Panasonic MINAS A6 Multi Quick Start Manual
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Panasonic MINAS A6 Multi Quick Start Manual

Position control with beckhoff host controller over ethercat
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QS10000_V1.1_EN
2020.11
https://industry.panasonic.eu
Servo Drives
Quick Start Guide
MINAS A6 Multi
Position control with Beckhoff
host controller over EtherCAT

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  • Page 1 Servo Drives Quick Start Guide MINAS A6 Multi Position control with Beckhoff host controller over EtherCAT QS10000_V1.1_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.

  • Page 3: Table Of Contents

    4.1 Install TwinCAT 3 Runtime and establish an Ethernet connection..........13 4.2 Install the EtherCAT driver......................13 5 Set up the MINAS A6 Multi servo drive system..............15 6 Start drive control........................16 6.1 Install TwinCAT 3 Engineering on your PC..................16 6.2 Before starting TwinCAT 3......................16...

  • Page 4: Introduction

    Step-by-step instructions will guide you through connecting a Beckhoff C6015 host controller to a MINAS A6 Multi servo drive system. You will also learn how to configure a PLC program and an HMI program using Beckhoff’s TwinCAT 3 Runtime and TwinCAT 3 Engineering software to perform a simple positioning task.

  • 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 • Programming software Control FPWIN Pro 7 •...

  • 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 TwinCAT 3 Engineering software Set-up of a MINAS A6 Multi servo drive system with a Beckhoff C6015 host controller QS10000_V1.0_EN...

  • 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 Beckhoff C6015 Host Controller

    3 Wiring X104 and X12 connectors (DC bus) Attach the bus bars to X104 and X12 to connect the DC circuits of the power supply module and the driver module. 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.
  • Page 12 3 Wiring X101 connector (24V power supply) Connect X101 to 24V DC. X102 connector (Ethernet connector) Connect an Ethernet cable between X102 and the Ethernet port of your PC. X103 connector (Ethernet connector) Connect an Ethernet cable between X103 and the X6A connector of the driver module. In this example, we will define X103 as the EtherCAT connector.

  • Page 13: Set Up The Host Controller

    4 Set up the host controller Set up the host controller Install TwinCAT 3 Runtime and establish an Ethernet connection To install TwinCAT 3 Runtime on the host controller, connect a monitor to the DisplayPort connector (X104) of the Beckhoff C6015 host controller and a mouse to one of its USB connectors.
  • Page 14 4 Set up the host controller Right-click and select “Properties” in the context menu. Select “Configure…” and go to the “Driver” tab. Select “Update Driver”. Search manually for the driver in the following location: C:\TwinCAT\3.1\Driver. Select “Next” to install the driver. After successful installation, select “Close”...

  • Page 15: Set Up The Minas A6 Multi Servo Drive System

    5 Set up the MINAS A6 Multi servo drive system Set up the MINAS A6 Multi servo drive system Use the PC configuration software PANATERM to set up the MINAS A6 Multi servo drive system. The download links can be found under Available software (page 5).

  • Page 16: Start Drive Control

    Unzip the downloaded software package and execute the installation file. Reboot your PC. After the reboot, copy the Panasonic ESI file (Panasonic_MINAS_A6Multi_V*.xml) to C:\TwinCAT\3.1\Config\Io\EtherCAT on your PC. The download links can be found under Available software (page 5).

  • Page 17: Connect Your Pc To The Host Controller

    6 Start drive control On the “Start Page” select “New TwinCAT Project…”. Select “TwinCAT XAE Project (XML format)”, enter a project, and select “OK”. Connect your PC to the host controller To establish a connection to the Beckhoff C6015 host controller, send a broadcast request for an IP address to the devices in the EtherCAT network.
  • Page 18 6 Start drive control Under “Address Info”, select “IP Address” and select the “Broadcast Search” button to display the connected EtherCAT devices. Select the host controller and select “Add Route”. Enter the login data for the host controller. The default password is "1". Select “OK”. The system is now establishing a connection to the host controller.

  • Page 19: Add Connected Devices To Your Project

    When the EtherCAT master device is found, select “OK”. Confirm “Scan for boxes” with “Yes”. When the MINAS A6 Multi driver module is found, the following message comes up that you confirm with “OK”. Confirm the message “Activate Free Run” with “No”.

  • Page 20: Set The Movement Parameters

    6 Start drive control The “Solution Explorer” displays the added driver module with its two connected motors under “I/O” > “Devices”. It also displays all found axes under “MOTION” > “NC-Task 1 SAF”. Set the movement parameters Set the movement parameters and make general settings and encoder settings for each axis.
  • Page 21 6 Start drive control Select the “Parameter” tab and set the values for velocity, acceleration, deceleration, jerk, and lag error (highlighted in the screenshot in blue color). Go to “Solution Explorer” > “MOTION” > “NC-Task 1 SAF” > “Axes” > “Axis 1” > “Enc”. Select the “Parameter”...

  • Page 22: Start Position Control

    6 Start drive control Confirm the message that the TwinCAT system will be restarted in run mode. The TwinCAT system is now in run mode and the corresponding icon is active. (To switch back to configuration mode, select the blue icon on the right of the green icon.) If the TwinCAT system does not switch to run mode and a system clock setup error occurs, execute the batch file win8settick.bat.
  • Page 23 6 Start drive control Select “Set” and “All” to activate position control. From the “Online” tab, you can now start JOG operations, absolute value control, home return operations, etc. From the “Functions” tab you can test relative value control, endless movement, etc. by changing the acceleration, deceleration, and jerk values.
  • Page 24 6 Start drive control Use the “Coupling” tab to test electronic coupling, cam profiles, flying saw, etc. QS10000_V1.0_EN...

  • Page 25: Create A Plc Program With Motion Control Functions (Optional)

    7 Create a PLC program with motion control functions (optional) Create a PLC program with motion control functions (optional) To porgram a positioning task, use one of the libraries included in TwinCAT 3. In the “Solution Explorer”, right-click “PLC” and select “Add New Item”. Select “Standard PLC Project”, enter a name for your new PLC project, and select “Add”.
  • Page 26 7 Create a PLC program with motion control functions (optional) Go to “Solution Explorer” > “PLC” > “First_PLC_Project” > “POUs” > “MAIN (PRG)”. In this example, we will enable the servo control for axis 1. Press F2 to open the “Input Assistant”...
  • Page 27 7 Create a PLC program with motion control functions (optional) Activate the configuration. Confirm the message that the TwinCAT system will be restarted in run mode. Select the “Login” icon from the toolbar. Select “Yes” to create port 851. If an error occurs, try again by selecting the “Login” icon. Select the highlighted “Start”...
  • Page 28 7 Create a PLC program with motion control functions (optional) Select “PLC” > “Write values” to write the value and to enable servo control of the motor. QS10000_V1.0_EN...

  • Page 29: Add Visual Controls To Your Plc Program (Optional)

    8 Add visual controls to your PLC program (optional) Add visual controls to your PLC program (optional) To enhance your PLC program, you can add visual controls, e.g. a button to enable servo control. Go to “Solution Explorer” > “PLC” > “First_PLC_Project” > “First_PLC_Project Project”. Right-click on “VISUs”...
  • Page 30 8 Add visual controls to your PLC program (optional) Double-click on “Visualization”. From the “Toolbox”, select “Rounded Rectangle” and place the form in the “Visualization” screen. Use the “Properties” window to enter a text in the rectangle and add the variable bEnableAxis1 from your main PLC program.
  • Page 31 8 Add visual controls to your PLC program (optional) If the following message appears, select “Yes” to create port 851. If an error occurs, try again by selecting the “Login” icon. Start the PLC program. Select “Enable Power Axis 1” to enable servo control. Servo control for axis 1 is now enabled.

  • Page 32: 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 QS10000_V1.0_EN...

  • Page 33: Record Of Changes

    10 Record of changes Record of changes QS1000_V1.1_EN, 2020.11 • Updated links. • Changed title. QS10000_V1.0_EN, 2020.01 First edition QS10000_V1.0_EN...

  • Page 34: Panasonic Hotline

    11 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...

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