Servo Servo Drive Drive MINAS-A4N MINAS-A4N with with Realtime Realtime Express Express (RTEX) (RTEX) 2010/4/1 Rev. 14 Copyright (c) 2010 Panasonic Corporation Page 1 200W 200V 2010/4/1 Rev. 14 Copyright (c) 2010 Panasonic Corporation Page 2 Overview 2010/4/1 Rev. 14 Copyright (c) 2010 Panasonic Corporation Page 3 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 2010/4/1 Rev. 14 Copyright (c) 2010 Panasonic Corporation Page 4 Features of RTEX •• Real-time Real-timecommunication communication based basedon on100BASE-TX 100BASE-TX •• 100Mbps 100MbpsFull Fullduplex duplex •• 0.5ms 0.5mscycle cyclewith withup upto to32 32 axes axes(*1) (*1) •• Max. Max.60m 60mlength lengthinter-node inter-nodecable cable •• All Allaxes axesfully fullysynchronization synchronization(*2) (*2) for forinterpolation interpolation •• Parameter Parametersetting settingand andmonitoring monitoring •• Less Lesswiring wiring •• Low Lowcost costsystem system using usingshielded shieldedtwisted twistedpair paircable cable •• High Highnoise noiseimmunity immunity (IEC61000-4-4 (IEC61000-4-4compliant) compliant) 2010/4/1 Rev. 14 Copyright (c) 2010 Panasonic Corporation *1: Depends on a controller specification. *2: This sync algorithm is a patent. Page 5 System Structure Low system cost Ring topology without HUB Upper Network (almost Ethernet) A4N Servos Up to 32axes Host Controller STP NC Parameter Setting & Monitoring (*) *: Depends on a controller specification 2010/4/1 Rev. 14 Max. 60m inter-node STP: Shielded Twisted Pair cable Copyright (c) 2010 Panasonic Corporation Page 6 Less Wiring at Multi-Axes Pulse Pulse I/F I/F NC NC RTEX RTEX Servo Servo Servo Servo Servo Servo Servo Servo NC NC Servo Servo Servo Servo Servo Servo Servo Servo Reduced trouble with wiring Bundle of Many Wires 2010/4/1 Rev. 14 Copyright (c) 2010 Panasonic Corporation Simple! High benefit in distributed placing Page 7 Less Wiring at Single-Axis Pulse Pulse I/F I/F Many wires NC NC S-ON PULS SIGN CLR OZ ALM Servo Servo CCWL Slider Slider CWL 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 CCWL Slider Slider CWL Home Sensors are connected to Servo 2010/4/1 Rev. 14 Copyright (c) 2010 Panasonic Corporation Page 8 Ultra High-Speed Ten Times Fast! 100Mbps 10Mbps Conventional 2010/4/1 Rev. 14 RTEX Copyright (c) 2010 Panasonic Corporation Page 9 Using Low-Cost Cable Cable Cost Ratio 1 Mass Distributed on the Market 1 10 Conventional (e.g. RS485) RTEX STP for Ethernet Note: An example of 1m length. 2010/4/1 Rev. 14 Copyright (c) 2010 Panasonic Corporation Page 10 Simple Ring Topology RTEX (RING) RS485 (LINE) Servos NC Bi-directional NC Servos Simple One-way (*) Termination Resistor A A Trouble Trouble High HighEfficiency Efficiency&&Reliability Reliability by bySimple SimpleData DataFlow Flow *: No cross-talk. 2010/4/1 Rev. 14 Copyright (c) 2010 Panasonic Corporation Page 11 Features of RTEX 2010/4/1 Rev. 14 Copyright (c) 2010 Panasonic Corporation Page 12 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 The same about Physical Layer 100BASE-TX 100BASE-TX 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. 2010/4/1 Rev. 14 Copyright (c) 2010 Panasonic Corporation Page 13 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 2010/4/1 Rev. 14 Short header suitable for real-time control Copyright (c) 2010 Panasonic Corporation Page 14 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 2010/4/1 Rev. 14 Copyright (c) 2010 Panasonic Corporation High-density information links between controller and servos. Servo Servo Drive Drive “Visualization” Page 15 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. 2010/4/1 Rev. 14 Copyright (c) 2010 Panasonic Corporation Page 16 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 2010/4/1 Rev. 14 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 Copyright (c) 2010 Panasonic Corporation Page 17 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. 2010/4/1 Rev. 14 Copyright (c) 2010 Panasonic Corporation The number of axes: 4 Cable length inter-node: 0.3m Page 18 Fully Synchronization With a unique algorithm (patented), NC is synchronized with all servo controls (position, velocity, current, PWM). Improvement of sync precision among axes! Servo Control Pulse I/F RTEX Async. All Axes Sync X2 2010/4/1 Rev. 14 X1 Suitable Suitablefor for precise precisesynchronizing synchronizing such suchas asaagantry gantry as aswell wellas asCP CPcontrol. control. Copyright (c) 2010 Panasonic Corporation Page 19 Interface and Com. Cycle Position command with 0.5ms com. cycle Command Position Target Position Shorter delay of transmission makes high servo performance. Command Velocity Command Torque Servo NC Position Control Velocity Control Torque Control M Motion Profile Generator Enc 2010/4/1 Rev. 14 Copyright (c) 2010 Panasonic Corporation Page 20 Interface Data Velocity Time Command Position [pulse] Time 1ms or 0.5ms (Selectable with parameter) 2010/4/1 Rev. 14 Absolute (not incremental) value must be used. Default polarity: + Æ CCW, - Æ CW Copyright (c) 2010 Panasonic Corporation Page 21 Shorter Update Period More Precisely on High-speed CP control Micro circular interpolation (e.g. Dispenser) Y Y Ideal trace Command Position RTEX T = 0.5ms (*) Conventional T = 2ms X X *: Data update period depends on controller specification, and is either 1ms or 0.5ms. 2010/4/1 Rev. 14 Copyright (c) 2010 Panasonic Corporation Page 22 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. 2010/4/1 Rev. 14 Copyright (c) 2010 Panasonic Corporation Short at few axes Commnad is applied to the servo control as soon as after all axes receiving. Page 23 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. 2010/4/1 Rev. 14 Copyright (c) 2010 Panasonic Corporation Page 24 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 or more) Topology Ring Isolation Pulse Transformer with common-mode choke Connector RJ45 Cable Length Inter-node: Max. 60m, Total: Max. 200m Noise Immunity 2.5kV over, IEC61000-4-4 compliant Com. Cycle (*) 0.5ms (data update: 1ms or 0.5ms) Number of Axes (**) Up to 32 Motion Interface (*) Position Command * Note: For standard model of A4N 2010/4/1 Rev. 14 ** Note: Depending on specification of host controller Copyright (c) 2010 Panasonic Corporation Page 25 Collaboration Products except servo are provided by partners. Partner Products Panasonic Servo Controller Network Analyzer Stepping Motor Drive OUT IN Pulse Output 2010/4/1 Rev. 14 Copyright (c) 2010 Panasonic Corporation Page 26 Features of Servo 2010/4/1 Rev. 14 Copyright (c) 2010 Panasonic Corporation Page 27 Features of A4 (Base of A4N) • 1000Hz velocity response • Advanced real-time automatic gain-tuning • Vibration reduction control Pos. Cmd. + Pos. / Vel. Ctrl. Adaptive Filter Previous model MINAS-A4 Cur. Ctrl. M Shaky - Control Resonance Estimate Inertia Estimate Gain Tuning Enc. Servo Drive 2010/4/1 Rev. 14 Copyright (c) 2010 Panasonic Corporation Stable! Page 28 Compact Previous Model A4N 170 Volume 1/2 132 160 150 40 55 Unit: mm Note: Comparison with B series (200W, 200V) 2010/4/1 Rev. 14 Copyright (c) 2010 Panasonic Corporation Page 29 Setting Tools (Optional) Setup Software “PANATERM” DV0P4460 Parameter Parameter Setting Setting Monitoring Monitoring Wave Wave Form Form Freq. Freq. Analyzing Analyzing etc. etc. Connect with RS232(X4) Alternative Handy Console DV0P4420 Parameter Parameter Setting Setting Monitoring Monitoring Jogging Jogging etc. etc. 2010/4/1 Rev. 14 Copyright (c) 2010 Panasonic Corporation Page 30 Full-Closed Control High precision full-closed control system Encoder X6 Linea Encoder X7 Positioning Positioning with with Linear Scale Linear Scale Connectable Linea Encoder Mitsutoyo Sony Manufacturing Systems AT573A ST771A / ST773A SR75 / SR85 SR77 / SR87 SL710 + PL101-RP Type Absolute Absolute Incremental (*) Absolute Incremental (*) Resolution 0.05um 0.5um / 0.1um 0.05 to1um 0.05 to 1um 0.1um Note: For incremental, the special model of servo is needed. 2010/4/1 Rev. 14 Copyright (c) 2010 Panasonic Corporation Page 31 Linear Motor Drive Special servo drive for linear motor can be provided. Special Special Model Model Linear Motor by third party X6 Linear Encoder Notes: - Panasonic do not provide linear motor. - The linear encoder is the same as for full-closed control. - Because of limitations of servo drive, the combination of resolution and max. speed are as follows: max 2m/s at 0.05um max 5m/s at 0.5um 2010/4/1 Rev. 14 Copyright (c) 2010 Panasonic Corporation Page 32 Compliance • UL, cUL • TUV • CE 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 2010/4/1 Rev. 14 Copyright (c) 2010 Panasonic Corporation Page 33 Appearance 2010/4/1 Rev. 14 Copyright (c) 2010 Panasonic Corporation Page 34 Appearance Model No. Front panel Analog monitor pins X1: Power supply pin4 L1 pin3 L3 pin2 L1C pin1 L2C X2: Motor connector pin6 RB1 pin5 RB3 pin4 RB2 pin3 U pin2 V pin1 W Earth terminal 2010/4/1 Rev. 14 X4: RS232 (MINI-DIN 8pins) X3: Com. connector (RJ45) X5: Sensors connector (Half pitch 36pins) X6: Encoder connector (6pins) X7: Linear encoder connector (6pins) Copyright (c) 2010 Panasonic Corporation Page 35 Front Panel Servo ON 7segments LED Easy Easy decimal decimal setting setting Servo OFF Address Setting RSW LINK Status (Green) Com. Status (Green / Red) Note: If alarm, the error code is indicated on 7segments LED with blinking. 2010/4/1 Rev. 14 Copyright (c) 2010 Panasonic Corporation Page 36 Appearance of Size A to D A W 40 H150 D132 2010/4/1 Rev. 14 B W 55 H150 D132 C W 65 H150 D172 Copyright (c) 2010 Panasonic Corporation D W 85 H150 D172 A to C: Fan less D or more: With built-in fan Unit: mm Page 37 Lineup Rated Output of Motor Power Input of Drive 1 Phase AC 100-115V 1 Phase AC 200-240V 50W 100W 200W 400W A A B C MADD T1105N MADD T1107N MBDD T2110N MCDD T3120N A A B MADD T1205N MADD T1207N MBDD T2210N 1 or 3 Phase AC 200-240V 3 Phase AC 200-230V 750W 1kW 1.5kW C D MCDD T3520N MDDD T5540N 2kW 3kW 4kW 5kW 7.5kW E F F G MEDD T7364N MFDD TA390N MFDD TB3A2N MGDD TC3B4N Upper: Frame size Lower: Typical model No. (Depending on combination with motor ) 2010/4/1 Rev. 14 Copyright (c) 2010 Panasonic Corporation Page 38 Structure of Model No. Servo Drive A4 family MADDT1207N Frame Size A: Size A B: Size B C: Size C D: Size D E: Size E F: Size F Interface type N: RTEX Power Input 1: 1-Phase AC100V 2: 1-Phase AC200V 3: 3-Phase AC200V 5: 1 or 3-Phase AC200V Specifying Max. Current 2010/4/1 Rev. 14 Copyright (c) 2010 Panasonic Corporation Page 39 Wiring 2010/4/1 Rev. 14 Copyright (c) 2010 Panasonic Corporation Page 40 Power Supply and Motor Servo Drive A4N Put the circuit that makes main power turn off at alarm. AC X2 X1 MC NFB 4 3 Noise Noise Filter Filter L1 L3 Main Power 2 L1C Control 1 L2C Power RB1 RB3 RB2 U V W Connect regenerative resistor, if necessary. 6 5 4 3 Red 2 White 1 Black To reduce EMI, install a ferrite core DV0P1460. (ZCAT3035-1330 by TDK) Green / Yellow Motor Put AC reactor if necessary. X6 For noise immunity, make the back of chassis tightly contact earthed metal frame. The surface of the metal frame must have conductivity. X5 34 *2 33 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 X5 connector. 2010/4/1 Rev. 14 BTP-I E5V E0V BTP-O BTN-O PS PS Shield 1 2 3 4 5 6 Encoder Shell Copyright (c) 2010 Panasonic Corporation *2 Page 41 Daisy Chain of Power Using dual connector, Daisy Chain is possible. With With locking locking levers levers X1 Specifications of connector: Description Manufacturer J.S.T. Mfg. Model No. 4pole (for A, B size): 04JFAT-SAXGSA-C 5pole (for C, D size): 05JFAT-SAXGSA-C Wire Size AWG#14 to #18 Remark This is not an accessory of the drive, so it is provided by yourself. 2010/4/1 Rev. 14 Copyright (c) 2010 Panasonic Corporation Page 42 Sensor Inputs Servo Drive A4N X5 DC12 to 24V +/-10% I-COM CWL CW Limit 1 4.7k 1k 20 Normally Closed 4.7k CCWL CCW Limit 1k 19 Normally Closed 4.7k HOME HOME 1k 21 Normally Open 4.7k (Changeable polarity with parameter) External Servo-ON (or general purpose input) Emergency Stop Normally Closed Servo-OFF at open (Mask-able with parameter) EX-SON / EX-IN4 EMG-STP 1k 23 4.7k 2 1k Normally Closed (Mask-able with parameter) 2010/4/1 Rev. 14 Copyright (c) 2010 Panasonic Corporation Page 43 General Purpose Inputs Servo Drive A4N X5 4.7k EX-IN1 1k 5 4.7k Normally Open EX-IN2 1k 4 Normally Open 4.7k EX-IN3 3 1k Normally Open Note: Host controller can monitor a state of EX-INs via RTEX. These inputs do not influence servo control in the drive. 2010/4/1 Rev. 14 Copyright (c) 2010 Panasonic Corporation Page 44 Sensor Input Example 1 Servo Drive A4N Proximity-Sensor by SUNX GX-F12 (NPN transistor output) X5 1 Main Circuit Brown I-COM DC24V 4.7k 1k OUT Black Blue GX-F12A: Normally Open GX-F12B: Normally Closed 2010/4/1 Rev. 14 Copyright (c) 2010 Panasonic Corporation Page 45 Sensor Input Example 2 Servo Drive A4N Photo-Sensor by OMRON EE-SX672A (NPN transistor output) X5 1 I-COM Note DC24V 4.7k 1k Main Circuit Note: If “L” pin is open, ON during shade. If “L” pin is tied to “+” pin, ON during light. 2010/4/1 Rev. 14 Copyright (c) 2010 Panasonic Corporation Page 46 Relay Control Outputs Servo Drive A4N X5 DC12 to 24V +/-10% During alarm, transistor OFF ALM+ 15 10 For turning main power off ALM- 16 Max 50mA BRK-OFF+ 36 During release, transistor ON 10 For releasing motor brake BRK-OFF- 35 Max 50mA Note: Vce (sat) = approx. 1.2V 2010/4/1 Rev. 14 Copyright (c) 2010 Panasonic Corporation Page 47 General Purpose Outputs Servo Drive A4N Example of connecting to a relay When the corresponding bit is 1, the transistor ON. X5 DC12 to 24V +/-10% EXOUT1+ EX-OUT1- 29 10 30 Max 50mA EX-OUT2+ EX-OUT2- 31 10 32 Max 50mA Note: Host controller can operate the EX-OUTs via RTEX. These outputs do not influence servo control in the drive. 2010/4/1 Rev. 14 Note: Vce (sat) = approx. 1.2V Copyright (c) 2010 Panasonic Corporation Page 48 Encoder Signal Outputs Servo Drive A4N X5 RS422 receiver DS26C31 (NS) equivalent OA+ OAOB+ OBOZ+ OZ- GND GND 11 12 13 14 9 10 26 Shield FG 18 FG Twisted pair 2010/4/1 Rev. 14 Note: If incremental type of a linear encoder is used, this output is disabled. Copyright (c) 2010 Panasonic Corporation Page 49 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 or more 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. 2010/4/1 Rev. 14 Copyright (c) 2010 Panasonic Corporation Page 50 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 or more 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. 2010/4/1 Rev. 14 Copyright (c) 2010 Panasonic Corporation Page 51 Trouble of Com. Cable When “LINK” LED is disappear against power ON of all servos, make sure whether there is the trouble (e.g. 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 2010/4/1 Rev. 14 Copyright (c) 2010 Panasonic Corporation Page 52 Dimensions (unit: mm) 2010/4/1 Rev. 14 Copyright (c) 2010 Panasonic Corporation Page 53 Size A 2010/4/1 Rev. 14 Copyright (c) 2010 Panasonic Corporation Page 54 Size B 2010/4/1 Rev. 14 Copyright (c) 2010 Panasonic Corporation Page 55 Size C 2010/4/1 Rev. 14 Copyright (c) 2010 Panasonic Corporation Page 56 Size D 2010/4/1 Rev. 14 Copyright (c) 2010 Panasonic Corporation Page 57 Size E Mounting bracket (replaced) Mounting bracket (typical position) Name plate Mounting bracket (typical position) Mounting bracket (replaced) 2010/4/1 Rev. 14 Copyright (c) 2010 Panasonic Corporation Page 58 Size F Mounting bracket (replaced) Mounting bracket (typical position) Name plate Mounting bracket (typical position) 2010/4/1 Rev. 14 Copyright (c) 2010 Panasonic Corporation Mounting bracket (replaced) Page 59 Size G Mounting bracket Air flow direction (front to rear) Mounting bracket 2010/4/1 Rev. 14 Copyright (c) 2010 Panasonic Corporation Page 60 Options 2010/4/1 Rev. 14 Copyright (c) 2010 Panasonic Corporation Page 61 Cable and Connector Except for X5 connector, the options are in common with A4. For X5, the followings for A4P should be used. X5 X5 Cable Cable 1) Model No. DV0P4510 X5 X5 Connector Connector 1) Model No. DV0P4500 2) Components 2010/4/1 Rev. 14 Copyright (c) 2010 Panasonic Corporation Page 62 X5 Pin Configurations No. Name No. Name 1 I-COM 19 CCWL 2 EMG-STP 20 CWL 3 EX-IN3 21 HOME 4 EX-IN2 22 Reserved 5 EX-IN1 23 EX-SON / EX-IN4 6 Reserved 24 Reserved 7 NC 25 Reserved 8 NC 26 GND 9 OZ+ 27 NC 10 OZ- 28 NC 11 OA+ 29 EX-OUT1+ 12 OA- 30 EX-OUT1- 13 OB+ 31 EX-OUT2+ 14 OB- 32 EX-OUT2- 15 ALM+ 33 BTN-I 16 ALM- 34 BTP-I 17 Reserved 35 BRK-OFF- 18 FG 36 BRK-OFF+ Note: Do not connect to “Reserved” or “NC”. 2010/4/1 Rev. 14 Copyright (c) 2010 Panasonic Corporation Page 63