Panasonic MINAS A6 Series Manuale utente

Servo Drives

Quick Start Guide

MINAS A6 Multi

Position control with TRIO

host controller over EtherCAT

QS10006_V1.0_EN

2020.11 https://industry.panasonic.eu

Liability and copyright

This manual and everything described in it are copyrighted. You may not copy this manual, in

whole or part, without written consent of Panasonic Electric Works Europe AG (PEWEU).

PEWEU pursues a policy of continuous improvement of the design and performance of its

products. Therefore we reserve the right to change the manual/product without notice. In no

event will PEWEU be liable for direct, special, incidental, or consequential damage resulting

from any defect in the product or its documentation, even if advised of the possibility of such

damages.

Please direct support matters and technical questions to your local Panasonic

representative.

Panasonic Electric Works Europe AG (PEWEU)

Caroline-Herschel-Strasse 100

85521 Ottobrunn, Germany

Tel: +49 89 45 354-1000

2 QS10006_V1.0_EN

Table of contents

1 Introduction................................................................................................................................. 4

1.1 Before you start................................................................................................................................ 4

1.2 About this document.........................................................................................................................4

1.3 Related documents........................................................................................................................... 4

1.4 Available software............................................................................................................................. 5

2 Functional overview................................................................................................................... 6

3 Wiring...........................................................................................................................................8

3.1 Recommendations for wiring............................................................................................................ 8

3.2 Bottom side connectors of the servo drive system.......................................................................... 8

3.3 Top side connectors of the servo drive system................................................................................9

3.4 Front side connectors of the servo drive system........................................................................... 10

3.5 Connectors of the TRIO MC6N-ECAT host controller.................................................................... 11

4 Create a Motion Perfect project..............................................................................................13

4.1 Install Motion Perfect on your PC.................................................................................................. 13

4.2 Create a new project in Motion Perfect..........................................................................................13

4.3 Program a simple positioning task................................................................................................. 15

4.4 Demo program code....................................................................................................................... 17

5 Update the firmware.................................................................................................................21

6 Help us improve....................................................................................................................... 22

7 Record of changes................................................................................................................... 23

8 Panasonic hotline.....................................................................................................................24

QS10006_V1.0_EN 3

1 Introduction

1.1 Before you start

Before operating this product, read the safety instructions in the following manuals:

•“SX-DSV03514, MINAS A6 Multi, Technical Reference – Integrated Safety Part”

•“SX-DSV03508, MINAS A6 Multi, Programming Manual – PANATERM for Safety”

This product is for industrial use only.

Electrical connections must be made by qualified electrical personnel.

1.2 About this document

This “Quick Start Guide” is intended to help you set up a MINAS A6 Multi servo drive

system. It is based on information from the MINAS A6 Multi series manuals and the practical

experience of our engineers.

Step-by-step instructions will guide you through connecting a TRIO MC6N-ECAT host

controller to a MINAS A6 Multi servo drive system. You will also learn how to program a

simple positioning task in TRIO's Motion Perfect software. Communication is achieved using

EtherCAT.

In these instructions we assume that you are using a Windows 10 operating system.

Please refer to the original documentation of our servo drive systems for detailed

information. It is available free of charge in our Panasonic Download Center.

1.3 Related documents

Select the following links to download the documents from our Panasonic Download Center.

• Safety specifications:

“SX-DSV03514, MINAS A6 Multi, Technical Reference – Integrated Safety Part”

• Information on wiring the MINAS A6 Multi servo drive system:

“SX-DSV03454, MINAS A6 Multi, Reference Specifications – Driver Module”

• Information on wiring the MINAS A6 Multi power supply module:

“SX-DSV03452, MINAS A6 Multi, Reference Specifications – Power Supply Module”

• Information on EtherCAT communication:

“SX-DSV03456, MINAS A6 Multi, Technical Reference – EtherCAT Communication

Specification”

4 QS10006_V1.0_EN

1 Introduction

• Description of the servo driver functions:

“SX-DSV03455, MINAS A6 Multi, Technical Reference – Functional Specification”

• Information on safety programming:

“SX-DSV03508, MINAS A6 Multi, Programming Manual – PANATERM for Safety”

• Information on how to reduce electromagnetic interference (EMI):

“Recommendations for EMC-compliant wiring of servo drivers and motors”

• Related Quick Start Guides:

“QS10000, MINAS A6 Multi, Position control with Beckhoff host controller over EtherCAT”

“QS10001, MINAS A6 Multi, Ethernet over EtherCAT with PANATERM”

“QS10002, MINAS A6 Multi, Safe Torque Off (STO)”

“QS10003, MINAS A6 Multi, Safe Stop 1 (SS1)”

“QS10004, MINAS A6 Multi, Safe Speed Monitoring (SSM)”

“QS10005, MINAS A6 Multi, Position control with Omron host controller over EtherCAT”

1.4 Available software

The following software is available free of charge in our Panasonic Download Center:

• PC configuration software PANATERM for MINAS A6 Multi, 32 bit, or PC configuration

software PANATERM for MINAS A6 Multi, 64 bit

• Panasonic ESI file

The following software can be downloaded from TRIO’s Web site (https://

www.triomotion.com):

• Motion Perfect software

QS10006_V1.0_EN 5

2 Functional overview

A Panasonic MINAS A6 Multi servo drive system includes a power supply module, one

or more 400V driver modules, and one or two motors connected to each driver module.

Communication can be achieved through EtherCAT with any host controller that supports the

CAN application protocol over EtherCAT (CoE).

Example

A servo drive system, consisting of a 15kW power supply module, an A-size 1.5kW two-axis

driver module, and two servo motors with a rated power of 1.0kW and 1.5kW, is connected

to a TRIO MC6N-ECAT host controller by an Ethernet cable to communicate via EtherCAT.

Use the following accessories:

• 1 x 400V AC power supply cable

Connects the MINAS A6 Multi power supply module to the main power supply (400V AC).

• 1 x 24V DC power supply cable

Connects the power supply unit (24V DC) and the host controller.

• 1 x grounding wire (M4 round terminal)

Connects the PE terminals of the power supply module and the driver module.

• 2 x Panasonic motor cable

Connects the motor and the driver module.

• 2 x Panasonic encoder cable

Connects the encoder and the driver module.

• 1 x Ethernet cable

Connects the PC and the host controller.

• 1 x Ethernet cable (used for EtherCAT communication)

Connects the host controller and the driver module.

• 1 x RJ11 communication cable (2 x RJ11 plug)

Connects the power supply module and the driver module.

• 1 x feed bus bar (50mm) with end cap for the DC link bus (535V DC to 675V DC)

Connects the power supply module and the driver module.

• 1 x feed bus bar (50mm) with end cap for the control bus (24V DC)

Connects the power supply module and the driver module.

6 QS10006_V1.0_EN

2 Functional overview

(1) (3) (4) (6)

(5)

(2)

(8)

(7)

(1) Power supply unit (24V DC)

(2) TRIO MC6N-ECAT host controller

(3) MINAS A6 Multi power supply module (400V AC, 15kW)

(4) Two-axis MINAS A6 Multi driver module (1.5kW)

(5) MINAS A6 servo motor B (1.5kW)

(6) MINAS A6 servo motor A (1kW)

(7) PC with Motion Perfect

Set-up of a MINAS A6 Multi servo drive system - Position control with TRIO MC6N-ECAT host

controller and EtherCAT

QS10006_V1.0_EN 7

3 Wiring

3.1 Recommendations for wiring

It is the customer's responsibility to apply the countermeasures that they consider necessary

to comply with current regulations on wiring, safety and reducing EMI.

Do not forget to meet the specifications indicated in the hardware manual for each of the

devices being wired. If any specifications in the manual conflict with the information in this

document, the manufacturer's manual takes preference.

For detailed information on reducing EMI, please refer to “Recommendations for EMC-

compliant wiring of servo drivers and motors”.

3.2 Bottom side connectors of the servo drive system

The image shows the most important connectors of a power supply module (left) and a

driver module (right). Please refer to the technical documentation for details about other

connectors.

(3)

(1) (4)

(5)

(6)

(2)

(1) X102: Main power supply (400V AC)

(2) X11: Control power supply (24V DC)

(3) X105A: Motor A

(4) X105B: Motor B

(5) X9A: Encoder A

(6) X9B: Encoder B

Bottom view of power supply module (left) and driver module (right)

X11 connector (control power supply)

Connect the 24V DC control power supply to X11.

8 QS10006_V1.0_EN

3 Wiring

Wiring of the X11 connector

X102 connector (main power supply)

Connect the 400V AC main power supply cable to X102.

Wiring of the X102 connector

X105A and X105B connectors (motor connectors)

Connect the motor cable for servo motor A to X105A and the motor cable for servo motor B

to X105B.

Wiring of the X105A and X105B connectors

X9A and X9B connectors (encoder connectors)

Connect the cable of encoder A to X9A and the cable of encoder B to X9B.

Wiring of the X9A and X9B connectors

3.3 Top side connectors of the servo drive system

The image shows the most important connectors of a power supply module (left) and a

driver module (right). Please refer to the technical documentation for details about other

connectors.

QS10006_V1.0_EN 9

3 Wiring

(2)

(1)

(3)

(1) X1: Internal communication connector on power supply module

(2) X1A: Internal communication connector on driver module

(3) X6A: EtherCAT communication connector on driver module

Top view of power supply module (left) and driver module (right)

X1, X1A connectors (internal communication connectors)

Connect X1 and X1A with the RJ11 communication cable.

X6A connector (EtherCAT connector)

Connect an Ethernet cable between the EtherCAT connector of the host controller and X6A

of the driver module.

3.4 Front side connectors of the servo drive system

The image shows the most important connectors of a power supply module (left) and a

driver module (right). Please refer to the technical documentation for details about other

connectors.

(1)

(3)

(2)

(1) X7: USB connector (for driver configuration) on driver module

(2) X104: DC link bus connectors on power supply module and driver module (535V DC to 675V DC)

(3) X12: Control bus (24V DC) connectors on power supply module and driver module

Front view of power supply module (left) and driver module (right) with bus bars

X104 and X12 connectors (DC bus)

Attach the bus bars to X104 and X12 to connect the DC circuits of the power supply module

and the driver module.

10 QS10006_V1.0_EN

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