Panasonic PANATERM Manuale utente
Servo Drives
Quick Start Guide
PANATERM
Real-time auto-gain tuning
QS5001_V1.0_EN
2019.07 www.panasonic-electric-works.com
Liability and copyright
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.
2 QS5001_V1.0_EN
Table of contents
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 Connectors of the servo driver.........................................................................................................8
4 Perform real-time auto-gain tuning........................................................................................ 10
5 Help us improve....................................................................................................................... 12
6 Record of changes................................................................................................................... 13
QS5001_V1.0_EN 3
1 Introduction
1 Introduction
1.1 Before you start
Before operating this product, read the safety instructions in the related Operating
Instructions.
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 servo drive system. It is
based on information from the MINAS series manuals and the practical experience of our
engineers.
Step-by-step instructions will guide you through a real-time auto-gain tuning procedure
for a MINAS servo driver. The autotuning is performed with the PANATERM configuration
software.
1.3 Related documents
Please refer to the original servo drive manuals for detailed information. Click on the
following links to download the documents from our Panasonic Download Center.
• Information on wiring, position control, and parameters:
Operating Instructions (Overall) AC Servo Motors & Driver MINAS A5 series
Operating Instructions (Overall) AC Servo Motors & Driver MINAS A6 series
• Information on using the PANATERM configuration software:
Operation Manual: Set up support software PANATERM Ver. 6.0
• Information on how to reduce electromagnetic interference (EMI):
Recommendations for EMC-compliant wiring of servo drivers and motors
• Other Quick Start Guides:
QS2000, Position control by pulse and direction signals (MINAS A5/A5E/A6SG/A6SF)
QS2001, Position control by block operation using input signals (MINAS A6SG/A6SF)
QS2002, Position control by block operation using Modbus commands (MINAS A6)
QS2003, Position control in EtherCAT networks MINAS A5B/A6B
QS2004, Position control using RTEX (MINAS A5N/A6N)
QS3000, Velocity control (MINAS A5/A6F)
4 QS5001_V1.0_EN
1.4 Available software
QS4000, Torque control (MINAS A5/A6)
QS5000, PANATERM - Trial run
QS5002, PANATERM - Fit gain tuning
1.4 Available software
The following software is available free of charge in our Panasonic Download Center. Click
on the link to start the download.
•PC configuration software PANATERM
QS5001_V1.0_EN 5
2 Functional overview
2 Functional overview
Auto-tuning is required for all applications to adjust the servo motor to the specific
mechanical conditions. You can choose one of the following auto-tuning functions:
• Fit-gain tuning
• Real-time auto-gain tuning
This Quick Start Guide explains how to perform real-time auto-gain tuning.
While the fit-gain tuning function guides you through an automatic fine-tuning process, real-
time auto-gain tuning mainly adjusts the rigidity of the machine. If you are using a MINAS
A6 servo driver, first try fit-gain tuning. If fit-gain tuning was not successful, perform real-time
auto-gain tuning. Both methods can be executed using PANATERM.
If possible, you should perform real-time auto gain-tuning on the machine with the servo
motor and the mechanical loads connected and with the actual movements.
Usually, auto-tuning has the following goals:
1. Reduce the settling time to reduce cycle times.
2. Reduce mechanical vibration to increase the life time of the machine.
3. Reduce overshoot and undershoot to reach the target position within the allowed
hysteresis.
4. Decrease the response time to reach the target position faster.
t2t3
t1
Settling time
Hysteresis
Overshoot
Undershoot
Target
value
Overshoot, undershoot, and settling time of the position value
Example
A MINAS A6SF servo driver is connected to a servo motor, which is coupled to a belt. The
control mode is position control. A continuous movement within the mechanical limits, no
mechanical vibration, no overshoot or undershoot, and a reduced settling time are required.
6 QS5001_V1.0_EN
1.4 Available software
Continuous movement between two mechanical limits
QS5001_V1.0_EN 7
3 Wiring
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 Connectors of the servo driver
XA connector (main power connector)
Connect the power supply cable to the XA connector. For a 1-phase power supply of 230V,
connect a 2-wire cable to the servo driver as illustrated. The L2 pin is not used in 1-phase
mode.
L
N
Wiring of the XA connector for a power supply of 230V
XB connector (motor connector)
Connect the motor cable to the XB connector. The wires are labeled with the letters U, V, and
W. Do not change the sequence of the motor phases, e.g. by connecting V to W.
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3.2 Connectors of the servo driver
U, V, W
U
V
WMFMCA0xxxWJD ACS **/YY
Wiring of the XB connector for the motor power supply
X6 connector (encoder connector)
Connect the encoder cable to the X6 connector.
MFECA0xxxWJD ACS **/YY
Wiring of the X6 connector for the encoder connection
X1 connector (USB connector for PC connection)
The servo driver is configured using the PC configuration software PANATERM. Use a
commercially available USB A to mini-B cable to connect the PC to the servo driver.
Connector X1 for PC connection
QS5001_V1.0_EN 9
4 Perform real-time auto-gain tuning
4 Perform real-time auto-gain tuning
Use the PC configuration software PANATERM to perform auto-tuning.
1. Connect your PC to the X1 connector and turn on the servo driver.
2. Start the PANATERM configuration software.
The software automatically detects the type of servo driver connected.
3. Select “OK” and confirm the connected series by selecting your type of servo driver.
4. Start a trial run, following the instructions in Quick Start Guide QS5000, PANATERM -
Trial run.
5. While the motor is performing a repetitive, constant movement, select the “Tuning”
tab.
(1)
(1) “Tuning” tab
6. Select the “Damping control” tab.
(1)
(1) “Damping control” tab
7. Select “2:2 filters are valid” in the “Filter Mode” list box.
Any resonance frequencies that may occur will now be detected and suppressed.
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