Example of Servo A5N Installation 2014/2/10 Motor Business Division Appliances Company Panasonic Corporation This product is for industrial equipment. Don't use this product at general household. System Overview Page 2 2014/2/10 Rev. 2 Motor Business Division, Appliances Company Example System PLC Servo A5N 2-axis Touch Panel Page 3 2014/2/10 Rev. 2 Motor Business Division, Appliances Company System Structure Positioning Unit CPU Unit AFPG43610 AFPG2643H Panasonic Industrial Devices SUNX PLC FP Sigma TX A5N #1 A5N #2 RX TX RX RS232 Panasonic Servo RX TX Ethernet Cable CAT5e STP IEC 60603-7 compliant Motor w/ 20 bit/r incremental encoder Panasonic Industrial Devices SUNX Touch Panel GT21C Page 4 2014/2/10 Rev. 2 Motor Business Division, Appliances Company LEDs HOME sensor HMI on Touch Panel Page 5 2014/2/10 Rev. 2 Motor Business Division, Appliances Company Wiring Page 6 2014/2/10 Rev. 2 Motor Business Division, Appliances Company HOME Sensor Wiring Servo Drive A5N Panasonic Industrial Devices SUNX Photo-sensor PM-T64 (NPN transistor output) X4 Vf = approx. 1.2 V 6 Vdd DC24 V I-COM 4.7k 1k 10 SI5 (HOME) Ic Ic = (Vdd - Vf) / 4.7k Out1: Normally Closed Out2: Normally Open Page 7 2014/2/10 Rev. 2 If Vdd is 24 V, Ic is approx. 5 mA. Motor Business Division, Appliances Company Vf Another Sensor Case Servo Drive A5N OMRON Photo-Sensor EE-SX672A (NPN transistor output) X4 6 I-COM Note DC24 V Main Circuit Note: If “L” pin is open, ON during shade. If “L” pin is tied to “+” pin, ON during light. Page 8 2014/2/10 Rev. 2 Motor Business Division, Appliances Company 4.7k 1k LEDs Wiring Ic = (Vdd - Vf - Vce) / R W = Ic^2 x R DC24 V Vdd R 3.3k SO1 Vf Servo Drive A5N X4 1 SO1+ (BRK-OFF+) Vce (sat) = approx. 1.2 V max Ic = 50 mA max Ic 10 Vce 2 SO1(BRK-OFF-) During release, transistor ON 3.3k SO2 25 SO2+ (EX-OUT1+) 26 SO2(EX-OUT1-) 3 SO3+ (ALM+) 4 SO3(ALM-) 10 3.3k SO3 10 During alarm, transistor OFF (): Default Setting Note: For the wattage of R, sufficient margin is required. Page 9 2014/2/10 Rev. 2 Motor Business Division, Appliances Company Relay Wiring Case Diode mandatory. Servo Drive A5N DC24 V X4 10 SOx+ SOx- Page 10 2014/2/10 Rev. 2 Motor Business Division, Appliances Company Counter-measures for Noise Reducing PWM Noise Radiated from Drive Stable Frame Ground Install a ferrite core on motor cable. Ferrite Core: ZCAT3035-1330 by TDK (DV0P1460) Motor Cable U V W E Do not install it on E. Page 11 2014/2/10 Rev. 2 Make the back of chassis tightly contact earthed metal frame. The surface of the metal frame must be kept conductive. Motor Business Division, Appliances Company Host Controller Programming Page 12 2014/2/10 Rev. 2 Motor Business Division, Appliances Company Block Diagram Host Controller PLC CPU Unit Sequencer Positioning Unit Motion Profile Table # Generator & Start Servo A5N CMD Pos. RTEX Internal Bus Pos. Ctrl. Vel. Ctrl. Trq. Ctrl. M Enc Touch Panel Page 13 RS232 2014/2/10 Rev. 2 Including Positioning Table Motor Business Division, Appliances Company Programming Tools for Host Controller Positioning Unit CPU Unit FPWIN GR Configurator PM RS232 Touch Panel PC for operating tools GTWIN RS232 Page 14 2014/2/10 Rev. 2 Motor Business Division, Appliances Company Touch Panel Configuration An example of start switch. Page 15 2014/2/10 Rev. 2 Motor Business Division, Appliances Company PLC Programming Basically, start after setting table No. Start SW on the Touch Panel R130 and 131 ON conditions: - RTEX established - Servo-ON - Not in motion Setting table No. into shared memory. Table No. Servo #1 and #2 START Note: R151, R14A and R14B are used for another program. Page 16 2014/2/10 Rev. 2 Motor Business Division, Appliances Company Positioning Unit Configuration (1) Parameters of Positioning Unit: Unit # of pulses per revolution Direction Limit setting Homing type etc… Page 17 2014/2/10 Rev. 2 Motor Business Division, Appliances Company Positioning Unit Configuration (2) Positioning Data Table: Inc. / Abs. Target Pos. Acc. Dec. Target Vel. Table No. Page 18 2014/2/10 Rev. 2 Motor Business Division, Appliances Company Dwell Motion Profile Example Velocity Target Velocity 500 kpps (3000 r/min) time Acc. 50 ms Dec. 50 ms A5N parameter setting is needed as follows: Electronic Gear Setting: 1,048,576 (20 bit) 10,000 (Pr0.08 = 0, Pr 0.09 = 0, Pr 0.10 = 10000) Page 19 2014/2/10 Rev. 2 Motor Business Division, Appliances Company Dwell 200 ms Servo Settings Page 20 2014/2/10 Rev. 2 Motor Business Division, Appliances Company A5N Front Panel LINK LED (Green) LINK 7-segment LED Network State OFF Wiring Not Link Solid Green Link COM LED (Green / Red) COM Page 21 Network State OFF Initial Blinking Green In Configuration Solid Green Established Blinking Red Error Solid Red Serious Error (Reset needed) 2014/2/10 Rev. 2 Address Setting RSW Range: 00 to 31 Value depends on the controller specification. Motor Business Division, Appliances Company Node Address Set the value according to Host Controller specification. In FP Sigma of 2-axis type, set #1 and #2. #1 Note: Some Host Controllers need value corresponding to RTEX cable-connecting order. Page 22 2014/2/10 Rev. 2 Motor Business Division, Appliances Company #2 RTEX Period FP Sigma needs Update Period 1 ms, Com. Period 0.5 ms and 16-byte mode. Max # of Axes Com. Period 16-byte mode Pr7.22 bit0=0 32-byte mode Pr7.22 bit0=1 Available Control Mode FullClosed Cont. (Note) Pr7.20 Pr7.21 Command Update Period 6 1 1.000 ms 1.000 ms 32 16 PP, CP, CV, CT Available 3 2 1.000 ms 0.500 ms 32 16 PP, CP, CV, CT Available 3 1 0.500 ms 0.500 ms 32 16 PP, CP, CV, CT Available 1 1 0.166 ms 0.166 ms 10 - CP, CV, CT - 0 2 0.166 ms 0.083 ms 5 - CP, CV, CT - Note: Full-closed control Pr0.01 = 6, Semi-closed control Pr0.01 = 0 Using PANATERM, the command wave-form should be checked. If the period is mismatched, the wave-form is disturbed. Page 23 2014/2/10 Rev. 2 Motor Business Division, Appliances Company Limit Sensors According to Host Controller specification, set relevant parameters properly as well as wiring. Positive direction defined with Pr0.00 A5N Normally Pr5.04 is set to 1 (disable) because Host Controller operates limit motion. X4 Connector NOT POT Response byte 3 inside RTEX data block: bit1 bit0 Pr7.23 bit3=0 POT NOT Pr7.23 bit3=1 NOT POT Bit assignment is changeable with Pr7.23. Page 24 2014/2/10 Rev. 2 Motor Business Division, Appliances Company A5N Parameter Setting FP Sigma needs the following parameter settings. There are some parameters FP Sigma changes automatically, and do not touch them. # Name Setting Value Description 0.00 Rotational direction Do not touch. FP Sigma operates it. 0.01 Control mode 0 Semi-closed control 0.08 Number of command pulses per motor revolution 0 Set by Pr0.10. 0.09 Numerator of electronic gear 0 Set by Pr0.10. 0.10 Denominator of electronic gear (e.g.)10000 Set value of pulses per 1 rev. (Note1) 5.04 Over-travel inhibit input 1 Disable 5.21 Selection of torque limit Do not touch. FP Sigma operates it. 7.20 RTEX communication cycle 3 0.5 ms 7.21 RTEX command updating cycle ratio 2 Update : Com. = 2 : 1 7.22 RTEX function extended 1 0 16-byte 7.23 RTEX function extended 2 Do not touch FP Sigma operates it. 7.25 RTEX speed unit 1 (Note2) pulse/s Notes: 1. If necessary, with adjusting position command filters (Pr2.22, Pr2.23), smooth out the position command after the electronic gear through. 2. If required to monitor speed with r/min, set Pr7.25 to 0. Page 25 2014/2/10 Rev. 2 Motor Business Division, Appliances Company Start-UP Page 26 2014/2/10 Rev. 2 Motor Business Division, Appliances Company Power-ON Sequence It depends on Host Controller specification. FP Sigma needs the following order. 1. I/O devices connected to PLC 2. Servo drives 3. PLC FP Sigma Page 27 2014/2/10 Rev. 2 Motor Business Division, Appliances Company LED Checking in Power-ON When RTEX established successfully, both LINK and COM indicate solid GREEN. PLC “FP Sigma” A5N “STATUS” is “COM” equivalent. Page 28 2014/2/10 Rev. 2 Motor Business Division, Appliances Company COM Behavior at Start-up Host Controller Com. ASIC State INITIAL Com. Init-A Frame Solid Green (In cyclic communication) Blinking Green (In initializing) COM-LED Off RING CONFIG If Slave power-off, Init-A is cyclically transmitted with 2 ms period. READY RUNNING Real-time Init-B 2 ms Servo Com. ASIC State INITIAL CONFIG-B 0.5 ms RUNNING CONFIG-A COM-LED Off Page 29 Blinking Green (Receivable Init-A, B frame) 2014/2/10 Rev. 2 Solid Green (Receivable Real-time frame) Motor Business Division, Appliances Company