Panasonic MINAS A6 Multi Quick Start Manual
Position control with trio host controller over ethercat
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Also See for MINAS A6 Multi:
- Operating instructions manual (560 pages) ,
- Technical reference (306 pages) ,
- Reference specifications (70 pages)
Related Manuals for Panasonic MINAS A6 Multi
Summary of Contents for Panasonic MINAS A6 Multi
- Page 1 Servo Drives Quick Start Guide MINAS A6 Multi Position control with TRIO host controller over EtherCAT QS10006_V1.0_EN 2020.11 https://industry.panasonic.eu...
- Page 2 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.
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Page 3: Table Of Contents
4.1 Install Motion Perfect on your PC....................13 4.2 Create a new project in Motion Perfect..................13 4.3 Program a simple positioning task....................15 4.4 Demo program code........................17 5 Update the firmware.........................21 6 Help us improve........................22 7 Record of changes........................23 8 Panasonic hotline........................24 QS10006_V1.0_EN... -
Page 4: Introduction
Electrical connections must be made by qualified electrical personnel. About this document This “Quick Start Guide” is intended to help you set up a MINAS A6 Multi servo drive system. It is based on information from the MINAS A6 Multi series manuals and the practical experience of our engineers. -
Page 5: Available Software
The following software is available free of charge in our Panasonic Download Center: • PC configuration software PANATERM for MINAS A6 Multi, 32 bit, or PC configuration software PANATERM for MINAS A6 Multi, 64 bit • Panasonic ESI file The following software can be downloaded from TRIO’s Web site (https:// www.triomotion.com):... -
Page 6: Functional Overview
Use the following accessories: • 1 x 400V AC power supply cable Connects the MINAS A6 Multi power supply module to the main power supply (400V AC). • 1 x 24V DC power supply cable Connects the power supply unit (24V DC) and the host controller. - Page 7 (4) Two-axis MINAS A6 Multi driver module (1.5kW) (5) MINAS A6 servo motor B (1.5kW) (6) MINAS A6 servo motor A (1kW) (7) PC with Motion Perfect Set-up of a MINAS A6 Multi servo drive system - Position control with TRIO MC6N-ECAT host controller and EtherCAT QS10006_V1.0_EN...
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Page 8: Wiring
3 Wiring Wiring 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. -
Page 9: Top Side Connectors Of The Servo Drive System
3 Wiring Wiring of the X11 connector X102 connector (main power supply) Connect the 400V AC main power supply cable to X102. Wiring of the X102 connector X105A and X105B connectors (motor connectors) Connect the motor cable for servo motor A to X105A and the motor cable for servo motor B to X105B. -
Page 10: Front Side Connectors Of The Servo Drive System
3 Wiring (1) X1: Internal communication connector on power supply module (2) X1A: Internal communication connector on driver module (3) X6A: EtherCAT communication connector on driver module Top view of power supply module (left) and driver module (right) X1, X1A connectors (internal communication connectors) Connect X1 and X1A with the RJ11 communication cable. -
Page 11: Connectors Of The Trio Mc6N-Ecat Host Controller
3 Wiring Connectors for DC circuits with and without bus bars X7 connector (for driver configuration) The driver module is configured using the PC configuration software PANATERM. Use a commercially available USB A to mini-B cable to connect the PC to the driver module. (1) X7: USB connector on driver module Connector X7 for PC connection Connectors of the TRIO MC6N-ECAT host controller... - Page 12 3 Wiring EtherCAT port Connect an Ethernet cable between this connector and the X6A connector of the MINAS A6 Multi driver module. 24V power supply Connect this connector to 24V DC. QS10006_V1.0_EN...
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Page 13: Create A Motion Perfect Project
Install Motion Perfect on your PC The servo drive system is controlled with TRIO's Motion Perfect software. Install this software and the Panasonic ESI file on your PC. Download the Motion Perfect software from TRIO’s website and execute the installation file. - Page 14 4 Create a Motion Perfect project On the “Connection” dialog, select “Ethernet” and enter the IP address of the host controller. Do not change the default value in “IP port”. Select “Apply & Connect”. Select “New” to create a new project. Select “Empty”...
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Page 15: Program A Simple Positioning Task
4 Create a Motion Perfect project Go to “EtherCAT (Slot 0)”, right-click “Address 1”, select “Import ESI file”, and browse to the ESI file on your PC. Select “Next” in the “Create EtherCAT profile...” dialog which shows details of the ESI file. - Page 16 4 Create a Motion Perfect project Go to “Programs” > “BASIC program”, enter a name for your program and select “OK”. To program the motion routine, perform the following steps. The code enables servo control, prints "Machine Active" in the “Terminal” window, turns the motor shaft by 1 revolution, waits 1 second (1000ms), and disables servo control again while displaying "Inactive"...
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Page 17: Demo Program Code
4 Create a Motion Perfect project • Program the axis movement. Most comments in these examples were copied from the Motion Perfect help file. To copy the program code into your project, follow the link in the related topics. To monitor the current status of the axis, open the “Terminal” window: Go to “Tools” > “Terminal”... - Page 18 4 Create a Motion Perfect project I_GAIN=0.0 'used as part of the closed loop control, adding integral gain to a system reduces position error when at 'rest or moving steadily. It will produce or increase overshoot and may lead to oscillation ...
- Page 19 4 Create a Motion Perfect project CREEP=10000.0 'Sets the CREEP speed on the current base axis. The creep speed is used for the slow part of a DATUM 'sequence JOGSPEED=1000000.0 'Sets the jog speed in user units for an axis to run at when performing a jog FE_LIMIT=40000000.0 'This is the maximum allowable following error.
- Page 20 4 Create a Motion Perfect project MOVE(83886080) AXIS(0) 'lets the motor rotate exactly 1 rpm (23bit encoder-- > 8388608 pulses per revolution) WAIT IDLE AXIS(0) 'waits until the axis movement is finished WA(1000) 'waits 1000ms and proceeds with the rest of code SERVO AXIS(0) = OFF 'addresses servo axis 0 to be switched off WDOG = OFF 'switches Off the WDOG and hence the external drive PRINT #0, "Machine Inactive"...
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Page 21: Update The Firmware
5 Update the firmware Update the firmware The firmware of the TRIO MC6N-ECAT controller can be updated with the Motion Perfect software. Download the firmware files from TRIO’s website. The download links can be found under Available software (page 5). To update the firmware, go to “Controller”... -
Page 22: Help Us Improve
Please feel free to contact us if you have any questions, or if you have any suggestions for improvement. In that case, we ask you to include the Quick Start Guide number in the email subject line. You can find the number starting with "QS" on the cover page. servo.peweu@eu.panasonic.com +49 (0) 8945354-2750 QS10006_V1.0_EN... -
Page 23: Record Of Changes
7 Record of changes Record of changes QS10006_V1.0_EN, 2020.11 First edition QS10006_V1.0_EN... -
Page 24: Panasonic Hotline
8 Panasonic hotline Panasonic hotline If you have questions that cannot be clarified by the manuals or online help, please contact your sales office. Europe Austria: 02236 / 2 68 46, info.pewat@eu.panasonic.com Benelux: 0499 / 37 27 27, info.pewswe@eu.panasonic.com France: 01 / 60 13 57 57, info.pewswef@eu.panasonic.com...