Panasonic Minas a series Manuale utente

AC Servo Motor Driver

MINAS A-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.

Table of Contents

- 2 -

Safety Precautions

•••••••••• 4

Introduction •••••••••••••••• 8

• After Opening the Pac age •••••••••••••• 8

• Chec the Model of Driver ••••••••••••••• 8

• Chec the Model of Motor ••••••••••••••• 9

•

Chec the Combination of Driver and Motor •••••••••••••••••••••

System Configuration and Wiring ••••••••••••••

•

System Configuration and Wiring ••••••••••••••••

•

General Wiring Diagram

List of Available Components

••••••••• 20

• Main Circuits •••••••••••••••••••••••••••••• 22

• CN SIG Connector

(For Encoder) ••••••••••••••••••••••••••• 24

• CN SER and

CN NET Connectors

(For PC or Controller) ••••••••••••••••••••••••••••

• CN I/F Connector

(For Controller) •••••••••••••••••••••••••• 28

(Circuits Available for Typical Control Modes)

•••••••••• 29

(Input and Output Signals, and their Functions) ••••••••••••••••••

(Interface circuit) •••••••••••••••••••••••• 38

Parameter Setting

•••••••••••42

Overview •••••••••••••••••••••••••••••••••••• 42

Par

meter Groups and Listing ••••••••••••••••••

Setting the Parameters••••••••••••••••••• 47

MODEs Structure•••••••••••••••••••••••••• 48

Before Use

Preparations

and Adjustments

Parts Description

•••••••••••12

Driver •••••••••••••••••••••••••••••••••••••••• 12

Motor ••••••••••••••••••••••••••••••••••••••••• 13

Installation •••••••••••••••••14

Driver •••••••••••••••••••••••••••••••••••••••• 14

Motor ••••••••••••••••••••••••••••••••••••••••• 16

Trial Operation••••••••••••50

Inspections before Trial Operation •••••••••••••••••

peration Without

Motor Load (JOG) •••••••••••••••• 51

Operation With

CN I/F Connected •••••••••••••••••• 52

Adjustments •••••••••••••••55

Purposes of Gain Adjustments ••••••••••••••••••

Kinds of Gain Adjustments •••••••••••••• 55

How to Adjust Gain •••••••••••••••••••••••• 57

How to Use

"NormalAuto-Gain" Tuning

•••••••••• 58

How to Use "Real Time

Auto-Gain" Tuning •••••••••••••••• 59

How to Adjust Gain Manually

••••••••••••••• 60

Protective Functions •••••••••••

Maintenance and

Inspections ••••••••••••••••71

Conformance to EC Directives and UL Standards

••••••••••• App. 2

List of Connectable Motors

•••••••••••• App. 7

How to UseApp ••••••••••••••••••••••• App. 9

"Absolute" Driver ••••••••••••••••••• App. 20

"Full Close" Driver •••••••••••••••••• App. 28

Details of Parameters ••••••••••••• App. 30

Details of Operation •••••••••••••••• App. 57

Appendixes

Important Information

Troubleshooting

••••••••••••••••••••••••••••••73

After-Sale Service

•••••••••••••••••••••• Bac cover

Overview of a Communication Control

Software PANATERM

••••••••••• App. 67

Optional Parts ••••••••••••••••••••••• App. 69

Recommended Parts •••••••••••••• App. 84

Outer Views and Dimensions••••••••••••••

App. 86

Properties ••••••••••••••••••••••••••• App. 106

Specifications •••••••••••••••••••••• App. 107

- 3 -

Parts Description

•••••••••••12

Driver •••••••••••••••••••••••••••••••••••••••• 12

Motor ••••••••••••••••••••••••••••••••••••••••• 13

Installation •••••••••••••••••14

Driver •••••••••••••••••••••••••••••••••••••••• 14

Motor ••••••••••••••••••••••••••••••••••••••••• 16

Parameter Setting

•••••••••••42

Overview •••••••••••••••••••••••••••••••••••• 42

Par

meter Gro ps and Listing ••••••••••••••••••

Setting the Parameters••••••••••••••••••• 47

MODEs Str ct re•••••••••••••••••••••••••• 48

Trial Operation••••••••••••50

Inspections before Trial Operation •••••••••••••••••

peration Witho t

Motor Load (JOG) •••••••••••••••• 51

Operation With

CN I/F Connected •••••••••••••••••• 52

Adj stments•••••••••••••••55

P rposes of Gain Adj stments ••••••••••••••••••

Kinds of Gain Adj stments •••••••••••••• 55

How to Adj st Gain•••••••••••••••••••••••• 57

How to Use

"NormalA to-Gain" T ning

•••••••••• 58

How to Use "Real Time

A to-Gain" T ning •••••••••••••••• 59

How to Adj st Gain Man ally

••••••••••••••• 60

Tro bleshooting

••••••••••••••••••••••••••••••73

After-Sale Service

•••••••••••••••••••••• Back cover

Details of Parameters ••••••••••••• App. 30

Details of Operation •••••••••••••••• App. 57

Overview of a Comm nication Control

Software PANATERM

••••••••••• App. 67

Optional Parts ••••••••••••••••••••••• App. 69

Recommended Parts •••••••••••••• App. 84

O ter Views and Dimensions••••••••••••••

App. 86

Properties ••••••••••••••••••••••••••• App. 106

Specifications •••••••••••••••••••••• App. 107

Before Use Appendixes

Preparations and Adj stments

Important

Information

- 4 -

DANGER

Safety Preca tions

Observe the following preca tions in order to avoid inj ries of operators and

other persons, and mechanical damages.

The following DANGER and CAUTION symbols are sed according to the level of dangers possibly occ r-

ring if yo fail to observe the instr ctions or preca tions indicated.

The following symbols indicate what yo are not allowed to do, or what yo m st

observe.

(Important)

DANGER

CAUTION

Indicates a potentially hazardo s sit ation which, if not avoided,

will res lt in death or serio s inj ry.

Indicates a potentially hazardo s sit ation which, if not avoided, will res lt in

minor or moderate inj ry and physical damage.

This symbol indicates that the operation is prohibited.

This symbol indicates that the operation m st be per-

formed witho t fail.

Don't insert yo r hands in the

driver.

Fail re to observe this

instr ction co ld res lt in

b rns and/or electric shocks.

An over-c rrent protection, earth

leakage breaker, over-temperat re

protection and emergency stop

sho ld be

installed.

Fail re to observe this

instr ction co ld res lt in elec-

tric shocks, inj ries and/or

fire.

- 5 -

DANGER

Gro nd the earth terminal of

the driver.

Fail re to observe this

instr ction co ld res lt in

electric shocks.

Don't to ch the rotating part of the

motor in motion.

Fail re to observe this instr ction co ld

res lt in inj ries.

Rotating part

Do not expose the cables to

sharp edges, excessive pressing

forces, heavy loads or pinching

forces.

Fail re to observe this

instr ction co ld res lt in

electric shocks,

malf nction and/or

damages.

Perform the transportation, wiring

and inspection at least 10

min tes after the power off.

Fail re to observe this in-

str ction co ld res lt in

electric shocks.

Don't s bject the prod ct to wa-

ter splash, corrosive gases, flam-

mable gases and comb stible

things.

Fail re to observe this in-

str ction co ld res lt in

fire.

Before Use

Install an external emergency

stop device so that yo can

sh t off the power in any

emergency cases.

Fail re to observe this

instr ction co ld res lt in

inj ries, electric shocks, fire,

malf nction and/or mechanical

damages.

- 6 -

Ca tion

Safety Preca tions

Use the motor and driver in

the specified combination.

Fail re to observe this in-

str ction co ld res lt in fire.

Exec te the trialoperations with the

motor fixed b t witho t motor load

connected. Connecting a load to the

motor is possible only after

s ccessf l trial operation.

Fail re to observe this in-

str ction co ld res lt in in-

j ries.

Avoid extreme adj stment or

change. Avoid an operation

which ca ses nstable

action.

Fail re to observe this

instr ction co ld res lt in

inj ries.

If an error occ rs, remove the

ca ses for the errora and

sec re the safety before

restarting the operation.

Fail re to observe this

instr ction co ld res lt in

inj ries.

Don't to ch the motor, driver

or its regenerative discharge

resistor, since they become

hot.

Fail re to observe this

instr ction co ld res lt in

b rns.

Don't modify, dismantle or

repair the driver.

Fail re to observe this in-

str ction co ld res lt in

electric shocks and/or inj -

ries.

(Important)

- 7 -

Ca tion

*Provide appropriate settings as a preparedness against

the accidental restart of the machine in order to ens re

the safety of personnel.

After recovery from the power

fail re, the eq ipment may

restart s ddenly. Don't approach

to the eq ipment

d ring power fail re.

Observe the voltage speci-

fied.

Fail re to observe this

instr ction co ld res lt in

electric shocks,

inj ries and/or fire.

This eq ipment sho ld be treated

as an ind strial waste when it is

disposed of.

When discarding batteries,

ins late them with tapes or

other similar means and obey

the local r les.

Don't block the heat

dissipation hole or insert

foreign matters in it.

Fail re to observe this

instr ction co ld res lt

in electric shocks,

inj ries and/or fire.

Make s re that the

wirings are made

correctly.

Fail re to observe this

instr ction co ld res lt in

electric shocks, inj ries.

Don't hold the cables or

motor shaft when transpoting

the motor.

Fail re to observe this

instr ction co ld res lt

in inj ries.

Before Use

- 8 -

MSDA043A1AUU

1~3 5~6 11~12

478910

Introd ction

After Opening the Package

• After Opening the Package

• Make s re that the prod ct is what yo have ordered.

Check the Model of Driver

Name plate

Model Designation

Series symbol

A: A-series

Rated motor o tp t (see

Table 1-a)

Check whether the prod ct has been damaged or not d ring transportation.

If the prod ct is not correct, or it has been damaged, contact dealer or sales agent.

MSDA3A1D1A01

100-115V 32V 17bits

1ø 3ø

1.0A 1.0A

30W

50/60Hz 0~333.3Hz

98120001

Power

F.L .C

Phase

Voltage

INPUT OUTPUT ENCODER

AC SERVO DRIVER

60/75 Wire Only

Use Copper Cond ctors Only

Refer to Man al for Wiring and Wire Size

Refer to Man al for Over Load Protection

SER.NO.

MODEL

Freq.

Model

Rated inp t voltage

Rated motor o tp t

N mber of p lses of the

encoder(resol tion)

Rated o tp t c rrent

Serial N mber

C stom

specification

C stom specification 2

(A, B, C...)

C stom specification 1 (1,

2, 3...)

Rotary encoder

(see Table 1-b)

Power s pply

1: Single-phase, 100V

3: Three-phase, 200V

Applicable motors

Symbol

MSD

MDD

MHD

MFD

MQD

MGD

Applicable motors

MSM Low inertia

MDM Middle inertia

MHM High inertia

MFM Flat

MQM Flat & small

MGM Middle inertia

- 9 -

MSMA042A1A

1~3 5~6 11~12

478910

Check the Model of Motor

Name plate

Type

Serial No

Revol tion rating

Model Designation

Rated o tp t

(see Table 1-a)

Motor str ct re

(see Table 1-c)

AC SERVO MOTOR

RATING S1

MODEL

MSMA022A1A

INS. CLASS B (TÜV) A (UL)

CONT. TORQUE

0.64

A1.6

CONNECTION

RATED OUTPUT

RATED FREQ. kW

0.2

SER No.

T98120001

200

RATED REV.

r/min

3000

INPUT 3ØAC

IP65

Mats shitaElectric Ind strial Co..Ltd.

Made in Japan

Rated o tp t

Series symbol

A: A-series

Voltage

1: 100V

2: 200V

Z: 100/200V

Rotary encoder

(see Table 1-b)

C stom specification

1: Standard

C stom

specification

Symbol

MSM

MDM

MHM

MFM

MQM

MGM

Type

Low inertia

Middle inertia

High inertia

Flat

Flat & small

Middle inertia

Symbol

Type

Incremental

Absol te

Absol te/

incremental

No. of p lses

2500P/r

Lead wire

11-wire

7-wire

Specifications

Resol tion

10000

17bit

Before Use

Symbol

Rated o tp t

30W

50W

100W

200W

300W

400W

500W

600W

750W

900W

Symbol

Rated o tp t

1kW

1.2kW

1.5kW

2kW

2.5kW

3kW

3.5kW

4kW

4.5kW

5kW

Table 1-a

Rated Motor O tp t

Table 1-b

Rotary Encoder

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