Panasonic MINAS-A5B Series Technical Reference
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Panasonic MINAS-A5B Series Technical Reference

Ac servo driver, ethercat communication/rotation type
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Motor Business Division, Appliances Company
R1.05
TECHNICAL REFERENCE
– Functional Specification –
MODEL
Product Name: AC Servo Driver
Product No.: MINAS-A5B series (EtherCAT communication/rotation type)
Panasonic Corporation
7-1-1 Morofuku, Daito-City, Osaka 574-0044, Japan
Phone : +81-72-871-1212
Fax
No. SX-DSV02472
Issued on
May.08, 2013
Revised on
Sep.17,2014
: +81-72-870-3151
Motor Business Division, Appliances Company, Panasonic Corporation

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Summary of Contents for Panasonic MINAS-A5B Series

  • Page 1 No. SX-DSV02472 TECHNICAL REFERENCE – Functional Specification – MODEL Product Name: AC Servo Driver Product No.: MINAS-A5B series (EtherCAT communication/rotation type) Issued on May.08, 2013 Revised on Sep.17,2014 Motor Business Division, Appliances Company Panasonic Corporation 7-1-1 Morofuku, Daito-City, Osaka 574-0044, Japan...
  • Page 2 Japanese specification as a measure of reference. It is not officially reviewed. Motor Business Division Appliances Company of Panasonic Corporation is not liable for any disadvantages caused by utilizing only English specification. Only the Japanese specification is effective.
  • Page 3 Clerical errors are corrected and Supplementary explanations are added. Feb. 10, 2014 1.05 1.05 P.27 Clerical errors are corrected Sep. 17, 2014 Note: The page number (Page) is the current page number at the time of revision. R1.05 Motor Business Division, Appliances Company, Panasonic Corporation...
  • Page 4 4-4-1 Speed limit function ............................42 4-5 Full-closed control (Not supported) ....................... 43 4-6 Setting regenerative resistor ..........................44 4-7 Absolute setup ..............................45 4-7-1 Absolute encoder ............................45 4-7-2 External scale (Not supported) ........................47 R1.05 Motor Business Division, Appliances Company, Panasonic Corporation...
  • Page 5 8-4-2 Example of connection to safety sensor ....................... 127 8-4-3 Example of connection to safety controller ....................128 8-4-4 Example of connection when using multiple axes ..................129 8-5 Safety precautions ............................. 130 R1.05 Motor Business Division, Appliances Company, Panasonic Corporation...
  • Page 6 9-2-3 Servo-ON/OFF action while the motor is in motion ..................147 9-2-4 When an error (alarm) has occurred (at Servo-ON command) ..............148 9-2-5 When an alarm has been cleared (at Servo-ON command) ................. 149 R1.05 Motor Business Division, Appliances Company, Panasonic Corporation...

  • Page 7: Introduction

    No. SX-DSV02472 - １ 1．Introduction 1-1 Basic Specification ..............................3 1-2 Function ................................. 4 R1.05 Motor Business Division, Appliances Company, Panasonic Corporation...
  • Page 8 • All rights reserved. No part of this publication may be reproduced or transmitted in any form without prior permission. • Motor Business Division, Appliances Company, Panasonic Corp. reserves the right to make modifications and improvements to its products and/or documentation, including specifications and software, without prior notice.

  • Page 9: Basic Specification

    Size A,B,G, and H: Without built-in regenerative resistor (use external resistor) Regeneration Size C to F: Built-in regenerative resistor (External regenerative resistor is also available) Dynamic brake For information on the built-in type, refer to the Reference specifications SX-DSV02471. R1.05 Motor Business Division, Appliances Company, Panasonic Corporation...

  • Page 10: Function

    Overvoltage, undervoltage, overspeed, overload, overheat, overcurrent, encoder failure, Protective function positional overdeviaition, EEPROM failure, etc. Alarm data trace back Tracing back of alarm data is available R1.05 Motor Business Division, Appliances Company, Panasonic Corporation...

  • Page 11: Table Of Contents

    2-2 I/O connector output signal ........................... 7 2-3 I/O connector other signal ........................... 10 2-3-1 Others ................................10 2-4 I/O signal allocation function ..........................11 2-4-1 Input signal allocation ............................ 11 2-4-2 Assignment of output signal........................... 15 R1.05 Motor Business Division, Appliances Company, Panasonic Corporation...

  • Page 12: I/O Connector Input Signal

    “2-4-1 Input signal allocation”. *3) It is possible to monitor the condition of the signals where “○” is attached to the EtherCAT communication monitor on the table with 60FDh (Digital inputs). R1.05 Motor Business Division, Appliances Company, Panasonic Corporation...

  • Page 13: I/O Connector Output Signal

    • Outputs the warning output signal set to Pr 4.40 Warning “Warning output select 1”  WARN1 — — output 1 • Turns on the output transistor when a selected alarm occurs. R1.05 Motor Business Division, Appliances Company, Panasonic Corporation...
  • Page 14 • Output signal set by Bit16 of 60FEh(Digital outputs). (S02+) General purpose (ON at 1, OFF at 0)   — output 1 • For the state of the output transistor, refer to Note EX-OUT1− (S02−) R1.05 Motor Business Division, Appliances Company, Panasonic Corporation...
  • Page 15 When executing set brake signal control using 60FEh (Digital outputs), be sure to use it in PDO and enable the PDO watch dog. In SDO, the communication shutoff cannot be judged, the brake may be kept to be released and it is unsafe. R1.05 Motor Business Division, Appliances Company, Panasonic Corporation...

  • Page 16: I/O Connector Other Signal

    • Or, directly connect the encode connection BTN-I cable to the battery or connect the battery directly. 17, 18 To be used by the — 19, 20 • Keep these pins unconnected. manufacturer. 21, 22 23, 24 R1.05 Motor Business Division, Appliances Company, Panasonic Corporation...

  • Page 17: I/O Signal Allocation Function

    For the purpose of this specification, the status of the input signal is defined as ON when the signal activates the specified function and OFF when the signal deactivates the specified function. R1.05 Motor Business Division, Appliances Company, Panasonic Corporation...
  • Page 18 * This pin has a latch correction function. Assign functions to SI8 inputs. SI8 input – — — Setup procedure is the same as described for Pr 4.00. selection 00FFFFFFh *1) For parameter attribute. refer to Section 9-1. R1.05 Motor Business Division, Appliances Company, Panasonic Corporation...
  • Page 19 Near home input HOME General purpose monitor input 1 SI-MON1 General purpose monitor input 2 SI-MON2 General purpose monitor input 3 SI-MON3 General purpose monitor input 4 SI-MON4 General purpose monitor input 5 SI-MON5 R1.05 Motor Business Division, Appliances Company, Panasonic Corporation...
  • Page 20 The over-travel inhibit input (POT, NOT) and forced alarm input (E-STOP) should normally be set to b-contact, which stops when wire is broken. If a-contact is specified, be sure that there is no safety hazard. R1.05 Motor Business Division, Appliances Company, Panasonic Corporation...

  • Page 21: Assignment Of Output Signal

    Default setting Position/ name parameter ): decimal notation Velocity control Torque control Full-closed control 00030303h Pr 4.10 BRK-OFF BRK-OFF BRK-OFF (197379) 00101010h Pr 4.11 EX-OUT1 EX-OUT1 EX-OUT1 (1052688) 00010101h Pr 4.12 (65793) R1.05 Motor Business Division, Appliances Company, Panasonic Corporation...
  • Page 22 General purpose output 1 EX-OUT1 set brake output *1) set brake *1) “set brake output“ is reversal from logic of 60FEh(digital output). When 60FEh is “1”, the output signal is “OFF” (brake is activate). R1.05 Motor Business Division, Appliances Company, Panasonic Corporation...
  • Page 23 And while control power is turned off, during a reset, and while the display on the front face indicates as follows: Design of system needs to consider the above fact so that any problem does not occur. R1.05 Motor Business Division, Appliances Company, Panasonic Corporation...

  • Page 24: Front Panel Display Specification

    3．Front panel display specification ３ 3-1 Appearance of front panel ........................... 19 3-2 7-segment LED ..............................20 3-3 Network status LED ............................22 3-4 Monitor signal output function ..........................24 3-5 Station alias ................................. 27 R1.05 Motor Business Division, Appliances Company, Panasonic Corporation...

  • Page 25: Appearance Of Front Panel

    Analog monitor pins (X7) Pin No. Symbol Description Analog monitor 1 Analog monitor 2 Signal ground Reserved 4, 5, 6 (Do not use) NOTE: Pin No.1 from the right, 2, 3 ... Order R1.05 Motor Business Division, Appliances Company, Panasonic Corporation...

  • Page 26: 7-Segment Led

    This function is effective only in the case of the serial incremental external scale and in the external scale of the A/B/Z phase, “nA” (not Available) is indicated. To be used by the Other manufacturer but — not by the user. R1.05 Motor Business Division, Appliances Company, Panasonic Corporation...
  • Page 27 (Example of overload in servo-ON state) is (e.g. overload) displayed. Warning code (approx. 2 s) Normal display Main code Sub code Right dot blinks. (approx. 4 s) (with left dot) R1.05 Motor Business Division, Appliances Company, Panasonic Corporation...

  • Page 28: Network Status Led

    No. SX-DSV02472 - 3-3 Network status LED MINAS-A5B series has 4 types of EtherCAT indicators(LED). There are 4 patterns of LED indication in addition to “ON” and “OFF” 50ms Flickering 50ms 200ms Blinking 200ms 1000ms Single flash 200ms 200ms 1000ms...
  • Page 29 L/A IN, L/A OUT indicator will show the LINK status and operation status of Each port’s physical layer. Indication is lighted in green. Content LINK not established Flickering LINK established. There are data transmission and reception. LINK established. There are no data transmission and reception. R1.05 Motor Business Division, Appliances Company, Panasonic Corporation...

  • Page 30: Monitor Signal Output Function

    [r/min] [r/min] -5000 -5000 [r/min] 5000 5000 -2500 2500 -10 V -10 V -10 V • When monitor type is motor speed, and conversion gain is 500 (1 V = 500 r/min). R1.05 Motor Business Division, Appliances Company, Panasonic Corporation...
  • Page 31 Positional command Internal position command speed speed [r/min] [r/min] Positional Position Command command control input filter – Encoder feedback/external scale feedback R1.05 Motor Business Division, Appliances Company, Panasonic Corporation...
  • Page 32 Torque control Torque command = 0 2nd gain Gain selection status 1st gain (Including 3rd gain) *6 When the incremental encoder is used, normal value will be output after passing 1st Z phase. R1.05 Motor Business Division, Appliances Company, Panasonic Corporation...

  • Page 33: Station Alias

    Setting by rotary switch on front panel, and Station alias － 0 - 2 by Pr7.40 will be station alias. selection Value of SII area (0004h) will be station alias. For manufacturer’s use R1.05 Motor Business Division, Appliances Company, Panasonic Corporation...

  • Page 34: Basic Function

    4-4-1 Speed limit function ............................42 4-5 Full-closed control (Not supported) ....................... 43 4-6 Setting regenerative resistor ..........................44 4-7 Absolute setup ..............................45 4-7-1 Absolute encoder............................45 4-7-2 External scale (Not supported) ........................47 R1.05 Motor Business Division, Appliances Company, Panasonic Corporation...

  • Page 35: Rotational Direction Setup

    As opposed to position instructions / speed instructions / torque instructions, and each offset, Polarity (Rotational direction) can be set up. In MINAS-A5B series, a setup of the hand of cut by parameter Pr0.00 (Rotational direction) has not corresponded, the hand of cut is set up by object 607Eh (Polarity) specified to CoE (CiA402).

  • Page 36: Position Control

    Positional command is input based on the EtherCAT communication object. As position control modes, Profile position control (PP), Cyclic position control (csp), Interpolated position(ip), and Homing(hm) are available. For details, refer to Technical Reference, SX-DSV02473”Section 6-6”, EtherCAT communication specification. R1.05 Motor Business Division, Appliances Company, Panasonic Corporation...

  • Page 37: Electronic Gear Function

    By using this function, the number of revolutions and travel of the motor per command can be set to the desired value. In MINAS-A5B series, a setup of an electronic gear ratio with a parameter Pr0.08(Number of command pulses per motor revolution), Pr0.09(Numerator of electronic gear) and Pr0.10(Denominator of electronic gear) has not...
  • Page 38 No. SX-DSV02472 - <Electronic gear setting example> In the MINAS-A5B series, it is impossible to set the electronic gear using the “number of command pulses per motor revolution (Pr0.10)” and “electronic gear numerator (Pr0.08)/denominator (Pr0.09)” in contrast to the MINAS-A5N series.
  • Page 39 <Electronic gear setting and backup by object editor> It is possible to set and back up objects using the object editor of PANATERM. (2) After the setting, write it into EEPROM. (1) Set a value. ①値を設定 R1.05 Motor Business Division, Appliances Company, Panasonic Corporation...

  • Page 40: Positional Command Filtering Function

    Even if setting of Pr2.22 (Positional command smoothing filter) is changed, it is not immediately applied to the internal calculation. If the switching as described in *2 occurs during this delay time, the change of Pr2.22 will be suspended. R1.05 Motor Business Division, Appliances Company, Panasonic Corporation...
  • Page 41 When the positional command is trapezoidal wave, its waveform will be shaped to S at the output of the filter. Speed [r/min] Positional command before filter Positional command before filter Positional command smoothing filter setup time [ms] (Pr 2.23 × 0.1 ms)*1 Time R1.05 Motor Business Division, Appliances Company, Panasonic Corporation...

  • Page 42: Positioning Complete Output (Inp/Inp2) Function

    *1) For parameter attribute, refer to Section 9-1. • The positional command is detected based on the command after the positional command filter. For positional command filter, refer to 4-2-3 Positional command filtering function. R1.05 Motor Business Division, Appliances Company, Panasonic Corporation...

  • Page 43: Pulse Regeneration Function (Not Supported)

    Standard product is not a built-in playback function pulse,can not use. The information on the amount of movement can be sent to the host controller in the form of A- and B-phase pulses from the servo driver. R1.05 Motor Business Division, Appliances Company, Panasonic Corporation...

  • Page 44: Velocity Control

    *1) For parameter attribute, refer to Section 9-1. Speed [r/min] Motor velocity Pr 4.36 + 10 Pr 4.36 - 10 Time -(Pr 4.36 - 10) -(Pr 4.36 + 10) The speed arrival output AT-SPEED R1.05 Motor Business Division, Appliances Company, Panasonic Corporation...

  • Page 45: Speed Coincidence Output (V-Coin)

    Because the speed coincidence detection is associated with 10 r/min hysteresis, actual detection range is as shown below. Speed coincidence output OFF ON timing (Pr 4.35 – 10) r/min Speed coincidence output ON OFF timing (Pr 4.35 + 10) r/min R1.05 Motor Business Division, Appliances Company, Panasonic Corporation...

  • Page 46: Velocity Command Acceleration/Deceleration Setting Function

    Deceleration time (ms) = Vc/1000 × Pr 3.13 × 1 ms Speed [r/min] 1000 Stepwise input velocity command Velocity command after acceleration/deceleration process Time Pr 3.13 × 1 ms Pr 3.12 × 1 ms R1.05 Motor Business Division, Appliances Company, Panasonic Corporation...
  • Page 47 = Vc/1000 × Pr 3.12 × 1 ms td = Vc/1000 × Pr 3.13 × 1 ms ts = Pr 3.14 × 1 ms • Use with the setup of ta/2 > ts, td/2 > ts Time R1.05 Motor Business Division, Appliances Company, Panasonic Corporation...

  • Page 48: Torque Control

    Set up the selection method of the speed limit used for torque controlling. Speed limit Setting value Speed limit value — select 6080h (Max motor speed) With this amplifier, it becomes 2 fixation. *1) For parameter attribute, refer to Section 9-1. R1.05 Motor Business Division, Appliances Company, Panasonic Corporation...

  • Page 49: Full-Closed Control (Not Supported)

    For example, it can be controlled without any influence of ball screw errors or position changes due to temperature variation. By configuring a full-closed control system, submicron precision positioning can be realized. R1.05 Motor Business Division, Appliances Company, Panasonic Corporation...

  • Page 50: Setting Regenerative Resistor

    0: Regenerative load factor is 100% when duty factor of external regenerative regenerative resistor is 10%. (Compatible with A4N series) resistor 1–4: For manufacturer’s use (do not setup) *1) For parameter attribute, refer to Section 9-1. R1.05 Motor Business Division, Appliances Company, Panasonic Corporation...

  • Page 51: Absolute Setup

    *1. Connect to either X4 or the junction connector between X6 and the encoder, when you connect the battery. Do not connect to both. Note: During replacing the battery, the control power input must be held ON. If not so, the absolute data will be lost. R1.05 Motor Business Division, Appliances Company, Panasonic Corporation...
  • Page 52 Clearing operation of absolute encoder is made through communications (USB (PANATERM)). After clearing the absolute data, turn off and on the power without fail. R1.05 Motor Business Division, Appliances Company, Panasonic Corporation...

  • Page 53: External Scale (Not Supported)

    (Not supported) This software version is not supported with full-closed control. With full-closed controlling, an absolute system which does not require the return to home position sequence upon power up can be designed. R1.05 Motor Business Division, Appliances Company, Panasonic Corporation...

  • Page 54: Gain Tuning/Vibration Suppressing Function

    5-2-10 Disturbance observer function ........................81 5-2-11 3rd gain switching function .......................... 83 5-2-12 Friction torque compensation ........................84 5-2-13 Hybrid vibration damping function (Not supported) ................86 5-2-14 2-stage torque filter ............................87 R1.05 Motor Business Division, Appliances Company, Panasonic Corporation...

  • Page 55: Automatic Adjusting Function

    No. SX-DSV02472 - 5-1 Automatic adjusting function The figure below shows outline of automatic adjusting function of MINAS-A5B series. Friction torque Torque Basic gain Adaptive Position/ Motor compensation instruction automatic setting process speed current instruction Position/ Notch filter Torque Current...

  • Page 56: Real-Time Auto Tuning

    • When the speed condition of 100 [r/min] or more and acceleration/deceleration Action pattern condition of 2,000 [r/min] per 1 [s] are not maintained for 50 [ms]. • Acceleration/deceleration torque is smaller than unbalanced weighted/viscous friction torque. R1.05 Motor Business Division, Appliances Company, Panasonic Corporation...
  • Page 57 Higher the setup value, higher the velocity response and servo real-time stiffness will be obtained. However, when increasing the value, auto-gain tuning check the resulting operation to avoid oscillation or vibration. (To be continued) R1.05 Motor Business Division, Appliances Company, Panasonic Corporation...
  • Page 58 When the torque compensation is updated by the estimated value, it is cleared to 0 (invalid). *2 If the load characteristics estimation is abled, set Pr6.31 "Real-time auto tuning presumption speed" besides 0(stop estimation). (To be continued) R1.05 Motor Business Division, Appliances Company, Panasonic Corporation...
  • Page 59 (middle), stiffness setup = enable, fixed parameter = set to a fixed value, gain switching setup = enable, then, × 1+2 × 1+2 × 4+2 × 1+2 × 1+2 × 2 = 1477 *1) For parameter attribute, refer to Section 9-1. R1.05 Motor Business Division, Appliances Company, Panasonic Corporation...
  • Page 60 When fixed parameter setup is valid, set the parameter to 0. 0–1000 0.1% forward gain Torque feed When fixed parameter setup is valid, set the parameter to 0. 0–6400 0.01 ms forward filter (To be continued) R1.05 Motor Business Division, Appliances Company, Panasonic Corporation...
  • Page 61 Parameter setup can be changed, but disturbance observer is torque disabled. -100–100 compensating gain Disturbance Parameter setup can be changed, but disturbance observer is 10–2500 0.01 ms observer filter disabled. *1) For parameter attribute, refer to Section 9-1. R1.05 Motor Business Division, Appliances Company, Panasonic Corporation...
  • Page 62 After the stiffness setting is changed, be sure to stop the motor and check that the stiffness setting is reflected before performing next operation. Note) CCW direction is positive. R1.05 Motor Business Division, Appliances Company, Panasonic Corporation...
  • Page 63 When 17-bit absolute encoder, limited by the minimum value 10. In the vertical axis mode or friction compensation mode (Pr0.02=3,4), Pr1.07 is kept at 9999 until load characteristic estimation is completed. R1.05 Motor Business Division, Appliances Company, Panasonic Corporation...

  • Page 64: Adaptive Filter

    3rd and 4th notch filter hold the current value. Setup value 4: Clear result of adaptation Parameters related to the 3rd and 4th notch filter are disabled and results of adaptive operation are cleared. (To be continued) R1.05 Motor Business Division, Appliances Company, Panasonic Corporation...
  • Page 65 (3) The 3rd filters (Pr 2.07) and 4th notch filters (Pr 2.10) are written to EEPROM every 30minutes. Upon power up, these data are used as default values during adaptive process. R1.05 Motor Business Division, Appliances Company, Panasonic Corporation...

  • Page 66: Manual Adjusting Function

    No. SX-DSV02472 - 5-2 Manual adjusting function As explained previously, MINAS-A5B series features the automatic gain tuning function, however, there might be some cases where this automatic gain tuning cannot be adjusted properly depending on the limitation on load conditions. Or you might need to readjust the tuning to obtain the optimum response or stability corresponding to each load.

  • Page 67: Block Diagram Of Position Control Mode

    No. SX-DSV02472 - 5-2-1 Block diagram of position control mode Position control of MINAS-A5B series, there are four modes. ・ Profile position mode (pp) ・ Cyclic synchronous position mode (csp) ・Interpolated position mode (ip) (Not supported) ・Homing mode (hm) Monitor position of PANATERM...

  • Page 68: Block Diagram Of Velocity Control Mode

    No. SX-DSV02472 - 5-2-2 Block diagram of velocity control mode Velocity control of MINAS-A5B series, there are two modes. ・Profile velocity mode (pv) ・Cyclic synchronous velocity mode (csv) Monitor position of PANATERM Monitor position of CiA402 object 60B2h <TFF> Gain switching Torque offset 1.14...

  • Page 69: Block Diagram Of Torque Control Mode

    No. SX-DSV02472 - 5-2-3 Block diagram of torque control mode Velocity control of MINAS-A5B series, there are two modes. ・Profile torque mode (tq) ・Cyclic synchronous torque mode (cst) Monitor position of PANATERM Monitor position of CiA402 object 60B2h <TFF> Torque offset Gain switching [0.1%]...

  • Page 70: Block Diagram Of Full-Closed Control Mode (Not Supported)

    No. SX-DSV02472 - 5-2-4 Block diagram of full-closed control mode (Not supported) This software version is not supported with full-closed control. R1.05 Motor Business Division, Appliances Company, Panasonic Corporation...

  • Page 71: Gain Switching Function

    Position gain increasing rate of position loop gain can be limited by this 0–10000 0.1 ms switching time parameter. The position loop gain will increase over the time set. (To be continued) R1.05 Motor Business Division, Appliances Company, Panasonic Corporation...
  • Page 72 *2）When an electronic gear ratio is larger than 1/1, even if it is servo-off, the remainder on operation may occur and a encoder scale position deviation may not be set to 0. For details refer to “Section 4-2-4”. R1.05 Motor Business Division, Appliances Company, Panasonic Corporation...
  • Page 73 * The positional deviation in these contents indicates the deviation between the internal command position and actual position after the filter regardless of the set value of Pr7.23: bit 14. (To be continued) R1.05 Motor Business Division, Appliances Company, Panasonic Corporation...
  • Page 74 • Return to the 1st gain when the positional command was kept at 0 during the delay time and the absolute value of actual speed was kept below (level–hysteresis ) (r/min) previously with the 2nd gain. R1.05 Motor Business Division, Appliances Company, Panasonic Corporation...
  • Page 75 0, 4 Select the 1st gain regardless of the status. Select the 2nd gain regardless of the status. Switch with the gain switching input (Gain_SW) 0: 1st gain, 1: 2nd gain R1.05 Motor Business Division, Appliances Company, Panasonic Corporation...
  • Page 76 When Pr 1.19 (Position loop gain switching time) is 0, High gain Low gain When Pr 1.19 (Position loop gain switching time) is 5, High gain Low gain 166 µs R1.05 Motor Business Division, Appliances Company, Panasonic Corporation...

  • Page 77: Notch Filter

    By suppressing the resonance peak at the notch filter, higher gain can be obtained or the level of vibration can be lowered. Parameters MINAS-A5B series feature 4 normal notch filters. You can adjust frequency and width and depth. Class trib-...
  • Page 78 11.31 0.50 -6.0 13.45 0.60 -4.4 16.00 0.70 -3.1 0.80 -1.9 0.90 -0.9 1.00 Notch filter frequency response Depth 0, width 4 Depth 50, width 4 Depth 0, width 8 Frequency [Hz] R1.05 Motor Business Division, Appliances Company, Panasonic Corporation...

  • Page 79: Damping Control

    • Vibration is triggered by other factors than command (such as disturbance). • Ratio of resonance frequency and anti-resonance frequency is large. Load • Vibration frequency is out of the range of 1.0−200.0 [Hz]. R1.05 Motor Business Division, Appliances Company, Panasonic Corporation...
  • Page 80 There is delay from setting change of damping frequency or damping filter to internal computation and application of new setting values. If the switching described in *1 occurs during this delay time, application of new value will be suspended. R1.05 Motor Business Division, Appliances Company, Panasonic Corporation...
  • Page 81 0–1000 0.1 Hz filter setup Note: The maximum setup value is internally limited to the corresponding damping frequency or 2000–damping frequency, whichever is smaller. *1) For parameter attribute, refer to Section 9-1. R1.05 Motor Business Division, Appliances Company, Panasonic Corporation...
  • Page 82 First set it to 0, and increase the setting value little by little if settling time needs to be decreased. As the setting value increases, the settling time can be decreased, but the damping effect is also decreased. Make an adjustment while checking the statuses of the settling time and vibration. R1.05 Motor Business Division, Appliances Company, Panasonic Corporation...

  • Page 83: Feed Forward Function

    The feed forward given through EtherCAT communication is added to the feed forward value (internally calculated according to the parameter setting). Parameters For MINAS-A5B series, the velocity feed forward and torque feed forward can be used. trib- Class No. Title...
  • Page 84 In addition, each feedforward which can setup by EtherCAT communication corresponds to the following control mode. (Not supported) 60B1h valid valid valid valid valid valid invalid invalid (Velocity offset) 60B2h valid valid valid valid valid valid valid valid (Torque offset) R1.05 Motor Business Division, Appliances Company, Panasonic Corporation...

  • Page 85: Instantaneous Velocity Observer Function

    • Should be in servo-on condition • Parameters except for controls such as torque limit setup, are correctly set, assuring that the Others motor can run smoothly. • Real-time auto-tuning should be disabled. (Pr 0.02=0) R1.05 Motor Business Division, Appliances Company, Panasonic Corporation...
  • Page 86 If you change the position loop gain and velocity loop gain, the optimum value of the inertia ratio (Pr 0.04) might have been changed, and you need to make a fine adjustment again. R1.05 Motor Business Division, Appliances Company, Panasonic Corporation...

  • Page 87: Disturbance Observer Function

    Effect may not be expected in the following condition. Conditions which obstruct disturbance observer action • Resonant frequency is lower than the cutoff frequency estimated by the disturbance observer. Load • Disturbance torque contains many high frequency components. R1.05 Motor Business Division, Appliances Company, Panasonic Corporation...
  • Page 88 The disturbance suppressing capability increases by increasing the gain, but it is associated with increasing volume of operation noise. This means that well balanced setup can be obtained by adjusting Pr6.24 and Pr6.23. R1.05 Motor Business Division, Appliances Company, Panasonic Corporation...

  • Page 89: 3Rd Gain Switching Function

    Position loop gain = Pr1.00 × Pr6.06/100 Velocity loop gain = Pr1.01 × Pr6.06/100 Velocity loop integration time constant, velocity detection filter and torque filter time constant directly use the 1st gain value. R1.05 Motor Business Division, Appliances Company, Panasonic Corporation...

  • Page 90: Friction Torque Compensation

    Set up the dynamic friction compensation value to be added to the direction torque torque command when negative direction positional command is -100–100 compensation fed. value *1) For parameter attribute, refer to Section 9-1. Note) CCW direction is positive. R1.05 Motor Business Division, Appliances Company, Panasonic Corporation...
  • Page 91 Pr 6.07. The dynamic friction compensation value is updated to parameters Pr .6.08 and Pr 6.09 depending on command direction. Note) CCW direction is positive. R1.05 Motor Business Division, Appliances Company, Panasonic Corporation...

  • Page 92: Hybrid Vibration Damping Function (Not Supported)

    This software version is not supported with Hybrid vibration damping function. This function suppresses vibration due to amount of twist between the motor and load in the full closed control mode. This function enables high gain setting. R1.05 Motor Business Division, Appliances Company, Panasonic Corporation...

  • Page 93: 2-Stage Torque Filter

    Set a 2-stage torque filter if high-frequency vibration can’t be removed only using usual 1st and 2nd torque filters. Setting Pr6.43 “2-stage torque filter attenuation term” to 1000 (ζ=1.0), adjust Pr6.42 “2-stage torque filter time constant”. R1.05 Motor Business Division, Appliances Company, Panasonic Corporation...

  • Page 94: Application

    6-3-2 Sequence at Servo-Off ........................... 94 6-3-3 Sequence at main power OFF ........................95 6-3-4 Sequence at alarm ............................97 6-3-5 Emergency stop upon occurrence of alarm ....................98 6-4 Torque saturation protection function ....................... 100 R1.05 Motor Business Division, Appliances Company, Panasonic Corporation...

  • Page 95: Torque Limit Switching Function

    Note: The maximum torque of the motor varies depending on the motor applied. Torque instructions are restricted at the minimum among The limit value of Pr0.13 or Pr5.22, and The limit value of 6072h. R1.05 Motor Business Division, Appliances Company, Panasonic Corporation...

  • Page 96: Motor Working Range Setup Function

    Motor working position command input range. 0–1000 range setup revolution When the motor movement exceeds the setup value, software limit protection will be triggered. *1) For parameter attribute, refer to Section 9-1. R1.05 Motor Business Division, Appliances Company, Panasonic Corporation...
  • Page 97 • At the beginning and ending of trial run via USB communication. • Velocity or torque is controlled. • Position information is initialized. Upon returning to home position, absolute clear through USB (PANATERM), etc. R1.05 Motor Business Division, Appliances Company, Panasonic Corporation...

  • Page 98: Deceleration Stop Sequence

    Set up the torque limit at emergency stop. Torque setup for 0–500 When setup value is 0, the torque limit for normal operation is applied. emergency stop *1) For parameter attribute, refer to Section 9-1. R1.05 Motor Business Division, Appliances Company, Panasonic Corporation...
  • Page 99 • In case of deceleration stop on servo (MINAS-A5) side (sequence at time of alarm) (Pr5.04 = 2) Err38.0 "Over-travel inhibit input protection" occurs when POT or NOT is turned on. Therefore, the system operates according to Sequence at alarm. but not to this setting. R1.05 Motor Business Division, Appliances Company, Panasonic Corporation...

  • Page 100: Sequence At Servo-Off

    30 r/min, it is treated as in stop state regardless of its speed. *5) If an error occurs during servo-off, follow 605Eh(Fault reaction option code). If the main power is turned off during servo-off, follow Pr 5.07 Sequence during main power interruption. R1.05 Motor Business Division, Appliances Company, Panasonic Corporation...

  • Page 101: Sequence At Main Power Off

    Set up the torque limit at emergency stop. Torque setup for 0–500 When setup value is 0, the torque limit for normal operation is applied emergency stop *1) For parameter attribute, refer to Section 9-1. R1.05 Motor Business Division, Appliances Company, Panasonic Corporation...
  • Page 102 When the main power supply is turned off with servo-on state, Err13.1 Main power undervoltage error occurs if Pr 5.08 LV trip selection with main power off = 1, and the operation follows 605Eh(Fault reaction option code). R1.05 Motor Business Division, Appliances Company, Panasonic Corporation...

  • Page 103: Sequence At Alarm

    *4) Deceleration period is the time required for the running motor to speed down to 30 r/min. Once the motor speed drops below 30 r/min, and changes its status after stoppage, it is treated as in stop state regardless of its speed. R1.05 Motor Business Division, Appliances Company, Panasonic Corporation...

  • Page 104: Emergency Stop Upon Occurrence Of Alarm

    Err 26.1 2nd over-speed protection occurs before Err 26.0 Over-speed protection and the system will not trigger emergency stop. If Err 26.0 and Err 26.1 are detected concurrently, Err 26.0 is displayed. No emergency stop occurs because Err 26.1 has occurred. R1.05 Motor Business Division, Appliances Company, Panasonic Corporation...
  • Page 105 If the velocity has exceeded the value set in Pr6.15 "2nd over-speed level setup", energization is shut off and operation is performed according to sequence at alarm operation B. R1.05 Motor Business Division, Appliances Company, Panasonic Corporation...

  • Page 106: Torque Saturation Protection Function

    Err16.1 will not be activated if Err16.1 will be activated if thrust saturated has not thrust saturated has continued continued for Pr7.16 setup for Pr7.16 setup value0.25ms. value0.25ms, and count will be cleared. R1.05 Motor Business Division, Appliances Company, Panasonic Corporation...

  • Page 107: Protective Function/Warning Function

    101- ７ 7．Protective function/Warning function 7-1 List of protective function ..........................102 7-2 Details of Protective function ..........................105 7-3 Warning function ............................... 116 7-4 Setup of gain pre-adjustment protection ......................119 R1.05 Motor Business Division, Appliances Company, Panasonic Corporation...

  • Page 108: List Of Protective Function

    Absolute counter over error protection *2  Absolute over-speed error protection  Incremental encoder initialization error protection Absolute single turn counter error protection  / Incremental signal turn counter error protection (To be continued) R1.05 Motor Business Division, Appliances Company, Panasonic Corporation...
  • Page 109 External scale connection error protection (Not supported)  Parameter setting error protection 5 0–4 Motor automatic recognition error protection  Unusual communication IC initialization protection Other Other error protection — — — — R1.05 Motor Business Division, Appliances Company, Panasonic Corporation...
  • Page 110 For details, refer to 6-3-4 Sequence at alarm. *7: About EtherCAT communication-related error(Err80.* , Err81.* , Err85.* , Err88.*), front panel indication or alarm indication of PANATERM is delayed from actual occurrence of alarm. R1.05 Motor Business Division, Appliances Company, Panasonic Corporation...

  • Page 111: Details Of Protective Function

    7) Timing of pulse input is same as or earlier than Servo-ON. 7) Enter the pulses 100 ms or longer after Servo-ON. Power Module) 8) The dynamic brake circuit was overheated and the thermal 8) Replace the driver. fuse is blown. (Only size F and size G) (To be continued) R1.05 Motor Business Division, Appliances Company, Panasonic Corporation...
  • Page 112 Regenerative Regenerative driver transistor on the servo driver is Replace the driver. transistor error defective. protection (To be continued) R1.05 Motor Business Division, Appliances Company, Panasonic Corporation...
  • Page 113 The motor rotational speed has exceeded the setup value of 2nd Overspeed • Make a wiring connection of the encoder as per the Pr 6.15. protection wiring diagram. (To be continued) R1.05 Motor Business Division, Appliances Company, Panasonic Corporation...
  • Page 114 Allocate correct function to each connector pin. Output function number error 1 protection Output signals (SO2) are assigned with undefined number. Allocate correct function to each connector pin. Output function number error 2 protection (To be continued) R1.05 Motor Business Division, Appliances Company, Panasonic Corporation...
  • Page 115 The alarm cannot be cleared until the absolute encoder is protection encoder during the power failure. reset. Incremental encoder Incremental encoder initialization error was detected. Replace the motor. initialization error protection (To be continued) R1.05 Motor Business Division, Appliances Company, Panasonic Corporation...
  • Page 116 Check the B-phase wiring connection of external scale. discontinued. (Not supported) Z-phase wiring Z-phase wiring in the external scale is defective, e.g. error protection Check the Z-phase wiring connection of external scale. discontinued. (Not supported) (To be continued) R1.05 Motor Business Division, Appliances Company, Panasonic Corporation...
  • Page 117 - Check whether there is any problem in wiring of an EtherCAT communication cable. - Check whether the excessive noise has started the EtherCAT communication cable. - The preset value of Pr7.42(Maximum continuation communication error) bit0-3 is enlarged. (To be continued) R1.05 Motor Business Division, Appliances Company, Panasonic Corporation...
  • Page 118 • If error repeats, this might be a failure. establishment Stop using the products, and replace the motor and the initialization driver. error protection • Return the products to the dealer or manufacturer. (To be continued) R1.05 Motor Business Division, Appliances Company, Panasonic Corporation...
  • Page 119 - In the calculation process of electronic gear ratio, the den ominator or numerator exceeds an unsigned 64-bit size. - In the final calculation result of electronic gear ratio, the denominator or numerator exceeds an unsigned 32-bit size. (To be continued) R1.05 Motor Business Division, Appliances Company, Panasonic Corporation...
  • Page 120 Some error has occurred inside of the driver while products, and replace the motor and the driver. Return the triggering self-diagnosis function of the driver. products to the dealer or manufacturer. R1.05 Motor Business Division, Appliances Company, Panasonic Corporation...
  • Page 121 Notes: Use the motor so that actual torque stays in the continuous running range shown in “S-T characteristic” of the motor. For the S-T characteristics, see [REFERENCE SPECIFICATIONS] motor characteristics (S-T characteristics). R1.05 Motor Business Division, Appliances Company, Panasonic Corporation...

  • Page 122: Warning Function

    TREX communication status AC_OFF becomes 1 when main power off is warning detection 0−2000 1 ms detected. time 0−9, 2000: Warning detection is disabled. 10−1999: Unit is [ms] • Setting resolution is 2 ms. *1) For parameter attribute, refer to Section 9-1. R1.05 Motor Business Division, Appliances Company, Panasonic Corporation...
  • Page 123 When setting of Pr7.14 (Main power off warning detection time) is 10-1999, Main power off instantaneous power interruption occurs bit 12 warning between L1 and L3 and lasts for a time longer than the setting of Pr7.14. R1.05 Motor Business Division, Appliances Company, Panasonic Corporation...
  • Page 124 Also note that bit arrangements of these masks are different from those of general purpose type MINAS-A5 series. *3) Effective only with 20-bit incremental encoder. *4) Warning can be cleared by alarm clear. If warning cause is not resolved yet, once cleared warning is issued again. R1.05 Motor Business Division, Appliances Company, Panasonic Corporation...

  • Page 125: Setup Of Gain Pre-Adjustment Protection

    When running the motor at a low speed during initial adjustment stage, setup the overspeed protection by multiplying the adjusting speed by a certain margin to protect the motor against possible oscillation. R1.05 Motor Business Division, Appliances Company, Panasonic Corporation...
  • Page 126 Pr 5.14 Motor working range setup, and issues Err 34.0 Software limit protection. For details, refer to 6-2 Motor working range setup function. Setup of hybrid deviation excess error protection (Not supported) R1.05 Motor Business Division, Appliances Company, Panasonic Corporation...

  • Page 127: Safety Function [Supported Only By Specific Model]

    C1 to C9) with safety functions. For details such as circuit constants in this chapter, refer to the reference specification (SX-DSV02468). R1.05 Motor Business Division, Appliances Company, Panasonic Corporation...

  • Page 128: Outline Description Of Safe Torque Off (Sto)

    When STO function operates, the servo driver turns off the servo ready output signal (S-RDY) and enters safety state. This is an alarm condition and the 7-seg LED on the front panel displays the error code number. • PFH value of the safety function: 2.30 × 10 R1.05 Motor Business Division, Appliances Company, Panasonic Corporation...

  • Page 129: Specifications Of Input & Output Signals

    To validate this “off” period, turn off the input signal for more than 5 ms. L pulse for self-diagnosis 5 ms or more Safety input signal ms or shorter 5 ms or shorter Servo driver Usual operation STO state operation R1.05 Motor Business Division, Appliances Company, Panasonic Corporation...

  • Page 130: External Device Monitor (Edm) Output Signal

    • Maximum delay time from input of safety 1 and 2 signals to output of EDM signal is 6 ms. 8-2-3 Internal signal circuit block diagram See the safety circuit block diagram at the end of This document. R1.05 Motor Business Division, Appliances Company, Panasonic Corporation...

  • Page 131: Detailed Functional Description

    Pr 4.39 Brake release speed setup, whichever comes first. Dynamic brake operates to the setting of Pr 5.10 (Sequence at alarm). When safety input 1 or 2 turns off, the state changes to STO condition. R1.05 Motor Business Division, Appliances Company, Panasonic Corporation...

  • Page 132: Return Timing From Safety State

    This is an alarm condition and the dynamic brake operates according to Pr 5.10 (Sequence at alarm). This is normal servo-off condition and the dynamic brake operates according to Pr 5.06 (Sequence at Servo-Off). R1.05 Motor Business Division, Appliances Company, Panasonic Corporation...

  • Page 133: Example Of Connection

    8-4-2 Example of connection to safety sensor Safety sensor Safety output Servo driver (source) Control output 1 SF1+ Safety input SF1- Control output 2 SF2+ SF2- 24 V EDM+ EDM input EDM- output R1.05 Motor Business Division, Appliances Company, Panasonic Corporation...

  • Page 134: Example Of Connection To Safety Controller

    No. SX-DSV02472 - 128- 8-4-3 Example of connection to safety controller EDM input Safety Servo driver controller T31 T33 SF1+ Safety input 1 SF1- G9SX-AD SF2+ SF2- EDM+ EDM- Safety output outoput (source) R1.05 Motor Business Division, Appliances Company, Panasonic Corporation...

  • Page 135: Example Of Connection When Using Multiple Axes

    It is necessary to limit the number of axes connected so that the current does not exceed the maximum output current at the safety controller side. R1.05 Motor Business Division, Appliances Company, Panasonic Corporation...

  • Page 136: Safety Precautions

     Dynamic brake and external brake release signal output are not related to safety function. When designing the system, make sure that the failure of external brake release during STO condition does not result in danger condition.  When using STO function, connect equipment conforming to the safety standards. R1.05 Motor Business Division, Appliances Company, Panasonic Corporation...
  • Page 137 No. SX-DSV02472 - 131- Safety Circuit Block Diagram Power SF1+ ASIC SF1- SF2+ SF2- EDM+ EDM- Motor R1.05 Motor Business Division, Appliances Company, Panasonic Corporation...
  • Page 138 9-2-3 Servo-ON/OFF action while the motor is in motion ..................147 9-2-4 When an error (alarm) has occurred (at Servo-ON command) ..............148 9-2-5 When an alarm has been cleared (at Servo-ON command) ................. 149 R1.05 Motor Business Division, Appliances Company, Panasonic Corporation...

  • Page 139: List Of Parameters

    — 0–3 Set up items related to regenerative resistor. resistor setup Selection of load factor Select the computation method of loading for external — 0–4 factor for external regenerative resistor. regenerative resistor R1.05 Motor Business Division, Appliances Company, Panasonic Corporation...
  • Page 140 2nd to 1st gain. Level of torque — 0–20000 Set up the gain switching level. Torque 5-2-5 control switching Hysteresis at torque — 0–20000 Set up the hysteresis at gain switching. Torque 5-2-5 control switching R1.05 Motor Business Division, Appliances Company, Panasonic Corporation...
  • Page 141 Full-closed Positional Set up the time constant of the 1st delay filter in Position, 0.1 ms 0–10000 4-2-3 command FIR filter response to the positional command. Full-closed R1.05 Motor Business Division, Appliances Company, Panasonic Corporation...
  • Page 142 Full-closed (Not supported) Permanently set at 10000. Hybrid deviation clear Clear hybrid deviation of each revolution setup Revolution 0–100 setting to zero. Full-closed 4-5-3 (Not supported) Permanently set at 0. R1.05 Motor Business Division, Appliances Company, Panasonic Corporation...
  • Page 143 Selection of warning output 2 0–14 the warning output 2. Set up acceptable the number of Positioning complete Position pulse 0–262144 pulses for positioning complete signal 4-2-4 (In-position) range 2 Full-closed 2 (INP2). R1.05 Motor Business Division, Appliances Company, Panasonic Corporation...
  • Page 144 — 0–1 4-2-5 0: Invalid 1: Valid (Not supported) Permanently set at 0. ― For manufacturer’s use — — Permanently set at 4. — — *1) CCW direction is positive. R1.05 Motor Business Division, Appliances Company, Panasonic Corporation...
  • Page 145 Full-closed 4-2-5 method selection • When signal regeneration is selected, the driver (Not supported) reproduces duty of OA and OB, minimizing waveform distortion. Permanently set at 0. *1) CCW direction is positive. R1.05 Motor Business Division, Appliances Company, Panasonic Corporation...
  • Page 146 0. 5-2-14 time constant This setting remains valid irrespective of gain selection state. 2-stage torque filter Specifies the attenuation term of the 2-stage — 0−1000 5-2-14 attenuation term torque filter. R1.05 Motor Business Division, Appliances Company, Panasonic Corporation...
  • Page 147 (*)ESM state is more than PreOP. bit 1-3: For manufacturer’s use Permanently set at 0. bit 4 : For manufacturer’s use Permanently set at 1. For manufacturer’s use — — Permanently set at 0. — — — R1.05 Motor Business Division, Appliances Company, Panasonic Corporation...
  • Page 148 Software version 2 (in hexadecimal three-digit notation) For example, in the case of the software version 1: 1.23 and software version 2: 4.56, the value of this parameter will be 01230456h (19072086). R1.05 Motor Business Division, Appliances Company, Panasonic Corporation...
  • Page 149 — Permanently set at 0. — — — For manufacturer’s use — — Permanently set at 0. — — — For manufacturer’s use — — Permanently set at 0. — — — R1.05 Motor Business Division, Appliances Company, Panasonic Corporation...
  • Page 150 30 For manufacturer's use Permanently set at 4. 31 For manufacturer's use Permanently set at 3. 32 For manufacturer's use Permanently set at 929. Note) Class 15 cannot be referred to in EtherCAT communication. R1.05 Motor Business Division, Appliances Company, Panasonic Corporation...

  • Page 151: Timing Chart

    (POT, NOT) or external scale input, so as to decide their logic until this term. The lapse time can be changed with Pr 6.18 Wait time after power-up. *4. A brake release output (BRK-OFF) is output by a release request from the EtherCAT communication (set brake of 60FEh). R1.05 Motor Business Division, Appliances Company, Panasonic Corporation...

  • Page 152: Servo-On/Off Action While The Motor Is At Stall (Servo-Lock)

    *3. Servo-ON will not be activated until the motor speed falls below approx. 30 r/min. *4. A brake release output (BRK-OFF) is output by a release request from the EtherCAT communication (set brake of 60FEh). R1.05 Motor Business Division, Appliances Company, Panasonic Corporation...

  • Page 153: Servo-On/Off Action While The Motor Is In Motion

    *5. For the motor energization during deceleration at Servo-OFF depends on the setup value of Pr 5.06 (Sequence at Servo-Off). *6. A brake release output (BRK-OFF) is output by a release request from the EtherCAT communication (set brake of 60FEh). R1.05 Motor Business Division, Appliances Company, Panasonic Corporation...

  • Page 154: When An Error (Alarm) Has Occurred (At Servo-On Command)

    *2. When an alarm is generated, the dynamic brake operates according to Pr 5.10 (Sequence at alarm). *3. A brake release output (BRK-OFF) is output by a release request from the EtherCAT communication (set brake of 60FEh). R1.05 Motor Business Division, Appliances Company, Panasonic Corporation...

  • Page 155: When An Alarm Has Been Cleared (At Servo-On Command)

    Output Tr OFF (Brake engage) (BRK-OFF) (Brake release) Approx. 4 ms Servo-Ready Not ready Ready Servo-Alarm output Alarm larm Not a (ALM) 100 ms or longer Position/Speed/ No input entry Input enabled Torque instruction R1.05 Motor Business Division, Appliances Company, Panasonic Corporation...

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