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MADDT1205P
Panasonic MADDT1205P User Manual
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Instruction Manual
AC Servo Motor and Driver
MINAS A4P Series
DV0P4490
•
Thank y
ou f
or buying and using P
anasonic A
C Ser
v
o Motor and Driver
, MINAS A4P Series.
•
Read through this Instruction Manual f
or proper use
, especially read "Precautions f
or Saf
ety" ( P
.8
to 11) without f
ail f
or saf
ety purpose.
•
K
eep this Man
ual at an easily accessib
le place so as to be ref
erred anytime as necessary
.
2
Table of Contents
[Before Using the Products]
7
[Before Using the Products]
2
Table of Contents
7
Safety Precautions
8
Safety Precautions
10
Maintenance and Inspection
12
Introduction
14
Outline
14
On Opening the Package
14
Check of the Driver Model
14
Check of the Motor Model
15
Check of the Combination of the Driver and the Motor
16
Parts Description
18
Driver
18
Motor
20
Console
21
Installation
22
Driver
22
Motor
24
Console
26
[Preparation]
27
System Configuration and Wiring
28
Overall Wiring (Connecting Example of C-Frame, 3-Phase)
28
Overall Wiring (Connecting Example of E-Frame)
30
Driver and List of Applicable Peripheral Equipments
32
Wiring of the Main Circuit (a to D-Frame)
34
Wiring Diagram
35
Wiring of the Main Circuit (E and F-Frame)
36
How to Connect
37
Wiring to the Connector, CN X6 (Connection to Encoder)
38
Wiring to the Connector, CN X7 (Connection to External Scale)
40
Wiring to the Connector, CN X5 (Connection to Host Controller)
41
Wiring for Connector CN X5
42
Interface Circuit
43
List of Signal for Connector CN X5
44
Setup with the Front Panel
48
Composition of Touch Panel and Display
48
Initial Status of the Front Panel Display (7-Segment LED)
48
Output Signals (Analog) and Their Functions
49
Built-In Holding Brake
50
Dynamic Brake
52
[Setting]
55
Parameter Setup
56
Outline of Parameter
56
How to Set
56
Outline of PANATERM
56
How to Connect
56
Composition of Parameters
57
List of Servo Parameter
58
Parameters for Position Control
64
List of 16-Bit Positioning Parameters
73
List of 32-Bit Positioning Parameters
77
List of Step Parameters
77
Setup of Torque Limit
78
How to Use the Console
80
Setup with the Console
80
Initial Status of the Console Display (7 Segment LED)
80
Mode Change
81
Monitor Mode
82
Teaching Mode
87
Parameter Setup Mode
91
EEPROM Writing Mode
96
Auto-Gain Tuning Mode
97
Auxiliary Function Mode
98
Copying Function (Console Only)
101
Outline of Setup Support Software, "PANATERM
103
Outline of PANATERM
103
How to Connect
103
[Operation Setting]
105
Overview of Operation Setting
106
Step Operation
107
Example of Incremental Operation Setting
108
Example of Absolute Operation Setting
109
Example of Rotary Axis Operation Setting
110
Example of Dwell Timer Operation Setting
111
Jog Operation
112
Homing Operation
114
Home Sensor + Z Phase (Based on the Front End)
116
Home Sensor (Based on the Front End)
117
Home Sensor + Z Phase (Based on the Rear End)
118
Limit Sensor + Z Phase
120
Limit Sensor
121
Z Phase Homing
122
Bumping Homing
122
Data Set
123
Homing Offset Operation
124
Emergency Stop Operation/Deceleration-And-Stop Operation
125
Temporary Stop Operation
126
Block Operation
127
Overview of Block Operation
127
Continuous Block Operation
127
Combined Block Operation
128
Sequential Operation
130
S-Shaped Acceleration/Deceleration Function
131
Timing Chart
132
Operation Timing after Power-ON
132
When an Error (Alarm) Has Occurred (at Servo-ON Command)
133
When an Alarm Has Been Cleared (at Servo-ON Command)
134
Servo-ON/OFF Action While the Motor Is at Stall (Servo-Lock)
135
Servo-ON/OFF Action While the Motor Is in Motion
135
Absolute System
136
Overview of Absolute System
136
Configuration of Absolute System
136
Battery (for Backup) Installation
136
Setup (Initialization) of Absolute Encoder
136
Outline of Full-Closed Control
140
What Is Full-Closed Control
140
Page
140
[Adjustment]
141
Gain Adjustment
142
Real-Time Auto-Gain Tuning Mode
144
Adaptive Filter
147
Normal Mode Auto-Gain Tuning
148
Release of Automatic Gain Adjusting Function
151
Manual Gain Tuning (Basic)
152
Adjustment in Position Control Mode
153
Adjustment in Full-Closed Control Mode
154
Gain Switching Function
155
Suppression of Machine Resonance
158
Manual Gain Tuning (Application)
160
Instantaneous Speed Observer
160
Damping Control
161
[When in Trouble]
163
When in Trouble
164
What to Check
164
Protective Function (What Is Error Code ?)
164
Warning Function
165
Protective Function (Detail of Error Code)
165
Time Characteristics of Err16
170
Software Limit Function
170
Troubleshooting
172
Motor Does Not Run / Motor Stops During an Operation
172
Point Deviates / Positioning Accuracy Is Poor
173
Home Position Slips
173
Abnormal Motor Noise or Vibration
173
Overshoot/Undershoot
174
Overheating of the Motor (Motor Burn-Out)
174
Parameter Returns to Previous Setup
174
Display of "Communication Port or Driver Cannot be Detected" Appears on the Screen While Using the PANATERM
174
[Supplement]
175
Conformity to EC Directives and UL Standards
176
Power Supply
177
Circuit Breaker
177
Options
180
Interface Cable
185
Recommended Components
191
Dimensions (Driver)
192
Dimensions (Motor)
195
Permissible Load at Output Shaft
210
Motor Characteristics (S-T Characteristics)
211
Motor with Gear Reducer
217
Dimensions/Motor with Gear Reducer
218
Permissible Load at Output Shaft/Motor with Gear Reducer
220
Characteristics of Motor with Gear Reducer
221
Block Diagram of Driver
222
Block Diagram by Control Mode
224
Specifications (Driver)
226
Default Parameters (for All the Models of A4P Series)
228
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Panasonic MADDT1205P Specifications
General
Brand
Panasonic
Model
MADDT1205P
Category
Power Supply
Language
English
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