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Reference
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Outline of "PANATERM
", Setup Support Software .............................. 156
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Communications ...................................................................................158
Description on Dividing/Multiplier Ratio ................................................ 178
Conformance to EC Directives/UL Standards .......................................180
Optional Parts .......................................................................................184
Recommended Parts ............................................................................192
Dimensional Outline Drawing ................................................................ 193
Allowable Load of Output Shaft ............................................................196
Motor Characteristics (S-T Characteristics) .......................................... 197
Servo Motor with Gear ..........................................................................198
Dimensional Outline Drawing of Motor with Gear ................................. 200
Allowable Load of Output Shaft of Servo Motor with Gear ................... 202
Characteristics of Servo Motor with Gear (S-T Characteristics) ........... 203
Driver Internal Block Diagram ...............................................................204
Control Block Diagram ..........................................................................205
Specifications (Driver/Motor) .................................................................206
Hit-and-stop Initialization and Load Pressing Control ........................... 207
Index .....................................................................................................209
Reference .............................................................................................214
After-sale Service (Repair) ........................................................ Back cover
155
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Table of Contents
Related Manuals for Panasonic AC Servo MINAS E Series IMC80A
Summary of Contents for Panasonic AC Servo MINAS E Series IMC80A
- Page 1 Reference Page Outline of “PANATERM ”, Setup Support Software ... 156 ® Communications ...158 Description on Dividing/Multiplier Ratio ... 178 Conformance to EC Directives/UL Standards ...180 Optional Parts ...184 Recommended Parts ...192 Dimensional Outline Drawing ... 193 Allowable Load of Output Shaft ...196 Motor Characteristics (S-T Characteristics) ...
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Page 2: Outline Of "Panaterm
Outline of “PANATERM Connection Method STATUS ALM CODE Installing PANATERM on Hard Disk ® <Cautions/Remarks> 1. The capacity of hard disk memory should be 15 MB or more. As OS, prepare Windows ® ® Windows NT, Windows 2000,Windows 2. You can start “PANATERM ”... - Page 3 ® <Cautions/Remarks> 1. Once you have installed “PANATERM 2. Before you start, connect the driver with the power supply, motor, and encoder. For the startup procedure, refer to the manual of the corresponding OS. Steps of Procedure (1) Power on your personal computer and start the corresponding OS.
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Page 4: Communications
Communications Outline of Communications With a personal computer or host NC connected with MINAS-E Series through RS232C-compliant serial communications, you can do the following: (1) Rewriting parameters (2) Browsing and clearing status and history of alarm data (3) Monitoring control status including status, I/O, etc. (4) Saving and Loading parameters Advantages •... - Page 5 Communications Specification Connection of Communications Line MINAS-E Series has RS232C communications port. and is capable of communications between the host as follows: RS232C Communications In RS232C communications, a host and the driver are connected 1:1 and communicate with each other according to the RS232C transmission protocol.
- Page 6 Stop bit Set RS232C communications baud rate with Pr0C. Any change to these parameters will be valid when you power on the control power supply. For detailed information, refer to list of parameters related to the following communications: List of User Parameters Related to Communications Parameter Name PrNo.
- Page 7 Transmission Sequence Transmission Protocol RS232C Host Line Control Direction of transmission and conflict are solved. Reception mode …The module enters reception mode after receiving ENQ and returning EOT. Transmission mode … The module enters transmission mode after sending ENQ and receiving EOT. When there occurs a conflict between the transmitting module and receiving module: When subsequent to transmission of ENQ, a slave receives ENQ while waiting for EOT, priority is given to ENQ sent from a maser, and the slave enters the reception mode.
- Page 8 Communications Configuration of Data Block A data block to be transmitted in physical phase is configured as illustrated below: mode : This is the number of command bytes (0 - 240), which indicates the number of parameters needed by a command. axis : This defines a module ID assigned to parameter No.00 axis name of the driver.
- Page 9 Example of Data Communication Example of Changing Parameters The following illustrates time-series communications data flow when a change is made to a parameter. Communications should be conducted in the sequence of outline, (1) individual writing of parameters and (2) writing to EEPROM if storage is needed.
- Page 10 Communications State Transition Diagram RS232C Communications ENQ is received and in slave mode. ENQ is returned to receiving There are requests buffer (To reception for transmission processing) (within the number of retries). ENQ transmission and T2 start. There are requests for transmission but the number of retries is exceeded.
- Page 11 Communications Timing RS232C Communications Host Driver Request for transmission Driver Host Host Driver Driver Host Request for transmission Code Name Continuous inter-character time Driver response time Host response time <Caution> The time represents a period of time from stop bit rising edge. Permission to transmit Permission to transmit Minimum...
- Page 12 Communications List of Communications Commands command mode Readout of CPU version Readout of the driver model name Readout of the motor model name INIT Setting of protocol parameters POS, STATUS, I/O Readout of status Readout of the command pulse counter Readout of the feedback pulse counter Readout of current speed Readout of current torque output...
- Page 13 command mode Readout of the driver model name Error code bit7 0 : Normal Command error 1 : Error The driver model name is 12 characters and transmitted by ASCII code. ex. "MKDET1505 " command mode Readout of the motor model name Error code bit7 0 : Normal...
- Page 14 Communications command mode Readout of status Status bit7 Torque being output Error code bit7 0 : Normal Command error 1 : Error The control modes are defined as follows: High speed response positioning control mode Internal velocity control mode High function positioning control command mode Readout of the command pulse counter...
- Page 15 command mode Readout of the feedback pulse counter Error code bit7 0 : Normal Command error 1 : Error A current position of the feedback pulse counter is expressed by absolute coordinates from the start-up time. For the counter value, "-" indicates CW and "+" indicates CCW. The feedback pulse counter indicates a cumulative sum of pulses of the position detector, which corresponds to a position of the motor that really moves.
- Page 16 Communications command mode Readout of the current deviation counter Error code bit7 0 : Normal Command error 1 : Error This command is used to read a current value of the deviation counter. (unit [pulse]) An output value is 32 bits. "+"...
- Page 17 command mode Readout of output signal Warning data bit7 Overload bit5 Over-regeneration bit0 Battery Error code bit7 0 : Normal Command error 1 : Error Data bit7 Reserved Reserved Torque being limited bit15 Reserved Reserved Dynamic brake activated bit23 Reserved Reserved Reserved bit31...
- Page 18 Communications command mode Readout of status/input signal/output signal Error code bit7 0 : Normal Command error 1 : Error Meanings of each bit for control mode, status, input signal, output signal, and warning data are same as those of command No.20 (command=2, mode=0), 27 (mode=7), and 28 (mode=8).
- Page 19 Writing to EEPROM may take approx. 5 seconds max. (if all parameters are changed). When writing of parameters fails, data error will occur. When control power supply LV is detected, control LV of error code will be returned, and parameter writing will be disabled. Received data axis Parameter No.
- Page 20 Communications command mode Readout of current alarm data Error code bit7 0 : Normal Command error 1 : Error Alarm No. is 0 when no alarm is generated. (Refer to “Details of Protective Function” on Page 145.) command mode Individual readout of alarm history Error code bit7 0 : Normal...
- Page 21 1 : Error The command clears history of alarm data. When the command fails to clear, data error occurs. When control power supply LV is detected, control LV of error code will be returned, and parameter writing will be disabled. command mode...
- Page 22 Communications command mode Individual readout of user parameters Attribute bit7 Unused Display inhibited For privileged parameter users bit15 Error code bit7 0 : Normal Command error 1 : Error command mode Page readout of user parameters Attribute bit7 Unused Display inhibited For privileged parameter users...
- Page 23 command mode Page writing of user parameters Error code bit7 0 : Normal Data error Command error 1 : Error The command writes 16 parameters at once. Be sure to set 0 to unused parameters. Otherwise, data error will occur. Received data axis Page No.
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Page 24: Description On Dividing/Multiplier Ratio
Description on Dividing/Multiplier Ratio Relation between Positional Resolution/Moving Speed and Command Dividing Multiplier Ratio Pulse row position command Distance: P1 [P] Traveling speed: F [PPS] Example of driving ball screw using the servo motor As an example of a machine, we describe a ball screw driving system below: When lead of a ball screw is L [mm], actual distance of a ball screw M [mm] with respect to the distance command PI [P] is expressed with formula (1) below: M = P1 x (D/E) x (1/R) x L ... - Page 25 Example Lead of ball screw L = 10mm Reduction ratio R=1 Position resolution ∆M = 0.005mm For the encoder of 2500 P/r (E=10000P/r) Lead of ball screw L = 20mm Reduction ratio R=1 Position resolution ∆M = 0.005mm For the encoder of 2500 P/r (E=10000P/r) Example Lead of ball screw L= 20mm...
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Page 26: Conformance To Ec Directives/Ul Standards
Conformance to EC Directives/UL Standards EC Directives The EC Directives apply to all such electronic products as those having specific functions and directly sold to general consumers in EU countries. These products are required to meet the EU unified standards and to be furnished with CE Marking. -
Page 27: Circuit Breaker
(1) Use under the environment of Over-voltage Category II specified by IEC60664-1 In order to realize the environment of overvoltage category II, install in the power supply input unit an insulating transformer that is compliant with ICE or EN standard (EN 60742). -
Page 28: Noise Filter
Conformance to EC Directives/UL Standards Noise Filter When, one set of noise filters is installed in the power unit with two or more drivers, be sure to consult with the noise filter manufacturer. Option Part No. Manufacturer’s part No. DV0P4160 3SUP-HU10-ER-6 Industries Co., Ltd. -
Page 29: Noise Filter For Signal Cables
(1) The servo driver should be used under Contamination Level 2 or 1 specified by IEC60664-1 (housing the driver in an IP54 control box). (2) Install a circuit breaker or fuse between the power supply and noise filter. The circuit breaker or fuse should be a UL listed mark ( ) type. -
Page 30: Optional Parts
Optional Parts MINAS-E Series Table of Junction Cable by Model Figure No. Motor Type MUMA50W - 400W Junction Cable for Encoder MFECA0 * * 0EAM Figure 2-1 (14) Manufactured by Tyco Electronics AMP K.K. Connector 172160-1 170365-1 Junction Cable for Motors (Robotop MFMCA0 * * 0AEB Figure 3-1 (50) - Page 31 Connector Kits for Power Supply of the Driver (1) Part No. DV0P2870 (2) Components Name Manufacturer’s part No. Connector (10P) 5557-10R-210 Connector Pin 5556PBTL (3) Pin arrangement of connector for CN x 1 (4) Recommended manual pressure bonding tool (Customers are requested to provide it by themselves.)
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Page 32: Connector Kits For Connection Of Motor And Encoder
Optional Parts Connector Kits for Connection of Motor and Encoder Used for: MUMA 50W to 400W (1) Part No. DV0P3670 (2) Components Name Manufacturer’s part No. Connector 55100-0600 Connector (6P) 172160-1 Connector pin 170365-1 Connector (4P) 172159-1 Connector pin 170366-1 Connector (6P) 5557-06R-210 Connector pin... - Page 33 (5) Pin arrangement of connector for junction of encoder cable (NC) TX/RX (6) Pin arrangement of connector for junction of motor power line (7) Pin arrangement of connector for connector CN X3 (NC) (NC) <Cautions> 1. The above table shows arrangement of pins viewed from the pin inserting direction of the connector. Also check pin Nos.
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Page 34: Connector Kit For Connection With Host Controller
Optional Parts Connector Kit for Connection with Host Controller (1) Part No. DV0P0770 (2) Components Name Manufacturer’s part No. Connector 10126-3000PE Connector Cover 10326-52A0-008 (3) Pin arrangement of connector X5 (pin 26) (viewed from the soldering side of the connector) COM+ <Cautions>... -
Page 35: Communications Cable (Connection With Personal Computer)
Communications Cable (Connection with Personal Computer) (1) Part No. DV0P 1960 (for DOS/V compatible machines) D sub connector 9P “PANATERM ”, software for communications control ® (1) Part No. DV0P4230 (Japanese version) DV0P4240 (English version) (2) This is supplied in the form of a 3.5 inch floppy disk. <Cautions>... -
Page 36: External Regenerative Resistor
Optional Parts External Regenerative Resistor Manufacturer’s Part No. model name DV0P2890 45M03 DV0P2891 45M03 Manufactured by: IWAKI MUSEN KENKYUSHO CO., LTD. <Note> For safety reasons, the external regenerative resistor has a built-in temperature fuse. The built-in temperature fuse may be disconnected depending on heat dissipation conditions, range of use temperatures, supply voltage, and load variations. - Page 37 Reactor Voltage Driver Specification Outline for Power Rated Output Frame Source of Code Driver Single- 50 - 100W phase 100V Single- MKDE phase 50 - 100W 200V Three- 50 - 200W phase 200V Single- phase 200W 100V Single- MLDE 200 - 400W phase 200V Three-...
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Page 38: Recommended Parts
Recommended Parts Surge Absorber for Motor Brake Motor MUMA50W - 400W • The recommended parts are specified items to measure the brake release time. List of Manufacturers of Peripheral Equipment Manufacturer/Agent Matsushita Electric Works, Ltd. Automation Controls Company IWAKI MUSEN NKENKYUSHO CO., LTD. Ishizuka Electronics Corporation Renesas Technology Corpration. -
Page 39: Dimensional Outline Drawing
Dimensional Outline Drawing [Reference] Driver (Frame K) Estimated Mass 0.35 kg Driver (Frame L) Estimated Mass 0.4 kg... - Page 40 Dimensional Outline Drawing Motor Output Model MUMA5A MUMA01 MUMA02 MUMA04 MUMA5A MUMA01 MUMA02 MUMA04 MUMA Series 50W to 400W Output 50W, 100W 230mm 200W, 400W 220mm (Unit: mm) 75.5 92.5...
- Page 41 Specification of Keyed Version (Dimension) 12.5 22.5 12.5 22.5 Shaft-end Center Tap TP Output 50W, 100W 200W 400W (Unit: mm) Mass (kg) 0.40 0.50 0.96 0.60 0.70 [Reference] Screw Depth Rotor Moment of Inertia (x10 kg·m 0.021 0.032 0.10 0.17 0.026 0.036 0.13...
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Page 42: Allowable Load Of Output Shaft
Dimensional Outline Drawing Allowable Load of Output Shaft Radial Load Direction (P) LR/2 Motor Motor Output Series 50W, 100W MUMA 200W, 400W <Remarks> If a position of load point varies, calculate allowable radial load P (N) from distance L (mm) of a load point from mounting flange face, based on the relational expression, so that the result of calculation will be as follows: Thrust Load Directions (A, B) -
Page 43: Motor Characteristics (S-T Characteristics)
Motor Characteristics (S-T Characteristics) Note that motor characteristics may vary depending on whether or not there is a brake. The continuous torque — ambient temperature characteristic shows a value when our standard flange made of aluminum (having about doubled angle of that of the motor flange) is mounted. They are characteristics without an oil seal. -
Page 44: Servo Motor With Gear
Servo Motor with Gear Checking Model of Servo Motor with Gear How to check the model M U M A 0 1 1 P 3 1 N Symbol Type MUMA Ultra low Inertia Motor Rated Output Symbol Rated Output 100W 200W 400W Specification of Rotary Encoder... - Page 45 Check a name of the series, rated output, voltage specification, and encoder specification of the motor you plan to use. Incremental Specification 2500 P/r Power Supply Motor Rated Output Reduction Ratio 1/5 Reduction Ratio 1/9 Reduction Ratio 1/25 Single Phase...
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Page 46: Dimensional Outline Drawing Of Motor With Gear
Dimensional Outline Drawing of Motor with Gear Servo Motor with Gear * 220 refers to 200W or higher. Motor Reduction Model Output Ratio MUMA01 P31N MUMA01 P32N 100W MUMA01 P34N 1/25 MUMA02 P31N 200W MUMA02 P32N MUMA02 P34N 1/25 MUMA042P31N MUMA042P32N 400W MUMA042P34N... - Page 47 A value of moment of inertia is a motor shaft converted value (of the motor + speed reducer). Detailed View of Shaft End Key Dimensions (B × H × LK) 4 × 4 × 16 6 × 6 × 22 4 ×...
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Page 48: Allowable Load Of Output Shaft Of Servo Motor With Gear
Allowable Load of Output Shaft of Servo Motor with Gear Radial Load (P) Direction LR/2 Motor Output 100W 200W 400W Requests Concerning Installation (1) Do not tap on the shaft when mounting the pulley, sprocket, etc. to the output shaft of the gear head. If you do tap on it, you may hear abnormal sound. -
Page 49: Characteristics Of Servo Motor With Gear (S-T Characteristics)
Characteristics of Servo Motor with Gear (S-T Characteristics) Reduction Driver Ratio Supply Motor Voltage Output Torque 3.72 100W Operation Area 1.18 Operation Area 100V 8.04 Torque 200W Operation Area 2.65 Operation Area Torque 3.72 100W Operation Area 1.18 Operation Area 8.04 Torque 200V... -
Page 50: Driver Internal Block Diagram
Driver Internal Block Diagram... -
Page 51: Control Block Diagram
Control Block Diagram [Reference]... -
Page 52: Specifications
Specifications Single-phase 100V Power Single-phase 200V Supply Three-phase 200V Allowable frequency variations Control method Detector Specification of applicable rotary encoder Regeneration Dynamic brake Auto gain tuning Built-in functions Electronic gear (Dividing/multiplier of a command pulse) Dividing of feedback pulse Capable of storing 14 alarms including a current alarm code Protective Function... -
Page 53: Hit-And-Stop Initialization And Load Pressing Control
Hit-and-stop Initialization and Load Pressing Control Hit-and-stop Initialization When you find it difficult to install a sensor as the surroundings are not good, Hit-and-stop Initialization can be used. (1) When you set a point where the motor hits, as the origin: 2nd Torque Limit Pin 5 (ZEROSPD/TC) - Page 54 Hit-and-stop Initialization and Load Pressing Control Load Pressing Control Example of Application Press-fit Machine Pin 5 (ZEROSPD/TLC : Torque limit switching input) Pin 11 (WARN : Under Torque limit output) The value of second torque limit Torque (–) Command (–) Motor Rotation Speed (–) PrNo.
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Page 55: Specifications (Driver/Motor)
Index Items Terms Adjustment Real time Auto Gain Tuning (Position Control Mode) Real time Auto Gain Tuning (Velocity Control Mode) Gain Adjustment Normal Auto Gain Tuning Cancellation of the Automatic Gain Tuning Manual Gain Tuning To Reduce Mechanical Resonance Adaptive Filter Gain Switching Function Anti-Vibration Control Alarm Code... - Page 56 Index Items Terms Display (Monitor) Monitoring Mode EEPROM Writing Mode Parameter Setting Mode Normal Auto Gain Tuning Mode Alarm Clear Dividing-Multiplier Description on Dividing/Multiplier Ratio Items Terms Encoder Incremental specification 2500P/r Items Terms Hit-and-stop Hit-and-stop Initialization Homing Operation Homing Operation (Precautions) Items Terms International Standards...
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Page 57: Table Of Contents
Items Terms Option Noise Filter Surge Absorber Noise Filter for Signal cables Table of Junction Cable by Model Junction Cable for Encoder Junction Cable for Motors Junction Cable for Brakes Communications Cable (Connection with Personal computer) [PANATERM Connector Kits for Connection of Motor and Encoder Connector Kit for Connection with Host Controller Interface Cable for Connection with Host Controller External Regenerative Resistor... - Page 58 Index Items Terms Recommended Parts Surge Absorber for Motor Brake Items Terms Safety Precautions Safety Precautions Maintenance and Inspection Servo Motor with Gear Model Designation Checking the Combination of the driver and the motor with gear Dimensional Outline Drawing of Motor with Gear Allowable load of Output Shaft of Servo Motor with Gear Characteristics of Servo Motor with Gear (S-T Characteristics) Items...
- Page 59 Items Terms Wiring Installation of Driver Installation of Motor General Wiring Diagram Wiring of Main Circuits Wiring Diagrams Connection with Encoder Connection with Personal Computer/Console Connection with Host Controller Wiring in Position Control Mode Wiring in Velocity Control Mode [Reference] page...
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Page 60: Reference
Reference Motor Company, Matsushita Electric Industrial Co., Ltd. Marketing Group Tokyo: Kyobashi MID Bldg, 2-13-10 Kyobashi, Chuo-ku, Tokyo 104-0031 Osaka: 1-1, Morofuku 7-chome, Daito, Osaka 574-0044 TEL (03) 3538-2961 FAX (03) 3538-2964 TEL (072) 870-3065 FAX (072) 870-3151... - Page 61 [Reference] MEMO...
- Page 62 • Take care to avoid inputting a supply voltage which significantly exceeds the rated range to the power supply of this product. Failure to heed this caution may result in damage to the internal parts, causing smoking and/or a fire and other trouble.