Panasonic MINAS S-series Manuale utente

AC Servo Motor Driver

MINAS S-series

Operating Manual

•Thank you very much for your buying Panasonic AC Servo Motor Driver,A-series.

Be sure give this instruction manual to the user.

•Before use, read through this manual to ensure proper use. Keep this manual at an

easilyaccessible place so as to be referred anytime as necessary.

Safety Precautions •••••4

Introduction •••••••••••••8

After Opening the Package•••••••••••••••• 8

Check the Model Number of Amplifier

•••••••••••••••••• 8

Check the Model Number of

Motor••••••••••••••••••• 9

Check the Combination of Amplifier and

Motor ••••••••••••••••••••• 10

Preparations

and

Adjustments

System Configuration and

Wiring•••••1 8

General Wiring Diagram •••••••••••••••••••••••

18 List of Available Components

•••••••••••••••••• 20 Main Circuits

••••••••••••••••••••••••••••••• 22 CN SIG

Connector

For Encoder ••••••••••••••••••••••••••••• 23

CN SER Connector ••••••••••••••••••••••• 24

CN I/F Connector

For Controller•••••••••••••••••••••••••••• 25

CN MON Connector ••••••••••••••••••• 35

Parameter

Setting•••••••••••36

Overview •••••••••••••••••••••••••••••••••••• 36

Parameter Groups and Listing •••••••••••••••

36 Setting the Parameters•••••••••••••••••••

41 Overview of PANATERM“•••••••••••••••

41 How to Connect••••••••••••••••••••••••••••

Parts

Description•••••••••••12

Amplifier ••••••••••••••••••••••••••••••••••••• 12

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

Installation•••••••••••••••••14

Amplifier ••••••••••••••••••••••••••••••••••••• 14

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

Trial Run

•••••••••••••••••••44

Inspections before Trial Run

••••••••••••••••••• 44 Operation with

CN I/F Connected •••••••••••••••••• 45

Table of Contents

Before Use

Adjustments•••••••••••••••50

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

Types of Gain Adjustments •••••••••••••• 50

How to Adjust Gain•••••••••••••••••••••••• 52

How to Use

"Normal Auto-Gain" Tuning••••••••••

53 How to Use "Real Time

Auto-Gain" Tuning •••••••••••••••• 54

How to Adjust Gain Manually •••••••••••••••

55 Gain Tuning Using

Gain Adjustment Rotary Switch ••••••••• 58

To reduce the mechanincal resonance

••••••••••••••••••••••••••• 59

Protective Functions

••••••••••• 60

Maintenance and

Inspections ••••••••••• 6 6

Troubleshooting

••••••••••••••••••••••••••••••68

After-Sale Service

Conformance to EC Directives and UL

Standards ••••••••••• App. 2

Holding Brake ••••••••••••••••••••••••• App. 6

Dynamic Brake•••••••••••••••••••••••• App. 8

Timing Chart ••••••••••••••••••••••••• App. 10

Acceptable Loads on Output Shaft

••••••••••••••• App. 14

Homing Operation (Precautions)

•••••••••••••• App. 15

Details of Parameters ••••••••••••• App. 16

Optional Parts ••••••••••••••••••••••• App. 38

Recommended Parts •••••••••••••• App. 47

Dimensions •••••••••••••••••••••••••• App. 48

Characteristics •••••••••••••••••••••• App. 53

Specifications ••••••••••••••••••••••• App. 54

- 2 -

Important

Information

••••••••••••••••••••••

Back cover

Appendixes

- 3 -

-5-

Safety Precautions (Important)

Observe the following precautions in order to avoid injuries of operators and

other persons, and mechanical damages.

The following DANGER and CAUTION symbols are used according to the

level of dangers possibly occurring if you fail to observe the instructions or

precautions indicated.

DANGER

Indicates a potentially hazardous situation which, if

not avoided, will result in death or serious injury.

CAUTION

Indicates a potentially hazardous situation which, if not

avoided, will result in minor or moderate injury and

physical damage.

The following symbols indicate what you are not allowed to do, or what you

must observe.

This symbol indicates that the operation is prohibited.

This symbol indicates that the operation must be performed

without fail.

DANGER

An over-current protection, earth leakage Don't insert your hands

in breaker, over-temperature protection and the amplifier.

emergency stop should be installed.

Failure to observe this

Failure to observe this instruction could result in instruction could

result in electric burns and/or electric shocks. shocks, injuries

and/or fire.

-6-

Install the amplifier securely to pre- Be sure to check safety vent

fire hazard and personal injury after occurrence of earthresulting

from earthquake. quake.

Failure to observe this Failure to observe this

instruction could result in electric instruction could result in electric

shocks, injuries and/or fire. shocks, injuries and/or fire.

-7-

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 forces.

Failure to observe this

instruction could result in

electric shocks,

malfunction and/or

damages.

Perform the transportation,

wiring and inspection at

least 10 minutes after the

power off.

Failure to observe this in-

struction could result in

electric shocks.

Don't subject the product to

water splash, corrosive

gases, flammable gases and

combustible things.

Failure to observe this in-

struction could result in

fire.

Install an external

emergency stop device so

that you can shut off the

power in any emergency

cases.

Failure to observe this

instruction could result in

injuries, electric shocks, fire,

malfunction and/or mechanical

damages.

Always ask to an electrical engi-

neer for wiring.

-8-

Safety Precautions (Important)

Caution

Use the motor and amplifier

in the specified

combination.

Failure to observe this

instruction could result

in fire.

If an error occurs, remove

the causes for the error and

secure the safety before

restarting the operation.

Failure to observe this

instruction could result

in injuries.

Avoid extreme adjustment

or change. Avoid an

operation which causes

unstable action.

Failure to observe this

instruction could result

in injuries.

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

instruction could result

in injuries.

Don't touch the motor,

amplifier or its

regenerative discharge

resistor, since they

become hot.

Failure to observe this

instruction could result

in burns.

-9-

Don't modify, dismantle or

repair the amplifier.

Failure to observe this

instruction could result

in fire, electric shocks

and/or injuries.

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