Instruction/ maintenance manual of the product MDDDT3530P Panasonic
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AC Servo Motor Driver MINAS S-series Operating Manual • Thank you very much for your buying Panasonic AC Servo Motor Driver ,A-series. • Before use, read through this manual to ensure proper use. Keep this manual at an easily accessible place so as to be referred anytime as necessary .
Parts Description ••••••••••• 12 Amplifier ••••••••••••••••••••••••••••••••••••• 12 Motor ••••.
T roubleshooting •••••••••••••••••••••••••••••• 68 After-Sale Service •••••••••••••••••••••• Back cover Deta ils of Param eters ••••••••••••• App .
-4- DANGER Safety Precautions Observe the following precautions in order to avoid injuries of opera- tors and other persons, and mechanical damages. The following DANGER and CAUTION symbols are used according to the level of dangers possibly occur- ring if you fail to observe the instructions or precautions indicated.
-5- DANGER Ground the earth terminal of the amplifier. Failure to observe this instruction could result in electric shocks. Don't touch the rotating part of the motor in motion.
-6- Caution Safety Precautions Use the motor and amplifier in the specified combination. Failure to observe this in- struction could result in fire. Execute the trial operations with the motor fixed but without motor load connected. Connecting a load to the motor is possible only after successful trial operation.
-7- Caution *Provide appropriate settings as a preparedness against the accidental restart of the machine in order to ensure the safety of personnel. This equipment should be treated as an industrial waste when it is disposed of. Don't block the heat dissipation hole or insert foreign matters in it.
-8- 1~3 5~6 1 1~12 47 8 9 1 0 Introduction After Opening the Package • Make sure that the product is what you have ordered. • Check whether the product has been damaged or not during transportation.
-9- Straight A B C D Oil seal None Ye s Brake None Ye s None Ye s Key way E F G H 1~3 5~6 11 ~ 1 2 47 8 9 1 0 Check the Model of Motor Name plate Type Serial No Revolution rating Model Designation Rated output (see T able 1-a) Motor structure (see T able 1-c) AC SERVO MOTOR RA TING S1 Model No.
-10- Introduction Check the Combination of Amplifier and Motor The amplifier has been designed for use in combination with the specified motors only . Check the specifications (Series symbol, output rating, voltage rating and encoder type) of the motor you want to use.
-11- Before Use With the incremental type encoder: 2500P/r Motor Amplifier type T ype1 T ype2 T ype3 T ype2 T ype3 T ype1 T ype2 T ype3 Series symbol MUMS Super Low inertia Voltage 100V 200V Output ra.
-12- Parts Description Amplifier <Notes> For detailed information for each of motor types, see the drawings in the Appendix (App.50 to 52). Example: MUDS023A1A (3-phase, 200V 200W: Type 1) Examp.
-13- <Notes> For detailed information for each of motor types, see the drawings in the Appendix (App.48 & 49). Motor Example: Super Low-Inertia Motor (MUMS Series, 400W) Mounting bolt holes .
-14- Installation The amplifier and motor should be properly installed to avoid failures, mechanical damages and injuries. Amplifier Location • Indoors, where the amplifier is not subjected to rain water and direct sun beams. Note that the amplifier is not a waterproof structure.
-15- Mounting Direction and Space Requirements • Allow enough space to ensure enough cooling. • Install fans to provide a uniform distribution of temperature in the control box. The airflow of fan is more than 0.43m 3 /min. And it should be located 10 cm away from the amplifier .
-16- Installation Motor Location • Indoors, where the amplifier is not subjected to rain water and direct sun beams. • Avoid the place where the amplifier is subjected to corrosive gases, flammable gases, grinding liquids, oil mists, iron powders and cutting particles.
-17- Cable: Stress Relieving • Make sure that the cables are not subjected to moments or vertical loads due to external bending forces or self-weight at the cable outlets or connections. • In case the motor is movable, secure the cable (proper one supplied together with the motor) to a stationery part (e.
-18- • Main Circuits Non-Fuse Breaker (NFB) Used to protect the power lines: overcurrent will shut off the circuit. Noise Filter (NF) Prevents the external noise from the power line, and reduces the ef fect of the noises gen- erated by the servo motor .
-19- 1 2 3 4 5 6 7 8 9 0 ST A TUS ALM CODE GAIN CN SER CN I/F CN SIG CN POWER CN MOTOR Communication control software PANATERM “ CN SER (to connect a PC or controller) CN SIG (to connect an encoder).
- 20 - System Configuration and Wiring List of Available Components As these models with * are used for both 1-phase 200V and 3-phase 200V, make a choice according to the power source. • When these wires are used, wire length between circuit breaker and amplifier should be less than 3 m.
- 21 - Preparations and Adjustments For 3-phase 200V AC For 1-phase 100V/200V <Note> • In case that alarm occurs, construct the circuits so that the main power is switched of f.
- 22 - System Configuration and Wiring Main Circuits Always ask to an electric engineer for wiring. Don't turn on the main power until the wiring and connectings are completed, to avoid electric shocks. Wiring Instructions • Make necessary connections.
- 23 - Preparations and Adjustment CN SIG Connector (For Encoder) Wiring Instructions The cable length between the amplifier and mo- tor should be max. 20 m. If you use a longer cable, contact the dealer or sales agent. Separate these wiring min. 30 cm from the m a i n c i r c u i t w i r e s .
- 24 - CN SER Connector System Configuration and Wiring For RC232C communications Connect a personal computer to the amplifier with RS232C at 1:1, and use the communication control software "PANATERM “ " (Option). Operate "PANATERM “ " on the personal computer.
- 25 - List of Available Components CN I/F Connector (For Controller) Wiring Instructions Place the peripheral devices such as the controller max. 3 m away from the amplifier . • CN I/F Connector Specifications • The CN I/F pins assignment is shown in "Optional Parts" in Appendix.
- 26 - System configutration and wiring Circuits Available for Typical Control Modes • CN I/F Wiring for Position Control 1 4.7k Ω 220 Ω 220 Ω COM+ PULS2 SIGN1 SIGN2 GND OA+ OA - OB+ OB - OZ+ .
- 27 - • CN I/F Wiring for Internal V elocity Control Preparations and Adjustments 1 4.7k Ω COM+ PULS2 SIGN1 SIGN2 OA+ OA - OB+ OB - OZ+ OZ - CZ SPM IM 22 23 24 25 15 GND 14 16 17 20 21 1 2 3 18 1.
- 28 - System configuration and wiring • Connect to (+) of an external power supply(12VDC to 24VDC). • Use power supply of 12V ± 10%Å`24V ± 10% • Connect to (-) of an external power supply(12VDC to 24VDC). • The required capacity depends on the I/O circuit configuration.
- 29 - The function differs depending on the control mode. The function differs depending on the control mode. GAIN/ ZEROSPD DIV/ INTSPD1 Gain switching/ Speed zero clamp Command pulse scaler switch/ Internal command velocity selection 1 5 6 Signal Pin Symbol Fun ctio n I/F No.
- 30 - System configuration and wiring Signal Pin Symbol Fun ctio n I/F No. circuit Input Signals (Position Control) and their Functions Signal Pin Symbol Fun ctio n I/F No. circuit Command pulse Command sign • This is the input terminal for command pulses.
- 31 - Preparations and Adjustments Signal Pin Symbol Fun ctio n I/F No. circuit Servo alarm In-position/ At-speed Mechanical brake release Warning • This output (transistor) turns of f, when the detector detects an alarm. • The function differs depending on the control mode.
- 32 - System configuration and wiring • Provides differential outputs of the encoder signals (A, B and Z phases) that come from the divider (equivalent to RS422 signals). • The logical relation between A and B phases can be selected by Pr45 (Output Pulse Logic Inversion).
- 33 - Preparations and Adjustments CN I/F Connector Interface Circuit (Input Circuit) PI Command pulse input circuit 1) Line Amplifier I/F • This is a good signal transmission method that is less sensitive to noises. We recommend you to use this to maintain the reliability of signals.
- 34 - System configuration and wiring Sequence output circuit • This comprises a Darlington amplifier with an open collector . This is connected to a relay or photo coupler . • There exists a collector-to-emitter voltage V CE ( SA T) of approx. 1.
- 35 - Preparations and Adjustments 1k Ω 1k Ω SP 1 2 3 IM GND Measuring instrument or external circuit CN MON 19 14 CZ Maximum rating: 30V , 50mA GND High-speed photo coupler TOSHIBA TLP554 or equivalent Analogue Monitor Output • Output from CN MON Connector • This output is the velocity monitor signal (SP) or torque monitor signal (IM).
- 36 - Parameter Setting Overview The servo amplifier has various parameters that are used for adjusting or set- ting the features or functions of the amplifier. This section describes the pur- pose and functions of these parameters. Understanding these parameters is essential for obtaining the best, application-specific operation of the amplifier.
- 37 - Preparations and Adjustments Parameters for Selecting Function Parameters for Adjusting Time Constants of Gain Filters, etc. Parameter NO. Para mete r descri ptio n Range Default Un i t 1st pos.
- 38 - Parameter Setting Parameters for Defining the Real Time Auto Gain Tuning Parameters for Adjustments (for 2nd Gain) Parameter No. Parameter description Range Default Unit (Pr**) 2nd gain action .
- 39 - Preparations and Adjustments Parameters for Position Control Parameters f or Velocity and Torque Control Parameter No. Parameter description Range Default Unit (Pr**) (Internal use) (Internal u.
- 40 - Pulse r/min r/min 256Pulse ------ ------ ------ ------ ------ ------ 2ms 2ms ------ ------ Åñ 6 0 Åñ 6 1 Åñ 6 2 Åñ 6 3 Åñ 6 4 Åñ 6 5 Åñ 6 6 Åñ 6 7 Åñ 6 8 Åñ 6 9 Åñ 6 A Å.
- 41 - Setting the Parameters • Y ou can set the Parameters with your personal computer with the S-series communication software P ANA TERM “ . <Notes> For the use of P ANA TERM “ for parameter handling, see the instruction manual of the soft- ware.
- 42 - Installing PANATERM “ on a hard disc <Notes> 1 . The memory capacity of the hard disc should be 15MB or more. Prepare OS of Windows “ 95 or Windows “ 98. 2. Install PANATERM “ with setup discs, otherwise the software does not work.
- 43 - Starting PANATERM “ <Notes> 1. Once you install PANATERM “ on your hard disc, you do not have to install it again for next use. 2. Before using PANATERM “ , the amplifier, power supply, motor and encoder should be connected. For the procedure for starting PANATERM “ , see the Windows “ manual .
- 44 - 1 2 3 4 5 6 7 8 9 0 STATUS ALM CODE GAIN CN SER CN I/F CN SIG CN POWER CN MOTOR Controller CN I/F CN SIG Motor Ground Machine (motor load) Po we r Trial Run Inspections before Trial Run 1) Inspecting the wiring • Make sure that all wire connections (especially main power and motor output ) are correct.
- 45 - Preparations and Adjustments Operation with CN I/F Connected 1) Connect CN I/F . 2) Connect the control signal (COM+/-) to the power supply (12 to 24V DC). 3) T urn the main power (amplifier) ON. 4) Check the defaults of the parameters. Control mode setting (Pr2 value: 0).
- 46 - Theory Determining the parameter Trial Run Set-up of motor speed and input pulse frequency Input pulse frequency (pps) 500k 250k 100k 500k Motor speed (r/min) 3000 3000 3000 1500 2500P/r Pr 46 .
- 47 - No. 0 5 Input signal Servo-ON Speed zero clamp Monitor display + A ---- Stop with +A Input Signal Status PrNo. Pr02 Pr04 Pr06 Pr53 ~ Pr56 Pr58 Pr59 Pr5A Parameter description Control mode set-u.
- 48 - Trial Run Fundamental Operations and LED Indications 1 2 3 4 5 6 7 8 9 0 STATUS ALM CODE GAIN CN SER CN I/F CN SIG CN POWER CN MOTOR Motor P ower supply CN POWER 1.
- 49 - Preparations and Adjustments CN MO T OR CN I/F CN SIG Set the rotary switch to default "0" position for GAIN adjustment. 2.Chec k LED status. Make sure that the alarm code LED is not flashing. (Under the normal operation, the alar m indicator is OFF .
- 50 - Normal mode auto gain tuning Real time auto gain tuning Manual gain tuning Gain tuning using the rotary switch for gain adjustment Gain set-up: low Gain set-up: high +Feed forward set-up Adjust.
- 51 - The auto gain tuning affects the values of the following six parameters. • Pr15 (Velocity Feed Forward) will be automatically changed to 0%, if the auto gain tuning is executed.
- 52 - Adjustments How to Adjust Gain Start End Automatic adjustment (automatic gain tuning) Manual gain tuning Torque command filter Do you need higher response ? Any affect of the machine resonance ? Actioon OK? Abnormal sound or vibration occurs.
- 53 - Preparations and Adjustments Driving method Ball screw + direct coupling Ball screw + timing belt Timing belt Gear, or rack & pinion Others: lower stiffness Mechanical stiffness 4Å`8 3Å`6 2Å`5 1Å`3 1Å`3 1) Start P ANA TERM “ , and click on "Auto tuning" in the window menu to open the automatic tuning screen.
- 54 - How to Use "Real Time Auto-Gain" Tuning Automatic tuning is available when the gain adjustment rotary switch GAIN is set to "0" position only . 1) St art P AN A TERM “ , and go to Parameter Set-up Mode. 2) Set Pr1F (Disturbance torque observer) to 8 (invalid).
- 55 - Position loop gain Pr10 100 50 50 Machine Ball screw Timing belt Rack & pinion Velocity loop gain Pr11 50 25 25 Velocity loop integration time constant Pr12 50 50 200Å`500 Preparations and.
- 56 - How to Adjust the Gain at Position Control Mode 1 ) Input the inertia ratio of Pr20. For horizontal axis, take measurements on the basis of "Normal auto tuning". For vertical axis, obtain values through calculations. 2) Conduct adjustments with the parameters shown in the following table taken as guidance values.
- 57 - How to improve the response further You can manually adjust the 2nd gain. With the 2nd gain adjustment, you can expect quicker response. <Example> When you want to reduce the noise produced during the stopping (servo-locking), you set the lower gain after the motor stops.
- 58 - For increasing gain For lo wer ing gain Note 1 2 3 4 5 6 7 8 9 0 Gain Tuning Using Gain Adjustment Rotary Switch Set the rotary switch depending on machine configuration. Then while checking movement of machine, in- crease the rotary switch value one by one.
- 59 - To reduce the mechanical resonance If the machine is not stiff, vibration and noise may be generated due to the resonance by shaft torsion, and you mey not be able to set-up the higher gains. You can suppress the resonance by 2 types of the filters.
- 60 - Protective Functions What are the Protective Functions? The am pl ifi er has various protective functions. When one of the protections is activated, the motor trips according to the timing chart shown in "Error Handling" in Appendix, and the Servo Alarm Output (ALM) is turned off.
- 61 - Important information Overvoltage error 1) The internal regenerative discharge resistor is disconnected. 2) The external regenerative discharge resistor is not suitable so that regenerative energy cannot be absorbed. 3) The amplifier (circuit) failed.
- 62 - Protection * Overcurrent error Cause The current flowing in the converter is larger than the specified value. 1) The amplifier failed (due to defective circuits or IGBT parts). 2) Motor wires (U, V and W) are shorted. 3) Motor wires are grounded.
- 63 - Protection Overload error Alarm Code No. 16 Countermeasures Check on waveform graphic screen of PANATERM “ whether the torque (current wave) is surging or not. Check the overload alarm message and load factor using PANATERM “ . 1) Increase the capacity of the amplifier and motor .
- 64 - Protection * Encoder A/ B-phase error * Encoder communication error * Encoder connection error * Encoder communication data error Position error Over-speed error Command pulse sealer error Protective Functions Alarm Code No. 20 21 22 23 24 26 27 Countermeasures Correct the encoder wiring per the wiring diagram.
- 65 - Important information *) Status LED indicator (STATUS) and alarm code LED indicator (ALM CODE) start flashing simultaneously. Protection Error counter over flow * EEPROM parameter error * EEPROM check code error Overttravel inhibit * Other error Alarm CodeNo.
- 66 - Maintenance and Inspections Å E Routine maintenance and inspections are essential for proper and satisfactory op- eration of the amplifier and motor. Notes to Maintenance/Inspections Personnel 1)Power-on/off operations should be done by the operators themselves.
- 67 - Equipment Amplifier Motor Standard replacement cycles (hour) about 5 years about 5 years 3 to 5 years (20 to 30 thousand hours) 5000 hours 3 to 5 years (20 to 30 thousand hours) Important information Replacement Guidance Parts replacement cycles depend on the actual operating conditions and how the equipment has been used.
- 68 - Troubleshooting The motor does not rotate. [Check Points] Coupling loosened? 1 2 3 4 5 6 7 8 9 0 STATUS ALM CODE GAIN CN SER CN I/F CN SIG CN POWER CN MOTOR Controller Motor Machine The voltage.
- 69 - Important information The motor does not rotate. Category Parameters Wiring Installation Causes The control mode selected is not correct. The torque limit has been set to 0 . The zero speed clamp is ON, so the motor does not operate. Internal velocity set-up parameter is not entered.
- 70 - Troubleshooting The rotation is not smooth. Category Adjustment Wiring Causes The gains are not appropriate. Position commands are not stable. CN I/F signals are chattering.
- 71 - Important information Positioning accuracy is bad. Category System Adjustment Parameter Wiring Installation Causes Position commands (amount of command pulses) are not cor- rect. Reading of in-position signals occurs at the edge. The form and width of the com- mand pulses deviate from the specified values.
- 72 - The initial (home) position varies. Troubleshooting Causes When calculating the initial (home) position, the Z-phase output is not detected. Creep speed to initial position is too high. The output of the initial (home) position proximity sensor (dog sensor) is chattering.
- 73 - Important information The motor produces an abnormal sound and/or vibration. Causes The gains are too large. The velocity detection filter is not proper. Resonance between the ma- chine and motor occurs. Motor bearing Electromagnetic sound, gear sound, braking sound, hub sound, rubbing sound from the encoder, etc.
- 74 - Category Adjustment Installation Countermeasures Check the gains using the wave form graphics moni- toring function of PANATERM “ , speed monitor (SP) and/or torque monitor (IM).
- 75 - Con form to EC Directives and UL Standards App. 2 Holding brake App. 6 Dynamic brake App. 8 T iming chart App. 10 Allowable loads on output axes App.
- App. 2 - Conformance to EC Directives and 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.
- App. 3 - Appendixes Power Single-phase 100V : Single-phase 100 to 1 15V +10%/-15%, 50/60Hz Single-phase 200V : Single-phase 200 to 230V +10%/-15%, 50/60Hz Three-phase 200V : Three-phase 200 to 230V +10%/-15%, 50/60Hz (1) Use under the environment of Over-voltage Category III specified by IEC60664-1.
- App. 4 - Install noise filters. Install noise filters (specially designed for signal wires) for all cables (power , motor , encoder and interface wires). Grounding (1) Connect between the servo amplifier's protective earth terminal and control box's protective earth (ground plate) to prevent electric shocks.
- App. 5 - Appendixes Manufacturer's Product No. 3SUP-A10H-ER-4 Manufacturer Optional Part No. DVOP1441 DVOP1442 Install noise filfers Manufacturer's Product No. ZCA T3035-1330 Manufacturer TDK Corporation Optional Part No. DVOP1460 39 1 34 1 30 1 13 1 Weight: 62.
- App. 6 - Holding brake The brake is to hold the work (movable part coupled to a vertical motor axis) to prevent it from falling by gravity in case the servo power is lost. <Notes and Cautions> 1. The brake coil has no polarities. 2. The power supply for the brake should be supplied by the customer .
- App. 7 - Appendixes BRK-OFF Signal • See Timing Chart describing the timing of issuing BRK-OFF signal, e.g. to release the brake after power-on, and activate the brake in case a servo-of f/ alarm occurs during the operation of the motor. • The timing (delay) of deactivating BRK-OFF signal (i.
- App. 8 - Dynamic Brake (DB) The amplifier has a dynamic brake for emergency use. Observe the following precautions. <Notes> 1. The dynamic brake should be used for emergency stop only. 2. The dynamic brake should be on for just a short time for emergency.
- App. 9 - Appendixes 3) Options of the operation through deceleration and stop by turning on Over-travel Inhibit (CWL or CCWL) (Pr66) D B D B Free run Free run D B Free run Free run D B Clear 0 Pr68 .
- App. 10 - T iming Chart After Power ON (receiving Servo-ON signal) <Caution> * 1. This means that SRV -ON signal is entered mechanically , but not accepted actually . <Notes> • Avoid repeating to switch on and of f the main power . • Switch on the main power in about 1 minute more after it is switched of f.
- App. 11 - Appendixes After an Alarm event (during Servo-ON) *1. The value of t1 is the value of Pr6B or the time needed for decreasing the motor speed to approx. 30 r/min, which is shorter . *2. For the operation of the dynamic brake following an alarm event, see the explanation of Pr68 in "Details of Parameters".
- App. 12 - T iming Chart After an Alarm is cleared (during Servo-ON) *1. The value of t depends on the value of Pr6A. *2. For the operation of the dynamic brake at Servo-OFF , see the explanation of Pr69 in "Details of Parameters".
- App. 13 - Appendixes *1. The value of t1 is the value of Pr6B or the time needed for decreasing the motor speed to about 30 r/min , which is shorter . *2. During deceleration, Servo-ON does not become active until the motor stops, even if you attempt to turn on SR V -ON again.
- App. 14 - Acceptable Loads on Output Axes Acceptable Loads on Output Axes L L/2 P A M B Radial load (P) direction Thrust load (A and B) direction Motor series MUMS Acceptable during no operation Acceptable during operation Radial load 147 392 686 Thrust load A direction 88 147 294 B direction 1 17.
- App. 15 - Appendixes Homing operation (Precautions) In the returning operation to the home position using the controller , if the initialization signal (Z-phase signal from the encoder) is entered before the motor is not substantially decelerated (after the proximity sensor is activated), the motor may not stop at the required position.
- App.16 - Details of Parameters Parameters for Function Selection Pr No. Parameter Value Function If multiple axes are used, it is necessary for the amplifier to identify the current axis accessed by the host (e. g. PC employing RS232C). You can identify axi s address by number with this parameter.
- App.17 - Appendixes Pr No. Parameter Value Function 02 (continued) Control mode set-up (continued) * Example of 4 speeds operation using internal velocity command In addition to DIV/INTSPD1 and CL/INTSPD2, zero speed clamp input (ZEROSPD) and Servo-On input (SRV-ON) are required as the input to control start and stop of the motor.
- App.18 - Details of Parameters Pr No. Parameter Value Function For linear motion or other similar motion, overtraveling of the work may cause mechanical damages. To avoid this, it is necessary to provide limit switches at each end so that traveling over the limit switch position can be inhibited.
- App.19 - Appendixes Pr No. Parameter Value Function You can switch whether to enable or disable the zero speed clamp input (ZEROSPD, CN I/F Pin 5). 06 ZEROSPD input selection 0 ~ 1 You can select/se.
- App.20 - Details of Parameters Pr No. Parameter Value Function You can define the function of warning output (WARN: CN I/F 12-pin). 09 0C Warning output selection Baud rate set-up of RS232C 0 ~ 5 0 ~ 2 Function Torque in-limit Zero speed detection Alarm signal Overregeneration alarm Overload alarm Does not function, although displayed.
- App.21 - Appendixes Parameters for Time Constants of Gains and Filters: Related to Real Time Auto Tuning Pr No. Parameter Value Function • Y ou can define the response characteristics of position control. Higher the gain you set, quicker the in-position time you can obtain.
- App.22 - Pr No. Parameter Value U ni t Function • This amplifier provides 2(two) sets (1st. and 2nd.) of gain and time constant for position loop, velocity loop, velocity detection filter and torque command filter .
- App.23 - Appendixes Pr No. Parameter Value U ni t Function • Y ou can set-up the ratio of load inertia to the motor's rotor inertia. • Set values change by operating gain adjustment rotary switch GAIN.
- App.24 - PrNo. Parameter Range Un i t Function description • Y ou can select the switching between PI and P action or s w i t c h i n g b e t w een the 1st and 2nd gains. *1 Switch the PI and P action with the gain switching input (GAIN: CN I/F Pin 5).
- App.25 - Appendixes PrNo. Parameter Range Un i t Function description • Y ou can set-up the delay time when switching from the 2nd. to the 1st. gain when the actual status shifts out of the preset condition with Pr31. • This parameter is enabled when Pr31 is set to 3,5 and 6, and you can define the level of judgement for switch from the 1st.
- App.26 - Default : [ ] You can set-up the multiplication when [quadrature pulse input] is selected with Pr42(Command pulse input mode set-up). You can individually set-up the logic of 2-series of pulse com mand inputs (PULSE and SIGN). You can set-up the type of command pulse to be given to the amplifier from the controller.
- App.27 - Appendixes Output pulses per single turn Pulse output logic inversion You can set-up encoder pulse counts per single turn, which is to be fed-out to the controller. Set- ting in scalar.Set the required pulse counts per single turn in [Pulse/rev] unit directly.
- App.28 - Default : [ ] PrNo. Parameter Range Function description Pulse command scaling function (electronic gear) • Purpose 1) Y ou can set-up any motor speed or work travel amount per input command pulse.
- App.29 - Appendixes PrNo. Parameter Range Function description Y ou can select the numerator of the command scalar . *1 Select the 1st. or 2nd. numerator with scalar input switch ing (DI V: CN I/ F Pin 6) .
- App.30 - PrNo. Parameter Range Function description This filter is a primary delay filter that is inserted after the scaling function in the command pulse input portion. ÅEYou can set-up the time constant of the smoothing filter in 8 s t e p s w i t h P r 4 C .
- App.31 - Appendixes Parameters for Velocity Control PrNo. Parameter Range Function description You can set-up the internal command velocity of 1st - 4th speed to Pr53 - 56 respectively in [r/min] unit, when the internal velocity set-up is enabled with the parameter Pr02 (Setting of Control Mode).
- App.32 - PrNo. Parameter Range Function description You can add a quasi S-shaped acceleration/deceleration to the velocity command, so that smooth operation can be obtained in such a case as a large impact shock will be given at starting or stopping with a linear acceleration/deceleration.
- App.33 - Appendixes PrNo. Parameter Range Function description • Y ou can set-up the output timing of the in-position signal (COIN: CN I/ F Pin 10 ), completing the travel of the motor (wo rk ), af te r th e co mma nd pulse entry .
- App.34 - Details of Parameters PrNo. Parameter Range Function description • Y ou can set-up the output timing of at-speed signal (COIN: CN I/F 10 pin) by setting motor speed [r/min] in internal velocity control mode. • The at-speed signal (COIN) is output, when the motor speed exceeds set value of this parameter Pr62.
- App.35 - Appendixes PrNo. Parameter Range Function description 66 68 69 DB inhibition at overtravel limit Sequence at alarm Sequence at servo-off 0 ~ 1 0 ~ 3 0 ~ [ 0 ] During deceleration DB Free ru.
- App.36 - Defau lt: [ ] PrNo. Parameter Range Function description Defines the duration from the shutdown of motor current (servo free) to OFF (i.e. brake energized) of the brake release signal (BRK- OFF) in transition to Servo-OFF during the motor in motion, not during the halt as handled by Pr6A.
- App.37 - Appendixes PrNo. Parameter Range Function description Install an external regenerative discharge resistor (between P (5- pin) and B2 (3-pin) on the relevant connector), and set this parameter as necessary.
- App.38 - Optional Parts MINAS-S series Cables Encoder cable (2500 P/r, 11 wires), incremental encoders Motor cable Brake cable MUMS30 ~ 750W Fig. No. Motor type Cabl e Pa rt No. 2-1 3-1 4-1 MFECAO**OEAA MFMCAO**OAEB MFMCBO**OGET fig2-1 MFECAO**OEAA ø 9.
- App.39 - Appendixes Connector for Monitor 1) Part No.DV0P2880 2) Components 3) Pin alignment of connector for CN MON <Notes> 1.The table above shows the pins alignment, looking from the connector pin inserted direction of connector.
- App.40 - Item Connector Connector Cover Connector(15P) Connector Pin Connector(4P) Connector Pin Connector(6P) Connector Pin Quantity 1 1 1 15 1 4 1 4 Manufacturer SUMITOMO 3M Tyco Electronics AMP T.
- App.41 - Appendixes 5) Pin alignment of relay connector for encoder cable 6) Pin alignment of relay connector for motor cable 7) Pin alignment of connector for CN MOTOR <Notes> 1 . The table above shows the pins alignment, looking from the connector pin inserted direction of the connector.
- App.42 - 3) Alignment of CN I/F (26 pins) (Looking from where the plug is soldered) <Notes> 1.Before making connections, check the Pin Numbers stamped on the plugs. 2.For the symbols and functions of the pins, see the section "System Configuration and Wiring" on the page 26 .
- App.43 - Appendixes Interface Cables for controller connection 1) Part No. DVOP0800 2) Dimension 3) Wire table 1 37.2 13 26 14 2000 50 39 12.7 14 Shell kit: 10326-52A0-008 Sumitomo 3M or the equivalents Plug: 10126-3000VE Sumitomo 3M or the equivalents <Notes> For example, Orange (Red 1) for Pin No.
- App.44 - Optional Parts Communication Cables (for connection to personal computer) 1) Part No. DVOP1960 (for DOS/V) 2) Part No. DVOP1 160 (for PC98 series) (78.74) (78.74) Communication Control Software P ANA TERM ® 1) Part No. DVOP2820 (English V ersion) 2) 3.
- App.45 - Appendixes External Regenerative Discharge Resistor Part.No. DV0P2890 DV0P2891 Resistance 50 Ω 100 Ω Specifications Product number 45M03 45M03 Manufacturer: IWAKI MUSEN KENKYUSHO CO., LTD <Notes> For safety, a thermal fuse is built in the optional external regenerative dis charge resistor.
- App. 46 - M4 M4 M4 M4 Optional Parts Reactor Rated output Reactor Part No. MUDS Single- phase 100V Single- phase 200V 3-phase 200V Single-phase 200V 3-phase 200V 30W ~ 100W 100W 200W ~ 400W 30W ~ 4 00W 100W ~ 400W 30W ~ 400W 100W ~ 400W 400W 750W DVO P227 DVOP228 DVOP220 DVOP221 fig.
- App. 47 - Appendixes Surge Absorber for Motor Brake Peripheral Equipment Manufacturers 81-06-6908-1131 81-044-833-4311 Kantou Area 81-03-3621-2703 Chubu Area 81-052-777-5070 Kansai Area 81-06-6391-6.
- App. 48 - LL LF LR LE 7.874 LH LBh7 øSh6 Dimensions MUMS Series 30W ~ 750W Without brake LL 2.657 2.972 3.642 3.780 4.862 5.610 3.898 4.213 4.882 5.079 6.161 6.949 Output(W) 30 50 100 200 400 750 30 50 100 200 400 750 S 0.250 0.500 0.625 0.250 0.500 0.
- App. 49 - Appendixes LA 1.724 3.874 1.724 3.874 Without brake LZ M3 Depth4.5 4.5 6.5 M3 Depth4.5 4.5 6.5 MUMS With brake LW 13 14 20 25 13 14 20 25 LK 12 12.5 18 22.5 22 12 12.5 18 22.5 22 KW 2 3 4 5 6 2 3 4 5 6 KH 2 3 4 5 6 2 3 4 5 6 RH 5.8 6.2 8.5 11 15.
- App. 50 - Dimensions Amplifier T ype 1 Weight: 0.7 kg unit: mm(Inch) Back panel mount type (Standard) 5.2(0.205) R 2.6(0.102) 5.2(0.205) 3(0.118 ) 9(0.354) 45(1.772) 150(5.906) 168(6.614) 4.1(0.161) 20(0.787) 45(1.772 ) 10(0.394) 10(0.394) 160(6.299) 5(0.
- App. 51 - Appendixes Amplifier T ype 2 Weight: 0.9 kg unit: mm(Inch) 3(0.118 ) Back panel mount type (Standard) R2.6(0.102) 5.2(0.205) 9(0.354) 150(5.906) 168(6.614) 4.1(0.161) 45(1.772 ) 120(4.724) 160(6.299) 5(0.197) MSDS MOTOR CN SIG CN CN POWER CN I/F Power F.
- App. 52 - Dimensions Ampl ifi er T ype 3 W eight: 1.2 kg unit: mm(Inch) Back panel mount type (Standard) 15(0.591) 50(1.969) 182(7.165) 2.3(0.091) 160(6.299) 160(6.299) 2(0.079) 61(2.402) 65(2.559) 2(0.079) 172(6.772) 15(0.591) 32.5(1.280) 32.5(1.280) 11(0.
- App. 53 - Appendixes Characteristics 100 100 115 150 200 250 300 350 400 450 10 1 Time(sec) Overload Pr otection: Time Limiting Characteristics MUMS 30W~100W MUMS 200W~750W T orque(%).
- App. 54 - Pr31 0 1 2 3 4 5 6 7 8 Figure A B C D E Switching conditions Fixed to 1st gain Fixed to 2nd gain Gain switching input, 2nd gain selected with GAIN On 2nd gain selected with a large torque .
- App. 55 - Appendixes <Notes> The figures above do not reflect the gain switching timing delay caused by hysteresis ( Pr34) . Speed N A T orque T Lev el Delay T 1st Gain 2nd 2nd 1st 2nd 2nd 1st.
- App. 56 - CN POWER CN MOT OR L 1 L 2 L 3 DC/DC P CN SER CN SIG U V W E M RE CN I/F N P ± 12V +5V + + - + + - A/D EEPROM B MSDS ALM CODE STATUS Internal Block Diagram of MINAS-S Amplifier Gate drive.
Appendixes - App. 57 - • Control Block Diag ram Pulse command PULS SIGN Feedback pulse(OA • OB) Feedback pulse(OZ • CZ) Encoder signal A/B phase or Rx Encoder signal (Z phase) + + + + - - Input .
- App. 58 - Specifications Power Encoder Built-in functions Protective functions Monitor Setting Position Control Velocity control Rotary encoder Single-phase 100V system Single-phase 200V system 3-ph.
Motor Company , Matsushita Electric Industrial Co., Ltd. 7-1-1, Morofuku, Daito, Osaka 574-0044, J apan TEL: +81-72-871-1212 After-Sale Service (Repair ) Repair Consult to a dealer from whom you have purchased the product for details of repair .
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