Panasonic AC Servo MINAS E Series IMC80A User Manual

ReferenceOutline of “PANATERM®”, Setup Support Software ...156Communications ...

164CommunicationsState Transition DiagramRS232C CommunicationsIdlingReceiving moduleTransmitting ModuleWaiting for EOTTransmission of blockWaiting for

165[Reference]ReferenceCommunications TimingRS232C CommunicationsT3 T3T4Request for transmissionPermission to transmitACK/NAKData blockRequest for tra

166CommunicationsDetails on Communications Commandscommand0mode1Readout of CPU version informationReceived data0axischecksum01Error codeTransmitted da

167[Reference]Referencecommand1mode1Setting of RS232C protocol parametersReceived data3axisT1T2checksum11RTYM/S Error codeTransmitted dataSetting of t

168Communicationscommand2mode1Readout of the command pulse counterReceived data0axischecksum21Error codeTransmitted dataA current command position is

169[Reference]Referencecommand2mode4Readout of current speedReceived data0axischecksum24Error codeTransmitted dataThis command is used to read current

170Communicationscommand2mode7Readout of input signalReceived data0axischecksum27Error codeTransmitted dataFor "CW overtravel inhibited", &q

171[Reference]Referencecommand2mode9Readout of current speed/torque/deviation counterReceived data29Error codeTransmitted dataThe speed and torque out

172Communicationscommand2modeAReadout of status/input signal/output signalReceived data0axischecksum2AError codeTransmitted dataMeanings of each bit f

173[Reference]Referencecommand8mode1Individual writing of parametersReceived data3axisParameter No.Parameter value L

156x1x3x4x5x6STATUSALM CODEConnecting to CN X6RS-232 CableDV0P1960 (For DOS/V)Outline of “PANATERM®”, Setup Support SoftwareConnection MethodInstallin

174Communicationscommand9mode1Individual readout of alarm historyReceived data1axisHistory No.checksum91Error codeTransmitted dataHistory No.1 to No

175[Reference]Referencecommand9mode4Alarm clearReceived data0axischecksum94Error codeTransmitted dataThis command clears the current alarm (only appli

176CommunicationscommandBmode1Page readout of user parametersReceived data1axisPage No.checksumB1Transmitted dataA page number is designated from 0

177[Reference]ReferencecommandBmode2Page writing of user parametersReceived data21haxisPage No.Parameter L(No.0 value) HParameter value L(No.1

178Pulse row positioncommandDistance: P1 [P]Traveling speed: F [PPS]Command dividing multiplier ratioServo driverD =Pr46 x 2Pr4BPr4AServomotorEncoderG

179[Reference]Reference= 5100.005 x 10000 x 1 = 0.25200.0005 x 10000 x 1D =... Formula (3)... Formula (5) L∆M x E x RThen, distance per command pulse

180Conformance to EC Directives/UL StandardsEC DirectivesThe EC Directives apply to all such electronic products as those having specific functions an

181[Reference]ReferencePeripheral EquipmentEnvironmentThe servo driver should be used under Contamination Level 2 or 1 specified by IEC60664-1 (housin

182Noise FilterWhen, one set of noise filters is installed in the power unit with two or more drivers, be sure to consult with the noisefilter manufac

183[Reference]ReferenceNoise Filter for Signal cablesProvide all the cables (power supply cable, motor cable, encoder cable, interface cable) with the

157[Reference]ReferenceStarting PANATERM®<Cautions/Remarks>1. Once you have installed “PANATERM®” on the hard disk, you do not have to reinstall

184Optional Parts(ø9.8)(40) (50)L(5.6)(12.0)(10.0)For pressure connection terminal M4Manufactured by Tyco Electronics AMP K.K.Connector 172157-1Pin 17

185[Reference]ReferenceConnector Kits for Power Supply of the Driver(1) Part No. DV0P2870(2) Components(3) Pin arrangement of connector for CN x 1(4)

186Optional PartsConnector Kits for Connection of Motor and Encoder Used for: MUMA 50W to 400W Incremental2500 pulse 5-wire(1) Part No. DV0P3670(2)

187[Reference]Reference(5) Pin arrangement of connector for junction of encoder cable(6) Pin arrangement of connector for junction of motor power line

188Optional PartsConnector Kit for Connection with Host Controller(1) Part No. DV0P0770(2) Components(3) Pin arrangement of connector X5 (pin 26) (vie

189[Reference]ReferenceCommunications Cable (Connection with Personal Computer)(1) Part No. DV0P 1960 (for DOS/V compatible machines)“PANATERM®”, soft

190Optional PartsExternal Regenerative ResistorFemale terminal 5556PBTL (or 5556PBT) 4.34.35730065521060t0.6Part No.DV0P2890DV0P2891Manufacturer’smod

191[Reference]ReferenceReactor• The former Agency of Natural Resources and Energy of Ministry of International Trade and Industry (presentMinistry of

192Surge Absorber for Motor Brake• The recommended parts are specified items to measure the brake release time.List of Manufacturers of Peripheral Eq

193[Reference]ReferenceDriver (Frame K) Estimated Mass 0.35 kgDimensional Outline DrawingDriver (Frame L) Estimated Mass 0.4 kg

158CommunicationsOutline of CommunicationsWith a personal computer or host NC connected with MINAS-E Series through RS232C-compliant serialcommunicati

194Dimensional Outline DrawingMUMA Series 50W to 400WMotorLLLFLRLE200LG LBh7 Sh6Output50W, 100W200W, 400WLG230mm220mmLL75.592.596107124129Output(W

Reference195[Reference]Specification of Keyed Version(Dimension)Shaft-end Center Tap TPOutput50W, 100W200W400WScrewM3M4M5Depth6810LA48704870LZ4.53.44.

196Dimensional Outline DrawingLRLR/2PAMBRadial Load Direction (P)Thrust Load Directions (A, B)MotorSeriesMUMAWhen Assembled In OperationRadial Load14

197[Reference]ReferenceSupply Voltage of DriverSupply Voltage of Driver: At AC100V/200VSupply Voltage of Driver: AC200V(A dotted line indicates the ca

198MUMA011P31N1~4 5~6 7 8 9 10Structure of the motorSpecifications of Position/Speed DetectorVoltage Specification1 : 100V2 : 200VRated OutputChecking

199[Reference]ReferenceCheck the Combination of Driver and Motor with GearThis driver was designed for use with the motor designated by us.Check a nam

200Dimensional Outline Drawing of Motor with GearServo Motor with Gear* 220 refers to 200W or higher.MUMA01 P31NMUMA01 P32NMUMA01 P34NMUMA02

201[Reference]ReferenceDetailed View of Shaft EndLC LA LZ LDKey Dimensions (B × H × LK)T LN Mass (kg)52785278985278527898M5M6M5M6M8M5M6M5M6M8122012201

202Allowable Load of Output Shaft of Servo Motor with GearLRLR/2PAMBRadial Load (P) DirectionThrust Loading (A, B) DirectionRequests Concerning Inst

203[Reference]ReferenceCharacteristics of Servo Motor with Gear (S-T Characteristics)1/51/91/25100V100W200W100W200W400W200VDriverSupplyVoltageReductio

159[Reference]ReferenceCommunications SpecificationConnection of Communications LineMINAS-E Series has RS232C communications port. and is capable of c

204Driver Internal Block DiagramCN X1CN X3Internal Block Diagram of MINAS-E DriverL 1L 2L 3DC/DCPCN X6External RegenerativeResistorCN X4UVWEMRECN X

205[Reference]ReferenceControl Block Diagram Pulse RowCommandPULS SIGNEncoder Signal(Phases A/B)Encoder Signal (Phase Z)++++--Input ModeSetting Freque

206PowerSupplyControl methodDetectorBuilt-in functionsProtectiveFunctionMonitorSettingPositionControlVelocityControlRotaryEncoderControl InputStructur

207[Reference]Reference Hit-and-stop Initialization(1) When you set a point where the motor hits, as the origin:1stInitial PointInitial Point (3)2nd

208Load Pressing Control(1) (2) (3) (4) (5)Distance for which the motor has not moved is held in the deviation counterC = A + BSearch Speed(Low Speed)

[Reference]209ReferenceIndexAdjustmentAlarm CodeDriverReal time Auto Gain Tuning (Position Control Mode)Real time Auto Gain Tuning (Velocity Control M

Index210Display (Monitor)Dividing-MultiplierMonitoring ModeEEPROM Writing ModeParameter Setting ModeNormal Auto Gain Tuning ModeAlarm ClearDescription

[Reference]211ReferenceOptionOverload Time LimitCharacteristicsNoise FilterSurge AbsorberNoise Filter for Signal cablesTable of Junction Cable by Mode

Index212Safety PrecautionsServo Motor with GearSafety PrecautionsMaintenance and InspectionModel DesignationChecking the Combination of the driver and

213[Reference]ReferenceWiring Installation of DriverInstallation of MotorGeneral Wiring DiagramWiring of Main CircuitsWiring DiagramsConnection with E

160CommunicationsCommunications MethodSet RS232C communications baud rate with Pr0C. Any change to these parameters will be valid when youpower on th

214Tokyo: Kyobashi MID Bldg, 2-13-10 Kyobashi, Chuo-ku, Tokyo 104-0031 TEL (03) 3538-2961FAX (03) 3538-2964Osaka: 1-1, Morofuku 7-chome, Daito, Osaka

215[Reference]ReferenceMEMO

After-Sale Service (Repair)Repair• Ask the seller where the product was purchased for details of repair work.When the product is installed in a machin

161[Reference]ReferenceHost MINAS-EReceivedDataTransmittedData(1) ENQ (05h)(2) EOT (04h)(3) Data Block(4) ACK (06h)(or NAK (15h))(5) ENQ (05h)(6) EOT

162CommunicationsConfiguration of Data BlockA data block to be transmitted in physical phase is configured as illustrated below:N : This is the number

163[Reference]ReferenceExample of Data CommunicationExample of Changing ParametersThe following illustrates time-series communications data flow when