Presentation [PDF:2,338KB]

NEW
Servo Drive MINAS A5N
with Realtime Express (RTEX)
Motor Business Unit
2011/6/14 Rev. 1
Page 1
Dimensions: W40 x H150 x D135 mm
2011/6/14 Rev. 1
200W 200V
Frame Size A
Page 2
Appearance
Power Supply
Voltage
Front Cover
7segments LED
(2digits) Indicator
Analog Monitor
Connector (X7)
Velocity, Torque …etc.
Model No.
Power Input
Connector (XA)
Charge Lamp
of Main Circuit
Regenerative-R
and Motor
Connector (XB)
Earth Terminals
LINK LED
RTEX wiring trouble
COM LED
RTEX status
Node-Address Setting
RSW (2digits)
Range: 00-31
USB Connector (X1)
For PANATERM, MINI-B 5pin
RTEX RX Connector (X2A)
From a front node TX
RTEX TX Connector (X2B)
To a rear node RX
I/O Connector (X4)
Sensor inputs, Alarm output …etc.
Half pitch 26pin
Linear Encoder Connector (X5)
Panasonic Serial or A/B/Z-pulse
Encoder Connector (X6)
Panasonic Serial
Red: Changes from A4N
2011/6/14 Rev. 1
Page 3
Compatibility with A4N
Item
Installing
The Size of Drive
Power Input
Connector
Wiring
Compatibility
Yes
Almost
Descriptions
The same screw pitch
For frame-size A and B,
the number of pins changed from 4 to 5
Motor Connector
Yes
Encoder Connector
(X6)
Yes
Linear Encoder
Connector (X5)
No
Connector type changed
I/O Connector (X4)
No
From 36pin to 26pin
Incremental
No
Resolution changed from 10,000 to 1,048,576p/r
Absolute
Yes
PANATERM
No
Position Command
Yes
Parameter Command
No
Changed to a combination of Category and No.
Alarm Command
No
Changed to a combination of Main and Sub-code
Encoder
Tool
RTEX
2011/6/14 Rev. 1
From RS232 to USB, Freeware
Page 4
Front Panel
Inside of Front Cover
LINK LED (Green)
LINK
7segments LED
Network State
OFF
Wiring Not Link
Solid Green
Link
COM LED (Green / Red)
COM
pin 6
pin 1
X7: Analog Monitor Connector
Molex 53014-0610 (Note)
Pin #
Symbol
1
AM1
Analog Monitor 1
2
AM2
Analog Monitor 2
3
GND
Signal Ground
4, 5, 6
2011/6/14 Rev. 1
Description
For Manufacturer use
Network State
OFF
Initial
Blinking Green
In Configuration
Solid Green
Established
Blinking Red
Error
Solid Red
Serious Error
(Reset needed)
Address Setting RSW
Range: 00 to 31
Value depends on the controller specification.
Note: Cable side connector
Housing: 51004-0600
Terminal: 50011-8100
Page 5
7segments LED Display
< Normal >
Servo Ready and
RTEX established
Not Ready or
Not established
Servo ON
Servo OFF
Note:
At power-on, node address is displayed
for a moment before this indication.
Alarm
Cleared
< Alarm >
Cleared
< Warning >
Main Code
Sub Code
All blinking
2011/6/14 Rev. 1
Warning
Warning Code
(2s)
Normal
(4s)
Right dot blinking
Page 6
Structure of Model No.
The same as A5
MADHT1507NA1
Servo Drive
A5 family
Specification
A1: Standard
L1: Linear Specific
Interface type
N: RTEX
Frame Size
Power Input
1: 1-Phase AC100V
3: 3-Phase AC200V
4: 3-Phase AC400V
5: 1 or 3-Phase AC200V
Specifying Max. Current
2011/6/14 Rev. 1
Page 7
Lineup
Rated Output of Motor (W)
Power Input of Drive
1 Phase
AC
100-120V
750
1k1.5k
B
C
D
MBDH
T2510
NA1
MCDH
T3520
NA1
MDDH
T5540
NA1
50
100
200
400
A
A
B
C
MADH
T1105
NA1
MADH
T1107
NA1
MBDH
T2110
NA1
MCDH
T3120
NA1
A
A
MADH
T1505
NA1
MADH
T1507
NA1
1 or 3
Phase
AC
200-240V
3 Phase
AC
200-230V
3 Phase
AC
380-480V
Upper: Frame size
Lower: Typical model No.
2011/6/14 Rev. 1
2k
3k
4k-5k
7.5k
11k15k
E
F
F
G
H
MEDH
T7364
NA1
MFDH
TA390
NA1
MFDH
TB3A2
NA1
MGDH
TC3B4
NA1
MHDH
TC3B4
NA1
D
D
E
F
F
G
H
MDDH
T2412
NA1
MDDH
T3420
NA1
MEDH
T4430
NA1
MFDH
T5440
NA1
MFDH
TA464
NA1
MGDH
TB4A2
NA1
MHDH
TB4A2
NA1
Depending on combination with motor, see the A5 series brochure.
Page 8
Overview of
Realtime Express
2011/6/14 Rev. 1
Page 9
Realtime Express (RTEX)
Advanced
Advanced Network
Network to
to realize
realize high-precise
high-precise
real-time
real-time performance
performance for
for Servo
Servo Control
Control
Concept
High Performance
& Low Cost
Simple
High Reliability
Easy Development
2011/6/14 Rev. 1
Page 10
Features of RTEX
•• Real-time
Real-timecommunication
communication
based
basedon
on100BASE-TX
100BASE-TX
•• 100Mbps
100MbpsFull
Fullduplex
duplex
•• Com.
Com.period
periodmin.
min.0.083ms(*1)
0.083ms(*1)
•• Up
Upto
to32
32 [email protected]
[email protected](*1)
(*1)
•• Max.
Max.100m
100mlength
lengthinter-node
inter-nodecable
cable
•• All
Allaxes
axesfully
fullysynchronization
synchronization(*2)
(*2)
for
forinterpolation
interpolation
•• Parameter
Parametersetting
settingand
andmonitoring
monitoring
•• Less
Lesswiring
wiring
•• Low-cost
Low-costusing
usingEthernet
Ethernetcable
cable
•• High
Highnoise
noiseimmunity
immunity
(IEC61000-4-4
(IEC61000-4-4compliant)
compliant)
2011/6/14 Rev. 1
*1: Depends on a controller specification.
*2: This sync algorithm is a patent.
Page 11
System Structure
Upper Network Low system cost
(almost Ethernet)
High-efficiency Ring topology
A5N Servos
Host Controller
Up to 32slaves
Stepper
Drive
IN OUT
CAT5e
STP
NC
Parameter
Setting
& Monitoring (*)
Max. 100m
inter-node
cable
*: Depends on a controller specification
2011/6/14 Rev. 1
Partners provide devices except servo.
Page 12
Less Wiring at Multi-Axes
Pulse
Pulse
NC
NC
Servo
Servo Servo
Servo Servo
Servo Servo
Servo
RTEX
RTEX
NC
NC
Servo
Servo Servo
Servo Servo
Servo Servo
Servo
Reduced trouble
with wiring
Bundle of Many Wires
2011/6/14 Rev. 1
Simple!
Higher benefit
in distributed placing
Page 13
Less Wiring at Single-Axis
Pulse
Pulse
Many wires
NC
NC
S-ON
PULS
SIGN
CLR
OZ
ALM
Servo
Servo
NOT
Slider
Slider
POT
Home
Drive
Drive should
should be
be placed
placed
near
near the
the motor.
motor.
RTEX
RTEX
communication
Simple!
M
M
NC
NC
M
M
Servo
Servo
NOT
Slider
Slider
POT
Home
Sensors are connected to Servo
2011/6/14 Rev. 1
Page 14
Ultra High-Speed
Ten Times
Fast!
100Mbps
10Mbps
Conventional
2011/6/14 Rev. 1
RTEX
Page 15
Using Low-Cost Cable
Cost Ratio
1
Mass Distributed
on the Market
1
10
Conventional
(e.g. RS485)
RTEX
Ethernet STP
Note: An example of 1m length.
2011/6/14 Rev. 1
Page 16
Simple Ring Topology
RTEX
(RING)
LINE
Servos
NC
1
2
3
6
5
4
Servos
NC
1
2
3
4
Bi-directional
Going
Going via
via many
many nodes
nodes
causes
low
efficiency.
causes low efficiency.
Simple One-way (*)
High
HighEfficiency
Efficiency&&Reliability
Reliability
by
bySimple
SimpleData
DataFlow
Flow
*: No cross-talk.
2011/6/14 Rev. 1
Page 17
Global Collaboration
Partners provide various devices.
2011/6/14 Rev. 1
Page 18
Partners Products
Master
Partner Name
PCI
USB
Asahi Engineering
Slave
Stand
Alone
PLC
Digital
I/O
Analog
I/O
Pulse
Out
X
Stepper
Drive
X
Anywire
X
Cosmo Techs
X
Soft Servo Systems
X
Tietech
X
HPtec
X
X
X
X
X
X
X
X
X
X
X
X
DELTA TAU
X
Prime Motion
X
X
AJINEXTEK
X
X
AUROTEK
X
X
BITPASS
X
COMIZOA
X
2011/6/14 Rev. 1
X
X
PEW SUNX
TRIO
Gateway
X
X
Page 19
Sales Quantity of RTEX Servos
FY2006を100%とした指数
Ratio of FY2006:100%
1100%
984%
1000%
900%
Rapid
Increasing
800%
700%
600%
500%
400%
352%
256%
300%
160%
200%
100%
100%
0%
FY2006
2011/6/14 Rev. 1
FY2007
FY2008
FY2009
FY2010
Page 20
Features of A5N
2011/6/14 Rev. 1
Page 21
Evolution from A4N to A5N
High Performance
MINAS A5
+
Extended
RTEX protocol
Note:
RTEX hardware is not changed.
Basically, A5N is upper compatible with A4N.
2011/6/14 Rev. 1
Page 22
Enhanced Performance
Velocity Response
2300Hz
Communication Period (Min.)
0.500ms
x 2.3
x 1/6
1000Hz
0.083ms
A4N
2011/6/14 Rev. 1
A5N
A4N
A5N
Page 23
Max. Pulse Frequency
For More High-Resolution
and High-Speed Applications
400Mpps
x 10
40Mpps
A4N
A5N
Note: If using A/B phase linear encoder, it is limited to maximum 4Mpps.
2011/6/14 Rev. 1
Page 24
New Functions
•
•
•
•
•
•
•
•
•
•
•
By
By the
the Expansion
Expansion
of
of RTEX
RTEX spec.
spec.
TPos./Pos./Vel./Torq. All Modes
Shorter Communication Period
32bytes/axis Mode for Monitoring
Precise Position Latch
Feed-Forwards from Controller
Internal Torque Feed-Forward
A/B-pulse Linear Encoder I/F
20bit/r Encoder
Reduced Vibration by New Current Sensing
Three-Phase Power Input
Safety* I/F (Specific model)
By A5 Base
Note *: IEC61800-5-2 STO (Safe Torque Off), IEC61508 SIL2 (Safety Integrity Level 2)
2011/6/14 Rev. 1
Page 25
All-in-One Motion I/F
Profile
Profile
Position
Position(PP)
(PP)
1xh
Target Pos.
Cmd.
Cyclic
Cyclic
Position
Position(CP)
(CP)
Cyclic
Cyclic
Velocity
Velocity(CV)
(CV)
2xh
Pos. Cmd.
Cyclic
Cyclic
Torque
Torque(CT)
(CT)
3xh
Vel. Cmd.
4xh
Trq. Cmd.
A5N
Motion
Profile
Generator
Pos.
Ctrl.
Vel.
Ctrl.
Trq.
Ctrl.
M
M
Enc.
Enc.
Target Vel.
Acc.
Linear
Linear Enc.
Enc.
Dec.
Note: Profile Position is applicable to only PTP control.
2011/6/14 Rev. 1
Page 26
Period, Axes and Modes
Max. # of Axes
16byte
mode
32byte
mode
Available Mode
FullClosed
Control
1.000ms
32
16
PP, CP, CV, CT
Available
1.000ms
0.500ms
32
16
PP, CP, CV, CT
Available
0.500ms
0.500ms
32
16
PP, CP, CV, CT
Available
0.166ms
0.166ms
10
-
CP, CV, CT
-
0.166ms
0.083ms
5
-
CP, CV, CT
-
Update
Period
Com.
Period
1.000ms
Com. Period: Frame transmitting period
Update Period: Data updating period on frame
2011/6/14 Rev. 1
Page 27
Update and Com. Period
Shorter communication period makes quick response.
1:1
Update Period
time
n+1
n
Controller
Calculation
n+2
Data
Exchange
n
n+1
n+2
Com. Period
Com.
Frame
Servo
Data
Exchange
Command
Flow
n
n+1
Response
Flow
n+2
Data Exchange: Data reading and writing to com. ASIC
Update Period
1:1/2
n+1
n
n+2
Controller
Calculation
n
Com.
Frame
Servo
Data
Exchange
Com.
Period
n
n+1
n
n
n+2
n+1
n+1
n+1
n+2
n+2
n+2
Note: The command is transmitted two times. If previous data is communication error, later data is used in servo.
2011/6/14 Rev. 1
Page 28
Monitoring Item Examples
- Drive Model No.
- Drive Serial No.
- Firmware Version
- Motor Model No.
- Motor Serial No.
- Alarm Code (History)
- Warning Code
- Parameter
More Increased
than A4N
2011/6/14 Rev. 1
- Actual Position
- Actual Velocity
- Torque
- Position Error
- Encoder Resolution
- Command Position
- Latch Position
- Command Velocity
- Re-Generative Ratio
- Over-Load Ratio
- Inertia Ratio
- Rotor Mechanical Angle
- Rotor Electrical Angle
- Absolute Multi-turn Data
- P-N Voltage
- Com Err. Count
- Encoder Com. Err. Count
- X4 Connector Inputs
- Power-ON time
- Drive Temperature
- Encoder Temperature
- Relay Switch Times
- Fan ON Time
- Fan Life Time
- Capacitor Life Time
Page 29
Precise Position Latch
After the encoder position is latched at trigger timing,
it is sent to the controller with RTEX.
Controller
More detail timing
than update period
Latched Position
RTEX
Encoder
Latch Trigger
At
At the
the trigger
trigger timing,
timing,
the
the encoder
encoder position
position is
is
latched
latched with
with precision.
precision.
2ch available for trigger input
2011/6/14 Rev. 1
Page 30
Feed-Forwards from Controller
High-resolution feed-forward by controller is effective
for both high-response and low-vibration.
Controller
A5N Drive
Trq. FF
Motion
Motion
Profile
Profile
Generator
Generator
Vel. FF
Pos. CMD
Pos.
Ctrl.
+
+
Vel.
Ctrl.
+
+
Trq.
Ctrl.
M
M
Enc
Enc
Note:
- In 16byte mode, either velocity or torque FF.
- Torque FF is also useful for torque compensation in circular interpolation.
2011/6/14 Rev. 1
Page 31
Encoder I/F
A5N Drive
Full-Closed
Full-Closed
Control
Control
Motor
Rotary
Encoder
Linear Encoder
X5: Serial or A/B/Z
X6: Serial
Linear
LinearMotor
Motor
Drive
Drive
(Specific
(SpecificModel)
Model)
A/B/Z-pulse supported
Max. 4Mpps
A5N Drive
Linear Motor
Linear Encoder
X5: Serial or A/B/Z
X6: CS1 to 3 (Unnecessary in auto-detect mode)
Note: Panasonic does not provide linear motor.
2011/6/14 Rev. 1
Page 32
Serial Linear Encoder
Manufacturer
−
GSI Group
Incremental
Magnescale
Magnescale
Mitutoyo
Model
FAGOR
Max Speed [m/s]
0.1
−
−
5
SL700+PL101RP/RHP
0.1
10
SL710+PL101RP/RHP
0.1
10
SR75
0.01 to 1
3.3
SR85
0.01 to 1
3.3
SR77
0.01 to 1
3.3
SR87
0.01 to 1
3.3
AT573A
0.05
2.5
ST778A(L)
0.1
5
0.001
0.4
0.05
20
0.1
40
SAP / SVAP / GAP
0.05
2.5
LAP
0.1
2
M II 5000
−
Absolute
Renishaw
Resolution [um]
RESOLUTE
Note: Due to max. pulse frequency of servo drive, the resolution and max. speed may be different from linear encoder specifications.
2011/6/14 Rev. 1
Page 33
Compact
Previous Model
A5N
Without Fan!
For 750W or less
170
Volume
1/2
135.5
160
150
40
55
Unit: mm
Note: Comparison with B series (200W, 200V)
2011/6/14 Rev. 1
Page 34
Compliance
EMC Directive
Terminal Disturbance Voltage
group 1, class A
Radiated Electric Field Strength
group 1, class A
IEC61000-4-2
Electrostatic Discharge
8kV
IEC61000-4-3
Radiated Susceptibility
10V/m
IEC61000-4-4
EFT/Burst
2kV
IEC61000-4-5
Surge
2kV
IEC61000-4-6
Conductive Susceptibility
150kHz-80MHz, 10V
IEC61000-4-11
Voltage Dips
EN55011
RoHS
2011/6/14 Rev. 1
Page 35
Features of RTEX
2011/6/14 Rev. 1
Page 36
Difference from Ethernet
Upper
Upperlayer
layeroptimized
optimizedfor
forservo
servocontrol
control
Ethernet
e.g.
e.g.
HTTP
HTTP
SMTP
SMTP
FTP
FTP
RTEX
Real-time Control
Application
e.g.
e.g.
DNS
DNS
TCP
TCP
UDP
UDP
Too large
over-head
Real-time
IP
IP
IEEE802.3
IEEE802.3 or
or
Ethernet
Ethernet Frame
Frame
100BASE-TX
100BASE-TX
The same
about
Physical Layer
Using
Using
ASIC
ASIC
Unique
Unique Real-time
Real-time Frame
Frame
100BASE-TX
100BASE-TX
Note: Ethernet is a registered trademark of Xerox corporation.
2011/6/14 Rev. 1
Page 37
Efficient Frame
Simplified frame to realize high-speed real-time control
62byte
Ethernet
8byte
14byte
20byte
20byte
Preamble,
SFD
Ethernet
Header
IP
Header
TCP
Header
Data
Too long header,
inefficiency
RTEX
Data
RTEX Header
2011/6/14 Rev. 1
Short header
suitable for real-time control
Page 38
Real-time Communication
Fast and High Resolution
Motion Command
In conventional pulse-interface,
command resolution cannot be
increased due to frequency limitation.
Host
Host
Controller
Controller
Parameter Setting
and Monitoring
- -Command
Commandposition
position
- -Servo
on/off
Servo on/off
- -Parameter
Parametersetting
setting
Command
Command
Real-time
Response
Response
- -Actual
Actualposition
position
- -Sensor
Sensorsignals
signals
- -Details
of
Details ofalarm
alarm
- -Various
monitors
Various monitors
2011/6/14 Rev. 1
High-density information links
between controller and servos.
Servo
Servo
Drive
Drive
“Visualization”
Page 39
Isochronous among Axes
PTP
Point To Point
Isochronous
enables CP.
Y
CP
Continuous Path
Y
Circular interpolation
B
B
Linear interpolation
A
A
X and Y are the same speed.
X
- Separately positioning
- Not corresponding Start/Stop timing
between X and Y
X
- Synchronized positioning
- Corresponding Start/Stop timing
Note: CP control depends on a controller specification, and does not perform with only servo drive.
2011/6/14 Rev. 1
Page 40
Isochronous transmission
At the same time, commands are reflected in all servo drives.
Master
Slave
TX
RX
Host
Host Controller
Controller
RX
Command
TX
RX Command
TX
Although receiving timings
are different among axes,
the command reflection timings
are controlled to be same.
RX Command
TX
RX Command
TX
2011/6/14 Rev. 1
Servo Control
Receiving Reflection
Timing
Timing
Servo
Servo Drive
Drive
Axis
Axis 11
Servo
Servo Drive
Drive
Axis
Axis 22
Servo
Servo Drive
Drive
Axis
Axis 33
Servo
Servo Drive
Drive
Axis
Axis 44
Page 41
Isochronous Accuracy
Signals to start servo calculation
inside each drive
Axis 1
Axis 2
Jitter:
+/- 70ns
Axis 3
Axis 4
Note: Generally, jitter less than 1us is ideal.
2011/6/14 Rev. 1
The number of axes: 4
Cable length inter-node: 0.3m
Page 42
Fully Synchronization
NC is synchronized with all servo controls
(position, velocity, current, PWM) with a unique patented
algorithm.
Improvement of sync precision among axes!
Servo
Control
Pulse I/F
RTEX
Async.
All Axes
Sync
X2
2011/6/14 Rev. 1
X1
Suitable
Suitablefor
for
precise
precisesynchronizing
synchronizing
such
suchas
asaagantry
gantry
as
aswell
wellas
asCP
CPcontrol.
control.
Page 43
Pulse and RTEX
Servo
Controller (an example)
Motion Profile Gen.
Pulse
Position
Data
Position
Data
Pulse
Pulse
IC
IC
CPU
CPU
Pulse
CPU
CPU
Counter
Counter
INT
INT
Latch
Timer
Timer
Async.
Timer
Timer
As each servo makes sampling independently,
data reflected timings are different among axes.
Controller (an example)
Motion Profile Gen.
RTEX
Servo
Position
Data
Position
Data
CPU
CPU
Com.
Com.
ASIC
ASIC
Position Data
Com.
Com.
ASIC
ASIC
CPU
CPU
INT
Transmit
INT
Timer
Timer
Sync.
The Same
Timing
Sync.
Sync.
Timer
Timer
As synchronized with communication,
data is reflected at the same time in all axes.
2011/6/14 Rev. 1
Page 44
Cyclic Position Command
Pulse
(Conventional)
Differentiate
Time
Integrate
Velocity
RTEX
position cmd.
[pulse]
Time
Cmd. Update Period
1 / 0.5 / 0.166ms
(Selectable with parameter)
2011/6/14 Rev. 1
Absolute (not incremental) value must be used.
Page 45
Shorter Update Period
More Precisely on High-speed CP control
Micro circular interpolation such as dispenser
Y
Y
Ideal trace
Command
Position
RTEX
T = 0.5ms (*)
Conventional
T = 2ms
X
X
*: Data update period depends on controller specification.
2011/6/14 Rev. 1
Page 46
Shorter Transmission-Time
Proportion to # of axes
Conventional System
Com. Period
RTEX
Com. Period
4axes
38us
8axes
75us
16axes
150us
32axes
300us
Command Generation
in NC
Communication
Command Reflection
in Servo Calculation
Constant
TB
TA
TA > TB
Note: The above shows a case when the data update is
done with the same period as the communication.
2011/6/14 Rev. 1
Short at few axes
Commnad is applied to
the servo control
as soon as after
all axes receiving.
Page 47
Error Correction
Error corrected at going through nodes.
Strong Noise Immunity
Master
Slave
Data Broken
TX
RX
RX
TX
Error
Correcting
Restored
RX
TX
Data Broken
Effective
in many nodes
system
RX
Error
Correcting
TX
Restored
RX
TX
Note: Because of limitations of the error correct ability, there is a case where it cannot restore broken data.
2011/6/14 Rev. 1
Page 48
Specifications of RTEX
Item
Specifications
Speed
100Mbps
Physical Layer
100BASE-TX full duplex (by IEEE 802.3u)
Cable
Shielded Twisted Pair (TIA/EIA-568B CAT5e)
Topology
Ring
Isolation
Pulse Transformer with common-mode choke
Connector
RJ45
Cable Length
Inter-node: Max. 100m, Total: Max. 200m
Noise Immunity
2.5kV over, IEC61000-4-4 compliant
Com. Period (*)
1ms, 0.5ms, 0.166ms, 0.083ms
Update Period (*)
1ms, 0.5ms, 0.166ms
Number of Axes (*)
Up to 32
Motion Interface (*)
Profile Position, Cyclic Position / Velocity / Torque
*: Depending on controller specification
2011/6/14 Rev. 1
Page 49
Test Operation
2011/6/14 Rev. 1
Page 50
System Example
Set the node address
according to the controller
specification.
AC
Controller
A5N
PANATERM
for A5
FREE
USB
Use MINI-B 5pin USB cable
on the market.
RTEX
Positive Direction (Note)
Motor
L1
L3
L1C
L2C
DC24V
NOT
HOME
POT
Note: With Pr0.00, the positive direction is defined.
2011/6/14 Rev. 1
Page 51
Servo Settings
Parameter settings are depend on controller specification.
At least the followings must be set.
Part
Item
Front Panel
Node Address
Pr0.00
Positive Direction
Pr0.01
Control Mode
Pr0.08 - 0.10
Electronic Gear
Pr4.00 - 4.12
I/O Assignment (If necessary)
Pr5.04
Limit Inputs
Pr7.20 - 7.21
Com. and Update Period
Pr7.23
Response Byte3 Structure
Notes:
1. In some controller, parameters are set automatically over RTEX.
2. After setting parameters, write them to EEPROM and turn power off and on.
2011/6/14 Rev. 1
Page 52
Operation
After making sure of correct wiring, power ON.
(Turning-on order depends on controller spec.)
When both LINK and COM LED indicate green,
RTEX communication is established.
According to controller specification,
Servo-ON and Start
Gain tuning with PANATERM
2011/6/14 Rev. 1
Page 53
Parameter Setting
Download PANATERM from the following web site:
FREE
http://industrial.panasonic.com/ww/i_e/25000/fa_pro_acs_e/fa_pro_acs_e/a5.html
When showing all parameters,
select “Parameter list”.
2011/6/14 Rev. 1
Page 54
Positive Direction
With Pr0.00, define positive direction.
2011/6/14 Rev. 1
Page 55
Control Mode
In Full-Closed, set Pr0.01 to 6.
Semi-Closed
Full-Closed
0
6
Pr0.01
A5N Drive
Full-Closed
Full-Closed
Control
Control
Motor
Rotary
Encoder
X5: Serial or A/B/Z
X6: Serial
2011/6/14 Rev. 1
Linear Encoder
Note: In Full-Closed, position control (PP or CP) only enabled.
Page 56
Electronic Gear
e.g.) When commanding as 10000pulse/r (A4N incremental equivalent),
then set the followings:
Pr0.08 = 0, Pr 0.09 = 0, Pr 0.10 = 10000
Pr0.08
is
Pr
0
If necessary, with adjusting position command filters (Pr2.22, Pr2.23),
smooth out the position command after the electronic gear through.
2011/6/14 Rev. 1
Page 57
IN-signals Assignment
Default settings:
X4
Name
X4
Pin #
Setting
Value (hex)
Setting
Signal
Setting
Logic
Pr4.00
SI1
5
00323232h
SI-MON5
Normally Open
Pr4.01
SI2
7
00818181h
POT
Normally Closed
Pr4.02
SI3
8
00828282h
NOT
Normally Closed
Pr4.03
SI4
9
002E2E2Eh
SI-MON1
Normally Open
Pr4.04
SI5
10
00222222h
HOME
Normally Open
Pr4.05
SI6
11
00212121h
EXT2
Normally Open
Pr4.06
SI7
12
002B2B2Bh
EXT3
Normally Open
Pr4.07
SI8
13
00313131h
SI-MON4
Normally Open
Note: If homing with edge of HOME, POT or NOT, the assignment must be HOME:SI5, POT:SI6 and NOT:SI7.
If not so, alarm occurs.
2011/6/14 Rev. 1
Page 58
OUT-signals Assignment
Default settings:
X4
Name
X4
Pin #
Setting
Value (hex)
Setting
Signal
Pr4.10
SO1+
SO1-
1
2
00030303h
BRK-OFF
Pr4.11
SO2+
SO2-
25
26
00101010h
EX-OUT1
Pr4.12
SO3+
SO3-
3
4
00010101h
ALM
Remark
If changing to EX-OUT2,
set to 00111111h.
Normally Closed
For EX-OUT1 and EX-OUT2 bit layout in RTEX command block,
it is the same as A4N.
2011/6/14 Rev. 1
Page 59
Limit Operation
With setting Pr5.04 to 1, limit input operation by servo should be disabled
because such a operation is normally done by controller.
Even if disabled, limit inputs status can be monitored via RTEX
with Pr7.23 setting.
2011/6/14 Rev. 1
Page 60
Command Update Period
According to controller specification, both command update period
and communication period must be set properly.
Setting
Update
Period
Com.
Period
Pr7.20
Pr7.21
1.000ms
1.000ms
6
1
1.000ms
0.500ms
3
2
0.500ms
0.500ms
3
1
0.166ms
0.166ms
1
1
0.166ms
0.083ms
0
2
Name
Pr7.20
Communication Period
Pr7.21
Ratio of
Command Update Period
2011/6/14 Rev. 1
Range
Description
0 to 12
0: 0.083ms
1: 0.166ms
3: 0.5ms
6: 1.0ms
Else: Do not set. (Reserved)
1 to 2
Command Update / Communication Period
1: 1
Select
2: 2 (Com.=0.5ms case only)
Page 61
Response byte3
Response byte3:
With Pr4.00 to 4.07, set the correspondence to X4 connector inputs.
Name
Range
Description
bit2: In POT/NOT disabled (Pr5.04=1),
its status response activation.
0: Status enabled
1: Status disabled (Always 0)
Pr7.23
RTEX Functional
Expansion 2
-32768 to
32767
bit3: Arrangement of POT/NOT status.
0: POT is bit1, NOT is bit0
1: NOT is bit1, POT is bit0 Select
bit6: Logic of POT/NOT status.
0: Positive logic, Active is 1
1: Negative logic, Active is 0
2011/6/14 Rev. 1
according to
the controller
specification.
Page 62
Limit Sensors Wiring
A4N
Regardless of parameter setting, physical layout decides wiring.
CW direction PANATERM
for A5
Ｘ5 Connector
A5N
CCWL
CWL
According to parameter setting, wiring is changed.
Positive direction (Note)
Ｘ4 Connector
NOT
POT
Note: Positive direction is set with Pr0.00.
2011/6/14 Rev. 1
Page 63
Bit Layout of Limit Flags
Even if A4N is used in default setting for bit layout of limit flags,
the default parameter must be changed in A5N when using CW is plus.
A4N
Default
byte3
A5N
Pr7.23 bit3=0 (Default)
byte3
bit1
bit0
CCWL
CWL
bit1
bit0
POT
NOT
CCW is plus
(Pr0.00=1)
NOT
POT
CW is plus
(Pr0.00=0)
Pr7.23 bit3=1
Parameters:
2011/6/14 Rev. 1
A4N
A5N
Positive Direction
Pr43
Pr0.00
Bit layout of Limit Flags
Pr43
Pr7.23, bit3
Page 64
Wiring
2011/6/14 Rev. 1
Page 65
Power Supply and Motor
If single phase, connect to L1 and L3.
Servo Drive A5N
Put the circuit that makes main power
turn off at alarm.
AC
XB
XA
MC
MCCB
5
Noise
Noise
Filter
Filter
4
3
L1
L2
Main
Power
L3
2
L1C Control
1
L2C Power
B1
B3
B2
U
V
W
Connect regenerative resistor, if necessary.
6
5
4
3
Red
2
White
1
Black
Green / Yellow
Motor
Put AC reactor if necessary.
X6
X4
14
*2
15 BTN-I
Notes:
*1) The above figure shows an example of the frame size A or B.
For the other size, refer to the specifications.
*2) The Battery is for absolute encoder.
It is normally installed on encoder cable,
or alternatively can be also connected to X4 connector.
2011/6/14 Rev. 1
BTP-I
E5V
E0V
BTP-O
BTN-O
PS
PS
Shield
1
2
3
4
5
6
Encoder
Shell
*2
Page 66
Counter-measures for Noise
Reducing PWM Noise
Radiated from Drive
Install a ferrite core on motor cable U, V and W.
Ferrite Core: ZCAT3035-1330 by TDK
(DV0P1460)
Motor Cable
Stable Frame
Ground
U
V
W
E
Do not install it on E.
2011/6/14 Rev. 1
Make the back of chassis tightly contact earthed metal frame.
The surface of the metal frame must be kept conductive.
Page 67
I/O Connector Difference
Functions of SI1 to 8, and SO1 to 3 are changeable with parameters.
2011/6/14 Rev. 1
Page 68
Sensor Inputs
X4
DC12 to 24V
6
7
Positive Limit
Normally Closed
8
Negative Limit
Normally Closed
10
HOME
(): Default Setting
I-COM
4.7k
1k
SI2
(POT)
4.7k
1k
SI3
(NOT)
4.7k
1k
SI5
(HOME)
4.7k
Normally Open
11
Latch Input
1k
SI6
(EXT2)
Normally Open
12
Latch Input
Servo Drive A5N
SI7
(EXT3)
4.7k
1k
Normally Open
2011/6/14 Rev. 1
Page 69
General Purpose Inputs
(): Default Setting
Servo Drive A5N
X4
4.7k
9
1k
SI4
(SI-MON1)
4.7k
Normally Open
13
Normally Open
1k
SI8
(SI-MON4)
4.7k
5
SI1
(SI-MON5)
1k
Normally Open
Note:
Host controller can monitor a state of SI-MONs via RTEX.
These inputs do not influence servo control in the drive.
2011/6/14 Rev. 1
Page 70
Sensor Input Example 1
Servo Drive A5N
Panasonic Electric Works SUNX
X4
Photo-sensor PM-64 (NPN transistor output)
6
I-COM
4.7k
1k
Out1: Normally Closed
Out2: Normally Open
Proximity-sensor GX-F12 (NPN transistor output)
4.7k
Main Circuit
Brown
DC24V
Output
1k
Black
Blue
GX-F12A: Normally Open
GX-F12B: Normally Closed
2011/6/14 Rev. 1
Page 71
Sensor Input Example 2
Servo Drive
A5N
Photo-Sensor by OMRON
EE-SX672A (NPN transistor output)
X4
6
Note
DC24V
I-COM
4.7k
1k
Main
Circuit
Note:
If “L” pin is open, ON during shade.
If “L” pin is tied to “+” pin, ON during light.
2011/6/14 Rev. 1
Page 72
Relay Control Outputs
(): Default Setting
Servo Drive A5N
Note: Vce (sat) = approx. 1.2V
X4
DC12 to 24V
3
SO3+
(ALM)
4
SO3(ALM-)
For turning
main power off
1
For releasing
motor brake
2
Max 50mA
During release, transistor ON
10
SO1(BRK-OFF-)
25
SO2+
(EX-OUT1+)
26
SO2(EX-OUT1-)
For generic
2011/6/14 Rev. 1
SO1+
(BRK-OFF+)
During alarm, transistor OFF
10
Max 50mA
10
Max 50mA
Page 73
Encoder Emulation Output
Servo Drive A5N
X4
RS422
Line Receiver
17
18
20
19
16
GND
RS422 Line Driver
AM26C31 equivalent
OA+
OAOB+
OB-
GND
Shield
Shell
FG
FG
Note: A termination resistor (typ. 330 Ohm) must be put between line-receiver inputs.
2011/6/14 Rev. 1
Page 74
Encoder Connector
X5: MUF-RS10DK-GKXR by JST
X6: 53460-0629 by Molex
No.
Name
Function
No.
Name
Function
1
E5V
1
E5V
2
E0V
Power Supply
Out
2
E0V
Power Supply
Out
3
PS
3
BTP
4
/PS
Panasonic Style
Serial Data
4
BTN
5
EXA
5
PS
6
/EXA
A-phase
In
6
/PS
Panasonic Style
Serial Data
7
EXB
Shell
FG
Frame Ground
8
/EXB
B-phase
In
9
EXZ
10
/EXZ
Z-phase
In
Shell
FG
Frame Ground
2011/6/14 Rev. 1
Battery Out
for Abs.
Note:
- “In” “Out” are based on a servo drive.
- In the specific model for linear motor,
commutation signals can be connected to X6.
Signals of pin #3 to 6 are replaced with
#3: NC, #4: CS3, #5: CS2, #6: CS1.
- Cable side connectors
X5: MUF-PK10K-X (JST)
X6: 55100-0670 (Molex)
Page 75
Linear Encoder Serial Signal
Linear Encoder
Servo Drive A5N
X5
MUF-PK10K-X (JST)
1
2
5.2V +/-5%
max. 300mA
E5V
E0V
GND
GND
3
4
PS
PS
Shield
Shell
GND
FG
FG
Note: If using an external power supply, E5V(pin#1) must be left unconnected. E0V(pin#2) always must be connected to GND of a linear encoder.
2011/6/14 Rev. 1
Page 76
Linear Encoder A/B/Z signals
Linear Encoder
Servo Drive A5N
X5
MUF-PK10K-X (JST)
1
2
5.2V +/-5%
max. 300mA
E5V
E0V
GND
GND
AM26C32
equivalent
5
A
6
7
B
8
9
Z
10
Shield
GND
Shell
EXA
120
EXA
EXB
120
EXB
EXZ
120
EXZ
FG
GND
FG
Note: If using an external power supply, E5V(pin#1) must be left unconnected. E0V(pin#2) always must be connected to GND of a linear encoder.
2011/6/14 Rev. 1
Page 77
CS Signals (Linear Specific)
Magnetic Pole Detector
Servo Drive A5N
X6
55100-0670 (Molex)
1
2
5.2V +/-5%
max. 300mA
E5V
Do not over this
in a total of X5 and X6.
E0V
GND
GND
5V
TC74VHC14
equivalent
5V C-MOS
10k
6
CS1
5
CS2
4
CS3
Shield
GND
Shell
CS1
CS2
CS3
FG
GND
FG
Note: If using an external power supply, E5V(pin#1) must be left unconnected. E0V(pin#2) always must be connected to GND of a pole detector.
2011/6/14 Rev. 1
Page 78
Wiring of Com. Cable (4pairs)
“Straight” Wiring
Max 60m
RJ45
plug
RJ45
plug
1
White-Orange
1
2
Orange
2
3
4
5
6
7
8
White-Green
Green
Blue
White-Blue
3
4
5
6
7
8
Shell
White-Brown
Brown
Shield
Shell
1
8
twisted pair
Notes:
- STP(Shielded Twisted Pair cable) conformed to category 5e must be used.
- Colors of the lead wire are defined by TIA/EIA-568B.
- A pair connected to 3-6pin is used as signal line.
- Unused 3 pairs must be also connected to 1-2, 4-5 and 7-8 as the above figure.
2011/6/14 Rev. 1
Page 79
Wiring of Com. Cable (2pairs)
“Straight” Wiring
Max 60m
RJ45
plug
RJ45
plug
1
White-Orange
1
2
Orange
2
3
4
5
6
7
8
White-Green
Green
3
4
5
6
7
8
Shell
Shield
Shell
1
8
twisted pair
Notes:
- STP(Shielded Twisted Pair cable) conformed to category 5e must be used.
- Colors of the lead wire are defined by TIA/EIA-568B.
- A pair connected to 3-6pin is used as signal line.
- Unused 3 pairs must be also connected to 1-2 as the above figure.
2011/6/14 Rev. 1
Page 80
Trouble of Com. Cable
When “LINK” LED is disappear against power ON of all servos,
make sure whether there is the trouble such as breaking down
with a cable connected to RX of the disappearing servo.
“LINK” LED
TX
RX
Host
Host Controller
Controller
RX
Servo
Servo Drive
Drive
Green
Servo
Servo Drive
Drive
Green
Servo
Servo Drive
Drive
Disappear
Servo
Servo Drive
Drive
Green
TX
RX
TX
RX
Trouble
TX
RX
TX
2011/6/14 Rev. 1
Page 81
Safety I/F
(Specific Model Only)
2011/6/14 Rev. 1
Page 82
STO Overview
Connector X3:
Connector pinning:
Viewed from cable side
2011/6/14 Rev. 1
Page 83
Connector X3
2011/6/14 Rev. 1
Page 84
Delay Time
Max. Delay from input off to function activated: 5ms
2011/6/14 Rev. 1
Page 85
Safety Controller Wiring
2011/6/14 Rev. 1
Page 86
Safety Controller Wiring (Cont.)
Image of Safety Controller
X3
4
3
DC24V
6
5
8
7
SF1+
Servo Drive A5N
4.7k
1k
SF14.7k
SF2+
1k
SF2-
10
EDM+
EDMMax 50mA
Vce (sat) = approx. 1.2V
Do not connect to pin 1 and 2.
2011/6/14 Rev. 1
Page 87
Dimensions in mm
2011/6/14 Rev. 1
Page 88
Frame Size A
2011/6/14 Rev. 1
Page 89
Frame Size B
2011/6/14 Rev. 1
Page 90
Frame Size C
2011/6/14 Rev. 1
Page 91
Frame Size D (200V)
2011/6/14 Rev. 1
Page 92
Frame Size D (400V)
2011/6/14 Rev. 1
Page 93
Frame Size E (200V)
2011/6/14 Rev. 1
Page 94
Frame Size E (400V)
2011/6/14 Rev. 1
Page 95
Frame Size F
2011/6/14 Rev. 1
Page 96
Frame Size G
2011/6/14 Rev. 1
Page 97
Frame Size H
2011/6/14 Rev. 1
Page 98
Appendix
2011/6/14 Rev. 1
Page 99
Optional Cable and Connector
Except for X4 connector, the options are in common with A5 series.
For X4, the followings for E series should be used.
X4
X4 Cable
Cable
X4
X4 Connector
Connector
2011/6/14 Rev. 1
Page 100
X4 Pin Configurations
No.
Name (Default)
No.
Name (Default)
1
SO1+ (BRK-OFF+)
14
BTP-I
2
SO1- (BRK-OFF-)
15
BTN-I
3
SO3+ (ALM+)
16
GND
4
SO3- (ALM-)
17
OA+
5
SI1 (SI-MON5)
18
OA-
6
I-COM
19
OB-
7
SI2 (POT)
20
OB+
8
SI3 (NOT)
21
Reserved Output
9
SI4 (SI-MON1)
22
Reserved Output
10
SI5 (HOME)
23
AIN
11
SI6 (EXT2)
24
GND
12
SI7 (EXT3)
25
SO2+ (EX-OUT1+)
13
SI8 (SI-MON4)
26
SO2- (EX-OUT1-)
Specific model only
Note: Shield of cable should be connected to shell of the connector.
2011/6/14 Rev. 1
Page 101
Com. ASIC “MNM1221”
If you develop RTEX products, this ASIC is needed.
Ref. Schematics,
Example Codes, …etc.
Available
Simple Protocol
& Easy Development
Specifications
Ordering No.
DV0P444-9
Packing Quantities
90pcs
Power Supply Voltage
3.3V
Consumption
Max. 100mA (For reference)
Operating Ambient Temp
-40 to +85 degree C
Package
LQFP100pin
14 x 14mm
Lead Pitch 0.5mm
RoHS
Compliant
Operating Mode
Master / Slave
Note:
- You are subject to limitation that you must not compete with Panasonic products.
- To provide the technical documents, NDA is needed.
- For further information, please contact us.
2011/6/14 Rev. 1
Page 102
Implement Example
90mm
CPU
70mm
RJ45
Pulse
Transformer
2011/6/14 Rev. 1
25MHz
Clock
PHY
ASIC “MNM1221”
Page 103
RTEX Monitoring Tool
“Log Reader” is to readout own communication data logged on memory inside the drive.
As another tool, a partner Cosmo Techs provides ”RTEX Analyzer”.
Log Reader
A5N Drive
FREE
Controller
USB
RTEX
Note: Other axis data cannot be readout.
2011/6/14 Rev. 1
Page 104
2011/6/14 Rev. 1
Page 105