) Part No. DVOP1960 (for DOS/V) 2) Part No. DVOP1 160 (for PC98 series) (78.74) (78.74) Communication Control Software P ANA TERM ® 1) Part No. DVOP2820 (English V ersion) 2) 3.5 inches Floppy Disks <Notes> For the operating environment and other details, s[...]

- App.45 - Appendixes External Regenerative Discharge Resistor Part.No. DV0P2890 DV0P2891 Resistance 50 Ω 100 Ω Specifications Product number 45M03 45M03 Manufacturer: IWAKI MUSEN KENKYUSHO CO., LTD <Notes> For safety, a thermal fuse is built in the optional external regenerative dis charge resistor. Wiring to the internal thermal fuse ma[...]

- App. 46 - M4 M4 M4 M4 Optional Parts Reactor Rated output Reactor Part No. MUDS Single- phase 100V Single- phase 200V 3-phase 200V Single-phase 200V 3-phase 200V 30W ~ 100W 100W 200W ~ 400W 30W ~ 4 00W 100W ~ 400W 30W ~ 400W 100W ~ 400W 400W 750W DVO P227 DVOP228 DVOP220 DVOP221 fig. 1 fig. 2 Product DVOP220 DV0P221 DV0P227 DV0P228 65 60 55 55 A [...]

- App. 47 - Appendixes Surge Absorber for Motor Brake Peripheral Equipment Manufacturers 81-06-6908-1131 81-044-833-4311 Kantou Area 81-03-3621-2703 Chubu Area 81-052-777-5070 Kansai Area 81-06-6391-6491 81-06-6263-2031 Kantou Area 81-03-5201-7229 Chubu Area 81-052-971-1712 Kansai Area 81-06-6245-7333 East Japan 8 1 - 0 3 - 3424-8120 West Japan 8 1[...]

- App. 48 - LL LF LR LE 7.874 LH LBh7 øSh6 Dimensions MUMS Series 30W ~ 750W Without brake LL 2.657 2.972 3.642 3.780 4.862 5.610 3.898 4.213 4.882 5.079 6.161 6.949 Output(W) 30 50 100 200 400 750 30 50 100 200 400 750 S 0.250 0.500 0.625 0.250 0.500 0.625 Model MUMS3AZA1 MUMS5AZA1 MUMS01 A1 MUMS02 A1 MUMS04 A1 MUMS082A1 MUMS3AZA1 MUMS5AZA1 MUMS0[...]

- App. 49 - Appendixes LA 1.724 3.874 1.724 3.874 Without brake LZ M3 Depth4.5 4.5 6.5 M3 Depth4.5 4.5 6.5 MUMS With brake LW 13 14 20 25 13 14 20 25 LK 12 12.5 18 22.5 22 12 12.5 18 22.5 22 KW 2 3 4 5 6 2 3 4 5 6 KH 2 3 4 5 6 2 3 4 5 6 RH 5.8 6.2 8.5 11 15.5 5.8 6.2 8.5 11 15.5 Weight(kg) 0.30 0.40 0.50 0.96 1.5 3.1 0.50 0.60 0.70 1.4 1.9 3.8 LC ?[...]

- App. 50 - Dimensions Amplifier T ype 1 Weight: 0.7 kg unit: mm(Inch) Back panel mount type (Standard) 5.2(0.205) R 2.6(0.102) 5.2(0.205) 3(0.118 ) 9(0.354) 45(1.772) 150(5.906) 168(6.614) 4.1(0.161) 20(0.787) 45(1.772 ) 10(0.394) 10(0.394) 160(6.299) 5(0.197) MSDS MOTOR CN SIG CN CN POWER CN I/F Power F.L.C Phase Voltage INPUT OUTPUT ENCODER AC S[...]

- App. 51 - Appendixes Amplifier T ype 2 Weight: 0.9 kg unit: mm(Inch) 3(0.118 ) Back panel mount type (Standard) R2.6(0.102) 5.2(0.205) 9(0.354) 150(5.906) 168(6.614) 4.1(0.161) 45(1.772 ) 120(4.724) 160(6.299) 5(0.197) MSDS MOTOR CN SIG CN CN POWER CN I/F Power F.L.C Phase Voltage INPUT OUTPUT ENCODER AC SERVO AMPLIFIER instructions before use. M[...]

- App. 52 - Dimensions Ampl ifi er T ype 3 W eight: 1.2 kg unit: mm(Inch) Back panel mount type (Standard) 15(0.591) 50(1.969) 182(7.165) 2.3(0.091) 160(6.299) 160(6.299) 2(0.079) 61(2.402) 65(2.559) 2(0.079) 172(6.772) 15(0.591) 32.5(1.280) 32.5(1.280) 11(0.433) 5(0.197) MOTOR SIG POWER I/F CN CN CN CN MON CN CN SER GAIN Power F.L.C Phase Voltage [...]

- App. 53 - Appendixes Characteristics 100 100 115 150 200 250 300 350 400 450 10 1 Time(sec) Overload Pr otection: Time Limiting Characteristics MUMS 30W~100W MUMS 200W~750W T orque(%)[...]

- App. 54 - Pr31 0 1 2 3 4 5 6 7 8 Figure A B C D E Switching conditions Fixed to 1st gain Fixed to 2nd gain Gain switching input, 2nd gain selected with GAIN On 2nd gain selected with a large torque command differentia l Fixed to 1st gain Large target velocity commanded Large position error Position command existing Positioning incomplete Delay ti[...]

- App. 55 - Appendixes <Notes> The figures above do not reflect the gain switching timing delay caused by hysteresis ( Pr34) . Speed N A T orque T Lev el Delay T 1st Gain 2nd 2nd 1st 2nd 2nd 1st 1st 1st Speed command S B Lev el delay ed 2nd Gain 1st 1st Speed N E delay ed 2nd Gain 1st COIN 1st Speed command S D delay ed 2nd Gain 1st 1st Speed[...]

- App. 56 - CN POWER CN MOT OR L 1 L 2 L 3 DC/DC P CN SER CN SIG U V W E M RE CN I/F N P ± 12V +5V + + - + + - A/D EEPROM B MSDS ALM CODE STATUS Internal Block Diagram of MINAS-S Amplifier Gate drive power supply Encoder power supply Operator interface Par ameter control Protective circuit Error detection Sequence control Gate drive Alarm signal P[...]

Appendixes - App. 57 - • Control Block Diag ram Pulse command PULS SIGN Feedback pulse(OA • OB) Feedback pulse(OZ • CZ) Encoder signal A/B phase or Rx Encoder signal (Z phase) + + + + - - Input mode selection [Pr42] Smoothing filter Pr4C Position 2 [Pr18] Position 1 [Pr10] Position error counter Position error amplifier 2nd [Pr18] 1st [Pr13] [...]

- App. 58 - Specifications Power Encoder Built-in functions Protective functions Monitor Setting Position Control Velocity control Rotary encoder Single-phase 100V system Single-phase 200V system 3-phase 200V system Permissible frequency variation Rotary encoder Regenerative discharge Dynamic brake Auto gain tuning Electronic gear (command pulse ra[...]

Motor Company , Matsushita Electric Industrial Co., Ltd. 7-1-1, Morofuku, Daito, Osaka 574-0044, J apan TEL: +81-72-871-1212 After-Sale Service (Repair ) Repair Consult to a dealer from whom you have purchased the product for details of repair . When the product is incorporated to the machine or equipment you have purchased, consult to the manufact[...]