minas-a6_manu_e - Operating Instructions(Overall AC Servo Motor Driver MINAS A6 series This product image is 100 W 200 V type of A6 series \u2022 \u2022

minas-a6_manu_e - Operating Instructions(Overall AC...

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Unformatted text preview: Operating Instructions (Overall) AC Servo Motor & Driver MINAS A6 series * This product image is 100 W 200 V type of A6 series. • • • • Thank you for purchasing this Panasonic product. Before operating this product, please read the instructions carefully, and save this manual for future use. Read the the Safety Operating Instructions before using the products (P.6 to 9). This product is for industrial equipment. Don’t use this product at general household. Thank you for purchasing Digital AC Servo Motor & Driver, MINAS A6 series. This instruction manual contains information necessary to correctly and safely use the MINAS A6 series motor and driver. By reading this instruction manual, you will learn how to identify the model of the motor and driver that will be best suitable your application, how to wire and set up them, how to set parameters, and how to locate possible cause of symptom and to take corrective action. This is the original instruction. Caution 2 1) Any part or whole of this document shall not be reproduced without written permission from us. 2) Contents of this document are subject to change without notice. Organization of this manual Before Using the Products 1 1. Before Using the Products Check of the Driver Model ... Installation Operating requirements and procedure Connection 3. Connection Wiring ... I/O settings Setup 4. Setup Describes parameters ... JOG running Shows describes parameters and procedure of test operation. 5 Adjustment 5. Adjustment 4 Shows block diagrams for each control mode and connection diagrams to the host controllor, I/O settings. 3 Shows the timing chart and the list of parameters, and describes how to make wiring and to use the front panel. Preparation 2. Preparation 2 Describes how to identify and select the desired product and components, how to read the specifications, and how to install the equipment. Gain adjustment ... Auto tuning Describes various adjusting method including auto tuning and manual gain tuning. 6. When in Trouble 6 When in Trouble Read this section when you encounter trouble or error. 7. Supplement 7 Contains S-T characteristic diagram, dimensional outline drawing, supplemental description on communications and operation. Supplement 3 Contents page Organization of this manual ............................................................................................. 3 Safety Precautions .............................................................................................................. 6 Conformance to international standards .................................................................... 10 Maintenance and Inspections ........................................................................................ 11 1. Before Using the Products .................................................................... 1-1 1. Introduction ................................................................................................................ 1-2 2. Driver ......................................................................................................................... 1-4 3. Motor ........................................................................................................................ 1-16 4. Check of the Combination of the Driver and the Motor ............................................ 1-19 5. Installation ................................................................................................................ 1-20 6. Permissible Load at Output Shaft ............................................................................ 1-27 2. Preparation .......................................................................................................... 2-1 1. Conformance to international standards .................................................................... 2-2 2. System Configuration and Wiring ............................................................................ 2-10 3. Wiring to the Connector, X1 ..................................................................................... 2-32 4. Wiring to the Connector, X2 ..................................................................................... 2-32 5. Wiring to the Connector, X3 ..................................................................................... 2-34 6. Wiring to the Connector, X4 ..................................................................................... 2-35 7. Wiring to the Connector, X5 ..................................................................................... 2-36 8. Wiring to the Connector, X6 ..................................................................................... 2-38 9. Timing Chart ............................................................................................................ 2-41 10. Built-in Holding Brake ............................................................................................ 2-45 11. Dynamic Brake........................................................................................................ 2-47 12. Setup of Parameter and Mode ............................................................................... 2-50 13. Setup of command division and multiplication ratio (electronic gear ratio) ............ 2-72 14. How to Use the Front Panel ................................................................................... 2-74 3. Connection .......................................................................................................... 3-1 4 1. Outline of mode .......................................................................................................... 3-2 2. Control Block Diagram ............................................................................................. 3-14 3. Wiring to the Connector, X4 ..................................................................................... 3-21 4. Inputs and outputs on connector X4 ........................................................................ 3-33 5. IF Monitor Settings ................................................................................................... 3-54 page 4. Setup ......................................................................................................................... 4-1 1. Describes parameters ................................................................................................ 4-2 2. JOG running ............................................................................................................. 4-86 Before Using the Products 1 2 2. Real-Time Auto-Gain Tuning ..................................................................................... 5-4 3. Adaptive Filter .......................................................................................................... 5-27 4. Manual Auto-Gain Tuning (Basic)............................................................................. 5-30 5. Manual Auto-Gain Tuning (Application).................................................................... 5-41 6. About Homing Operation ......................................................................................... 5-69 7. Application Function ................................................................................................. 5-72 6. When in Trouble .............................................................................................. 6-1 3 Connection 1. Gain Adjustment ........................................................................................................ 5-2 Preparation 5. Adjustment .......................................................................................................... 5-1 4 1. When in Trouble ......................................................................................................... 6-2 2. Setup of gain pre-adjustment protection .................................................................. 6-29 3. Troubleshooting ....................................................................................................... 6-32 7. Supplement ......................................................................................................... 7-1 2. Absolute System ...................................................................................................... 7-10 3. Outline of setup Support Software, PANATERM...................................................... 7-26 4. Communication ........................................................................................................ 7-27 5. Motor Characteristics (S-T Characteristics) ............................................................. 7-57 6. Dimensions .............................................................................................................. 7-78 7. Options ................................................................................................................... 7-108 Cautions for Proper Use .................................................................................................... 7-149 After-Sale Service .................................................................................................... Back cover When in Trouble Warranty ............................................................................................................................ 7-148 6 5 Adjustment 1. Safety function ........................................................................................................... 7-2 Setup 7 Supplement 5 Safety Precautions Please observe safety precautions fully. The following explanations are for things that must be observed in order to prevent harm to people and damage to property. • Misuses that could result in harm or damage are shown as follows, classified according to the degree of potential harm or damage. Danger Indicates great possibility of death or serious injury. Caution Indicates the possibility of injury or property damage. • The following indications show things that must be observed. Indicates something that must not be done. Indicates something that must be done. Danger Do not subject the Product to water, corrosive or flammable gases, and combustibles. Do not place combustibles near by the motor, driverd regenerative resistor and dynamic brake resister.. Don't use the motor in a place subject to excessive vibration or shock. Failure to observe this instruction could result in electrical shock, injury or fire. Don't use cables soaked in water or oil. Failure to observe this instruction could result in electrical shocks, damages and breakdowns. The installation area should be away from heat generating objects such as a heater and a large wire wound resistor. Never connect the motor directly to the commercial power supply. 6 Failure to observe this instruction could result in fire, electrical shocks, damages and breakdowns. Failure to observe this instruction could result in fire and breakdowns. Don't attempt to carry out wiring or manual operation with wet hand. Failure to observe this instruction could result in electrical shock, injury or fire. Do not put your hands in the servo driver. Failure to observe this instruction could result in burn and electrical shocks. Correctly run and arrange wiring. Adjustment Failure to heed this requirement will result in electric shock, personal injury, fire, malfunction or damage. 6 When in Trouble Failure to heed these requirements will result in electric shock, personal injury or fire. 7 Supplement Ground the earth terminal of the motor and driver without fail. Install and mount the Product and machinery securely to prevent any possible fire or accidents incurred by earthquake. Install an emergency stop circuit externally so that you can stop the operation and shut off the power immediately. Install an overcurrent protection, earth leakage breaker, over-temperature protection and emergency stop apparatus without fail. Check and confirm the safety of the operation after the earthquake. Before transporting, wiring and inspecting the driver, turn off power and wait for a time longer than that specified on the name plate on the side panel of the product; and make sure that there is no risk of electrical shock. 5 After correctly connecting cables, insulate the live parts with insulator. 4 Setup Wiring has to be carried out by the qualified and authorized specialist. 3 Mount the motor, driver and peripheral equipments on incombustible material such as metal. Failure to observe this instruction could result in fire. Failure to observe this instruction could result in electrical shocks, damages and breakdowns. Failure to heed this precaution will result in electric shock, personal injury, fire, malfunction or damage. Installation on a flammable material may cause fire. Allowing a person with no expertise to carry out wiring will result in electrical shocks. Incorrect wiring will result in short circuit, electric shock, personal injury, etc. Incorrect wiring will result short circuit, electric shock, fire or malfunction. Floating ground circuit will cause electric shock. Connection Installation area should be free from excessive dust, and from splashing water and oil. Failure to observe this instruction could result in burns. Do not subject the cables to excessive force, heavy object, or pinching force, nor damage the cables. 2 Preparation Do not drive the motor with external power. Failure to observe this instruction could result in personal injury. In the case of the motor with shaft end keyway, do not touch the keyway with bare hands. Do not touch the rotating portion of the motor while it is running. Failure to observe this instruction could result in damages and breakdowns. Do not touch the motor, servo driver, heat sink, regenerative resistor and dynamic brake resister, since they become very hot. Before Using the Products 1 Energized circuit will cause electric shock. 7 Safety Precautions Please observe safety precautions fully. Caution Do not hold the motor cable or motor shaft during the transportation. Failure to observe this instruction could result in injuries. Don't drop or cause topple over of something during transportation or installation. Failure to observe this instruction could result in injuries and breakdowns. Do not step on the Product nor place the heavy object on them. Failure to observe this instruction could result in electrical shocks, injuries, breakdowns and damages. Don’t place any obstacle object around the motor and peripheral, which blocks air passage. Temperature rise will cause burn injury or fire. Don't use the equipment under direct sunshine. Failure to heed these instructions will cause personal injury or fire. Do not block the heat dissipating holes or put the foreign particles into them. Failure to observe this instruction could result in electrical shocks and fire. Do not give strong impact shock to the Product. Failure to observe this instruction could result in breakdowns. Do not give strong impact shock to the motor shaft. Failure to observe this instruction could result in a failure of the detector etc. Do not turn on and off the main power of the driver repeatedly. Never run or stop the motor with the electro-magnetic contactor installed in the main power side. 8 Failure to observe this instruction could result in breakdowns. Do not make an extreme gain adjustment or change of the drive. Do not keep the machine running/operating unstably. Failure to observe this instruction could result in injuries. Do not use the built-in brake as a "Braking" to stop the moving load. Failure to observe this instruction could result in injuries and breakdowns. Do not approach to the machine since it may suddenly restart after the power resumption. Design the machine to secure the safety for the operator even at a sudden restart. Failure to observe this instruction could result in injuries. Never attempt to perform modification, dismantle or repair. Failure to heed this instruction will result in fire, electric shock, personal injury or malfunction. Make an appropriate mounting of the Product matching to its wight and output rating. Adjust the motor and driver ambient environmental condition to match the motor operating temperature and humidity. Using it for transportation of the machine will cause personal injury or malfunction. Failure to heed these requirements will result in personal injury or malfunction. Test-run the securely fixed motor without loading to verify normal operation, and then connect it to the mechanical system. Operation using a wrong model or wrong wiring connection will result in personal injury. When any error occurs, remove the cause and release the error after securing the safety, then restart. Not removing the cause of the error will result in personal injury. If the driver fails, shut off the power on the power supply side of the driver. Allowing a large current to continue to pass will result in fire. Always keep power disconnected when the power is not necessary for a long time. Improper operation will cause personal injury. 5 6 When in Trouble Not using the motor and the driver in the specified combination will result in fire. Use the motor and the driver in the specified combination. Adjustment No protection will cause personal injury, damage, pollution or fire. Provide protection device against idling of electromagnetic brake or gear head, or grease leakage from gear head. 4 Setup Missing of one of these devices will result in personal injury or malfunction. Connect the brake control relay to the relay which is to shut off at emergency stop in series. Connection Observe the specified voltage. Operation from a voltage outside the rated voltage will cause electric shock, personal injury or fire. 3 Create the specified clearance between the driver and the control panel inner surface or other devices. 2 Preparation Use the eye bolt of the motor for transportation of the motor only, and never use this for transportation of the machine. Failure to heed these requirements will result in personal injury or malfunction. Observe the specified mounting method and direction. Before Using the Products 1 When you dispose the batteries, observe any applicable regulations or laws after insulating them with tape. 7 This Product shall be treated as Industrial Waste when you dispose. Supplement 9 Conformance to international standards (A6 series SF type) (A6 series SE, SG type) Conformed Standards Driver EMC Directives EC Directives Motor EN55011 EN61000-6-2 EN61000-6-4 EN61800-3 – Low-Voltage EN61800-5-1 EN50178 Directives Machinery Directives Functional safety *1 EN60034-1 EN60034-5 ISO13849-1(PL e)(Cat.3) EN61508(SIL 3) EN62061(SILCL 3) EN61800-5-2(SIL 3) IEC61326-3-1 IEC60204-1 – UL Standards UL508C (E164620) UL1004-1, UL1004-6 (E327868) CSA Standards C22.2 No.14 C22.2 No.100-04 Radio Waves Act (South Korea) (KC) *2 KN11 KN61000-4-2, 3, 4, 5, 6, 8, 11 IEC : International Electrotechnical Commission EN : Europaischen Normen EMC : Electromagnetic Compatibility UL : Underwriters Laboratories CSA : Canadian Standards Association — Pursuant to the directive 2004/108/EC, article 9(2) Panasonic Testing Centre Panasonic Service Europe, a division of Panasonic Marketing Europe GmbH Winsbergring 15, 22525 Hamburg, F.R. Germany • When export this product, follow statutory provisions of the destination country. *1 A6 series SE type and SG type don’t correspond to the functional safety standards. *2 Information related to the Radio Waves Act (South Korea) This servo driver is a Class A commercial electromagnetic radio wave generator not designed for home use. The user and distributor should be aware of this fact. Servo Driver This product is not an object of China Compulsory Certification (CCC). Note 10 For details on compatibility with international standard, refer to P.2-2 Conformance to international standards. Maintenance and Inspections Routine maintenance and inspection of the driver an...
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