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Panasonic PANATERM Ver. 3.7 Instruction Manual

Ac servo amplifier minas series setup support software
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● Thank you very much for buying setup support software
®
PANATERM
for Panasonic Digital AC Servo Amplifier
● Read thoroughly instruction manual to use the software
correctly. After reading, keep the manual where it
is always available.
SETUP SUPPORT SOFTWARE
PANATERM
（For Windows ® 98/Windows ® Me/Windows ® 2000/Windows ® XP）
INSTRUCTION MANUAL
AC SERVO AMPLIFIER MINAS SERIES
®
Ver. 3.7

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Summary of Contents for Panasonic PANATERM Ver. 3.7

  • Page 1 （For Windows ® 98/Windows ® Me/Windows ® 2000/Windows ® XP） ● Thank you very much for buying setup support software ® PANATERM for Panasonic Digital AC Servo Amplifier ● Read thoroughly instruction manual to use the software correctly. After reading, keep the manual where it is always available.

  • Page 2: Table Of Contents

    Failure in axis setting ·············· 74 ■ Contents Supplement ························ 75 ページ Printer setting ·················· 75 Safety Precautions ················ 2 1.INTRODUCTION ···················· 5 Checking the contents of the package ··· 5 ® Outline of PANATERM ············· 6 2.SYSTEM CONFIGURATION ··········· 8 Checking the applicable amplifiers ··...

  • Page 3: Safety Precautions

    Safety Precaution Important Observe the following instructions without fail. Instructions to be observed to avoid personal injury and property damage are given in the following way. ■ The degree of injury and damage caused by failure in observing the instructions or improper usage is indicated in the following format.
  • Page 4 CAUTION Do not connect the communication Do not connect or disconnect the cable when the power is on to the communication cable after the amplifier or the personal software is started. computer. Failure to follow this could result Failure to follow this could result in injuries.
  • Page 5 Safety Precaution Important CAUTION Avoid storing the disk containing Avoid storing the disk containing this software in places like where the this software where the disk is exposed to temperature is too high or too low (the storage direct sunlight. temperature should be between 5 to 60 ℃).

  • Page 6: Introduction

    1.INTRODUCTION Checking the contents of the package ® PANATERM setup CD-ROM : 1pcs. Check the following points. (1) Check that you got the product that you had ordered. Product No.: DV0P4460 (2) Make sure that the product has not been damaged by an accident during transportation.

  • Page 7: Outline Of Panaterm

    1.INTRODUCTION Outline of PANATER As MINAS series amplifier has a function to establish serial communication with a marketed personal computer through RS-232C, you can change parameters and monitor a control status of the amplifier on personal computer with mouse and keyboard.
  • Page 8 When one amplifier is connected: ※The name of the connector is a NINAS-A series. PANATERM DV0P1960 cable Personal computer Amplifier When several amplifiers are connected (MINAS-A4,A3,A series): ※ The name of the connector is a NINAS-A series. DV0P197□　cable PANATERM DV0P1960 Personal computer ID（RSW）...

  • Page 9: System Configuration

    2.SYSTEM CONFIGURATION Checking the applicable amplifiers This software is dedicated to Panasonic Series MINAS AC servo amplifiers. It is inapplicable to other amplifiers. The product numbers of applicable amplifier sevies are shown below. MINAS-A Series :M*DA***#** MINAS-A3 Series :M*DC***** MINAS-A4 Series...

  • Page 10: Hardware Configuration

    Hardware configuration To use this software, the following devices are required. Establish a system, referring to the instruction manuals enclosed with the devices. The software may not operate normally in operating environment not conforming to the recommended specifications. □ Personal computer ・CPU : Pentium 100MHz or more ・Memory : 16MB or more (32MB recommended) ・Hard disk capacity (vacancy of 25MB or more recommended)

  • Page 11: Software Configuration

    2.SYSTEM CONFIGURATION Software configuration To use this software, the following OS is required. To software may not operate on an OS not conforming to the recommended specifications. □Windows ® 98, Windows ® Me, Windows ® 2000 or Windows ® To use this software, use the US version of Windows ®...

  • Page 12: Communication Cable

    Communication cable An optional cable is available to connect the connector (SER) on the amplifier front panel and the connector for RS-232C on the personal computer. ○Between personal computer and amplifier DV0P1960（D-SUB9-pin） （cable length : 2000[mm]） Also an optional cable is available to connect the connector (NET) on the amplifier front panel and the connector (SER) of another amplifier for establishing communication between the amplifiers through RS-485.

  • Page 13: Setup

    3.SETUP ® Install PANATERM on the hard disk of the personal computer ® using setup CD-ROM. PANATERM cannot be installed on the network drive. It cannot be installed or setup by any other means, such as the copy function. It cannot be started from a CD-ROM.
  • Page 14 6 To start the setup procedure, click “OK”. 7 Execute operation according to the guidance given by the setup program. Follow the instructions. ® 8 Click , and installation of PANATERM will be started. Click “Exit Setup”, and PANATERM ® will not be installed.

  • Page 15: Basic Operation

    4.BASIC OPERATION Key notation This document uses general key notation independent of the type of keyboard. The notation in this document may differ from that on your keyboard. Read the key names shown below for those on your keyboard. Details Notation Up, down, left and right cursor keys.

  • Page 16: Procedure For Terminating Menu

    Procedure for terminating menu When a menu contains “End”, click the mouse left button on “End”, and the menu will be terminated. Or click the in the upper right-hand corner of the window to terminate the menu. Inputting value To input a value, use the numeric keys on the keyboard. To redo input, erase the input value using the “BS”...

  • Page 17: Tool Tip Text

    4.BASIC OPERATION ■Notes: ® ・Files to be handled by PANATERM will be given extensions to identify them. Do not change the extensions. Files with changed extensions may not be handled by the program. Parameter file : File name.prm Parameter extraction status file : File name.prs Waveform graphic measurement condition file : File name.wgc Waveform graphic measurement result file : File name.wgd Parameter and waveform graphic measurement result file :...

  • Page 18: Startup And Termination

    5.STARTUP AND TERMINATION Connection Connection of cable (DV0P1960) for RS-232C Make sure that power has been disconnected from the amplifier and personal computer. Surely insert the cable plug on the miniDIN side to the connector (EX. MINAS-A:CN SER) of the amplifier, and insert the plug on the 9- side to the RS-232C connector COM1 port of the personal computer.

  • Page 19: Startup

    5.STARTUP AND TERMINATION Startup ® 1 Turn on the power to the personal computer to start Windows 2 Turn on the power to the amplifier. 3 Click “Start” of Windows ® (For “Start”, see the manual for Windows ® 4 Select “PANATERM” from the “Program” menu, and click it. (Or start Explorer, and double-click the execution file of ®...

  • Page 20: Operation

    6.OPERATION Determining whether to communicate with amplifier ® After PANATERM is started, a dialog will appear to determine whether to communicate with the amplifier. Also when “File”, and “Communication with the amplifier” are selected in the parent window of ® PANATERM , or when “Communication with the...
  • Page 21 6.OPERATION Communication port Select the communication port. ○Auto-set :The port to which the amplifier has been connected is automatically identified. ○COM1 to 16 : The specified port is used. Selecting the axis address (ID) When several amplifiers are connected through RS-485, select ®...
  • Page 22 Selecting the model Select series and model of the amplifier 1 Select series of the amplifier out of the list below. Please reter to p.8 “Checking the applicable amplifiers” for the correspondence of the amplifier product number and the series name. 2 Select model of the amplifier out of the list below.

  • Page 23: Panaterm Screen

    6.OPERATION ® PANATERM screen(Parent window and window menu) ® ® After PANATERM is started, this PANATERM screen (parent window) ® will appear. The functions of PANATERM can be used by opening the function windows in this parent window. Several function windows can be simultaneously opened.
  • Page 24 Display Window menu Parameters Monitor Alarm Waveform graphic Auto tuning Frequency characteristics Positioning parameters Positioning monitor Close all windows Window Display in piles Display horizontally Display vertically Help Version information (2) Window menu ® You can call various function windows of PANATERM from this menu.

  • Page 25: Parameters

    6.OPERATION Parameters The parameter window is designed for operations related to parameters. You can check, rewrite and save the amplifier parameters. It is possible to extract only frequently used parameters, and edit and set them. The parameter setting window shows parameter names and settings.
  • Page 26 “Read from the file” A parameter file (.prm) edited before will be referred to. Even if the parameters loaded from a file are changed, the changed parameters will not be introduced to the connected amplifier unless they are transmitted to the amplifier . “Read the default”...
  • Page 27 6.OPERATION 7 Click “OK” opens the parameter window. Closing the parameter window Click (Exit) on the tool bar. － 26 －...
  • Page 28 Parameter screen configuration (1) Title bar (2) Tool bar (3) Tab (4) Parameter setting field (5) Text display box (1) Title bar: Indicates the source of parameters. The following buttons are used to operate the window. Maximizes the window on the screen. Closes the window.
  • Page 29 6.OPERATION (3) Tab: Switching the parameter setting field. “16bit parameter”: Edits or sets all the 16bit parameters. “Extracted 16bit Edits or sets the extracted parameters among all parameter”: 16bit parameters. “32bit parameter”: Edits or sets all the 32bit parameters. (Available with some amplifiers.) “Extracted 32bit Edits or sets only the extracted parameters among...
  • Page 30 (5) Text display box Explanation of the selected parameter is given. ■Notes: ・For details of the function of each parameter, see the instruction manual for amplifier. ・Even when parameters have been transmitted to the amplifier, if the amplifier is turned off before the parameters are written in EEPROM, the parameters return to the values before change.
  • Page 31 6.OPERATION Setting and editing extracted parameters Frequently used parameters can be specified in advance. The extracted state can be saved in a file. Extraction of parameters 1 Set the display to the “All of parameters” mode. 2 Directly click extraction box of the parameter to be extracted.
  • Page 32 Editing the extracted parameters Click the “Extracted parameter” tab. Edit and set values in the same manner as when setting and editing all of parameters. Saving the extracted state of parameter Click “File” on the menu bar on the PANATERM ®...
  • Page 33 6.OPERATION Comment When the set parameters are saved in a file, comments can be saved together. The comments will not affect the operation of the amplifier. Commas (,) and double-quotation marks (“) cannot be used in comments. The comments are saved together with parameters and waveform graphic data.
  • Page 34 List of parameters A list of parameters can be displayed by selecting “Edit” on the ® menu bar and clicking “List”. PANATERM The list shows the numbers, names and settings of parameters. Changing a parameter value The settings can be changed. Place the cursor on the parameter value to be changed, and input a new value.

  • Page 35: Monitor

    6.OPERATION Monitor ® PANATERM can monitor and display the signal input/output, operating status and velocity of the amplifier. Opening the monitor window ® 1 Start up PANATERM (For details, see Section 5 “Startup”.) ® 2 The window menu will appear on the PANATERM screen.
  • Page 36 (1) Title bar: The window can be operated. (2) Tool bar: (Exit): Closes the parameter window. (3) Tab Switches the item to be monitored. “Input/output The status of input and output signals can be monitored. This mode has two screens, “Input/output status”: 1”...
  • Page 37 6.OPERATION Input/output status Click the “Input/output 1” or “Input/output 2” tab in the monitor display window. <Item to be displayed by selecting input/output 1 or input/output 2> “Input status”: Indicates the details of input and its status. “Output status”: Indicates the details of output and its status. +A : Active - : Inactive －...
  • Page 38 Pulse Click the “Pulse” tab in the monitor window. <Item to be displayed by selecting “Pulse”> “Command pulse check-sum”: Indicates the sum of command pulses generated after the amplifier control power is turned ※The sign and the unit are different according to the amplifier. “Feed-back pulse check-sum”...
  • Page 39 6.OPERATION Load Click the “Load” tab in the monitor window. <Items to be displayed by selecting “Load”> “Load rate” Indicates the load rate. If the load rate exceeds 100%, an alarm may occur. In this case, adjust the operation pattern so that the load rate does not exceed 100%.
  • Page 40 Absolute encoder Click the “Absolute encoder” tab in the monitor window. <Items to be displayed by selecting “Absolute encoder”> “Encoder type”: Indicates the type of encoder. ○17bit: 17bit absolute encoder ○Increment: Incremental encoder “Status”: Indicates the status of the absolute encoder after the power is turned on to the amplifier.
  • Page 41 6.OPERATION Full closed Click the “Full closed” tab in the monitor window. <Items to be displayed by selecting “Full closed”> “Command pulse check-sum”: Indicates the sum of command pulses generated after the amplifier control power is turned ※The sign and the unit are different according to the amplifer. “External scale Feed-back pulse check-sum”: Indicates the sum of external scale feedback pulses.

  • Page 42: Alarm

    Alarm ® On PANATERM , when a LED on the amplifier front panel is flashing, the error condition, such as a motor failure, can be checked. Opening the alarm window ® 1 Start up PANATERM (For details, see Section 5 “Startup”.) ®...
  • Page 43 6.OPERATION Alarm screen configuration (1) Title bar (2) Tool bar (3) Current alarm display area (4) Error history display area (1) Title bar: The window can be operated. (2) Tool bar: (Clear): Clear the current alarm. After removing the cause, click this button, and the current alarm will be cleared, and normal operation will be restarted.

  • Page 44: Waveform Graphic

    Waveform graphic ® PANATERM can measure the motor operation waveform, and graphically display the results. The measurement conditions, measurement results graphic can be saved in files. Opening the waveform graphic window ® 1 Start up PANATERM (For details, see Section 5 “Startup”.) ®...
  • Page 45 6.OPERATION Waveform graphic screen configuration (1) Title bar (2) Tool bar (3) Waveform graphic display area (4) Waveform graphic operation/ Setting area (1) Title bar: The window can be operated. (2) Tool bar: Shows the operation commands, such as the save, load and waveform graphic measurement commands.
  • Page 46 (3) Waveform graphic display area (4)Waveform graphic is displayed according to your setting in Waveform graphic operation and setting area. When “Measuring condition” “trigger condition” “Vertical axis/Horizontal axis” tab is selected, you can zoom in and out a graph with a magnifying glass. Click the Left button of the mouse to zoom in and the right button to zoom out.
  • Page 47 6.OPERATION <Trigger condition tab> Set the trigger condition. “Set the trigger of actual speed”: It is valid with check. “Single trigger”: It is measured only once with check. Without check it continues to be measured until you click “Stop”. “Trigger level”: Set the actual speed to trigger.
  • Page 48 <Cursor tab> Set the cursor. “Display”: Display 2 cursors with check. “Cursor 1”: Set the position of cursor 1. You can set the position with the left button of the mouse, too. Each value of “Time”, “Actual speed”, “Command speed”, “Torque”, “Position error”...
  • Page 49 6.OPERATION <Format tab> Sets a graph display format. “Display”: Check a box to display the target graph. “Ref wave”: Check this box to display the reference waveform graph. Check the boxes to change the color and line thickness of the graph. Measuring waveform graphics 1 Specify the waveform graphic measurement items and conditions.
  • Page 50 ■Notes: ・For waveform graphic measurement, the following data is used. (See the main control unit block diagram in the instruction manual for amplifier.) * Command speed: In the position control mode, a value after command scaling is used, and in the velocity control mode and torque control mode, a value after acceleration or deceleration is used.
  • Page 51 6.OPERATION Saving and reading results of waveform graphic measurement and parameters It is possible to save the specified measuring conditions in a file, and to perform measurement under the same conditions. The waveform graphic measuring condition file name is ***.wgc. Saving the waveform graphic measuring conditions 1 Select “File”...
  • Page 52 Saving and reading results of waveform graphic measurement and parameters It is possible to save the measurement results and the parameter settings used for the measurement in a file, and to refer to them later. The waveform graphic measurement result file name is ***.wgp.

  • Page 53: Auto Tuning

    6.OPERATION Auto tuning The gains can be automatically adjusted. Before using the auto tuning function, fully understand the scope of application and instructions stated in the instruction manual for amplifier. Opening the auto tuning window ® 1 Start up PANATERM (For details, see Section 5 “Startup”.) ®...
  • Page 54 (1) Title bar: The window can be operated. (2) Tool bar: Shows the operation commands, such as the auto tuning execution command. (Execute): Executes auto tuning. (Exit): Closes the auto tuning window. (EEP): Writes the parameters in the amplifier EEPROM. (3) Caution display area Cautions related to auto tuning area displayed.

  • Page 55: Frequency Characteristics

    6.OPERATION Frequency characteristics You can measure the resonance point of a machine, measure the frequency characteristics including a load, and display the bode chart. The results of measurement can be saved in file. Opening the Frequency characteristics window ® 1 Start up PANATERM (For details, see Section 5 “Startup”.) ®...
  • Page 56 Frequency characteristics screen configuration (1) Title bar (2) Tool bar (3) Graph options (4) Slider for horizontal axis (6) Bode chart (7) Scroll bar bode chart (5) Slider for vertical axis display area (1) Title bar: The window can be operated. (2) Tool bar: Shows the operation commands, such as the Frequency characteristic measurement command.
  • Page 57 6.OPERATION (3) Graph options: Setting item related to display and operation of graph. “Smoothing”: Set the degree of smoothing. “Cursor” Switches to the cursor display or non-display mode. The cursor will move to a position on which you click the mouse button. “Cutoff frequency”...
  • Page 58 ■Notes: ・Execute measurement in such a state that the servo can be turned off immediately in case of emergency. ・ When measuring the machine resonance, reduce the gains close to the min.level. (Reduce the values of “Position loop gain” and “Velocity loop gain”, and increase the value of “Velocity loop integration time constant”.) ・...

  • Page 59: Positioning Parameter

    6.OPERATION Positioning Parameter (Available with MINAS-A4P series) MINAS-A4P series allow positioning parameter manipulation (checking, rewriting and saving of amplifier positioning parameters) on the positioning parameter window. The positioning parameter names and settings are displayed on the positioning parameter setup window. Settings can be made freely in the parameters within the ranges.
  • Page 60 5 Select and click the source of parameters. “Read-out from the amplifier” The computer will communicate with the connected amplifier, and read the positioning parameters set on the amplifier. In this mode, if the positioning parameter values are changed, the changed values will be effective on the amplifier immediately.
  • Page 61 6.OPERATION 7 Click “OK” to display the positioning parameter window. Closing the Positioning Parameter Window Click (Exit) on the tool bar. － 60 －...
  • Page 62 Positioning Parameter Screen Configuration (1)Title bar (2)Tool bar (3)Tab (4)Parameter setting field (5)Text display box (1) Title bar Indicates the sources of the positioning parameters. The following buttons are used to operate the window. Maximizes the window on the screen. Closes the window.
  • Page 63 6.OPERATION (3) Tab Switching the positioning parameter setting fields “Step” Edits or sets positioning data. “Positioning parameter” Edits or sets all the 16bit positioning parameters. (16bit) “Positioning parameter Edits or sets all the 32bit positioning parameters. (32bit)” (4) Parameter setting field (16bit/32bit positioning parameter): Edits or sets 16bit or 32bit positioning parameters.
  • Page 64 ■Notes: ・For details of the function of each positioning parameter, see the instruction manual for your amplifier. Even if positioning parameters have been transmitted to the ・ amplifier, they return to the value before change when the amplifier is turned off because they are not written in the EEPROM. When positioning parameters have been written in the EEPROM, a change list of positioning parameters is displayed.

  • Page 65: Positioning Monitor

    6.OPERATION Positioning Monitor (Available with MINAS-A4P series) ® PANATERM can monitor the I/O, operating status and speed of each signal of some amplifiers having a positioning capability. Opening the Positioning Monitor Window ® 1 Start PANATERM (For details, see Section 5 “Startup” in this manual.) ®...
  • Page 66 (1) Title bar Providing for window operation. (2) Tool bar (Exit) Closing the parameter window. (3) Tab Switching the items to be monitored. “Target” Monitors the current positioning status. “Positioning Input/output Monitors the status of input and output signals. This status”...
  • Page 67 6.OPERATION Target Click the Target tab on the positioning monitor window. (1)Title bar (2)Tool bar (3)Tab (4)Monitor data display area (5)Current information <Display Items by Target> Indicates the step number of the current operation (or “Now step” the last operation). Indicates the details of the current operation (or the “Operation mode”...
  • Page 68 Positioning I/O Status Click the tab “Positioning I/O 1” or “Positioning I/O 2” on the positioning monitor window. <Display Items by Positioning I/O 1 and Positioning I/O 2> “Input status” Indicates the details of input and its status. “Output status” Indicates the details of output and its status.
  • Page 69 6.OPERATION Load Click the tab “Load” on the positioning monitor window. <Display Items by “Load”> “Load rate” Indicates a load rate. When this rate exceeds 100%, alarm may occur. In this case, adjust the action pattern so that the rate may not exceed 100%. “Regenerative resistance load rate”...

  • Page 70: Version

    Version ® The version of PANATERM is displayed. ® 1 select “Help” on the PANATERM menu bar, and click “Version information”. 2 The version window will appear. 3 To end the display, click “OK”. － 69 －...

  • Page 71: Communication Setting

    6.OPERATION Communication setting ® You can set the condition for communication between PANATERM and the amplifier. Note that the conditions are effective only on the personal computer and are not introduced to the amplifier. ■Notes: ® ・Usually, use PANATERM with the initial setting. Communication set-up 1 Click “File”...

  • Page 72: Troubleshooting

    7.TROUBLHSOOTING Failure in setup The setup sequence is suspended. ® → After restarting Windows , restart the setup program. → Clean the CD-ROM drive. ® → Ensure that the hard disk in which PANATERM will be installed has enough vacant capacity. (The recommended capacity is 15MB.) ®...

  • Page 73: Failure In Communication

    7.TROUBLHSOOTING Failure in communication When automatic setting or one of COM1 to COM16 is selected on the ® ® model selection screen after PANATERM is started, PANATERM does not give any response. When the model selection screen or one of COM1 to COM16 is selected ®...

  • Page 74: Panaterm ® Can Not Be Uninstalled

    ® PANATERM can not be uninstalled. ® PANATERM cannot be uninstalled. ® ® → When your private files exist in PANATERM directory, PANATERM directory can not be eliminated to protect them. Please ® uninstall PANATERM after you get rid of your private files with “Explorer”.

  • Page 75: Failure In Axis Setting

    7.TROUBLHSOOTING Failure in axis setting The number of connected amplifiers is different from the number of amplifiers found by the search function. → Make sure that the ID (RSW) of the amplifier connected to the personal computer is 0 and the IDs (RSWs) of other amplifiers are 1 to F and there is no duplicated ID.

  • Page 76: Printer Setting

    Supplement ＜Printer setting＞ Please change the printer setting by using the control ® of Windows. Use the printer under the standard setting conditions specified by the printer manufacturer. If the following printer is used, some tables and charts cannot be printed under the standard printer amplifier setting conditions.
  • Page 77 MEMO Motor Company, Matsushita Electric Industrial Co., Ltd. Marketing Group Tokyo： Kyobashi MID Bldg, 2-13-10 Kyobashi, Chuo-ku,Tokyo 104-0031 TEL +81-3-3538-2961 FAX +81-3-3538-2964 Osaka：1-1, Morofuku 7-chome, Daito, Osaka 574-0044 TEL +81-72-870-3065 FAX +81-72-870-3151 － 77 －...
  • Page 78 Technical information Electric data of this product (Instruction Manual, CAD data) can be downloaded from the following web site. http://industrial.panasonic.com/ww/i_e/25000/motor_fa_e/motor_fa_e.html MEMO (Fill in the blanks for reference in case of inquiry or repair.) Data of purchase Model No. DV0P4460...

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