Panasonic MINAS A6 Series Bedienungsanleitung

* This product image is 100 W 200 V type of A6 series.

Operating Instructions (Overall)

AC Servo Motor & Driver

MINAS 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.

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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

1) Any part or whole of this document shall not be reproduced without written permis-

sion from us.

2) Contents of this document are subject to change without notice.

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1.Before Using the Products

Check of the Driver Model ... Installation

Describes how to identify and select the desired product and components, how to

read the specications, and how to install the equipment.

2.Preparation

Operating requirements and procedure

Shows the timing chart and the list of parameters, and describes how to make

wiring and to use the front panel.

3.Connection

Wiring ... I/O settings

Shows block diagrams for each control mode and connection diagrams to the host

controllor, I/O settings.

4.Setup

Describes parameters ... JOG running

Shows describes parameters and procedure of test operation.

5.Adjustment

Gain adjustment ... Auto tuning

Describes various adjusting method including auto tuning and manual gain tuning.

6.When in Trouble

Read this section when you encounter trouble or error.

7.Supplement

Contains S-T characteristic diagram, dimensional outline drawing, supplemental

description on communications and operation.

Organization of this manual 1

Before Using the Products

Preparation

Connection

Setup

Adjustment

When in Trouble

Supplement

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Contents

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 Conguration 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

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

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Before Using the Products

Preparation

Connection

Setup

Adjustment

When in Trouble

Supplement

4. Setup ........................................................................................................................4-1

1. Describes parameters ...............................................................................................4-2

2. JOG running ............................................................................................................4-86

5. Adjustment .........................................................................................................5-1

1. Gain Adjustment .......................................................................................................5-2

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

1. When in Trouble ........................................................................................................6-2

2. Setup of gain pre-adjustment protection ................................................................. 6-29

3. Troubleshooting ......................................................................................................6-32

7. Supplement ........................................................................................................7-1

1. Safety function ..........................................................................................................7-2

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

Warranty ...........................................................................................................................7-148

Cautions for Proper Use ...................................................................................................7-149

After-Sale Service .................................................................................................... Back cover

page

Before Using the Products

Preparation

Connection

Setup

Adjustment

When in Trouble

Supplement

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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, classied 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

ammable gases, and combustibles. Failure to observe this instruc-

tion could result in re, electrical

shocks, damages and break-

downs.

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 exces-

sive vibration or shock.

Failure to observe this instruc-

tion could result in electrical

shock, injury or re.

Don't use cables soaked in water or oil.

Failure to observe this instruc-

tion could result in electrical

shocks, damages and break-

downs.

The installation area should be away from heat

generating objects such as a heater and a large

wire wound resistor.

Failure to observe this instruc-

tion could result in re and

breakdowns.

Never connect the motor directly to the commer-

cial power supply.

Don't attempt to carry out wiring or manual opera-

tion with wet hand.

Failure to observe this instruc-

tion could result in electrical

shock, injury or re.

Do not put your hands in the servo driver.

Failure to observe this instruc-

tion could result in burn and

electrical shocks.

Safety Precautions Please observe safety precautions fully.

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In the case of the motor with shaft end keyway, do

not touch the keyway with bare hands. Failure to observe this instruc-

tion could result in personal

injury.

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.

Failure to observe this instruc-

tion could result in burns.

Do not drive the motor with external power. Failure to observe this instruc-

tion could result in re.

Do not subject the cables to excessive force,

heavy object, or pinching force, nor damage the

cables.

Failure to observe this instruc-

tion could result in electrical

shocks, damages and break-

downs.

Installation area should be free from excessive

dust, and from splashing water and oil.

Failure to heed this precaution

will result in electric shock, per-

sonal injury, re, malfunction or

damage.

Mount the motor, driver and peripheral equip-

ments on incombustible material such as metal.

Installation on a ammable ma-

terial may cause re.

Wiring has to be carried out by the qualied and

authorized specialist.

Allowing a person with no ex-

pertise to carry out wiring will

result in electrical shocks.

Correctly run and arrange wiring.

Incorrect wiring will result in

short circuit, electric shock, per-

sonal injury, etc.

After correctly connecting cables, insulate the live

parts with insulator.

Incorrect wiring will result short

circuit, electric shock, re or

malfunction.

Ground the earth terminal of the motor and driver

without fail.

Floating ground circuit will

cause electric shock.

Install and mount the Product and machinery

securely to prevent any possible re or accidents

incurred by earthquake.

Failure to heed this requirement

will result in electric shock, per-

sonal injury, re, malfunction or

damage.

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 emer-

gency stop apparatus without fail.

Failure to heed these require-

ments will result in electric

shock, personal injury or re.

Check and conrm 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 specied on the name plate on the side

panel of the product; and make sure that there is

no risk of electrical shock.

Energized circuit will cause

electric shock.

Before Using the Products

Preparation

Connection

Setup

Adjustment

When in Trouble

Supplement

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Caution

Do not hold the motor cable or motor shaft during

the transportation.

Failure to observe this instruc-

tion could result in injuries.

Don't drop or cause topple over of something dur-

ing transportation or installation.

Failure to observe this instruc-

tion could result in injuries and

breakdowns.

Do not step on the Product nor place the heavy

object on them.

Failure to observe this instruc-

tion 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 re.

Don't use the equipment under direct sunshine.

Failure to heed these instruc-

tions will cause personal injury

or re.

Do not block the heat dissipating holes or put the

foreign particles into them.

Failure to observe this instruc-

tion could result in electrical

shocks and re.

Do not give strong impact shock to the Product. Failure to observe this instruc-

tion could result in breakdowns.

Do not give strong impact shock to the motor

shaft.

Failure to observe this instruc-

tion could result in a failure of

the detector etc.

Do not turn on and off the main power of the driv-

er repeatedly. Failure to observe this instruc-

tion could result in breakdowns.

Never run or stop the motor with the electro-mag-

netic contactor installed in the main power side.

Do not make an extreme gain adjustment or

change of the drive.

Do not keep the machine running/operating unsta-

bly.

Failure to observe this instruc-

tion could result in injuries.

Do not use the built-in brake as a "Braking" to

stop the moving load.

Failure to observe this instruc-

tion could result in injuries and

breakdowns.

Do not approach to the machine since it may sud-

denly restart after the power resumption.

Design the machine to secure the safety for the

operator even at a sudden restart.

Failure to observe this instruc-

tion could result in injuries.

Never attempt to perform modication, dismantle

or repair.

Failure to heed this instruction

will result in re, electric shock,

personal injury or malfunction.

Safety Precautions Please observe safety precautions fully.

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Make an appropriate mounting of the Product

matching to its wight and output rating. Failure to heed these require-

ments will result in personal

injury or malfunction.

Observe the specied mounting method and di-

rection.

Use the eye bolt of the motor for transportation of

the motor only, and never use this for transporta-

tion of the machine.

Using it for transportation of the

machine will cause personal

injury or malfunction.

Adjust the motor and driver ambient environmen-

tal condition to match the motor operating tem-

perature and humidity. Failure to heed these require-

ments will result in personal

injury or malfunction.

Create the specied clearance between the driver

and the control panel inner surface or other de-

vices.

Observe the specied voltage.

Operation from a voltage out-

side the rated voltage will cause

electric shock, personal injury

or re.

Connect the brake control relay to the relay which

is to shut off at emergency stop in series.

Missing of one of these devices

will result in personal injury or

malfunction.

Provide protection device against idling of electro-

magnetic brake or gear head, or grease leakage

from gear head.

No protection will cause per-

sonal injury, damage, pollution

or re.

Use the motor and the driver in the specied com-

bination.

Not using the motor and the

driver in the specied combina-

tion will result in re.

Test-run the securely xed 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 in-

jury.

If the driver fails, shut off the power on the power

supply side of the driver.

Allowing a large current to con-

tinue to pass will result in re.

Always keep power disconnected when the power

is not necessary for a long time.

Improper operation will cause

personal injury.

When you dispose the batteries, observe any applicable regulations or laws after

insulating them with tape.

This Product shall be treated as Industrial Waste when you dispose.

Before Using the Products

Preparation

Connection

Setup

Adjustment

When in Trouble

Supplement

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Conformed Standards

Driver Motor

EC Direc-

tives

EMC

Directives

EN55011

EN61000-6-2

EN61000-6-4

EN61800-3

–

Low-Voltage

Directives

EN61800-5-1

EN50178

EN60034-1

EN60034-5

Machinery

Directives

Functional

safety *1

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 Certication (CCC).

(A6 series SF type)

(A6 series SE, SG type)

Note For details on compatibility with international standard, refer to P.2-2 Conformance to

international standards.

Conformance to international standards

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