No. SX-DSV03031 TECHNICAL REFERENCE MODEL Product Name: AC Servo Driver Product No.: MINAS-A6 series Issued on Oct. 27, 2015 Revised on . , Motor Business Unit, Smart Factory Solutions Business Division Automotive & Industrial Systems Company, Panasonic Corporation 7-1-1 Morofuku, Daito-City, Osaka 574-0044, Japan Phone: +81-72-871-1212 Fax : +81-72-870-3151 No. SX-DSV03031 この英文仕様書は、原本である和文仕様書を元にパナソニック株式会社オートモーテ ィブ＆インダストリアルシステムズ社モータビジネスユニットが翻訳・発行するもの です。翻訳は，原本の利用に際して一応の参考となるように便宜的に仮訳したもので あり、公的な校閲を受けたものではありません。英語訳のみを使用して生じた不都合 な事態に関しては，当社は一切責任を負うものではありません。和文仕様書のみが有 効です。 パナソニック株式会社 オートモーティブ＆インダストリアルシステムズ社 モータビジネスユニット This English specification is made and published by Motor Business Unit Automotive & Industrial Systems Company of Panasonic Corporation based on the original Japanese specification. Translation is provided unofficially only for the sake of convenience of utilizing the original Japanese specification as a measure of reference. It is not officially reviewed. Motor Business Unit Automotive & Industrial Systems Company of Panasonic Corporation is not liable for any disadvantages caused by utilizing only English specification. Only the Japanese specification is effective. Motor Business Unit, Automotive & Industrial Systems Company, Panasonic Corporation Motor Business Unit, Panasonic Corporation No. SX-DSV03031 REVISIONS Date Date of submission Oct. 27, 2015 Page Revised portion Revised figure number Sym Revision symbol REVISION Reason for change and description of revision Signed Stamp NEWLY ISSUED Motor Business Unit, Panasonic Corporation No. SX-DSV03031 Table of Contents 1. 2. Outline of specification ························································································································1 Interface specification ··························································································································3 2-1 I/F connector Input signal specification ································································································· 3 2-2 I/F connect Output signal specification ·································································································· 5 2-3 Input/output signal assignment function ································································································· 7 2-3-1 Input signal assignment ················································································································ 7 2-3-2 Output signal assignment ············································································································ 10 2-3-3 Analog signal output function ······································································································· 12 3. Front panel specification·······················································································································15 3-1 Front panel operation method ··········································································································· 15 3-1-1 Configuration of operation portion and display portion ········································································· 15 3-1-2 Functions of key switch ·············································································································· 15 3-1-3 Operation method ····················································································································· 16 3-1-4 Front panel lock ······················································································································· 18 3-2 Detailed specification of front panel ··································································································· 19 3-2-1 Details of monitor mode ············································································································· 19 3-2-2 Details of parameter setting mode ·································································································· 31 3-2-3 EEPROM writing mode ·············································································································· 31 3-2-4 Auxiliary function mode ············································································································· 32 4. Basic function ·······································································································································41 4-1 Setting the rotation direction ·················································································································· 41 4-2 Position control ··························································································································· 42 4-2-1 Command pulse input processing ··································································································· 42 4-2-2 Command division/multiplication (electronic gear) function ··································································· 44 4-2-3 Position command filter function ··································································································· 46 4-2-4 Pulse regeneration function ·········································································································· 48 4-2-4-1 Pulse division function ········································································································ 48 4-2-4-2 Pulse regeneration function of external scale ·············································································· 50 4-2-5 Deviation counter clear (CL) function ····························································································· 53 4-2-6 Positioning completion output (INP) function ···················································································· 54 4-2-7 Command pulse inhibition (INH) function ························································································ 55 4-3 Speed control ······························································································································ 56 4-3-1 Speed control by analog speed command ·························································································· 56 4-3-2 Speed control by internal speed command ························································································ 58 4-3-3 Speed zero clamp (ZEROSPD) function ··························································································· 60 4-3-4 Speed attainment output (AT-SPEED) ····························································································· 62 4-3-5 Speed coincidence output (V-COIN) ······························································································· 63 4-3-6 Speed command acceleration/deceleration setting function ····································································· 64 4-4 Torque control ···························································································································· 65 4-4-1 Torque command selection 1 and 3 (Speed limit parameter value) ···························································· 65 4-4-1-1 Analog torque command input processing·················································································· 66 4-4-1-2 Speed limit function ··········································································································· 68 4-4-2 Torque command selection 2 (Analog speed limit input) ······································································· 69 4-4-2-1 Analog torque command input processing·················································································· 70 4-4-2-2 Speed limit function ··········································································································· 72 4-5 Full-close control ························································································································· 73 4-5-1 Selection of external scale type ····································································································· 74 4-5-2 Setting of external scale division ratio ····························································································· 75 4-5-3 Setting of hybrid deviation excess ·································································································· 76 4-6 Regeneration resistor setting ············································································································ 77 Motor Business Unit, Panasonic Corporation No. SX-DSV03031 4-7 Absolute setting ··························································································································· 78 4-7-1 Absolute encoder ······················································································································ 78 4-7-1-1 Absolute system configuration ······························································································· 78 4-7-1-2 Absolute data ··················································································································· 80 4-7-1-3 Installation of absolute data battery·························································································· 80 4-7-1-4 Clearing of absolute encoder ································································································· 81 4-7-1-5 Transfer of absolute data ······································································································ 81 4-7-2 External scale ·························································································································· 85 4-7-2-1 External scale absolute system configuration ·············································································· 85 4-7-2-2 Transfer of external scale absolute data ····················································································· 87 4-7-2-3 Procedure for transfer of external scale absolute data ····································································· 88 4-7-2-4 Composing of external scale absolute data ················································································· 90 5. Gain adjustment/vibration suppression function ···························································································91 5-1 Automatic adjustment function ········································································································· 91 5-1-1 Real-time automatic tuning ·········································································································· 92 5-1-2 Adaptive filter ························································································································ 100 5-1-3 Real-time automatic tuning (two degrees of freedom control mode: standard type)········································ 102 5-1-4 Real-time automatic tuning (two-degree-of-freedom control mode: synchronization type) ······························· 110 5-2 Manual adjusting function ·············································································································· 118 5-2-1 Block diagram for position control mode ························································································· 119 5-2-2 Block diagram for velocity control mode ························································································· 120 5-2-3 Block diagram for torque control mode ··························································································· 121 5-2-4 Block diagram for full-close control mode ······················································································· 122 5-2-5 Gain switching function ············································································································· 123 5-2-6 Notch filter ···························································································································· 129 5-2-7 Damping function ···················································································································· 131 5-2-7-1 Damping control ·············································································································· 131 5-2-7-2 Model-type damping filter ··································································································· 136 5-2-8 Feed forward function ··············································································································· 139 5-2-9 Load variation suppression function ····························································································· 142 5-2-10 Third gain switching function ······································································································ 145 5-2-11 Friction torque compensation······································································································· 146 5-2-12 Inertia ratio switching function ····································································································· 148 5-2-13 Hybrid vibration suppressing function ···························································································· 149 5-2-14 Two-stage torque filter ·············································································································· 150 5-2-15 Quadrant projection suppression function ························································································ 151 5-2-16 Two-degree-of-freedom control mode (with position control) ································································ 152 5-2-17 Block diagram for two degree-of-freedom control mode (with position control) ··········································· 154 5-2-18 Two-degree-of-freedom control mode (with speed control) ··································································· 155 5-2-19 Block diagram for two degree-of-freedom control mode (with speed control) ·············································· 156 5-2-20 Two degree-of-freedom control mode (full-close control) ····································································· 157 5-2-21 Block diagram for two-degree-of-freedom control mode (full closed control) ·············································· 159 6. Applied functions ·······························································································································160 6-1 Torque limit switching function ······································································································· 160 6-2 Analog torque limit function ··········································································································· 162 6-3 Allowable motor operating range setting function ·················································································· 164 6-4 Command division/multiplication switching function ·············································································· 166 6-5 Settings of various sequence actions ·································································································· 167 6-5-1 Sequence at the time of drive prohibition inputs (POT and NOT) ···························································· 167 6-5-2 Sequence with Servo OFF ·········································································································· 168 6-5-3 Sequence with main power supply OFF ·························································································· 169 6-5-4 Sequence at alarm ···················································································································· 170 6-5-5 An immediate stop action when alarm comes on. ··············································································· 171 6-5-6 Drop prevention function when alarm comes on ················································································ 173 6-6 Torque saturation protection function ································································································ 174 Motor Business Unit, Panasonic Corporation No. SX-DSV03031 7. Protection functions/alarm functions·········································································································175 7-1 Protection function list ·················································································································· 175 7-2 Description of protective functions ··································································································· 178 7-3 Warning functions ······················································································································· 193 7-4 Setup of gain pre-adjustment protection ······························································································ 195 8. Safety function ··································································································································197 8-1 Outline of safe torque off (STO) function ···························································································· 197 8-2 Input/output signal specification······································································································· 198 8-2-1 Safety input signal ··················································································································· 198 8-2-2 External device monitor (EDM) output signal ··················································································· 199 8-2-3 Internal signal circuit block diagram ································································································· 199 8-3 Description of functions ················································································································ 200 8-3-1 Activation to STO state, timing diagram·························································································· 200 8-3-2 Return timing diagram from STO state ··························································································· 201 8-4 Connection example ····················································································································· 202 8-4-1 Example of connection to safety switch ·························································································· 202 8-4-2 Example of connection to safety sensor ··························································································· 202 8-4-3 Example of connection to safety controller ······················································································· 203 8-4-4 Example of connection when using multiple axes ··············································································· 204 8-5 Safety precautions ······················································································································· 205 9. Other··············································································································································206 9-1 List of parameters························································································································ 206 9-2 Timing charts ····························································································································· 226 9-2-1 Timing chart of operation after power-on ························································································ 226 9-2-2 Timing chart of servo-on/-off operation with nonoperating motor (servo locked) ·········································· 227 9-2-3 Timing chart of servo-on/-off operation with running motor ·································································· 228 9-2-4 Timing chart of (servo-on command status) operation when abnormality (alarm) occurs ································· 229 9-2-5 Timing chart of (servo-on command status) operation when an alarm is cleared ··········································· 230 9-3 Communication functions (RS232/RS485) ·························································································· 231 9-3-1 Connection with communication lines ···························································································· 231 9-3-2 Connector wiring diagram ·········································································································· 232 9-3-3 Communication specifications ····································································································· 235 9-3-4 Transmission sequence ·············································································································· 236 9-3-5 State transition diagram ············································································································· 240 9-3-6 Communication command list······································································································ 243 9-3-7 Communication command details ································································································· 244 Motor Business Unit, Panasonic Corporation No. SX-DSV03031 [Note] Products having E*** at the end of the product number (example: MADLN05SE*** , hereinafter referred to as “[E***]”), G*** at the end of the product number (example: MADLN05SG*** , hereinafter referred to as “[G***]”) are types dedicated for the pulse string so that some functions may not be supported. (Refer to the following table.) Item [F***] [G***] [E***] Control mode Position control, velocity control, Position control, velocity Position control, velocity torque control, position/velocity control (internal velocity control (internal velocity control, position/torque control, only) only) Not available velocity/torque control, full-closed control Analog input Available Not available Analog torque feed forward Available Not available Not available Analog torque limit function Available Not available Not available Safety function Available Not available Not available Communication function USB (for connecting PANATERM) USB (for connecting USB (for connecting PANATERM) PANATERM only) /RS232/RS485/MODBUS /RS232/RS485/MODBUS Note that there is a description that “this function cannot be used with [E***]”, “this function cannot be used with [G***]” in the detailed description. Motor Business Unit, Panasonic Corporation No.SX-DSV03031- 1 - 1. Outline of specification Control method IGBT PWN method, sinusoidal drive (1) Position control (2) Velocity control (3) Torque control (4) Position/velocity control (5) Position/torque control Control mode (6) Velocity/torque control (7) Full-closed control The aforementioned 7 modes can be switched by using parameters.*1 Encoder feedback 23 Bit (resolution: 8,388,608) 5-serial absolute encoder A/B phase, origin signal differential input ST770A, ST770AL and AT573A manufactured by Mitsutoyo External scale feedback*2, *3 Compliant with SR75, SR77, SR85 and SR87 manufactured by Magnescale (products supporting serial communications of Panasonic) Input Control signal Basic Specification Output Input Analog signal/monitor output Output General purpose 10 input General purpose input functions can be selected by parameter. General purpose 6 output General purpose output functions can be selected by parameter. 3 inputs (16 bit A/D: 1 input, 12 bit A/D: 2 inputs)*2 2 outputs (analog monitors 1 and 2) Output from I/F connector pins 42 and 43. 2 inputs respectively Input Both line driver I/F and open collector I/F are supported with photo coupler input can be supported. Line driver I/F can be supported with line receiver input. Pulse signal 4 outputs respectively Output Encoder pulse (A/B/Z phase) or external scale pulse (EXA/EXB/EXZ phase) is output by using the line driver. Z-phase or EXZ-phase pulse can also be output with open collector. Communication function USB Parameter setting and status monitoring, etc. are available by connecting PC, etc. RS232 1:1 communication with the host controller is possible.*2 RS485 1:N communication with the host controller is possible.*2 MODBUS-RTU 1:N communication with superior controller is possible.*2 Safety terminal Terminal to provide functional safety*2, *3 Front panel (1) KEY 5 pieces (2) LED 6-digit Regeneration Dynamic brake Size A and B: Without built-in regeneration resistor (external resistor only) Size C to F: Built-in regeneration resistor (External regeneration resistor is also available) Built-in type *1 For [E***], [G***] only position control and velocity control (internal velocity only) are available. *2 This function cannot be used with [E***]. *3 This function cannot be used with [G***]. Motor Business Unit, Panasonic Corporation No.SX-DSV03031- 2 - Deviation counter clear, command pulse input inhibition, command division/multiplication switching, vibration suppression control switching, etc. Control input Control output Positioning complete, etc. 500 Kpps (when using the photo coupler input) 8 Mpps (when using the line receiver input of A-phase /B-phase) Maximum command pulse frequency Position control Input pulse string form Differential input. Differential input can be selected by parameters. ((1) Positive direction/ negative direction, (2) A-phase/B-phase (3) Command/ direction) Pulse input Command pulse division/multiplication (Setting of electronic gear ratio) Smoothing filter Primary delay filter or FIR filter is selectable for command input. Analog input*1 Torque limit command input Torque limit can be applied to each direction respectively. 1/1000 to 8000 times Although electronic gear ratio of the encoder resolution (numerator) and command number of pulses per revolution of the motor (denominator) can be arbitrarily set in the range of 1 to 223 for the numerator and in the range of 1 to 223 for the denominator, this product should be used within the aforementioned range. Vibration suppression control Available Model type vibration damping filter Available 2 degrees of freedom control Available Load fluctuation suppression control Control input Control output Velocity control Analog input *1 Available Internal command velocity selection 1, Internal command velocity selection 2, Internal command velocity selection 3, speed zero clamp, etc. Speed arrival, etc. Velocity command input Velocity command input with analog voltage is possible. Scale setting and command polarity vary depending on parameters. Torque limit command input Torque limit can be applied to each direction respectively. Internal velocity command It is possible to switch 8 speeds of internal velocity with control input. 0 to 10s/1000 r/min r/min Setting is possible for acceleration and deceleration respectively. S shaped acceleration/deceleration is possible. Soft start/down function Speed zero clamp Internal velocity command can be clamped to 0 with speed zero clamp input. Velocity command filter Available 2 degrees of freedom control Available Control input Torque control *1 Function Load fluctuation suppression control Control output Analog input Available Speed zero clamp, torque command sign input, etc. Speed arrival, etc. Torque command input Torque command input with analog voltage is possible. Scale setting and command polarity vary depending on parameters. Speed limit function Speed limit value can be set by using parameters. 2 degrees of freedom control Not available Load fluctuation suppression control Not available Deviation counter clear, command pulse input inhibition, command division/multiplication switching, vibration suppression control switching, etc. Control input Control output Positioning complete, etc. 500 Kpps (when using the photo coupler input) 8 Mpps (when using the line receiver input of A-phase /B-phase) Maximum command pulse frequency Relevant to full-closed control*1 Input pulse string form Pulse input Analog input Differential input. Differential input can be selected by parameters. ((1) Positive direction/ negative direction, (2) A-phase/B-phase (3) Command/ direction) Command pulse division/multiplication (Setting of electronic gear ratio) 1/1000 to 8000 times Although electronic gear ratio of the encoder resolution (numerator) and command number of pulses per revolution of the motor (denominator) can be arbitrarily set in the range of 1 to 223 for the numerator and in the range of 1 to 223 for the denominator, this product should be used within the aforementioned range. Smoothing filter Primary delay filter or FIR filter is selectable for command input. Torque limit command input Torque limit can be applied to each of direction respectively. Setting range of external scale division/multiplication 1/40 to 1280 times Although ratio of the encoder pulse (numerator) and external scale pulse (denominator) can be arbitrarily set in the 23 range of 1 to 2 for the numerator and in the range of 1 to 223 for the denominator, this product should be used within the aforementioned range. Vibration suppression control Available Model type vibration damping filter Not available 2 degrees of freedom control Available Load fluctuation suppression control Common Auto-tuning Not available This function identifies the load inertia real-time and automatically sets up the gain that meets the stiffness setting when the motor is running with host and internal driver operation commands. Pulse signal output division function Protection function Number of pulses can be arbitrarily set. (However, the number of encoder pulses is the maximum number.) Overvoltage, undervoltage, overspeed, overload, overheat, overcurrent, encoder failure, positional overdeviation, command pulse division, EEPROM failure, etc. Alarm data trace back function Reference of history of alarm data is available. *1 This function cannot be used with [E***], [G***]. Motor Business Unit, Panasonic Corporation No.SX-DSV03031- 3 - Classification Signal name Common 2. Interface specification 2-1 I/F connector Input signal specification Input signals and their functions Signal power source for control Command pulse input 1 Pulse input Command sign input 1 Command pulse input 2 Command sign input 2 Servo-ON input Positive direction drive prohibition input Connector pin No. COM+ 7 • This signal can be used for connecting to the positive terminal of the external DC source (12 to 24 V). COM- 41 • This signal can be used for connecting to the negative terminal of the external DC source (12 to 24 V). PULSH1 44 PULSH2 45 SIGNH1 46 SIGNH2 47 OPC1 1 PULS1 3 PULS2 4 OPC2 2 SIGN1 5 Deviation counter clear input Alarm clear Command pulse inhibit input Control mode switch input Command division/multiplica tion switch input 1 Contents Position Velocity Torque Full-close • This is the input terminal for the position command pulse dedicated for line driver output. • This input is disabled in factory default settings. When using this signal, “1” needs to be set for Pr0.05 “Command pulse input selection”. • For more information, refer to 4-2-1. *1 - • This is the input terminal for the position command pulse that supports both of line driver and open collector. • This input is enabled in factory default settings. • For more information, refer to 4-2-1. - - - SIGN2 6 SRV-ON 29 (SI6) * • This is the signal used to control servo-ON (energized status/not energized status of motor). 9 (SI2) * • This signal is the drive prohibition input toward the positive direction. • Operations when this input becomes ON are set by using Pr5.04 “Drive prohibition input setting”. • When using this signal, a value other than 1 needs to be set for Pr5.04 “Drive prohibition input setting” and connect the machine in such a manner that input is enabled when the moving portion of the machine exceeds the movable range in the positive direction. 8 (SI1) * • This signal is the drive prohibition input toward the negative direction. • Operations when this input becomes ON are set by using Pr5.04 “Drive prohibition input setting”. • When using this signal, a value other than 1 needs to be set for “drive prohibition input setting” and the machine needs to be connected in such a manner that input is enabled when the moving portion of the machine exceeds the movable range in the negative direction. CL 30 (SI7) * • This signal clears the position deviation counter. • Position deviation is set to be cleared with edge in the factory default setting. When changing this signal, this signal needs to be set with Pr5.17 “Counter clear input mode”. • For more information, refer to 4-2-5. A-CLR 31 (SI8) * • This signal is used to clear the alarm status. • There are alarms that cannot be cleared with this input. INH 33 (SI10) * • Position command pulse is ignored. • When using this signal, “0” needs to be set for Pr5.18 “Command pulse prohibition input disable”. • For more information, refer to 4-2-7. - - C-MODE 32 (SI9) * • This signal is used to switch the control mode. • Do not input the command 10 ms before and after switching the control mode. - DIV1 28 (SI5) * • This signal is used to switch the numerator of command division/multiplication. • For more information, refer to 6-4. - - POT NOT Control input Negative direction drive prohibition input Control mode Symbol - *1 “-” in the table indicates that operations are not affected even if the input signal is switched ON/OFF. Motor Business Unit, Panasonic Corporation No.SX-DSV03031- 4 - Classification Signal name Control input Connector pin No. Control mode Contents Position Velocity Torque Full-close Vibration suppression control VS-SEL1 switch input 1 26 (SI3) * • This signal is used to switch the frequency to which vibration suppression control is applied. A maximum of 4 frequencies can be switched along with vibration suppression control switch input 2 (VS-SEL2). • For more information, refer to 5-2-7-1. Gain switch input GAIN 27 (SI4) * • This signal can be used to switch between the first gain and second gain. • For more information, refer to 5-2-5. TL-SEL - Torque limit switch input • This signal can be used to switch between the first/second torque limit. • For more information, refer to 6-1. - - - - - - - - - - - - Internal command velocity selection 1 INTSPD1 input 33 (SI10) * Internal command velocity selection 2 INTSPD2 input 30 (SI7) * Internal command velocity selection 3 INTSPD3 input 28 (SI5) * Speed zero clamp input 26 (SI3) * • This signal is used to set the velocity command to zero. • When using this signal, a value other than“0” needs to be set for Pr3.15 “Speed zero clamp function selection”. • For more information, refer to 4-3-3. - - Vibration suppression control VS-SEL2 switch input 2 - • This signal is used to switch the frequency to which vibration suppression control is applied. A maximum of 4 frequencies can be switched along with vibration suppression control switch input 1 (VS-SEL1). • For more information, refer to 5-2-7-1. - - Velocity command VC-SIGN sign input *1 - • This signal specifies the sign of velocity command input when controlling velocity. • For more information, refer to 4-3-1 and 4-3-2. - - - Torque command sign input *1 TC-SIGN - • This signal specifies the sign of torque command input when controlling torque. • For more information, refer to 4-4-1 and 4-4-2. - - - Command division/multiplicat ion switch input 2 DIV2 - • This signal is used to switch the command division/multiplication. • For more information, refer to 6-4. - - Forced alarm input E-STOP - • This signal generates Err87.0 “Forced alarm input error”. - • This signal is used to switch the inertia ratio. • For more information, refer to 5-2-12. - • This signal is used to switch dynamic brake (DB) On/Off. • Switching is only possible when main power supply Off is detected. • For more information, refer to 4-3-1 and 6-5-3 Inertia ratio switch input Analog input*1 Symbol ZEROSPD J-SEL • This signal is used to select the internal command velocity (1 to 8). • For more information, refer to 4-3-2. Dynamic brake (DB) switch input DB-SEL Positive direction torque limit input P-ATL 16 • This signal specifies the torque limit value in the positive direction with the analog voltage. • For more information, refer to 6-2. - Negative direction torque limit input N-ATL 18 • This signal specifies the torque limit value in the negative direction with the analog voltage. • For more information, refer to 6-2. - Velocity command input SPR 14 • Velocity command is input with analog voltage. • For more information, refer to 4-3-1. - - - 14 • Torque command is input with analog voltage when 0 is set for Pr3.17 “Torque command selection”. • For more information, refer to 4-4-1. - - - 16 • Torque command is input with analog voltage when 1 is set for Pr3.17 “Torque command selection”. • For more information, refer to 4-4-2. - - - • The speed limit value is input with analog voltage when 1 is set for Pr3.17 “Torque command selection”. • For more information, refer to 4-4-2. - - - Torque command input Speed limit input TRQR SPL 14 *1 This function cannot be used with [E***], [G***]. • For the pin with “*” in the connector pin number, it is possible to change the signal function and logic by using signals from Pr4.00 to Pr4.09 (SI* input selection). However, note that pin No. to which the following functions can be assigned are predetermined. Deviation counter clear input (CL): SI7, Command pulse input inhibit input (INH): SI10 • Functions with “-” in the Connector pin No. column indicate that these functions are not assigned with factory setting. Motor Business Unit, Panasonic Corporation No.SX-DSV03031- 5 - 2-2 I/F connect Output signal specification Output signals and their functions Common Classification Signal name Frame ground Signal ground A-phase output Pulse output B-phase output Z-phase output Symbol FG GND Connector pin No. Shell 13,15 17,25 OA+ 21 OA- 22 OB+ 48 Control mode Contents Position Velocity Torque Full-close • This output is connected to the ground terminal inside of the servo driver. • Signal ground • This output is insulated from the power source for control signal (COM-) inside of the servo driver. • Divided encoder signal or external scale signal (A/B/Z phase) is output with differential output. (Corresponding to RS422) • The ground of line driver of the output circuit is connected OB- 49 OZ+ 23 to the signal ground (GND) and the ground is not 24 • The maximum output frequency is 4 Mpps (after insulated. OZ- multiplication by 4). • This is the open collector output of the Z-phase signal. Z-phase output CZ 19 • The emitter side of the transistor of the output circuit is connected to the signal ground (GND) and the ground is not insulated. 36 Servo-Alarm output ALM 37 (SO3) * 34 Control output Servo-Ready output External brake release signal S-RDY BRK-OFF 35 (SO2) Speed arrival output INP AT-SPEED Zero-speed detection signal activated. • If control and main power are established and the driver is not in alarm status, the output transistor is turned on. 11 (SO1) brake of the motor is output. • The output transistor is turned ON when electromagnetic brake is released. 38 • The positioning complete signal is output. 39 • The output transistor is turned ON when positioning is (SO4) completed. * • For more information, refer to 4-2-6. 38 • The speed arrival signal is output. 39 • The output transistor is turned ON when a velocity is (SO4) (SO6) * 12 ZSP status. • This output signal indicates that the driver is ready to be • The timing signal which activates the electromagnetic 40 TLC normal status, and the output transistor turns OFF at alarm * * Torque in-limit signal output status. • The output transistor is turned ON when the driver is at 10 * Positioning complete • This output signal indicates that the driver is in alarm (SO5) * reached. *1 - - - • For more information, refer to 4-3-4. • Torque in-limit signal is output. • The output transistor is turned ON while torque is limited. • The zero-speed detection signal is output. • The output transistor is turned ON while zero speed is detected. *1 For the signal with “-” sign in the table, the output transistor is always turned off. Motor Business Unit, Panasonic Corporation No.SX-DSV03031- 6 - Classification Signal name Symbol Connector Control mode Contents pin No. Position Velocity Torque Full-close • The speed matching signal is output. Speed matching output V-COIN - • The output transistor is turned ON when the velocity matching status is detected. - - - - • For more information, refer to 4-3-5. • The positioning complete signal 2 is output. Positioning complete 2 INP2 - • The output transistor is turned ON when positioning is completed. • For more information, refer to 4-2-6. • The warning output signal set by using Pr 4.40 “Warning Warning output 1 WARN1 - output select 1” is output. • The output transistor is turned ON while an alarm is Analog output Control output occurring. • The warning output signal set by using Pr 4.41“Warning Warning output 2 WARN2 - output select 2”is output. • The output transistor is turned ON while an alarm is occurring. Position command ON/OFF output P-CMD - Speed in-limit output V-LIMIT - Alarm clear attribute output ALM-ATB - Velocity command ON/OFF output V-CMD - Servo-ON status output SRV-ST - Analog monitor 2 output IM 42 Analog monitor 1 output SP 43 • The output transistor is turned ON when there is a position command. • The output transistor is turned ON when velocity limit is applied while torque is controlled. - - - - - - - • The output transistor is turned on if an alarm that can be cleared occurs. • The output transistor is turned ON when the velocity command is applied while the velocity is controlled. • The output transistor is turned on when the servo turns ON. • Analog monitor 2 is output. • For more information, refer to 2-3-3. • Analog monitor 1 is output. • For more information, refer to 2-3-3. - • For the pin with “*” in the connector pin number, it is possible to change the signal function by using signals from Pr4.10 to • Pr4.15 (SO* input select). Functions with “-” in the Connector pin No. column indicate that these functions are not assigned with factory setting. Motor Business Unit, Panasonic Corporation No.SX-DSV03031- 7 - 2-3 Input/output signal assignment function Default input/output signal assignment can be changed. 2-3-1 Input signal assignment For input signals, arbitrary function can be assigned to any input pin of I/F connector. In addition, the logic can be changed. However, some assignment limit is applied to specific signals. Refer to “(2) When using the reassigned input signal”. (1) Using with the default setting The table below shows default signal assignment. Input signal *2 Applicable parameter Default setting ( ): decimal notation Default setup Position control/ Full-closed control Velocity control Torque control Signal name Logic *1 Signal name Logic *1 Signal name Logic *1 SI1 input Pr4.00 00828282h (8553090) NOT b-contact NOT b-contact NOT b-contact SI2 input Pr4.01 00818181h (8487297) POT b-contact POT b-contact POT b-contact SI3 input Pr4.02 0091910Ah (9539850) VS-SEL1 a-contact ZEROSPD b-contact ZEROSPD b-contact SI4 input Pr4.03 00060606h (394758) GAIN a-contact GAIN a-contact GAIN a-contact SI5 input Pr4.04 0000100Ch (4108) DIV1 a-contact INTSPD3 a-contact - *3 - SI6 input Pr4.05 00030303h (197379) SRV-ON a-contact SRV-ON a-contact SRV-ON a-contact SI7 input Pr4.06 00000f07h (3847) CL a-contact INTSPD2 a-contact - - SI8 input Pr4.07 00040404h (263172) A-CLR a-contact A-CLR a-contact A-CLR a-contact SI9 input Pr4.08 00050505h (328965) C-MODE a-contact C-MODE a-contact C-MODE a-contact SI10 input Pr4.09 00000E88h (3720) INH b-contact INTSPD1 a-contact - - *1 a-contact and b-contact show the following statuses. a-contact: The signal input is open with COM-. → Function disabled (OFF state) The signal input is connected to COM-. → Function enabled (ON state) b-contact: The signal input is open with COM-. → Function disabled (ON state) The signal input is connected to COM-. → Function enabled (OFF state) For the purpose of this specification, the status of the input signal is defined as ON when the signal activates the specified function and OFF when the signal deactivates the specified function. *2 Refer to the delivery specification for the assignment pin number for input signals SI1 to SI10. *3 “-” in the table indicates that status that no function is assigned. Motor Business Unit, Panasonic Corporation No.SX-DSV03031- 8 - (2) When using the reassigned input signal The following parameters need to be changed when reallocating the input signal. Classification No. Parameter name Setting range Unit Function Functions are assigned to SI1 inputs. This parameter is set according to hexadecimal presentation standard.*1 After hexadecimal presentation, this parameter is set for each control mode as below. 00----**h: Position/Full-closed control 00--**--h: Velocity control 4 00 SI1 input selection 0 to 00FFFFFFh 00**----h: Torque control - The function number needs to be set for “**”. For the function number, see the table below. Logical setup is included in a function number. Example) To make this pin as DIV1_a-contact for position/full closed control, and as INSTPD1_b-contact for velocity control, and as disabled in torque control mode, set to 00008E0Ch. Position ... 0Ch Velocity ... 8Eh Torque ... 00h *1 Note that decimal representation is used for the front panel display. Functions are assigned to SI2 inputs. 4 01 SI2 input selection 0 to 00FFFFFFh - This parameter is set according to hexadecimal presentation standard. Setup procedure is the same as described for Pr 4.00. Functions are assigned to SI3 inputs. 4 02 SI3 input selection 0 to 00FFFFFFh - This parameter is set according to hexadecimal presentation standard. Setup procedure is the same as described for Pr 4.00. Functions are assigned to SI4 inputs. 4 03 SI4 input selection 0 to 00FFFFFFh - This parameter is set according to hexadecimal presentation standard. Setup procedure is the same as described for Pr 4.00. Functions are assigned to SI5 inputs. 4 04 SI5 input selection 0 to 00FFFFFFh - This parameter is set according to hexadecimal presentation standard. Setup procedure is the same as described for Pr 4.00. Functions are assigned to SI6 inputs. 4 05 SI6 input selection 0 to 00FFFFFFh - This parameter is set according to hexadecimal presentation standard. Setup procedure is the same as described for Pr 4.00. Functions are assigned to SI7 inputs. 4 06 SI7 input selection 0 to 00FFFFFFh - This parameter is set according to hexadecimal presentation standard Setup procedure is the same as described for Pr 4.00. Functions are assigned to SI8 inputs. 4 07 SI8 input selection 0 to 00FFFFFFh - This parameter is set according to hexadecimal presentation standard. Setup procedure is the same as described for Pr 4.00. Functions are assigned to SI9 inputs. 4 08 SI9 input selection 0 to 00FFFFFFh - This parameter is set according to hexadecimal presentation standard. Setup procedure is the same as described for Pr 4.00. Functions are assigned to SI10 inputs. 4 09 SI10 input selection 0 to 00FFFFFFh - This parameter is set according to hexadecimal presentation standard. Setup procedure is the same as described for Pr 4.00. Motor Business Unit, Panasonic Corporation No.SX-DSV03031- 9 - Function number table Signal name Symbol Invalid Positive direction drive prohibition input Negative direction drive prohibition input Servo-ON input Alarm clear Control mode switch input Gain switch input Deviation counter clear input Command pulse input inhibit input Torque limit switch input Vibration suppression control switch input Vibration suppression control switch input 2 Command division/multiplication switch input Command division/multiplication switch input 2 Internal command velocity selection 1 input Internal command velocity selection 2 input Internal command velocity selection 3 input Speed zero clamp input Velocity command code input Torque command sign input Forced alarm input Inertia ratio switch input Dynamic brake switching input Setup value - a-contact 00h b-contact Setting is impossible. POT 01h 81h NOT 02h 82h SRV-ON A-CLR C-MODE GAIN CL 03h 04h 05h 06h 07h 83h Setting is impossible. 85h 86h Setting is impossible. INH 08h 88h TL-SEL 09h 89h VS-SEL1 0Ah 8Ah VS-SEL2 0Bh 8Bh DIV1 0Ch 8Ch DIV2 0Dh 8Dh INTSPD1 0Eh 8Eh INTSPD2 0Fh 8Fh INTSPD3 10h 90h ZEROSPD VC-SIGN TC-SIGN E-STOP J-SEL DB-SEL 11h 12h 13h 14h 15h 16h 91h 92h 93h 94h 95h Setting is impossible Precautions) • Do not set a value other than that specified in the table. • The same function cannot be assigned to multiple signals. Otherwise, Err 33.0 “I/F input multiple assignment error 1” or Err 33.1 “I/F input multiple assignment error 2” occurs. • Deviation counter clear input (CL) can only be assigned to SI7 inputs. If the input is assigned to other than that, Err33.6 “Counter clear assignment error” occurs. • Command pulse inhibition input (INH) can only be assigned to SI10 inputs. If the input is assigned to other than that, Err33.7 “Command pulse input inhibition input” occurs. • When using the control mode switch input (C-MODE), all control modes need to be set. If configuration is made only for 1 or 2 modes, Err33.2“I/F input function number error 1” or Err33.3“I/F input function number error 2”occurs. • The control input pin configured for invalid does not affect operations. • Functions used in multiple control modes (Servo-ON input, alarm clear function, etc.) need to be assigned to the same pin and the logic should be matched. If not configured properly, any of Err33.0 “I/F input duplicate assignment error 1”, Err33.1 “I/F input duplicate assignment error 2, Err33.2“I/F input function number error 1”, Err33.3 “I/F input function number error 2”occurs. • Servo-ON input signal (SRV-ON) needs to be assigned. If the signal is not assigned, servo cannot be turned ON. • When using the Dynamic brake switch input, all control modes need to set after set Pr 6.36(Dynamic brake operation input) =1.If configurationis mode only for 1 or 2 mode, Err33.2”I/F input function number error 1” or Err33.3”I/F input function number error 2” occurs.For more information, refer to 6-5-3. • When measuring frequency characteristics of PANATERM, as it will automatically switchover to position･velocity control inside the driver, please set the same set value for input signal of velocity control to be made abled during the measurement, to the set value for position control. Motor Business Unit, Panasonic Corporation No.SX-DSV03031- 10 - 2-3-2 Output signal assignment For output signals, arbitrary function can be assigned to any output pin of I/F connector. Logic of output pin cannot be changed. (1) Using with the default setting The table below shows default signal assignment. Output signal *1 Applicable parameter S01 outputs Pr4.10 S02 outputs Pr4.11 S03 outputs Pr4.12 S04 outputs Pr4.13 S05 outputs Pr4.14 S06 outputs Pr4.15 Default setting ( ): decimal notation 00030303h (197379) 00020202h (131586) 00010101h (65793) 00050504h (328964) 00070707h (460551) 00060606h (394758) Default setup Position control/ Full-closed control Signal name Velocity control Torque control Signal name Signal name BRK-OFF BRK-OFF BRK-OFF S-RDY S-RDY S-RDY ALM ALM ALM INP AT-SPEED AT-SPEED ZSP ZSP ZSP TLC TLC TLC *1 Refer to the delivery specification for the assignment pin number for output signals SO1 to SO6. Motor Business Unit, Panasonic Corporation No.SX-DSV03031- 11 - (2) When using the reassigned input signal The following parameters need to be changed when reallocating the output signal. Classification No. Parameter name Setting range Unit Function Functions are assigned to SO1 outputs. This parameter is set according to hexadecimal presentation standard.*1 After hexadecimal presentation, this parameter is set for each control mode as below. 4 10 S01 output selection 0 to 00FFFFFFh - 00----**h: Position/Full-closed control 00--**--h: Velocity control 00**----h: Torque control The function number needs to be set for “**”. For the function number, see the table below. *1 Note that decimal representation is used for the front panel display. Functions are assigned to SO2 outputs. 4 11 S02 output selection 0 to 00FFFFFFh - This parameter is set according to hexadecimal presentation standard. Setup procedure is the same as described for Pr 4.10. Functions are assigned to SO3 outputs. 4 12 S03 output selection 0 to 00FFFFFFh - This parameter is set according to hexadecimal presentation standard. Setup procedure is the same as described for Pr 4.10. Functions are assigned to SO4 outputs. 4 13 S04 output selection 0 to 00FFFFFFh - This parameter is set according to hexadecimal presentation standard. Setup procedure is the same as described for Pr 4.10. Functions are assigned to SO5 outputs. 4 14 S05 output selection 0 to 00FFFFFFh - This parameter is set according to hexadecimal presentation standard. Setup procedure is the same as described for Pr 4.10. Functions are assigned to SO6 outputs. 4 15 S06 output selection 0 to 00FFFFFFh - This parameter is set according to hexadecimal presentation standard. Setup procedure is the same as described for Pr 4.10. Function number table Signal name Symbol Invalid - Alarm output Servo-ready output External brake release signal Positioning complete Speed arrival output Torque in-limit signal is output Zero-speed detection signal Speed matching output Warning output 1 Warning output 2 Position command ON/OFF output Positioning complete 2 Speed in-limit output Alarm attribute output Velocity command ON/OFF output Servo-ON status output ALM S-RDY BRK-OFF INP AT-SPEED TLC ZSP V-COIN WARN1 WARN2 P-CMD INP2 V-LIMIT ALM-ATB V-CMD SRV-ST Setup value 00h 01h 02h 03h 04h 05h 06h 07h 08h 09h 0Ah 0Bh 0Ch 0Dh 0Eh 0Fh 10h Precautions) • For output signals, the same function can be assigned to multiple signals. • For the control output pins specified as disabled, output transistors are always turned off. • Do not set a value other than that specified in the table. • When measuring frequency characteristics of PANATERM, as it will automatically switchover to position･velocity control inside the driver, please set the same set value for output signal of velocity control to be made abled during the measurement, to the set value for position control. Motor Business Unit, Panasonic Corporation No.SX-DSV03031- 12 - 2-3-3 Analog signal output function Various monitor information can be output in analog value from the I/F connector (pins 42 and 43). Type of monitor to be output and scaling of analog monitor (output gain setting) can be arbitrarily set by using parameters. Relevant parameters Setting Classification No. Parameter name 4 16 Analog monitor 1 Type 0 to 28 - 4 17 Analog monitor 1 0 to [Monitor unit in Pr output gain 214748364 4.16]/V 4 4 18 19 Analog monitor 2 Type range 0 to 28 Unit - Analog monitor 2 0 to [Monitor unit in Pr output gain 214748364 4.18]/V Function The type of monitor for analog monitor 1 is selected. * Refer to the following table. Output gain of analog monitor 1 is set. For Pr 4.16 = 0 “Motor velocity”, 1 V is output at the motor velocity [r/min] = Pr 4.17 setup value. The type of monitor for analog monitor 2 is selected. * Refer to the following table. Output gain of analog monitor 2 is set. For Pr 4.18 = 4 “Torque command”, 1 V is output at the torque command [%] = Pr 4.19 setup value. The output type of analog monitor is selected. 4 21 Analog monitor output setting 0 to 2 - 0: Output of data with sign -10V to 10V 1: Absolute value data output 0V to 10V 2: Data output with offset 0V to 10V (5 V at center) • The table below shows types of monitor set in Pr 4.16 “Analog monitor 1 type” and Pr 4.18 “Analog monitor 2 type”. Pr 4.17 “Analog monitor 1 output gain” and Pr 4.19 “Analog monitor 2 output gain” set the conversion gain in accordance to the unit suitable for the type respectively. When the gain is set to 0, the gain shown at the right end column of the table is automatically applied. Pr4.16/Pr4.18 Monitor type Unit Output gain for setting Pr 4.17/Pr 4.19 = 0 0 Motor velocity r/min 500 1 Position command velocity *3 r/min 500 2 Internal position command r/min 500 velocity *3 3 Velocity control command r/min 500 4 Torque command % 33 5 Command position deviation Pulse (command unit) 3000 *4 6 Encoder position deviation *4 Pulse (Encoder unit) 3000 7 Full-closed deviation *4 Pulse (External scale unit) 3000 8 Hybrid deviation Pulse (Command unit) 3000 9 Voltage across PN V 80 10 Regenerative load factor % 33 11 Overload factor % 33 12 Positive direction torque limit % 33 13 Negative direction torque limit % 33 14 Speed limit value r/min 500 15 Inertia ratio % 500 16 Analog input 1 *2 V 1 17 Analog input 2 *2 V 1 18 Analog input 3 *2 V 1 19 Encoder temperature *3 10 C 20 Driver temperature 10 C 21 Encoder single-turn data *1 Pulse (Encoder unit) 110000 Command input state 0: No command 23 1 1: With command Gain selection state 0: 1st gain selected 24 1 1: 2nd and 3rd gain selected Motor Business Unit, Panasonic Corporation No.SX-DSV03031- 13 - Pr4.16/Pr4.18 Monitor type Unit 25 Positioning complete state 26 Alarm triggered state 27 28 Motor power consumption Motor power electrical energy 0: Positioning not completed 1: Positioning completed 0: Alarm not triggered 1: Alarm triggered W Wh Output gain for setting Pr 4.17/Pr 4.19 = 0 1 1 100 100 *1 The direction of monitor data is basically in accordance with Pr0.00 “Rotation direction setting”. However, the CCW direction always serves as positive for Encoder single-turn data. In addition, when the incremental encoder is used, a normal value is output after it passes through the first Z phase. *2 For analog inputs 1 to 3, terminal voltage is always output regardless of usage of analog input function. *3 For temperature information from the encoder, a value appears only when 23-bit absolute encoder or 20-bit incremental serial encoder is used. For other encoders, “0” is always output. Motor Business Unit, Panasonic Corporation No.SX-DSV03031- 14 - *4 For the command pulse input, the speed before the command filter (smoothing, FIR filter) is defined as position command velocity and speed after filter is defined as internal command velocity. Position command velocity [r/min] Command pulse input Internal command velocity [r/min] + Position command filter Command division/mu ltiplication processing Position control - Encoder feedback / External scale feedback *5 Position command deviation is the deviation from the command pulse input. Encoder position deviation/full-closed position deviation is the deviation at the input portion of position control. The following figure shows details. Encoder position deviation (Encoder unit) / Full-closed deviation (External scale unit) Command pulse input Command division/ multiplication + - Position command filter + Position control - Command division/ multiplication inversion Encoder feedback/ External scale feedback Position command deviation (Command unit) *6 Regardless of the setting Pr 4.17 and Pr 4.19, output gain become 0V in unit 0 or become 5V in unit 1. • About Pr4.21 “Analog monitor output setting” The following figure shows output specification when Pr4.21 is 0, 1 or 2. Pr4.21 = 0, signed data output (Output range: -10 to 10 V) Pr4.21 = 1, absolute value data output (Output range: 0 to 10 V) Output voltage [V] Output voltage [V] 10V Motor velocity [r/min] 0V -10 V Output voltage [V] 10V 10V -5000 Pr4.21 = 2, data output with offset (Output range: 0 to 10 V) 5000 Motor velocity [r/min] -5000 0V 5000 -10V Motor velocity [r/min] 5V 0V 0 -2500 2500 -10V * If monitor type is motor velocity and conversion gain is 500 (1V=500 r/min) Motor Business Unit, Panasonic Corporation No.SX-DSV03031- 15 - 3. Front panel specification 3-1 Front panel operation method 3-1-1 Configuration of operation portion and display portion 3-1-2 Functions of key switch Switch Conditions for enabling M MODE key Enabled with the selection display Function (1) Monitor mode (3) EEPROM writing mode (2) Parameter setting mode (4) Auxiliary function mode 4 modes can be switched. S SET key Always enabled Available for the digit on which the flashing decimal point is displayed Note) Switching between the selection display and execution display These keys are used to change display in each mode, change data, select parameters, etc., execute operations. This key is used to move to the upper digit on which data is changed. Note) “Selection display” and “Execution display” are available for the aforementioned 4 modes respectively. For more information, refer to 3-1-3. Motor Business Unit, Panasonic Corporation No.SX-DSV03031- 16 - 3-1-3 Operation method Execution display of monitor mode appears according to setting in Pr5.28 “Initial state of LED” after turning ON. Data number of monitor data (number of ** part in d**) to be configured as initial display needs to be set for parameter. For example, if Pr5.28 is 1, “d01.SPd” becomes the initial display. Refer to 3-2-1 for data number of monitor data. Selection display Execution display Monitor mode Monitor mode Meaning Dipplay example Position deviation (Command unit) Meaning Position deviation: 5 pulse Motor velocity Motor velocity: 1000r/min . . . The display moves in the direction of an arrow when ▲ is pressed and the display moves in the inverse direction when ▼ is pressed. SET key Reference items 3-2-1(1) 3-2-1(2) . . . MODE key Parameter setting mode (selection display) Parameter setting mode (execution display) Display example Pr 0.00 Pr 0.01 The display moves in the direction of an arrow when the display moves in the inverse direction when Meaning Reference item (Parameter value: 1000) 3-2-2 (1) SET key is pressed and Parameter can be set by using , and keys. It is possible to set and change the digit on which the flashing decimal point is displayed. is pressed.. Pr 0.01 Pr 0.11 Pr 1.11 is pressed, the flashing decimal point moves to the upper digit When and the value on the digit can be changed. It is possible to change the classification number at the first digit from the left and change the parameter number at the following digits. Note For parameters that “r” is displayed in front of the classification number, changes are reflected after resetting the power. MODE key Go to the next page. Motor Business Unit, Panasonic Corporation No.SX-DSV03031- 17 - EEPROM writing mode [Selection display] EEPROM writing mode [Execution display] Display example Meaning (EEPROM writing) Reference item 3-2-3 (1) SET key When writing parameters into EEPROM Press the SET key to move to the execution display. Start of writing End of writing MODE key Auxiliary function mode [Selection display] Auxiliary function mode [Execution display] Display example Meaning (Alarm clear) Keep pressing Alarm clear 3-2-4(1) . Start of alarm clear SET key A1 automatic offset adjustment *1 A2 automatic offset adjustment *1 A3 automatic offset adjustment *1 Trial run of motor Clear of absolute encoder Initialization of parameter Release of front panel lock Battery refresh The display moves in the direction of an arrow when and the display moves in the inverse direction when Reference item End of alarm clear (AI1 Automatic offset adjustment) 3-2-4 (2) (AI2 Automatic offset adjustment) 3-2-4 (3) (AI3 Automatic offset adjustment) 3-2-4 (4) (Trial run of motor) 3-2-4 (5) (Clear of absolute encoder) 3-2-4 (6) (Initialization of parameter) 3-2-4 (7) (Release of front panel lock) 3-2-4 (8) (Battery refresh) 3-2-4 (9) is pressed is pressed. MODE key • The display flashes slowly while a warning is occurring. • The display part flashes and the error cause display appears while an error is occurring. • If STO command is input, it will be switched safety state monitor and displays “St” *1 This function cannot be used with [E***], [G***]. Motor Business Unit, Panasonic Corporation No.SX-DSV03031- 18 - 3-1-4 Front panel lock It is possible to lock the front panel to prevent erroneous operation including unexpected parameter change. The following table shows restriction items while the front panel is locked. Mode Monitor mode Parameter setting mode EEPROM writing mode Auxiliary function mode Front panel locked state All monitor data can be checked without any restrictions. Parameter cannot be changed. However, it is possible to check the setting value of parameter. This function cannot be executed. (No display appears.) Auxiliary functions other than “release of front panel lock” cannot be executed. (No display appears.) Relevant parameters Classification No. Parameter name 5 35 Front panel lock Setting range Unit Function Operations with the front panel are locked. 0 to 1 - 0: No restriction on front panel operation 1: Front panel operation lock • Procedure to lock the front panel [Common to set-up support software/front panel operation] 1) Set 1 for Pr5.35 “Front panel lock” and write it into EEPROM. 2) Restart the power of the driver. 3) The front panel is locked. • Procedure to release the locked state of the front panel [When using the set-up support software] 1) Set 0 for Pr5.35 “Front panel lock” and write it into EEPROM. 2) Restart the power of the driver. 3) The locked state of the front panel is released. [When making operations on the front panel] 1) Execute the front panel lock release function in auxiliary function mode. (Refer to 3-2-4 (8).) 2) Restart the power of the driver. 3) The locked state of the front panel is released. Motor Business Unit, Panasonic Corporation No.SX-DSV03031- 19 - 3-2 Detailed specification of front panel 3-2-1 Details of monitor mode Selection display Monitor mode Display example Meaning Monitor mode Reference item Command position deviation 3-2-1(1) Motor velocity Display example Meaning Refeence item Display of number of times of changes in input/output signal 3-2-1(18) 3-2-1(2) Absolute encoder data 3-2-1(19) Position command velocity 3-2-1(3) Velocity control command 3-2-1(4) Torque command 3-2-1(5) Sum total of encoder pulse 3-2-1(6) Sum total of command pulse 3-2-1(7) Absolute external scale position 3-2-1(20) Encoder communication error counts monitor 3-2-1(21) Display of axis number for communication 3-2-1(22) Position deviation (Encoder unit) 3-2-1(23) External scale deviation (External scale unit) 3-2-1(24) Sum total of external scale feedback pulse 3-2-1(8) Control mode 3-2-1(9) Input/output signal status 3-2-1(10) Analog input value 3-2-1(11) Hybrid deviation 3-2-1(25) Voltage across PN 3-2-1(26) Software version 3-2-1(27) Driver serial number 3-2-1(28) Motor serial number 3-2-1(29) Causes of errors and history of errors 3-2-1(12) Accumulated operating time 3-2-1(30) Warning number Motor automatic recognition function 3-2-1(31) 3-2-1(13) Regenerative resistance load factor 3-2-1(14) Temperature information Overload factor 3-2-1(15) Safety status monitor 3-2-1(33) Inertia ratio 3-2-1(16) Motor power consumption 3-2-1(34) Causes of no rotation 3-2-1(17) 3-2-1(32) Manufacturer use Manufacturer use Manufacturer use Manufacturer use The display moves in the direction of an arrow when ▲ is pressed and the display moves in the inverse direction when ▼ is pressed. Motor Business Unit, Panasonic Corporation No.SX-DSV03031- 20 - (1) Position command deviation [Command unit] Position deviation in units of command is displayed with higher/lower. Lower (L) Position command deviation Higher (H) Press to switch between lower (L) and higher (H). For the following example, position command deviation is 10339025. (2) Motor velocity [r/min] Motor velocity [r/min] is displayed. (3) Position command velocity [r/min] Position command velocity [r/min] is displayed. (4) Velocity control command [r/min] Velocity control command [r/min] is displayed. (5) Torque command [%] Torque command [%] is displayed. (6) Sum total of encoder pulse [encoder pulse] Lower (L) Sum total of encoder pulse Higher (H) Press to switch between lower (L) and higher (H). Motor Business Unit, Panasonic Corporation No.SX-DSV03031- 21 - (7) Sum total of command pulse [command pulse] Lower (L) Sum total of command pulse Higher (H) Press to switch between lower (L) and higher (H). (8) Sum total of external scale feedback pulse Lower (L) Sum total of external scale feedback pulse Higher (H) Press ■ to switch between lower (L) and higher (H). (9) Control mode .......Position control mode .......Velocity control mode ……Torque control mode .......Full-closed control mode Motor Business Unit, Panasonic Corporation No.SX-DSV03031- 22 - (10) Input/output signal status Move the flashing decimal point by using it. (Left side of the decimal point: Selection of pin number) ......Active *1 ......Inactive *1 (Left side of the decimal point: Selection of input/output pin number) Pin number Toggle input and output by pressing ▲ and ▼. ......Input signal ......Output signal * For input, active = Input coupler is ON, inactive = OFF. For output, active = Output Tr is ON, inactive = OFF. Press ▲ ▼ to select the pin number to be monitored. (Lowest number of input/output pin) ▲ ▼ ▲ ▼ ▲ ▼ ▲ ▼ (Highest number of input/output pin) ▲ ▼ ▲ ▼ Motor Business Unit, Panasonic Corporation No.SX-DSV03031- 23 - (11) Display of the analog input value [E***], [G***] 0 appears for all items. Input signal Input voltage value [V] Press ▲ ▼ to select the signal to be monitored. (Analog input 1 value Unit [V]) The value after executing offset correction value is displayed. (Analog input 2 value Unit [V]) (Analog input 3 value Unit [V]) Note) Voltage exceeding ±10V is not displayed correctly. (12) Causes of errors and history of errors Error code No. (--- appears if no error has occurred.) ...Error that is currently occurring ...History 0 ...History 13 Causes of 14 errors including the current error can be referred. Press to select the history number to be referred. Note 1) There are alarms that are not recorded in the history. For more information about alarm number, etc., refer to 7-1. Note 2) If an error that is recorded in the history is occurring, the same error number appears on the error that is currently occurring and history 0. Motor Business Unit, Panasonic Corporation No.SX-DSV03031- 24 - (13) Warning number …Warning has not occurred …Warning having high priority is displayed. Press ▲ ▼ to display the occurrence status for each warning. ...Warning has not occurred ▲ ....Warning occurred ▼ Note) Refer to 7-3 for warning number. (14) Regenerative resistance load factor Ratio [%] is displayed for the alarm occurrence level of regenerative over-load protection. (15) Overload factor Ratio [%] for the rated load is displayed. …Overload factor [%] …Overload factor 1 [%] …Overload factor 2 [%] Press ▲ ▼ to select the overload factor to be monitored. Overload factor [%] Larger value between the overload factor 1 and overload factor 2 is displayed. ▲ ▼ Overload factor 1 [%] ▲ ▼ Overload factor 2 [%] ▲ ▼ (16) Inertia ratio Inertia ratio [%] is displayed. Motor Business Unit, Panasonic Corporation No.SX-DSV03031- 25 - (17) Causes of no rotation Number of cause of no rotation is displayed. Relation between the number of cause of no rotation and cause of no rotation Factor number of no rotation 0 1 2 3 4 5 6 Cause of no rotation There is no cause of no rotation. Not in Servo-Ready state Servo-on signal is not input. Drive prohibition input is valid. Analog torque limit is invalid. Torque limit of parameter is small. Analog torque limit is valid and analog torque limit is small. Command pulse input inhibit is valid. Factor number of no rotation 7 8 9 10 11 12 13 14 Cause of no rotation Command pulse is not input. Counter clear is valid. Speed zero clamp is valid. Analog velocity command is small. Internal velocity command is 0. Analog velocity command is small. Velocity limit command is 0. Other factors (18) Display of number of times of changes in input/output signal Move the flashing decimal point by using it. (Left side of the decimal point: Selection of pin number) Number of times of changes in input/output signal (Left side of the decimal point: Selection of input/output pin) Pin number Toggle input and output by pressing ▲ ▼. ......Input signal ......Output signal Press ▲ ▼ to select the pin number on which the number of change is displayed. (Lowest number of input/output pin) ▲ ▼ ▲ ▼ ▲ ▼ ▲ ▼ (Highest number of input /output pin) ▲ ▼ ▲ ▼ * Number of changes is counted by setting the timing that power is turned ON to 0. Motor Business Unit, Panasonic Corporation No.SX-DSV03031- 26 - (19) Absolute encoder data Encoder data ...One rotation data, lower (L) ■ Press ▲ ▼ ▲ ▼ ▲ ▼ ...One rotation data, higher (H) ....Multiple rotation data to select the data to be displayed. (20) Absolute external scale position • For serial absolute scale, absolute position of the scale is displayed. • For serial incremental scale, the scale position is displayed while the position at which the power is turned ON is set to 0. External scale data ...Absolute external scale position, lower (L) ■ Press ▲ ▲ ...Absolute external scale position, higher (H) ▼ to toggle between lower (L) and higher (H). ▼ (21) Encoder and external scale communication error counts monitor Communication error counts …Encoder ■ Press ▲ ▲ ▼ …External scale to toggle between encoder and external scale. ▼ Motor Business Unit, Panasonic Corporation No.SX-DSV03031- 27 - (22)Display of axis number for communication The value set for Pr5.31 “Axis number” is displayed. (23) Encoder position deviation (Encoder unit) Lower (L) Encoder position deviation (Encoder unit) Higher (H) Press to switch between lower (L) and higher (H). (24) External scale deviation [External scale unit] Lower (L) External scale deviation [External scale unit] Higher (H) ■ Press to switch between lower (L) and higher (H). (25) Hybrid deviation [Command unit] Lower (L) Hybrid deviation [Command unit] Higher (H) ■ Press to switch between lower (L) and higher (H). (26) Voltage across PN [V] Voltage across PN [V] is displayed. Motor Business Unit, Panasonic Corporation No.SX-DSV03031- 28 - (27) Software version CPU1 software version of the driver is displayed. (Display example: If the version is Ver1.00) ▲ ▼ CPU2 software version of the driver is displayed. (Display example: If the version is Ver1.00) ▲ ▼ This is display of manufacturer use. (28) Driver serial number Driver serial number …Driver serial number, lower (L) ■ Press ▲ …Driver serial number, higher (H) ▼ to toggle between lower (L) and higher (H). Display example) If the serial number is 09040001 ▲ ▼ (29) Motor serial number Motor serial number …Motor serial number, lower (L) ■ Press ▲ …Motor serial number, higher (H) ▼ to toggle between lower (L) and higher (H). Display example) If the serial number is 09040001 ▲ ▼ (30) Accumulated operating time Lower (L) Accumulated operating time [h] is displayed. Higher (H) Press to switch between lower (L) and higher (H). Motor Business Unit, Panasonic Corporation No.SX-DSV03031- 29 - (31) Motor automatic recognition function Automatic recognition enabled Automatic recognition disabled (32) Temperature information Driver temperature [C] is displayed. ▲ ▼ Encoder temperature [C] is displayed. Note) For temperature information from the encoder, a value appears only when 23-bit absolute encoder, 20-bit absolute encoder or 20-bit incremental serial encoder is used. For other encoders, “0” is always displayed. (33) Safety status monitor [E***], [G***] Displays of SF1: A, SF2: A and EDM: - are fixed. St : Safety state SrVoFF: Servo-OFF state SrVon : Servo-ON state ALArM: Alarm state + Dot information Flashing display Normal changeable state Servo-Ready state OFF: Dot turns off ON: Dot turns on ■ Press ▲ ▲ ▲ ▲ ▲ ▼ to switch the monitor to be displayed. ▼ …Input photocoupler OFF …Input photocoupler ON …Input photocoupler OFF …Input photocoupler ON …Output photocoupler OFF …Output photocoupler ON ▼ ▼ ▼ This is display of manufacturer use. ▲ ▼ Motor Business Unit, Panasonic Corporation No.SX-DSV03031- 30 - (34) Motor power consumption Motor power consumption [W] ▲ ▼ Motor electrical power [Wh] Precautions) If the monitor data is displayed with lower (L) and higher (H), displays of the front panel are as follows. Example 1) Monitor data = 15000 (within the display range of lower (L)) Example 2) Monitor data = 10315000 (if data exceeds the display range of lower (L)) Display of changes to Motor Business Unit, Panasonic Corporation No.SX-DSV03031- 31 - 3-2-2 Details of parameter setting mode (1) Parameter setting It is possible to change the frame on which the flashing decimal point is displayed. Parameter value to change the parameter value. (Value increases when pressing and value decreases when ■ Press pressing .) ■ When is pressed, the flashing decimal point moves to the upper digit and the value on the digit can be changed. ■ Parameter value in the driver is updated when the SET key is pressed and held. (The parameter value is not reflected only by changing the value by pressing .) In this case, if Pr6.17 “Front panel parameter writing selection” is set to 1, processes until EEPROM writing are executed automatically. (However, EEPROM writing is not executed while Err11.0 “Control power undervoltage protection” is occurring.) If Pr6.17 is set to 0, EEPROM writing needs to be separately executed according to procedure described in 3-2-3. , the parameter number display screen ■When canceling the change after making changes by pressing appears without updating the parameter in the driver if MODE is pressed without pressing SET. 3-2-3 EEPROM writing mode (1) Writing of EEPROM needs to be pressed continuously until the display changes to ■ When executing the writing, * It may be difficult to check the “StArt” display because the display appears momentarily. is kept pressing If (approximately 5 seconds), the bar increases as shown below. . Start of writing End End of writing Occurrence of writing error ■ If the setting of parameter that becomes valid after resetting changes is changed, writing is complete. Turn the control power OFF and reset EEPROM. Note1) appears when If writing error occurs, writing needs to be done again. If writing error occurs even if writing is executed repeatedly, failure may be occurring. Note 2) Do not turn the power OFF while writing to EEPROM. Wrong data may be written. If this situation occurs, all parameters need to be set again and writing needs to be executed after checking the situation thoroughly. Note 3) However, “Error” appears and EEPROM writing is not executed while Err11.0 “Control power undervoltage protection” is occurring. Motor Business Unit, Panasonic Corporation No.SX-DSV03031- 32 - 3-2-4 Auxiliary function mode (1)Alarm clear Alarm occurrence state is reset. There are alarms that cannot be cleared with this input. For more information, refer to 7-1. [Selection display] [Execution display] ■ Press SET to open the execution display of When executing alarm clear, If . needs to be pressed until the display changes to . is kept pressing (approximately 5 seconds), the bar increases as shown below. Alarm clear starts. End End of alarm clear Alarm cannot be cleared. Main power needs to be reset. Motor Business Unit, Panasonic Corporation No.SX-DSV03031- 33 - (2) Analog input 1 Automatic offset adjustment [E***], [G***] This function cannot be used. Offset value of analog input 1(AI1) Pr4.22 (analog input 1 (AI1) offset setting) is automatically adjusted. [Selection display] [Execution display] ■ Press SET to open the execution display of . When executing the automatic offset, set the command input to 0V first and then press until the display changes to . If is kept pressing (approximately 5 seconds), the bar increases as shown below. Start of automatic offset adjustment End Completion of automatic offset adjustment Occurrence of an error (Invalid control mode or the offset value exceeded the parameter setting range.) Note 1) Data cannot be written to EEPROM only with automatic offset adjustment. To reflect results later, data needs to be written to EEPROM. Motor Business Unit, Panasonic Corporation No.SX-DSV03031- 34 - (3) Analog input 2 Automatic offset adjustment [E***], [G***] This function cannot be used. Offset value of analog input 2 (AI2) Pr4.25 (analog input 2 (AI2) offset setting) is automatically adjusted. [Selection display] [Execution display] ■ Press SET to open the execution display of . When executing the automatic offset, set the command input to 0V first and then press until the display changes to If . is kept pressing (approximately 5 seconds), the bar increases as shown below. Start of automatic offset adjustment End Completion of automatic offset adjustment Occurrence of an error (Invalid control mode or the offset value exceeded the parameter setting range.) Note 1) Data cannot be written to EEPROM only with automatic offset adjustment. To reflect results later, data needs to be written to EEPROM. Motor Business Unit, Panasonic Corporation No.SX-DSV03031- 35 - (4) Analog input 3 Automatic offset adjustment [E***], [G***] This function cannot be used. Offset value of analog input 3(AI3) Pr4.28 (analog input 3 (AI3) offset setting) is automatically adjusted. [Selection display] [Execution display] ■ Press SET to open the execution display of . When executing the automatic offset, set the command input to 0V first and then press changes to until the display . If is kept pressing (approximately 5 seconds), the bar increases as shown below. Start of automatic offset adjustment End Completion of automatic Occurrence of an error offset adjustment (Invalid control mode or the offset value exceeded the parameter setting range.) Note 1) Data cannot be written to EEPROM only with automatic offset adjustment. To reflect results later, data needs to be written to EEPROM. Motor Business Unit, Panasonic Corporation No.SX-DSV03031- 36 - (5) Trial run of motor It is possible to execute the trial run of the motor without connecting the wire of CN1. [Selection display] [Execution display] ■ Press SET to open the execution display of . When executing the trial run of motor, keep pressing ▲ until the display changes to . If is kept pressing (approximately 5 seconds). , the bar increases as shown below. Preparatory stage 1 If not in Servo-Ready state (Alarm is occurring or main power is disconnected) ■ Then, press until the display changes to is kept pressing If (approximately 5 seconds), the dot moves as shown in the figure at the right. Preparatory stage 2 If not in Servo-Ready state or SRV-ON is valid ■ After turning the servo ON, press ▲ to make the motor rotate in the positive direction and press ▼ to make the motor rotate in the negative direction at the speed set with Pr6.04 “JOG trial command velocity”. Note 1) When executing the trial run, be sure to detach the motor from load and use the motor after disconnecting the connector CN1. Note 2) When executing the trial run, appropriate values need to be set for parameters related to gain to avoid malfunctions including oscillation. Especially, if load is detached, 0 needs to be set to Pr0.04 “Inertia ratio”. Note 3) During trial run, the motor operates in velocity control mode. For various settings including parameters, setting that the motor operates properly with velocity control needs to be applied. Note 4) If SRV-ON becomes valid during trial run, the display becomes , trial run is paused and normal operation is executed with the external command. Motor Business Unit, Panasonic Corporation No.SX-DSV03031- 37 - (6) Clear of absolute encoder Multiple rotation data and error of the absolute encoder are cleared. [Selection display] [Execution display] ■ Press SET to open the execution display of When executing the absolute encoder clear, If . needs to be pressed until the display changes to . is kept pressing (approximately 5 seconds), the bar increases as shown below. Start of clear of absolute encoder data End Clear of absolute encoder Occurrence of an error (When the unsupported encoder is connected) Motor Business Unit, Panasonic Corporation No.SX-DSV03031- 38 - (7) Initialization of parameter Parameters are initialized. [Selection display] [Execution display] ■ Press SET to open the execution display of When initializing parameters, If . needs to be pressed until the display changes to . is kept pressing (approximately 5 seconds), the bar increases as shown below. Start of external scale clear End Parameter clear Occurrence of an error (Some errors are occurring) Note 1) Parameters cannot be initialized while errors related to EEPROM (Err36.0, Err36.1, Err37.0, Err37.1 and Err37.2) are occurring. “Error” appears. Motor Business Unit, Panasonic Corporation No.SX-DSV03031- 39 - (8) Release of front panel lock The front panel lock setting is released. [Selection display] [Execution display] ■ Press SET to open the execution display of When release front panel lock, If . needs to be pressed until the display changes to . is kept pressing (approximately 5 seconds), the bar increases as shown below. Release of the front panel lock End Successful completion Occurrence of an error Motor Business Unit, Panasonic Corporation No.SX-DSV03031- 40 - (9) Battery refresh Battery refresh action is conducted. [Selection display] [Execution display] Press SET . to open the execution display of When executing battery refresh, needs to be pressed and held until the display changes to . If is kept pressed, (approximately 5 seconds), the bars increases as shown on the right. Start of battery refresh Battery refresh in progress Press (no long pressing required) End Battery refresh completed Battery refresh forced termination Occurrence of an error [Cause] Connection other than 23 bit absolute encoder made. Set to full-close control mode (Pr.0.01=6) Incremental mode being used (Pr0.15=1) Note 1) When running Battely refresh, Battely alarm may occer in that case, please run the clear Battely alarm. Motor Business Unit, Panasonic Corporation No.SX-DSV03031- 41 - 4. Basic function 4-1 Setting the rotation direction It is possible to switch the rotation direction of motor with position command, velocity command and torque command. ■ Relevant parameters Classification No. 0 0 Setting Parameter name range Setting the rotation direction 0 to 1 Unit Function - Relation between the direction of command and rotation direction of the motor is set. 0: Motor rotation direction is CW direction when the positive direction command is issued. 1: Motor rotation direction is CCW direction when the positive direction command is issued. For the rotation direction of the motor, clockwise direction viewed from the axis end at the load side is defined as CW and counterclockwise direction viewed from the axis end is defined as CCW. Positive direction and negative direction defined in this specification indicate directions defined here. For example, relation between positive direction drive prohibition input and negative direction drive prohibition input is shown in the following table. Pr0.00 0 0 1 1 Command Motor rotation Positive direction Negative direction direction direction drive prohibition input drive prohibition input CW direction Available - CCW direction - Available CCW direction Available - CW direction - Available Positive direction Negative direction Positive direction Negative direction Motor Business Unit, Panasonic Corporation No.SX-DSV03031- 42 - 4-2 Position control Based on the position command (pulse train) input from the host controller, the position control is implemented. This section describes the basic setting when using the position control. Host controller Position command (pulse train) Servo driver Command division/ multiplication function Command pulse input section CL input Position command filter function Counter clear function INH input Position control section Command pulse input inhibition function Pulse output Pulse regeneration function INP output function INP output 4-2-1 Command pulse input processing The input terminal of position command (pulse train) can be selected with Pr0.05 "Command pulse input selection" of two groups of "PULSH1, PULSH2, SIGNH1, SIGNH2" (hereinafter, referred to as Input 1) and "PULS1, PULS2, SIGN1, SIGN2" (hereinafter, referred to as Input 2). When the specification for position command output section of host controller is the line driver output, use the Input 1. In the case with the open collector output, use the Input 2. With the line driver output, you can also use with the Input 2; however, the Input 1 is recommended because the allowable input maximum frequency of Input 2 is inferior to that of Input 1. When using the Input 2, it is recommended to set as Pr0.05 = 2 when the command pulse input frequency is 250 kpps or less. As for the command pulse form, the following three forms are supported: two-phase pulse, positive direction pulse train/negative direction pulse train, and pulse train + sign. Depending on the host controller specification and on the equipment installation status, a selection from above three configurations as well as setting of pulse count direction will become necessary. Relevant parameters Category No. 0 5 0 6 0 7 Parameter name Setting Unit range Command pulse input 0 to 2 selection Command pulse rotation direction setting -- 0 to 1 -- Command pulse input 0 to 3 mode setting -- Function Selects which of the photo-coupler input or line driver dedicated input is to be used as the command pulse input. 0: Photo-coupler input (PULS1, PULS2, SIGN1, SIGN2) 1: Line driver dedicated input (PULSH1, PULSH2, SIGNH1, SIGNH2) 2: Photo-coupler input (PULS1, PULS2, SIGN1, SIGN2) [250 kpps or less] Sets the counting direction pertaining to the command pulse input. For the details, refer to the table in the next page. Sets the counting method for the command pulse input. For the details, refer to the table in the next page. Motor Business Unit, Panasonic Corporation No.SX-DSV03031- 43 - The combination table of Pr0.06 "Command pulse rotation direction setting" and Pr0.07 "Command pulse input mode setting" is provided below. The pulse count is performed at the edges shown with arrows in the table. Pr0.06 Pr0.07 Command pulse form Signal name PULS 0 or 2 0 1 90° phase difference Two-phase pulse (A-phase + B-phase) Positive direction pulse train + Negative direction pulse train 1 1 Positive direction pulse train + Negative direction pulse train Pulse train + Sign 3 PULS/SIGN signal name PULSH1, 2, SIGNH1, 2 PULS1, 2, SIGN1, 2 At A- and B-phase input, after ×4 multiplication Other than A- and B-phase input Line driver Open collector t1 t1 B-phase SIGN B-phase is advanced 90° than B-phase is retarded 90° than A-phase. A-phase. t2 t3 PULS t2 t2 SIGN PULS 0 or 2 t1 t1 t1 t1 t2 T5 T5 T4 T4 H t6 SIGN 90° phase difference Two-phase pulse (A-phase + B-phase) t1 t1 A-phase PULS Pulse train + Sign 3 Negative direction command Positive direction command t1 A-phase t6 t6 t1 t1 t1 t1 t1 t6 L t1 t1 B-phase SIGN B-phase is retarded 90° than B-phase is advanced 90° than A-phase. A-phase. t2 PULS t2 t3 SIGN t5 t5 PULS t4 t4 t6 SIGN Allowable input maximum frequency t2 t2 t6 L t6 t6 H Minimum required time width [μs] t1 t2 t3 t4 t5 t6 8 Mpps 0.125 0.125 0.125 0.125 0.125 0.125 4 Mpps 0.25 0.125 0.125 0.125 0.125 0.125 500 kpps 200 kpps 2 5 1 2.5 1 2.5 1 2.5 1 2.5 1 2.5 Motor Business Unit, Panasonic Corporation No.SX-DSV03031- 44 - 4-2-2 Command division/multiplication (electronic gear) function This function takes the value with which the pulse command input from host controller is multiplied by the predetermined division/multiplication ratio, and sets it as the position command to the position control section. By using this function, the setting can be performed arbitrarily with the motor rotation/movement per unit input command pulse. Also, the command pulse frequency can be increased if a required motor speed cannot be acquired due to the limitation with the host controller pulse output capability. Relevant parameters Category No. 0 0 0 Parameter name Setting range Unit Function Sets the command pulse count that is equivalent to one rotation of motor. When this value is set to 0, Pr0.09 "1st command Command pulse count 0 to pulse 08 division/multiplication numerator" and Pr0.10 "Command per one motor rotation 8388608 division/multiplication denominator" become effective. With the full-close control, this setting becomes ineffective. Sets the numerator of division/multiplication processing on the command pulse input. It becomes effective when Pr0.08 "Command pulse count per one motor rotation" = 0 is true, or when the full-close control is 1st command 0 to -- performed. 09 division/multiplication 1073741824 When the set value is 0, the encoder resolution is set to the numerator numerator when the position control is performed, and the command division/multiplication ratio becomes 1:1 when the full-close control is performed. Sets the denominator of division/multiplication processing on the command pulse input. Command It becomes effective when Pr0.08 "Command pulse count per one 1 to -10 division/multiplication motor rotation" = 0 is true, or when the full-close control is 1073741824 denominator performed. Relationship of Pr0.08, Pr0.09, and Pr0.10 with position control Pr0.08 Pr0.09 Pr0.10 Command division/multiplication processing Command pulse input 1 to 8388608 -(Without effect) -(Without effect) Encoder resolution Position command [Pr0.08 set value] * Regardless of the setting of Pr0.09 and Pr0.10, the above processing is executed based on the set value of Pr0.08. Command pulse input 0 Encoder resolution Position command [Pr0.10 set value] 1 to 1073741824 * When both Pr0.08 and Pr0.09 are set to 0, the above processing is executed based on the set value of Pr0.10. 0 Command pulse input [Pr0.09 set value] Position command [Pr0.10 set value] 1 to 1073741824 1 to 1073741824 * When Pr0.08 = 0 and also Pr0.09 0 are true, the above processing is executed based on the set values of Pr0.09 and Pr0.10. Motor Business Unit, Panasonic Corporation No.SX-DSV03031- 45 - Relationship of Pr0.08, Pr0.09, and Pr0.10 with full-close control Pr0.08 Pr0.09 Pr0.10 Command division/multiplication processing Command pulse input 0 -(Without effect) 1 Position command 1 * When Pr0.09 is set to 0, the above processing is executed with both the numerator and denominator set to 1. -(Without effect) Command pulse input 1 to 1073741824 1 to 1073741824 [Pr0.09 set value] Position command [Pr0.10 set value] * When Pr0.09 0 is true, the above processing is executed based on the set values of Pr0.09 and Pr0.10. *1. With the full-close control, fix the command division/multiplication. Err25.0 (hybrid deviation excess error protection) may occur. *2. For the set value, an arbitrary value is set with the values of denominator and numerator. However, if the division ratio or multiplication ratio setting is extreme, a proper operation is not guaranteed. Regarding the possible range of division/multiplication ratio, use within the range between 1/1000 times and 8000 times. Even within the above mentioned range, if the multiplication ratio is high, the fluctuation or noise of command pulse input may lead to an occurrence of Err27.2 (command pulse multiplication error protection). Motor Business Unit, Panasonic Corporation No.SX-DSV03031- 46 - 4-2-3 Position command filter function When a smoothing is desired with the position command after division/multiplication (electronic gear), perform the setting of command filter. Relevant parameters Parameter name Category No. 2 22 2 23 Setting range Unit Function Sets the time constant of first order lag filter for the position command. With the two-degree-of-freedom control, it functions as the command response filter. Command smoothing 0 to 10000 0.1 ms For the details, refer to 5-2-15 "Two-degree-of-freedom control mode filter (With position control)" and 5-2-17 "Two-degree-of-freedom control mode (With speed control)". Command FIR filter 0 to 10000 0.1 ms Sets the time constant of FIR filter for the position command. • Regarding Pr2.22 "Command smoothing filter" For the square-wave command of target speed Vc, the time constant of first order lag filter is set as shown with the figure below. Speed [r/min] Position command before Position command after filter filter Filter switching latency time *2 Vc Vc × 0.632 *1 Command smoothing filter set time [ms] (Pr2.22 × 0.1 ms) Vc × 0.368 *1 Time *1. The actual filter time constant (Set value × 0.1 ms) has an absolute error of up to 0.4 ms with less than 100 ms, and a relative error of up to 0.2% with 20 ms or more. *2. The switching of Pr2.22 "Command smoothing filter" is performed during the positioning completion output, and also at rising of command with which the command pulse per specified duration (0.125 ms) changed from zero to other than zero. In particular after the filter time constant is changed to become smaller, when a large positioning completion range is set, if there is remaining accumulated pulse (the area with which the value of after-filter position command is subtracted from before-filter position command, and then integrated by time) at the moment described above, the accumulated pulse in question becomes suddenly delivered immediately after the switching, and attempts to return to its original position. Use caution because the motor may temporarily operate at a speed higher than the intended command speed. *3. With the change made to Pr2.22 "Command smoothing filter", a delay exists until it becomes applied to the internal calculation. When a switch timing of *2 is reached during that time, the change may be suspended. Motor Business Unit, Panasonic Corporation No.SX-DSV03031- 47 - • Regarding Pr2.23 "Command FIR filter" For the square-wave command of target speed Vc, the attainment time until Vc is set as shown with the figure below. Speed [r/min] Position command before Position command after filter filter Filter switching latency time *2 Vc Position command FIR filter set time [ms] (Pr2.23 × 0.1 ms) *1 Time *1. The actual movement average time for (Set value × 0.1 ms), has an absolute error of up to 0.2 ms with less than 10 ms, and a relative error of up to 1.6% with 10 ms or more. *2. Make sure to change the Pr2.23 "Command FIR filter" after stopping the command pulse, and also after the filter switching latency time has elapsed. The filter switching latency time becomes as (Set value × 0.1 ms + 0.25 ms) with 10 ms or less, and as (Set value × 0.1 ms × 1.05) with 10 ms or more. When the Pr2.23 "Command FIR filter" is changed during a command pulse input, the contents of change will not be reflected immediately, but will be updated after the status without command pulse continues for the duration of filter switching latency time for the next time. *3. With the change made to Pr2.23 "Command FIR filter", a delay exists until it becomes applied to the internal calculation. When a switch timing of *2 is reached during that time, the change may be suspended. Motor Business Unit, Panasonic Corporation No.SX-DSV03031- 48 - 4-2-4 Pulse regeneration function The movement can be communicated to the host controller from the servo driver by using the A- and B-phase pulses. Also, when the output source is the encoder, a Z-phase signal is output once per one motor rotation. In the case with the external scale, the output is made with absolute zero position. The output resolution, B-phase logic, and output source (encoder, external scale) for this circumstance can be set using parameters. 4-2-4-1 Pulse division function Relevant parameters Category No. Parameter name Setting range Unit Function Sets the pulse output resolution with each of the output pulse count per one rotation of OA and OB. Consequently, the result of pulse count P/r with host side ×4 multiplication processing becomes as follows. Pulse output resolution per one rotation = Pr0.11 set value × 4 Sets the B-phase logic and output source of pulse output. By inverting the B-phase pulse using this parameter, the phase relation of B-phase Pulse output logic pulse to A-phase pulse can be inverted. With the full-close control, inversion/output source 0 to 3 -either the encoder or external scale can be selected as the output source. selection With other than the full-close control, the encoder is selected. With uses that the output pulse count per one rotation does not become as an integer, the setting can be performed by setting this value to other than zero, Pr0.11 as division numerator, and Pr5.03 as division Pulse output division 0 to denominator. Consequently, the result of pulse count with host side ×4 -denominator 8388608 multiplication processing becomes as follows. Pulse output resolution per one rotation = (Pr0.11 set value / Pr5.03 set value) × Encoder resolution Pulse regeneration Sets the enable/disable state of error detection (Err28.0 "Pulse output limit enable 0 to 1 -regeneration output limit protection"). setting 0: Disabled 1: Enabled Sets the Z-phase regeneration width of external scale in unit of time. Even in cases such as the Z-phase signal width by movement from the External scale Z-phase 0 to 400 μs external scale is too short and cannot be detected, the Z-phase signal is setting output at least for a duration that is set. With the full-close control using the serial absolute external scale, when the pulse output is performed with the external scale as the output source, this parameter sets the Z-phase output interval with the output pulse count of external scale A-phase (before ×4 multiplication). 0: Z-phase is output only at the absolute zero position of external scale. Serial absolute external 0 to pulse 1 to 268435456: After the driver control power supply is turned on, the scale Z-phase setting 268435456 external scale Z-phase is output in synchronization with A-phase for the first time only when the external scale absolute position zero is traversed. Thereafter, the output is performed using the A-phase output pulse interval that is set with this parameter. Selects the pulse regeneration method of ABZ parallel external scale. 0: The signal of ABZ parallel external scale is output as-is. A- and B-phase 1: Signals of A- and B-phase from ABZ parallel external scale are external scale pulse 0 to 1 -regenerated, and then output. output method selection * With the Z-phase, the external scale signal is always output as-is. 0 Output pulse count per 11 one rotation 0 12 5 3 5 33 6 20 6 21 6 22 1 to 2097152 Motor Business Unit, Panasonic Corporation No.SX-DSV03031- 49 - The combination table of Pr0.11 "Output pulse count per one rotation" and Pr5.03 "Pulse output division denominator" is provided below. Pr0.11 Pr5.03 Pulse regeneration output processing [When output source is encoder] Encoder pulse [pulse] Output pulse [pulse] [Pr0.11 set value] × 4 Encoder resolution 1 to 2097152 0 * When Pr5.03 = 0 is true, the above processing is executed based on the Pr0.11 set value. As a result, each of OA and OB of pulse regeneration output becomes as the pulse count set with Pr0.11. The resolution of output pulse does not become more than the resolution of encoder pulse. [When output source is external scale] External scale pulse [pulse] Output pulse [pulse] 1 1 * When Pr5.03 = 0 is true, the division ratio becomes as 1:1. Encoder FB pulse or External scale pulse [pulse] 1 to 2097152 1 to 8388608 Output pulse [pulse] [Pr0.11 set value] [Pr5.03 set value] * When Pr5.03 0 is true, the above processing is executed based on the set values of Pr0.11 and Pr5.03. As a result, even any use, with which each of the OA or OB pulse count per one motor rotation of pulse regeneration output does not become as an integer, can be accommodated. However, when the pulse output resolution per one rotation does not become as a multiple of 4, the Z-phase output does not synchronize with A-phase, and the width may become smaller. The resolution of output pulse does not become more than the resolution of encoder pulse. The details of Pr0.12 "Pulse output logic inversion/output source selection" are described below. Pr0.12 B-phase logic 0 Output source Encoder Non-inversion 2 External scale 1 Encoder Inversion 3 External scale At operation to CCW direction At operation to CW direction A-phase A-phase B-phase B-phase A-phase A-phase B-phase B-phase * The set values 2 and 3 are effective only with the full-close control. With other than the full-close control, set the values to 0 and 1. Motor Business Unit, Panasonic Corporation No.SX-DSV03031- 50 - [E***], [G***] This function is not available. 4-2-4-2 Pulse regeneration function of external scale Serial absolute external scale • After the driver control power supply is turned on, the Z-phase is output for the first time only when the external scale absolute position zero is traversed, and, using this position as a datum, the Z-phase is output with the A-phase pulse interval that is set by Pr6.21. However, when Pr6.21 = 0 is true, the Z-phase is output only at the absolute zero position. Serial incremental external scale (Magnescale Co., Ltd. SR75, SR85) • With the Z-phase, the Z-phase of serial incremental external scale is through output (not divided). Also, pay attention because there are differences as shown in the figure below depending on the direction of traversing the Z-phase. A-phase B-phase Z-phase position of external scale *1 Operating direction *2 Z-phase Operating direction *2 *1. The relationship between the Z-phase position and A-phase/B-phase differs depending on the scale. The above figure shows an example. *2. The Z-phase is regenerated for an amount of one pulse of scale original signal. When the width is short, the output duration can be extended with Pr6.20 "External scale Z-phase setting". *3. When using the Z-phase as a control signal, make sure to set the speed to 15 Mpulse/s or less using the external scale resolution as a datum (before pulse division). If the speed is exceeded, the Z-phase may not be output correctly. Example) When the external scale resolution is 0.1 μm, the speed at 15 Mpulse/s becomes as described below. 15000000 [pulse/s] × 0.1 μm = 1.5 m/s Use the Z-phase signal with the speed set to 1.5 m/s or less. *4. When the power is turned on at immediately above the Z-phase, the Z-phase will not be output while the position remains unchanged. After the operation is performed once, and the scale side detects the Z-phase edge, the Z-phase is output. ABZ parallel external scale • The Z-phase performs a through output of Z-signal input from the ABZ parallel external scale. (Will not be divided.) • By setting as Pr6.22 "A- and B-phase external scale pulse output method selection" = 1, the signals of A- and B-phase are loaded into the driver, and the A- and B-phase signals can be regenerated. In this case, there will be a delay to the A- and B-phase regeneration compared to when Pr6.22 = 0 is true. Motor Business Unit, Panasonic Corporation No.SX-DSV03031- 51 - Common items with external scale • In cases such as the Z-phase signal width by movement from the external scale is too short and cannot be detected, setting the Z-phase signal output time to Pr6.20 "External scale Z-phase setting" allows the Z-phase to be output at least for a set duration. Because the output is performed for a set duration starting from the rising of Z-phase signal, pay attention that it differs from the actual Z-phase signal width. Also, use caution because, as shown in the figure below, the time is extended to different direction depending on the operating direction. Z-phase output of pulse regeneration (Before time extension) Z-phase output of pulse regeneration (After time extension) Operating direction Pr6.20 external scale Z-phase setting Operating direction Pr6.20 external scale Z-phase setting Motor Business Unit, Panasonic Corporation No.SX-DSV03031- 52 - Precautions on pulse regeneration function • The maximum output frequency of pulse regeneration output becomes to 4 Mpps (after ×4 multiplication). If operated exceeding this speed, the regeneration function may not work correctly, and an accurate pulse is not returned to the host controller. So, pay attention because, depending on the use, it will lead to a positional displacement. A-phase B-phase 0.25 μs or more By Pr5.33 "Pulse regeneration output limit enable setting", a generation of Err28.0 "Pulse regeneration output limit protection" is possible when the pulse regeneration limit is reached. To note, because this error is set to occur upon a detection of pulse regeneration output limit, the error is not generated by the maximum output frequency. Depending on the motor rotating state (rotation irregularity), the error may occur by a detection of frequency that became instantaneously high. • When the output source is set as the encoder, and also when the pulse output resolution per one rotation is a multiple of 4, the Z-phase does not synchronize with the A-phase, and the width may become smaller. Please use caution. A-phase A-phase B-phase B-phase Z-phase Z-phase When division ratio is multiple of 4 * Synchronization with A-phase is not achieved. When division ratio is not multiple of 4 * When Pr5.03 = 0 is true, and output resolution is set with Pr0.11, the ratio always becomes as a multiple of 4. • When using an encoder of incremental specification, the initial Z-phase after the power is turned on may not become as the pulse width described above. When using the Z-phase signal, operate the motor for one rotation or more after turning on the power, confirm that the Z-phase regeneration is performed once, and then use the Z-phase of second time or later. Motor Business Unit, Panasonic Corporation No.SX-DSV03031- 53 - 4-2-5 Deviation counter clear (CL) function This is a function that uses the deviation counter clear input (CL), and clears the position deviation counter value of position control to zero. Relevant parameters Parameter name Category No. 5 Counter clear input mode 17 Setting range 0 to 4 Unit -- Function Sets the clear condition of deviation counter clear input signal. 0: Disabled 1: Clear by level (Without read filter) 2: Clear by level (With read filter) 3: Clear at edge (Without read filter) 4: Clear at edge (With read filter) For the necessary signal width/deviation clear timing of deviation counter clear input (CL), refer to the table below. CL signal Pr5.17 Deviation clear timing width 500 μs or 1 Clear is continued while the state of deviation counter clear input is more ON *1. 2 1 ms or more 3 100 μs or more 4 1 ms or more Clear is performed only once at the deviation counter clear input OFF ON edge*1. *1. The OFF state of deviation counter clear input indicates the input photo-coupler OFF, and the ON state indicates the input photo-coupler ON. Motor Business Unit, Panasonic Corporation No.SX-DSV03031- 54 - 4-2-6 Positioning completion output (INP) function The positioning completion status can be checked by the positioning completion output (INP). It becomes ON when the absolute value of position deviation counter value with position control is at the positioning completion range or less which is set by the parameter. Also, additional settings are possible such as to add the existence of position command to the judgment criteria. Relevant parameters Category No. Parameter name Setting range Unit Function Sets the threshold of position deviation that is used to output the positioning completion signal (INP1). Positioning completion 0 to Command Although the setting unit at shipment is on a command basis, it can be 4 31 range 2097152 unit changed to the encoder unit using Pr5.20 "Position setting unit selection". In that case, however, pay attention because the unit of Pr0.14 "Position deviation excess setting" also becomes changed together. Selects the condition with which the positioning completion signal (INP1) is output. The existence of position command is judged using the command after the position command filter for the set values from 1 to 5, and using the command before the position command filter for set values from 6 to 10. 0: Becomes ON when the position deviation is Pr4.31 "Positioning completion range" or less. 1, 6: Becomes ON when the position command is absent, and also when the position deviation is Pr4.31 "Positioning completion range" or less. 2, 7: Becomes ON when the position command is absent, and also when the zero speed detection signal is ON, and also when position deviation is Pr4.31 "Positioning completion range" or less. 3, 8: Becomes ON when the position command is absent, and also when the position deviation is Pr4.31 "Positioning completion range" or Positioning completion less. Thereafter, the ON state is maintained until the Pr4.33 "INP hold 4 32 0 to 10 -output setting time" elapses. After the INP hold time has elapsed, the INP output is turned ON/OFF depending on the circumstances with position command and position deviation. 4, 9: Starting at the change of position command state from “with” to “without”, after the positioning judgment delay time set with Pr4.33 "INP hold time" has elapsed, the positioning completion judgment commences. And the state becomes ON when the position command is absent, and also when the position deviation is Pr4.31 "Positioning completion range" or less. 5, 10: Starting at the change of position command state from “with” to “without”, when the positioning judgment delay time set with Pr4.33 "INP hold time" has elapsed after the positioning completion range is entered, the positioning completion judgment commences. And the state becomes ON when the position command is absent, and also when the position deviation is Pr4.31 "Positioning completion range" or less. • When Pr4.32 "Positioning completion output setting" = 3 or 8 is true, this parameter sets the hold time. 0: The hold time becomes as infinite, and the ON state is continued until the next position command is input. 1 to 30000: The ON state is continued for the duration of set value [ms]. However, if a position command is input during the hold time, the state changes to OFF. • When Pr4.32 "Positioning completion output setting" = 4, 5, 9, or 10 is 4 33 INP hold time 0 to 30000 1 ms true, this parameter sets the positioning judgment delay time. 0: The positioning judgment delay time becomes disabled, and the judgment commences immediately without the position command. 1 to 30000: The positioning judgment start time becomes delayed for the duration of set value [ms]. However, if a position command is input during the delay time, the delay time is reset, then the delay time measurement is started from zero again after the position command in question becomes zero. Sets the threshold of position deviation that is used to output the positioning completion signal 2 (INP2). Independent of Pr4.32 "Positioning completion output setting", the INP2 always becomes ON when the position deviation is at the set value or less. (No judgment is made based on the existence of Positioning completion 0 to Command 4 42 position command or on others.) range 2 2097152 unit Although the setting unit at shipment is on a command basis, it can be changed to the encoder unit using Pr5.20 "Position setting unit selection". In that case, however, pay attention because the unit of Pr0.14 "Position deviation excess setting" also becomes changed together. • For the details on position command filter, refer to 4-2-3 "Position command filter function". Motor Business Unit, Panasonic Corporation No.SX-DSV03031- 55 - 4-2-7 Command pulse inhibition (INH) function By using the command pulse inhibition input signal (INH), the command pulse input count processing can be forcibly stopped. When the INH input is turned ON, the servo driver ignores the command pulse input, and does not perform the pulse count. This function is disabled with the factory setting. To use the function, change the setting of Pr5.18 "Command pulse prohibition input disable". Relevant parameters Category No. Parameter name Setting range Unit 5 18 Command pulse prohibition input disable 0 to 1 -- 5 19 Command pulse prohibition input read setting 0 to 5 -- Function Sets the enable/disable state of command pulse inhibition input. 0: Enabled 1: Disabled Selects the signal read cycle of command pulse inhibition input. When the signal status of each of the set read cycle matches for multiple times, the signal status is updated. 0: Three consecutive accordances with 0.250 ms cycle 1: Three consecutive accordances with 0.500 ms cycle 2: Three consecutive accordances with 1.0 ms cycle 3: Three consecutive accordances with 2.0 ms cycle 4: One reading with 0.250 ms cycle 5: Two consecutive accordances with 0.250 ms cycle By extending the read cycle, the likelihood of faulty operation caused by noise becomes smaller. However, pay attention because the responsiveness to signal input becomes diminished. Motor Business Unit, Panasonic Corporation No.SX-DSV03031- 56 - 4-3 Speed control Based on the analog speed command input from the host controller, or on the internal speed command that is set internally in the servo driver, the speed control is implemented. Host controller Servo driver Analog speed command (±10 V) Analog speed command input processing Internal speed command set value ZEROSPD input Speed control section Speed zero clamp function AT-SPEED output Speed attainment output V-COIN output Speed coincidence output *1. Not available with [E***], [G***]. 4-3-1 Speed control by analog speed command [E***], [G***] This function is not available. An analog-to-digital conversion of analog speed command input (voltage) is performed, and the obtained input is loaded as digital value, then converted into the speed command value. Also, a filter setting and offset adjustment for noise reduction can be performed. Relevant parameters Category No. Parameter name 3 0 Inside/outside speed setting switching 3 1 Speed command direction designation selection 3 2 Speed command input gain 3 3 Speed command input inversion 4 22 4 23 Analog input 1 (AI1) offset setting Analog input 1 (AI1) filter setting Setting range Unit Function Selects the speed command input method of speed control mode. 0: Analog speed command (SPR) 1: Internal speed setting 1st speed to 4th speed 0 to 3 -2: Internal speed setting 1st speed to 3rd speed, analog speed command (SPR) 3: Internal speed setting 1st speed to 8th speed Selects the method to designate the positive direction/negative direction of speed command. 0: Designates the direction via the sign of speed command. Example) Speed command input "+" Positive direction; 0 to 1 -"-" Negative direction 1: Designates the direction via the speed command sign selection (VC-SIGN). OFF: Positive direction ON: Negative direction Sets the conversion gain from the voltage impressed on analog speed 10 to 2000 (r/min)/V command (SPR) to the motor command speed. Sets the polarity of voltage impressed on the analog speed command (SPR). 0: Non-inversion "Positive voltage" "Positive direction"; "Negative voltage" 0 to 1 -"Negative direction" 1: Inversion "Positive voltage" "Negative direction"; "Negative voltage" "Positive direction" Sets the offset adjustment value for the voltage impressed on the analog -5578 to 0.359 mV input 1. 5578 Sets the time constant of first order lag filter for the voltage impressed 0 to 6400 0.01 ms on the analog input 1. Motor Business Unit, Panasonic Corporation No.SX-DSV03031- 57 - The table below shows the combinations of parameters Pr3.00 "Inside/outside speed setting switching", Pr3.01 "Speed command direction designation selection", Pr3.03 "Speed command input inversion", I/F connector analog speed command (SPR), speed command sign selection (VC-SIGN), as well as the relationship of motor rotation direction, and the corresponding conversion graphs for analog speed command input voltage to speed command. Pr3.00 Pr3.01 Pr3.03 Analog speed command (SPR) Speed command sign selection (VC-SIGN) Motor rotation direction Positive voltage (0 to 10 V) Without effect Positive direction Negative voltage (-10 to 0 V) Without effect Negative direction Positive voltage (0 to 10 V) Without effect Negative direction Negative voltage (-10 to 0 V) Without effect Positive direction OFF Positive direction ON Negative direction 0 0 1 0 Positive voltage (0 to 10 V) Negative voltage (-10 to 0 V) Without effect 1 Positive voltage (0 to 10 V) Negative voltage (-10 to 0 V) Conversion graph (a) (b) (c) The conversion of the analog speed command input voltage [V] to the speed command [r/min] for motor takes three patterns of (a), (b), and (c) shown in the corresponding graph fields of the table above, and their representations are provided below. The graph inclination represents the case of Pr3.02 = 500. Depending on the Pr3.02 set value, the inclination will change. Speed command [r/min] = Pr3.02 set value × Input voltage [V] Speed command [r/min] = -(Pr3.02 set value × Input voltage [V]) Speed command [r/min] Speed command [r/min] 5000 5000 3000 3000 -10 6 -6 10 Input voltage [V] -10 6 -6 -3000 10 Input voltage [V] -3000 -5000 -5000 Conversion graph (a) Conversion graph (b) Speed command [r/min] Speed command [r/min] 5000 3000 -10 -6 6 10 Input voltage [V] -10 -6 6 10 Input voltage [V] -3000 -5000 Conversion graph (c) VC-SIGN OFF VC-SIGN ON Motor Business Unit, Panasonic Corporation No.SX-DSV03031- 58 - 4-3-2 Speed control by internal speed command In accordance with the internal speed command value set to the parameter, the speed control is implemented. By using the internal command speed selection 1 to 3 (INTSPD1 to 3), a selection can be made from the maximum of eight internal speed command set values. With the factory setting, the analog speed command setting is adopted. Use this control after changing to the internal speed setting via Pr3.00 "Inside/outside speed setting switching". Relevant parameters Category 3 No. 0 3 1 3 3 3 3 3 3 3 3 4 5 6 7 8 9 10 11 Parameter name Inside/outside speed setting switching Speed command direction designation selection Setting range 0 to 3 0 to 1 Speed setting 1st speed Speed setting 2nd speed Speed setting 3rd speed Speed setting 4th speed -20000 to Speed setting 5th speed 20000 Speed setting 6th speed Speed setting 7th speed Speed setting 8th speed Unit -- -- r/min Function Selects the speed command input method of speed control mode. 0: Analog speed command (SPR) 1: Internal speed setting 1st speed to 4th speed 2: Internal speed setting 1st speed to 3rd speed, analog speed command (SPR) 3: Internal speed setting 1st speed to 8th speed Selects the method to designate the positive direction/negative direction of speed command. 0: Designates the direction via the sign of speed command. Example) Speed command input "+" Positive direction; "-" Negative direction 1: Designates the direction via the speed command sign selection (VC-SIGN). Sets the 1st speed of internal command speed. Sets the 2nd speed of internal command speed Sets the 3rd speed of internal command speed. Sets the 4th speed of internal command speed. Sets the 5th speed of internal command speed. Sets the 6th speed of internal command speed. Sets the 7th speed of internal command speed. Sets the 8th speed of internal command speed. • Regarding relationship of Pr3.00 "Inside/outside speed setting switching", internal command speed selection 1 to 3 states, and selected speed command Internal command speed Internal command speed Internal command speed Speed command Pr3.00 selection 1 selection 2 selection 3 selection (INTSPD1) (INTSPD2) (INTSPD3) OFF OFF 1st speed ON OFF 2nd speed 1 Without effect OFF ON 3rd speed ON ON 4th speed OFF OFF 1st speed ON OFF 2nd speed 2 Without effect OFF ON 3rd speed ON ON Analog speed command Same as with "Pr3.00 = 1" OFF 1st speed to 4th speed OFF OFF ON 5th speed 3 ON OFF ON 6th speed OFF ON ON 7th speed ON ON ON 8th speed • Regarding relationship between Pr3.01 "Speed command direction designation selection" setting and speed command direction Internal speed set value Speed command sign selection Speed command Pr3.01 (1st speed to 8th speed) (VC-SIGN) direction + Without effect Positive direction 0 Without effect Negative direction Not affected by sign OFF Positive direction 1 Not affected by sign ON Negative direction Motor Business Unit, Panasonic Corporation No.SX-DSV03031- 59 - Note) Make sure to set so that the switching pattern of internal command speed changes with one input signal at a time as shown by the example in the figure on the next page. If two or more input signals change, an internal command speed that is not specified may be selected, resulting in an unintended operation due to the set value or acceleration/deceleration setting involved. INTSPD1 INTSPD2 open INTSPD1 COM- open INTSPD2 COM- INTSPD3 4th open COM- open COM- open COM- 3rd Speed command [r/min] 7th 2nd 1st Example 1) When Pr3.00 = 1 or 2 1st Speed command [r/min] 4th 1st 2nd 8th 6th 5th 3rd 1st Example 2) When Pr3.00 = 3 Motor Business Unit, Panasonic Corporation No.SX-DSV03031- 60 - 4-3-3 Speed zero clamp (ZEROSPD) function By using the speed zero clamp input, the speed command can be forcibly set to zero. Relevant parameters Parameter name Category No. Speed zero clamp function selection 3 15 3 16 Speed zero clamp level Setting range Unit 0 to 3 -- 10 to 20000 r/min Function Sets the speed zero clamp function. 0: Disabled; The speed zero clamp input is ignored. 1: At the speed zero clamp input, the state becomes as speed command = 0. 2: At the speed zero clamp input, the state becomes as speed command = 0, and also the status becomes locked with position control when the actual speed is at Pr3.16 "Speed zero clamp level" or less. 3: At the speed zero clamp input, and also when speed command is at Pr 3.16”speed zero clamp level” or less,the state becomes locked with position control. Sets the threshold at which a change to position control is made when Pr3.15 "Speed zero clamp function selection" is set to 2 or 3. When Pr3.15 = 3 is true, a 10 r/min hysteresis is given to the detection. • When Pr3.15 "Speed zero clamp function selection" = 1 is true When the speed zero clamp (ZEROSPD) input signal is ON, the speed command is forcibly set to zero. For example, when it is desired to give a trapezoidal wave speed command, the speed zero clamp input signal is set to ON, and the trapezoidal wave target speed is input by the analog speed command or internal speed setting. Subsequently, when the speed zero clamp input signal is set from ON to OFF, the speed command is accelerated to the attainment speed. Also, when set from OFF to ON, the speed command is decelerated down to zero. As a result, while the status is kept with a specified value given as the speed command, a speed command with acceleration/deceleration can be easily generated by the changing of speed zero clamp input signal ON OFF. The acceleration and deceleration can be set using Pr3.12 "Acceleration time setting", Pr3.13 "Deceleration time setting", and Pr3.14 "S-shape acceleration/deceleration setting". Pay attention because, with the factory setting, they are all set to 0, and the speed command changes in steps. Speed [r/min] Analog speed command or internal speed setting Target speed Speed command that is input to speed control section Conforms to acceleration/deceleration setting of speed command (Pr3.12, Pr3.13, Pr3.14) Time Speed zero clamp input Control mode ON OFF ON Speed control mode Note) Because the factory setting value for speed zero clamp input is the b contact, ON in the figure represents the input photo-coupler OFF state, and OFF as the input photo-coupler ON state. Motor Business Unit, Panasonic Corporation No.SX-DSV03031- 61 - • When Pr3.15 "Speed zero clamp function selection" = 2 is true When the speed zero clamp (ZEROSPD) input signal is ON, the speed command is forcibly set to zero, and also when the motor actual speed becomes to Pr3.16 "Speed zero clamp level" or less, a change to position control is made, and the servo becomes locked at that position. The basic operation other than the change to position control remains the same as with the operation of set value 1. The change from speed control to position control is made, as described above, when the speed zero clamp (ZEROSPD) input signal is ON, and also the actual speed is at Pr3.16 "Speed zero clamp level" or less. On the other hand, the change from position control to speed control is made when the speed zero clamp (ZEROSPD) input signal is set to OFF. After a transition to servo lock with position control is made once, the servo lock with position control is maintained even when the actual speed increases to more than Pr3.16 "Speed zero clamp level" by an external force, provided that the state of speed zero clamp (ZEROSPD) is ON. Speed [r/min] Analog speed command or internal speed setting Motor actual speed Target speed Speed command that is input to speed control section Pr.3.16 "Speed zero clamp level" Conforms to acceleration/deceleration setting of speed command (Pr3.12, Pr3.13, Pr3.14) Time Speed zero clamp input Control mode ON Position control OFF Speed control mode ON Position control Note) The position command at position control shown in the above figure becomes forcibly set to zero. During the position control, it operates as a normal position control. Therefore, make sure to appropriately set the position loop gain, error detection function, and others. However, the allocation setting of control input signal conforms to the speed control. Note) Make sure to use with Pr0.01 "Control mode setting" = 1 (speed control). If used concurrently with control mode switching with Pr0.01 = 3 or 4, the operation may not be performed correctly. Motor Business Unit, Panasonic Corporation No.SX-DSV03031- 62 - • When Pr3.15 "Speed zero clamp function selection" = 3 is true When the Speed zero clamp(ZEROSPD) input signal is ON, and also when the speed command become to Pr 3.16 ”speed zero clamp level” -10r/min or less,aa change to position control is made, and the servo becomes locked at the position. In case this mode, when the speed zero clamp(ZEROSPD) input signam is ON, the speed command is not forcibly set to zero. It is necessary to change speed command input for that. Speed 【r/min】 Speed command Pr3.16"Speed zero clamp level" + 10 r/min Pr3.16"Speed zero clamp level" －10 r/min Time Speed zero clamp input ON Control mode Position control Speed control mode Position control Note) The position command at position control shown in the above figure becomes forcibly set to zero. During the position control, it operates as a normal position control. Therefore, make sure to appropriately set the position loop gain, error detection function, and others. However, the allocation setting of control input signal conforms to the speed control. Note) Make sure to use with Pr0.01 "Control mode setting" = 1 (speed control). If used concurrently with control mode switching with Pr0.01 = 3 or 4, the operation may not be performed correctly. 4-3-4 Speed attainment output (AT-SPEED) When the motor speed reaches the speed that is set with Pr4.36 "Attainment speed", the speed attainment output (AT-SPEED) signal is output. Relevant parameters Category No. 4 36 Parameter name Setting range Attainment speed 10 to 20000 Unit r/min Function Sets the detection threshold of speed attainment output (AT-SPEED). When the motor speed exceeds the set value, the speed attainment output (AT-SPEED) is output. A hysteresis of 10 r/min is given to the detection. Speed [r/min] Motor speed Pr4.36 + 10 Pr4.36 - 10 Time -(Pr4.36 - 10) -(Pr4.36 + 10) Speed attainment output OFF AT-SPEED ON OFF ON Motor Business Unit, Panasonic Corporation No.SX-DSV03031- 63 - 4-3-5 Speed coincidence output (V-COIN) The output is performed when the speed command (before acceleration/deceleration processing) and the motor speed agree with each other. The coincidence judgment is made when the difference between the speed command and the motor speed before the acceleration/deceleration processing inside the driver is within the Pr4.35 "Speed coincidence width". Relevant parameters Category No. 4 35 Parameter name Setting range Speed coincidence width 10 to 20000 Speed command Unit Function r/min Sets the detection threshold of speed coincidence output (V-COIN). When the difference between the speed command and motor speed is the set value or less, the speed coincidence output (V-COIN) is output. A hysteresis of 10 r/min is given to the detection. Speed command after acceleration/deceleration processing Pr4.35 *1 "Speed coincidence width" Speed [r/min] Pr4.35 *1 "Speed coincidence width" Speed coincidence output V-COIN *1. Motor speed Pr4.35 *1 "Speed coincidence width" ON OFF ON Time OFF Because the speed coincidence detection has hysteresis of 10 r/min, the actual detection width becomes as described below. Speed coincidence output: Threshold at OFF ON (Pr4.35 - 10) r/min Threshold at ON OFF (Pr4.35 + 10) r/min Motor Business Unit, Panasonic Corporation No.SX-DSV03031- 64 - 4-3-6 Speed command acceleration/deceleration setting function The speed control is implemented using the speed command input to which acceleration/deceleration is given inside the driver as the speed command. A soft starting becomes possible when inputting a step form speed command or when using with the internal speed setting. Also, when reducing of shock by acceleration change is desired, the S-shape acceleration/deceleration function can also be used. Relevant parameters Category No. 3 12 3 13 3 14 Parameter name Setting range Unit Function ms/ Sets the acceleration time of acceleration processing on the speed Acceleration time 0 to 10000 (1000 r/min) command input. setting ms/ Sets the deceleration time of deceleration processing on the speed Deceleration time 0 to 10000 (1000 r/min) command input. setting Sets the S-shape time of acceleration/deceleration processing on the S-shape acceleration/ 0 to 1000 ms speed command input. deceleration setting Note) When the position loop is configured outside the driver, do not use the acceleration/deceleration time setting. Make sure to use with all the set values above at zero. • Regarding Pr3.12 "Acceleration time setting" and Pr3.13 "Deceleration time setting" To Pr3.12 "Acceleration time setting", the time is set with which the speed command reaches 1000 r/min when a step form speed command is input. Also, to Pr3.13 "Deceleration time setting", the time is set with which the speed command reaches from 1000 r/min to 0 r/min. The time needed for acceleration/deceleration can be calculated using the equation below by giving Vc [r/min] as the speed command target value. Acceleration time [ms] = Vc / 1000 × Pr3.12 × 1 ms Deceleration time [ms] = Vc / 1000 × Pr3.13 × 1 ms Speed command that is step input Speed command after acceleration/deceleration processing Speed [r/min] 1000 r/min Time Pr3.13 × 1 ms Pr3.12 × 1 ms • Regarding Pr3.14 "S-shape acceleration/deceleration setting" For the acceleration/deceleration time that is set with Pr3.12 "Acceleration time setting" and Pr3.13 "Deceleration time setting", the time for S-shape section is set using the time width centered at the inflection point of acceleration/deceleration. ts Speed [r/min] ts Speed command after acceleration/deceleration processing Target speed (Vc) ta = Vc / 1,000 × Pr3.12 × 1 ms td = Vc / 1,000 × Pr3.13 × 1 ms ts = Pr3.14 × 1 ms * Use with settings of ta / 2 > ts and td / 2 > ts ts ts Time ta td Motor Business Unit, Panasonic Corporation No.SX-DSV03031- 65 - [E***], [G***] This function is not available. 4-4 Torque control In accordance with the torque command specified by the analog voltage, the torque control is implemented. For the torque control, the speed limit input is needed besides the torque command. The control is implemented to prevent the motor rotation speed from exceeding the speed limit value. With the A6 series, there are three modes depending on the different torque commands/speed limits. Their differences are described in the table below. Torque command selection (Pr3.17) 0 1 2 Torque command input Speed limit input Analog input 1 *1 (AI1, 16-bit resolution) Analog input 2 (AI2, 12-bit resolution) Analog input 1 *1 (AI1, 16-bit resolution) Parameter value (Pr3.21) Analog input 1 (AI1, 16-bit resolution) Parameter value (Pr3.21, Pr3.22) *1. When Pr0.01 "Control mode setting" = 5 (speed/torque control) is true, the torque command input becomes as the analog input 2 (AI2, 12-bit resolution). Relevant parameters Category No. 3 17 4-4-1 Parameter name Setting range Torque command selection 0 to 2 Unit -- Function Selects the input locations for torque command and speed limit value. 0: Torque command selection 1 Torque command: Analog input 1; Speed limit: Parameter × 1 1: Torque command selection 2 Torque command: Analog input 2; Speed limit: Analog input 1 2: Torque command selection 3 Torque command: Analog input 1; Speed limit: Parameter × 2 Torque command selection 1 and 3 (Speed limit parameter value) Host controller Servo driver Analog torque command (AI1, ±10 V) Analog torque command input processing Speed limit value (Parameter) ZEROSPD input Speed zero clamp function Torque control section AT-SPEED output Speed attainment output V-COIN output Speed coincidence output * For the speed zero clamp function, refer to 4-4-1-2 Speed limit function. The specifications of speed attainment output and speed coincidence output are the same as with the speed control. Motor Business Unit, Panasonic Corporation No.SX-DSV03031- 66 - 4-4-1-1 Analog torque command input processing An analog-to-digital conversion of analog speed command input (voltage) is performed, and the obtained input is loaded as digital value, then converted into the torque command value. Also, a filter setting and offset adjustment for noise reduction can be performed. Relevant parameters Category No. Parameter name 18 Torque command direction designation selection 3 3 Setting range Unit 0 to 1 -- 19 Torque command input gain 10 to 100 0.1 V /100% 3 20 Torque command input inversion 0 to 1 -- 4 22 -5578 to 5578 0.359 mV 4 23 0 to 6400 0.01 ms Analog input 1 (AI1) offset setting *1 Analog input 1 (AI1) filter setting *1 Function Selects the method to designate the positive direction/negative direction of torque command. 0: Designates the direction via the sign of torque command. Example) Torque command input "+" Positive direction; "-" Negative direction 1: Designates the direction via the torque command sign selection (TC-SIGN). OFF: Positive direction ON: Negative direction Sets the conversion gain from the voltage [V] impressed on analog torque command (TRQR) to torque command [%]. Example) When setting to rated torque (100%) at 1 V input Set value = 10 becomes true. Sets the polarity of voltage impressed on the analog torque command (TRQR). 0: Non-inversion "Positive voltage" "Positive direction"; "Negative voltage" "Negative direction" 1: Inversion "Positive voltage" "Negative direction"; "Negative voltage" "Positive direction" Sets the offset adjustment value for the voltage impressed on the analog input 1. Sets the time constant of first order lag filter for the voltage impressed on the analog input 1. *1. When Pr0.01 "Control mode setting" = 5 (speed/torque control) is true, the torque command input becomes as the analog input 2 (AI2). Therefore, perform the setting with Pr4.25 "Analog input 2 (AI2) offset setting" and Pr4.26 "Analog input 2 (AI2) filter setting". Motor Business Unit, Panasonic Corporation No.SX-DSV03031- 67 - The table below shows the combinations of Pr3.17 "Torque command selection", Pr3.18 "Torque command direction designation selection", Pr3.20 "Torque command input inversion", I/F connector analog torque command (TRQR), and torque command sign selection (TC-SIGN), as well as the relationship of motor rotation direction, and the corresponding conversion graphs for analog torque command input voltage to torque command. Pr3.17 Pr3.18 Analog torque command (TRQR) Torque command sign selection (TC-SIGN) Positive voltage (0 to 10 V) Without effect Negative voltage (-10 to 0 V) Without effect Positive voltage (0 to 10 V) Without effect Negative voltage (-10 to 0 V) Without effect Pr3.20 Positive direction Negative direction Negative direction Positive direction Positive direction Negative direction 0 0 1 0 1 Without effect Positive voltage (0 to 10 V) Negative voltage (-10 to 0 V) Positive voltage (0 to 10 V) Negative voltage (-10 to 0 V) Motor rotation direction OFF ON Conversion graph (a) (b) (c) The conversion of the analog torque command input voltage [V] to the torque command [%] for motor takes three patterns of (a), (b), and (c) shown in the corresponding graph fields of the table above, and their representations are provided below. The graph inclination represents the case of Pr3.19 = 30. Depending on the Pr3.19 set value, the inclination will change. Torque command [%] = 100 × Input voltage [V] / (Pr3.19 set value × 0.1) Torque command [%] = -(100 × Input voltage [V] / (Pr3.19 set value × 0.1)) Torque command [%] Torque command [%] 333 333 200 200 -10 10 Input voltage [V] 6 -6 -10 6 -6 -200 10 Input voltage [V] -200 -333 -333 Conversion graph (a) Conversion graph (b) Torque command [%] Torque command [%] 333 200 -10 -6 6 10 Input voltage [V] -10 -6 6 10 Input voltage [V] -200 Conversion graph (c) TC-SIGN OFF -333 TC-SIGN ON Motor Business Unit, Panasonic Corporation No.SX-DSV03031- 68 - 4-4-1-2 Speed limit function The speed limit is implemented for the protection during torque control. The control is performed so as to prevent the speed from becoming larger than the speed limit value during the torque control. Note) While the control is implemented by the speed limit, the torque command to motor will not conform to the analog torque command. The result of speed control, with which the motor speed is controlled to the speed limit value, is used as the torque command to the motor. ■Relevant parameters Category No. Parameter name Setting range Unit 3 21 Speed limit value 1 0 to 20000 r/min 3 22 Speed limit value 2 0 to 20000 r/min 15 Speed zero clamp function selection 3 0 to 2 -- Function Sets the speed limit value for the torque control. During the torque control, the control is implemented so that the speed set by the speed limit value is not exceeded. When Pr3.17 = 2 is true, the speed limit value with positive direction command is adopted. The speed limit value with negative direction command at Pr3.17 = 2 is adopted. Sets the speed zero clamp function. 0: Disabled; The speed zero clamp input is ignored. 1 to 2: At the speed zero clamp input, the state becomes as speed limit value = 0. The table below shows the combinations of Pr3.17 "Torque command selection", Pr3.21 "Speed limit value 1", Pr3.22 "Speed limit value 2", Pr3.15 "Speed zero clamp function selection" , speed zero clamp input (ZEROSPD), and analog torque command direction, as well as the corresponding speed limit value that is applied. Pr3.17 Pr3.21 Pr3.22 0 0 to 20000 Without effect 0 to 20000 0 to 20000 Pr3.15 0 1 to 3 0 Speed zero clamp (ZEROSPD) Analog torque command direction Speed limit value Without effect OFF ON Without effect Pr3.21 set value Pr3.21 set value 0 Without effect 2 0 to 20000 0 to 20000 1 to 20000 1 to 20000 1 to 3 1 to 3 OFF ON Positive direction Negative direction Positive direction Negative direction Without effect Pr3.21 set value Pr3.22 set value Pr3.21 set value Pr3.22 set value 0 Motor Business Unit, Panasonic Corporation No.SX-DSV03031- 69 - 4-4-2 Torque command selection 2 (Analog speed limit input) Host controller Servo driver Analog torque command (AI2, ±10 V) Speed limit input (AI1, ±10 V) ZEROSPD input AT-SPEED output V-COIN output Analog torque command input processing Speed limit input processing Speed zero clamp function Torque control section Speed attainment output Speed coincidence output * For the speed zero clamp function, refer to 4-4-2-2 Speed limit function. The specifications of speed attainment output and speed coincidence output are the same as with the speed control. Motor Business Unit, Panasonic Corporation No.SX-DSV03031- 70 - 4-4-2-1 Analog torque command input processing An analog-to-digital conversion of analog torque command input (voltage) is performed, and the obtained input is loaded as digital value, then converted into the torque command value. Also, a filter setting and offset adjustment for noise reduction can be performed. Relevant parameters Category No. Parameter name 18 Torque command direction designation selection 3 3 Setting range Unit 0 to 1 -- 19 Torque command input gain 10 to 100 0.1 V /100% 3 20 Torque command input inversion 0 to 1 -- 4 25 -342 to 342 5.86 mV 4 26 0 to 6400 0.01 ms Analog input 2 (AI2) offset setting Analog input 2 (AI2) filter setting Function Selects the method to designate the positive direction/negative direction of torque command. 0: Designates the direction via the sign of torque command. Example) Torque command input "+" Positive direction; "-" Negative direction 1: Designates the direction via the torque command sign selection (TC-SIGN). OFF: Positive direction ON: Negative direction Sets the conversion gain from the voltage [V] impressed on analog torque command (TRQR) to torque command [%]. Example) When setting to rated torque (100%) at 1 V input Set value = 10 becomes true. Sets the polarity of voltage impressed on the analog torque command (TRQR). 0: Non-inversion "Positive voltage" "Positive direction"; "Negative voltage" "Negative direction" 1: Inversion "Positive voltage" "Negative direction"; "Negative voltage" "Positive direction" Sets the offset adjustment value for the voltage impressed on the analog input 2. Sets the time constant of first order lag filter for the voltage impressed on the analog input 2. Motor Business Unit, Panasonic Corporation No.SX-DSV03031- 71 - The table below shows the combinations of Pr3.17 "Torque command selection", Pr3.18 "Torque command direction designation selection", Pr3.20 "Torque command input inversion", I/F connector analog torque command (TRQR), and torque command sign selection (TC-SIGN), as well as the relationship of motor rotation direction, and the corresponding conversion graphs for analog torque command input voltage to torque command. Pr3.17 Pr3.18 Analog torque command (TRQR) Torque command sign selection (TC-SIGN) Positive voltage (0 to 10 V) Without effect Negative voltage (-10 to 0 V) Without effect Positive voltage (0 to 10 V) Without effect Negative voltage (-10 to 0 V) Without effect Pr3.20 Motor rotation direction Positive direction Negative direction Negative direction Positive direction Positive direction Negative direction 0 0 1 0 Without effect 1 Positive voltage (0 to 10 V) Negative voltage (-10 to 0 V) Positive voltage (0 to 10 V) Negative voltage (-10 to 0 V) OFF ON Conversion graph (a) (b) (c) The conversion of the analog torque command input voltage [V] to the torque command [%] for motor takes three patterns of (a), (b), and (c) shown in the corresponding graph fields of the table above, and their representations are provided below. The graph inclination represents the case of Pr3.19 = 30. Depending on the Pr3.19 set value, the inclination will change. Torque command [%] = 100 × Input voltage [V] / (Pr3.19 set value × 0.1) Torque command [%] = -(100 × Input voltage [V] / (Pr3.19 set value × 0.1)) Torque command [%] Torque command [%] 333 333 200 200 -10 -6 6 10 -10 6 -6 Input voltage [V] -200 10 Input voltage [V] -200 -333 -333 Conversion graph (a) Conversion graph (b) Torque command [%] Torque command [%] 333 200 -10 -6 6 -10 10 Input voltage [V] Conversion graph (c) TC-SIGN OFF 6 -6 10 Input voltage [V] -200 -333 TC-SIGN ON Motor Business Unit, Panasonic Corporation No.SX-DSV03031- 72 - 4-4-2-2 Speed limit function The speed limit is implemented for the protection during torque control. The control is performed so as to prevent the speed from becoming larger than the speed limit value during the torque control. When Pr3.17 "Torque command selection" = 1 is true, the speed limit value is input with the analog input 1. Note) While the control is implemented by the speed limit, the torque command to motor will not conform to the analog torque command. The result of speed control, with which the motor speed is controlled to the speed limit value, is used as the torque command to the motor. Relevant parameters Category No. 3 02 4 22 4 23 3 15 Parameter name Setting range Unit (r/min) Speed command input 10 to 2000 /V gain Analog input 1 (AI1) -5464 to 0.366 mV offset setting 5464 Analog input 1 (AI1) 0 to 6400 0.01 ms filter setting Speed zero clamp function selection 0 to 2 -- Function Sets the conversion gain from the voltage impressed on analog speed limit input (SPL) to the speed limit value. Sets the offset adjustment value for the voltage impressed on the analog input 1. Sets the time constant of first order lag filter for the voltage impressed on the analog input 1. Sets the speed zero clamp function. 0: Disabled; The speed zero clamp input is ignored. 1 to 2: At the speed zero clamp input, the state becomes as speed limit value = 0. The conversion graph for the analog speed limit from input voltage [V] to speed limit value [r/min] is shown below. The graph inclination represents the case of Pr3.02 = 500. Depending on the Pr3.02 set value, the inclination will change. Speed limit value [r/min] = | Pr3.02 set value × Input voltage [V] | Speed limit value [r/min] 5000 3000 -10 -6 6 10 Input voltage [V] Motor Business Unit, Panasonic Corporation No.SX-DSV03031- 73 - [E***], [G***] This function is not available. 4-5 Full-close control The full-close control directly detects the position of machine that is the subject of the control by using the external scale arranged externally, provides the feedback, and implements the position control. For example, implementing of control is possible which is not affected by ball screw irregularities or by temperature-induced positional fluctuations. By configuring the full-close control system, a high-precision positioning in sub-micron order can be achieved. This section describes the settings of external scale ratio and hybrid deviation excess with the initial configuration of full-close control. Precautions (1) One command pulse of when the command division/multiplication ratio is 1:1 becomes as one pulse of external scale. With the full-close control, the speed control is implemented by the encoder feedback, and the position control by the external scale feedback. (2) To prevent a runaway or damage of equipment caused by an external scale trouble or by disjoining of motor/load, make sure to set Pr3.28 "Hybrid deviation excess setting" and Pr3.29 "Hybrid deviation clear setting" to appropriate values. When the hybrid deviation excess range is set excessively wide, a detection becomes delayed, and the effects of lag error detection becomes lost. Also, if set excessively narrow, the torsion of motor/equipment by normal operation may be detected as an error. (3) The external scale of 1/40 ≤ External scale ratio ≤ 1280 is recommended. However even within the range above, if the external scale ratio is set to a smaller value than 50/Position loop gain (Pr1.00, Pr1.05), a control with each pulse may become impossible. Furthermore, if the external scale ratio is increased, the operating noise may become louder. (4) When a wrong external scale division ratio is set, even if the external scale and motor position agree with each other, the Err25.0 "Hybrid deviation excess error protection" may occur especially when the stroke distance is long with the movement. In that case, use with the external scale division ratio set to a value that is as close as possible, and the hybrid deviation excess range expanded. Motor Business Unit, Panasonic Corporation No.SX-DSV03031- 74 - 4-5-1 Selection of external scale type This section describes the selection of external scale type to be used. ■Relevant parameters Category No. Parameter name Setting range Unit 3 23 External scale type selection 0 to 2 -- 3 26 External scale direction inversion 0 to 1 -- Pr3.23 Function Selects the type of external scale. 0: A- and B-phase output type 1: Serial communication type (Incremental specification) 2: Serial communication type (Absolute specification) When the A- and B-phase output type is connected, if the value is set to 1 or 2, Err50.0 "External scale connection error protection" occurs. Also, when the serial communication type is connected, if the value is set to 0, Err55.0-55.2 "A-phase or B-phase or Z-phase connection error protection" occurs. Sets the direction inversion of the external scale feedback counter. 0: Non-inversion 1: Inversion External scale type Corresponding scale 0 A- and B-phase output type *1 *2 External scale of A- and B-phase output type 1 Serial communication type (Incremental specification) *2 Serial communication type (Absolute specification) *2 Magnescale Co., Ltd. SR75, SR85, SL700/PL101-RP Mitsutoyo Corporation AT573, ST771A, ST773A 2 Corresponding speed *3 Up to 4 Mpps (After ×4 multiplication) Up to 4 Gpps Up to 4 Gpps Magnescale Co., Ltd. SR77, SR87 *1. The counting direction of driver internal processing on the A- and B-phase output type external scale is shown in the table below. Count-down direction Count-up direction t1 t1 EXA EXA EXB EXB t2 EXB is advanced 90° than EXA t1 > 0.25 µs t2 > 1.0 µs t2 EXB is retarded 90° than EXA t1 > 0.25 µs t2 > 1.0 µs *2. For the direction of external scale connection, make sure to connect so that the scale counting direction becomes as the count-up when the motor axis is rotated to the CCW direction, and as the count-down when the motor shaft is rotated to the CW direction. If the above mentioned directions are not possible depending on the installation conditions and others, the scale counting direction can be inverted using Pr3.26 "External scale direction inversion". The installation direction can be checked on the front monitor or via communication, by checking the counting directions of external scale feedback pulse summation and encoder feedback pulse summation. When they are in agreement, the connection is established correctly. If they do not match, invert the set value of Pr3.26 "External scale direction inversion" (0 1 or 1 0). Motor Business Unit, Panasonic Corporation No.SX-DSV03031- 75 - *3. The term corresponding speed refers to the feedback speed [pps] of external scale that can be processed in the driver side. For the information on available range in the scale side, please check in the specification sheet for the scale. For example, when using a serial communication type external scale having the resolution of 0.01 μm, the maximum speed is 4 m/s. When a use at the speed of 5 m/s is desired with the serial communication type, select a type whose external scale resolution is larger than 0.0125 μm. However even with the full-close control, the overspeed protection occurs if the motor axis rotation speed exceeds the maximum speed. 4-5-2 Setting of external scale division ratio This section describes the setting of division ratio with encoder resolution and external scale resolution. ■Relevant parameters Category No. 3 24 3 25 Setting range Unit External scale division numerator 0 to 223 -- External scale division denominator 1 to 223 -- Parameter name Function Sets the numerator of external scale division setting. When the set value = 0 is true, the operation is performed with the encoder resolution used as the division numerator. Sets the denominator of external scale division setting. • Check the encoder pulse count per one motor rotation and the external scale pulse count per one motor rotation, then set the external scale division numerator (Pr3.24) and external scale division denominator (Pr3.25) so that the equation below becomes true. Example) With 10-mm ball screw pitch, 0.1-μm/pulse scale, 23-bit (8,388,608-pulse) encoder resolution Pr3.24 8388608 Pr3.25 100000 = Encoder resolution per one motor rotation [pulse] External scale resolution per one motor rotation [pulse] • If the ratio is incorrect, the difference increases between the position calculated from encoder pulse and the position calculated from external scale pulse, and the hybrid deviation excess error protection occurs especially when the movement distance is long. • When Pr3.24 is set to 0, the encoder resolution is automatically set as the numerator. Motor Business Unit, Panasonic Corporation No.SX-DSV03031- 76 - 4-5-3 Setting of hybrid deviation excess The difference between the motor (encoder) position and load (external scale) position is detected, and when the difference exceeds Pr3.28 "Hybrid deviation excess setting", the hybrid deviation excess error protection is activated. The hybrid deviation excess occurs mainly when there is an external scale error, external scale connection fault, and motor-load connection looseness. ■Relevant parameters Category No. 3 28 3 29 Setting range Parameter name Unit Function Hybrid deviation excess Command Sets the allowance (hybrid deviation) between the motor (encoder) position 1 to 227 and load (external scale) position on a command basis. setting unit Hybrid deviation clear setting Each time the motor rotates for the amount of this set value, the hybrid 0 to 100 Rotation deviation is cleared to zero. When the set value is zero, the hybrid deviation is not cleared. • Regarding hybrid deviation clear specification Each time the motor rotates for the amount set with Pr3.29 "Hybrid deviation clear setting", the hybrid deviation is cleared to zero. By this function, operation becomes possible even with uses with which an accumulation of hybrid deviation occurs due to slippage or other reasons. Hybrid deviation value [on command basis] (Absolute value) Hybrid deviation excess error occurrence Pr3.28 "Hybrid deviation excess setting" Pr3.29 "Hybrid deviation clear setting" Pr3.29 "Hybrid deviation clear setting" Motor rotation speed [rotation] Note) The rotation speed for hybrid deviation clear setting is detected by the use of encoder feedback pulse. When using the hybrid deviation clear, make sure to set the Pr3.29 "Hybrid deviation clear setting" to an appropriate value. If set to a significantly smaller value compared with the set value of Pr3.28 "Hybrid deviation excess setting", this function may not work correctly as a protection against an abnormal operation caused by improper connection of external scale or others. When using, pay close attention to safety, and install a limit sensor or implement other means. Motor Business Unit, Panasonic Corporation No.SX-DSV03031- 77 - 4-6 Regeneration resistor setting This section describes the settings relevant to regeneration resistor. For the details on regeneration resistor specification, refer to the delivery specification sheet. ■Relevant parameters Category No. Parameter name Setting Unit range 0 16 Regeneration resistor external installation setting 0 to 3 -- 0 17 External regeneration resistor setting 0 to 4 -- Function This parameter is to be set depending on whether to use the built-in regeneration resistor in driver or to disconnect the built-in resistor and install the regeneration resistor externally. 0: Built-in resistor is used for regeneration overload protection. 1: External resistor is used for regeneration overload protection. 2: Although external resistor is used, regeneration overload protection is not performed. 3: To be used without regeneration resistor. (Regeneration overload protection is not performed.) When the external regeneration resistor is selected (Pr0.16 = 1 or 2), this parameter selects the calculation method for regeneration resistance load factor. 0: Operation factor of 10% with external regeneration resistor is equivalent to regeneration load factor of 100%. (A5 series compatible) 1 to 4: For manufacturer use (Do not change the setting.) Motor Business Unit, Panasonic Corporation No.SX-DSV03031- 78 - [E***] This function is not available. 4-7 Absolute setting 4-7-1 Absolute encoder With motors of absolute encoder specification, by connecting an absolute encoder battery, and by setting Pr0.15 "Absolute encoder setting" from "1" (factory setting) to "0", the absolute system can be setup with which any home position return operation is not necessary after the power is turned on. Absolute data is transferred to a host controller using the communications function (RS232m RS485, Modbus) of the servo driver. ■Relevant parameters Category Parameter name No. 0 15 Absolute encoder setting 4-7-1-1 Setting range 0 to 2 Unit -- Function Sets the method of absolute encoder use. 0: Used as absolute system (absolute mode). 1: Used as incremental system (incremental mode). 2: Used as absolute system (absolute mode)., but multirotation counter over is ignored. Absolute system configuration Absolute system configuration using RS232 interface Host controller Servo amp x2 RS232 interface TXD RXD GND 4 3 1 SN751701 or equivalent RXD TXD GND x4 Positioning controller x6 Junction connector Motor Battery By using the RS232 interface, the absolute system having multiple axes (up to 32 axes) can be setup. Motor Business Unit, Panasonic Corporation No.SX-DSV03031- 79 - Absolute system configuration using RS485 interface Host controller Servo amp RS485 interface RS485+ RS485GND x2 ADM485 or equivalent 6 RS485+ 5 RS4851 GND 8 RS485+ 7 RS485- x4 Pos it ioning controller x6 Junction connector Motor Batt ery When using the RS485 interface, set the Pr5.31 "Axis number" to between 1 and 31. Motor Business Unit, Panasonic Corporation No.SX-DSV03031- 80 - 4-7-1-2 Absolute data The absolute data contains the one rotation data, which indicates the absolute position per one motor rotation, as well as the multirotation data, which counts the motor rotation speed of since the encoder clear is performed. One rotation data Multirotation data 8388607,0,1,2, …… 8388607,0,1,2, …… -1 0 01 8388607,0,1, 12 Motor rotation direction CW 4-7-1-3 CCW Installation of absolute data battery Please refer to the delivery specification sheet. Motor Business Unit, Panasonic Corporation No.SX-DSV03031- 81 - 4-7-1-4 Clearing of absolute encoder The multirotation data of absolute data is retained by the battery for absolute encoder. Therefore, after installing the absolute encoder battery, when starting the machine for the first time, it becomes necessary to perform the encoder clear operation at the home position, and set the value of multirotation data to zero. The encoder clear operation is performed by operating the front panel (refer to 3-2-4, (6) Clearing the absolute encoder) or using the PANATERM. After performing the absolute encoder clear, turn the control power supply off once, then turn the power on again. 4-7-1-5 Transfer of absolute data The absolute data is transferred from the servo driver to host controller in accordance with the steps described below. Make sure to transfer the absolute data after confirming that the power is turned on, and that the servo ready output (S-RDY) is turned ON. (1) Setting the serial communication interface of host controller RS232 Baud rate Data length Parity Start bit Stop bit 2400, 4800, 9600, 19200, 38400, 57600, 115200 bps 8 bits No 1 bit 1 bit The baud rate is determined by Pr5.29 "RS232 communication baud rate setting". RS485 Baud rate Data length Parity Start bit Stop bit 2400, 4800, 9600, 19200, 38400, 57600, 115200 bps 8 bits No 1 bit 1 bit The baud rate is determined by Pr5.30 "RS485 communication baud rate setting". Motor Business Unit, Panasonic Corporation No.SX-DSV03031- 82 - With *1 and *2, the data is determined by the setting of Pr5.31 "Axis number". (2) Absolute data transfer procedure RS232 Axis number 0 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 Transfer start 05h s end 04h receive Absolute data send request to servo amp N Y 00h s end 01h s end *1 D2h send 2Dh send *2 06h receive N Y 05h receive Absolute data reception from servo amp N Y 04h s end Absolute data reception (15 characters) Checksum OK N Data for *2 00h 01h 02h 03h 04h 05h 06h 07h 08h 09h 0Ah 0Bh 0Ch 0Dh 0Eh 0Fh 10h 11h 12h 13h 14h 15h 16h 17h 18h 19h 1Ah 1Bh 1Ch 1Dh 1Eh 1Fh 2Eh 2Dh 2Ch 2Bh 2Ah 29h 28h 27h 26h 25h 24h 23h 22h 21h 20h 1Fh 1Eh 1Dh 1Ch 1Bh 1Ah 19h 18h 17h 16h 15h 14h 13h 12h 11h 10h 0Fh The checksum is judged OK when the lower 8 bits of the sum of received absolute data (15 characters) is zero. Y 06h s end Data for *1 15h s end Transfer end * To avoid faulty operation caused by accidental noise or others, it is recommended to perform the communication above for two times or more, and confirm the agreement of absolute data. Motor Business Unit, Panasonic Corporation No.SX-DSV03031- 83 - RS485 With *1, *2, and *3, the data is determined by the setting of Pr5.31 "Axis number". Transfer start Axis number 0 81h send *1 05h send 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 81h receive*1 N 04h receive Absolute data send request to servo amp Y 00h send 01h send *2 D2h send 2Dh send *3 06h receive N Y 80h receive 05h receive Absolute data reception from servo amp N Y 80h send 04h send Absolute data reception (15 characters) Checksum OK N RS485 communication cannot be used. 81h 01h 2Dh 82h 02h 2Ch 83h 03h 2Bh 84h 04h 2Ah 85h 05h 29h 86h 06h 28h 87h 07h 27h 88h 08h 26h 89h 09h 25h 8Ah 0Ah 24h 8Bh 0Bh 23h 8Ch 0Ch 22h 8Dh 0Dh 21h 8Eh 0Eh 20h 8Fh 0Fh 1Fh 90h 10h 1Eh 91h 11h 1Dh 92h 12h 1Ch 93h 13h 1Bh 94h 14h 1Ah 95h 15h 19h 96h 16h 18h 97h 17h 17h 98h 18h 16h 99h 19h 15h 9Ah 1Ah 14h 9Bh 1Bh 13h 9Ch 1Ch 12h 9Dh 1Dh 11h 9Eh 1Eh 10h 9Fh 1Fh 0Fh The checksum is judged OK when the lower 8 bits of the sum of received absolute data (15 characters) is zero. Y 06h send Data for *1 Data for *2 Data for *3 15h send Transfer end * To avoid faulty operation caused by accidental noise or others, it is recommended to perform the communication above for two times or more, and confirm the agreement of absolute data. Motor Business Unit, Panasonic Corporation No.SX-DSV03031- 84 - (3) Composing of absolute data By using the 15 character data received via RS232 or RS485, the one rotation data or multirotation data is composed. 0Bh This is the set value of Pr5.31 "Axis number". Axis number D2h 03h 11h Encoder status (L) Received absolute data (15 characters) Encoder status (H) One rotation data (L) One rotation data (M) One rotation data (H) Multirotation data (L) Multirotation data (H) Becomes as zero when communication is executed normally. When the value is not zero, read the absolute data from the driver again. 00h Error code Checksum One rotation data One rotation data (H) × 10000h + One rotation data (M) × 100h + One rotation data (L) Multirotation data Multirotation data (H) × 100h + Multirotation data (L) Encoder status (1 indicates an error occurrence.) Bit 7 Bit 6 Bit 5 Encoder status (L) Bit 4 Bit 3 Bit 2 0 Bit 1 Bit 0 Overspeed Err42.0 "Absolute overspeed error protection" Full absolute status Err47.0 "Absolute status error protection" Counting error Err44.0 "Absolute one rotation counter error protection" Counter overflow Err41.0 "Absolute counter over error protection" Multirotation error Err45.0 "Absolute multirotation counter error protection" Battery error Err40.0 "Absolute system down error protection" Battery alarm Warning number A2 "Battery warning" Bit 7 0 Bit 6 0 Encoder status (H) Bit 5 Bit 4 Bit 3 Bit 2 0 0 Bit 1 0 Bit 0 0 Battery error Any of battery alarm, multirotation error, counter overflow, counting error, full absolute status, or overspeed has occurred. For the details on encoder status, refer to the specification sheet for the encoder. • Make sure to transfer the absolute data under a status that the motor is in the servo-off state, and is fixed by brake or other means. Motor Business Unit, Panasonic Corporation No.SX-DSV03031- 85 - 4-7-2 External scale With the full-close control, the absolute system can be setup with which any home position return operation is not necessary after the power is turned on. Using the communication function (RS232 or RS485) of servo driver, the absolute data of external scale is transferred to the host controller. 4-7-2-1 External scale absolute system configuration External scale absolute system configuration using RS232 interface Host controller Servo amp x2 RS232 interface TXD RXD GND 4 3 1 SN751701 or equivalent RXD TXD GND x6 Junction connector Motor x4 Positioning controll er x5 Junction connector Detection head Linear scale unit By using the RS232 interface, the absolute system having multiple axes (up to 32 axes) can be setup. Motor Business Unit, Panasonic Corporation No.SX-DSV03031- 86 - External scale absolute system configuration using RS485 interface Host controller Servo amp RS485 interface RS485+ RS485GND x2 ADM485 or equivalent 6 RS485+ 5 RS4851 GND 8 RS485+ 7 RS485- x6 Junction connector Motor x4 Positioning controller x5 Junction connector Detection head Linear scale unit When using the RS485 interface, set the Pr5.31 "Axis number" to between 1 and 31. Motor Business Unit, Panasonic Corporation No.SX-DSV03031- 87 - 4-7-2-2 Transfer of external scale absolute data The absolute data of external scale is transferred from the servo driver to host controller in accordance with the steps described below. Make sure to transfer the absolute data after confirming that the power is turned on, and that the servo ready output (S-RDY) is turned ON. (1) Setting the serial communication interface of host controller Same as with (1) in 4-7-1-5 Transfer of absolute data. Motor Business Unit, Panasonic Corporation No.SX-DSV03031- 88 - 4-7-2-3 Procedure for transfer of external scale absolute data RS232 With *1 and *2, the data is determined by the setting of Pr5.31 "Axis number". Transfer start Axis number 0 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 05h send 04h receive Absolute data send request to servo amp N Y 00h send 01h send *1 C2h send 3Dh send *2 06h receive N Y 05h receive N Y Absolute data reception from servo amp 04h send Absolute data reception (15 characters) Checksum OK N Data for *1 Data for *2 00h 01h 02h 03h 04h 05h 06h 07h 08h 09h 0Ah 0Bh 0Ch 0Dh 0Eh 0Fh 10h 11h 12h 13h 14h 15h 16h 17h 18h 19h 1Ah 1Bh 1Ch 1Dh 1Eh 1Fh 3Eh 3Dh 3Ch 3Bh 3Ah 39h 38h 37h 36h 35h 34h 33h 32h 31h 30h 2Fh 2Eh 2Dh 2Ch 2Bh 2Ah 29h 28h 27h 26h 25h 24h 23h 22h 21h 20h 1Fh Y 06h send 15h send The checksum is judged OK when the lower 8 bits of the sum of received absolute data (15 characters) is zero. Transfer end * To avoid faulty operation caused by accidental noise or others, it is recommended to perform the communication above for two times or more, and confirm the agreement of absolute data. Motor Business Unit, Panasonic Corporation No.SX-DSV03031- 89 - RS485 With *1, *2, and *3, the data is determined by the setting of Pr5.31 "Axis number". Transfer start Axis number 0 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 81h send *1 05h send 81h receive*1 N 04h receive Absolute data send request to servo amp Y 00h send 01h send *2 C2h send 3Dh send *3 06h receive N Y 80h receive 05h receive N Y Absolute data reception from servo amp 80h send 04h send Absolute data reception (15 characters) Checks um OK RS485 communication cannot be used. 81h 01h 3Dh 82h 02h 3Ch 83h 03h 3Bh 84h 04h 3Ah 85h 05h 39h 86h 06h 38h 87h 07h 37h 88h 08h 36h 89h 09h 35h 8Ah 0Ah 34h 8Bh 0Bh 33h 8Ch 0Ch 32h 8Dh 0Dh 31h 8Eh 0Eh 30h 8Fh 0Fh 2Fh 90h 10h 2Eh 91h 11h 2Dh 92h 12h 2Ch 93h 13h 2Bh 94h 14h 2Ah 95h 15h 29h 96h 16h 28h 97h 17h 27h 98h 18h 26h 99h 19h 25h 9Ah 1Ah 24h 9Bh 1Bh 23h 9Ch 1Ch 22h 9Dh 1Dh 21h 9Eh 1Eh 20h 9Fh 1Fh 1Fh The checksum is judged OK when the lower 8 bits of the sum of received absolute data (15 characters) is zero. N Y 06h send Data for *1 Data for *2 Data for *3 15h send Transfer end * To avoid faulty operation caused by accidental noise or others, it is recommended to perform the communication above for two times or more, and confirm the agreement of absolute data. Motor Business Unit, Panasonic Corporation No.SX-DSV03031- 90 - 4-7-2-4 Composing of external scale absolute data By using the 15 character data received via RS232 or RS485, the one rotation data or multirotation data is composed. Received absolute data (15 characters) 0Bh Axis number C2h FFh *1 31h *2 External scale status (L) External scale status (H) Absolute data (1) Absolute data (2) Absolute data (3) Absolute data (4) Absolute data (5) Absolute data (6) Error code Checksum This is the set value of Pr5.31 "Axis number". *1 becomes as undefined. *2 differs depending on external scale. 31h: Mitutoyo Corporation AT573A 32h: Mitutoyo Corporation ST770A, ST770AL 41h: Magnescale Co., Ltd. SR77, SR87 Becomes as zero when communication is executed normally. When the value is not zero, read the absolute data from the driver again. External scale absolute data Absolute data (6) × 10000000000h + Absolute data (5) × 100000000h + Absolute data (4) × 1000000h + Absolute data (3) × 10000h + Absolute data (2) × 100h + Absolute data (1) The absolute data of external scale has 48 bits (negative value is a value described with the complement of 2). External scale (1 indicates an error occurrence.) Bit 7 Bit 6 External scale status (L) Bit 5 Bit 4 Bit 3 Bit 2 0 Bit 1 Bit 0 Err51.0 "External scale status 0 error protection" Err51.1 "External scale status 1 error protection" Err51.2 "External scale status 2 error protection" Err51.3 "External scale status 3 error protection" Err51.4 "External scale status 4 error protection" Err51.5 "External scale status 5 error protection" Warning number A8 "External scale error warning" Warning number A8 "External scale error warning" Bit 7 0 Bit 6 0 External scale status (H) Bit 5 Bit 4 Bit 3 Bit 2 0 0 Bit 1 0 Bit 0 0 Logical sum of external scale status (L) bit 6 and 7. Logical sum of external scale status (L) bit 0 through 5. For the details on external scale status, refer to the specification sheet for the external scale. • Make sure to transfer the absolute data under a status that the motor is in the servo-off state, and is fixed by brake or other means. Motor Business Unit, Panasonic Corporation No.SX-DSV03031- 91 - 5. Gain adjustment/vibration suppression function 5-1 Automatic adjustment function An overview of A6 series automatic adjustment function is shown in the figure below. Position/ speed command Basic gain automatic setting Position/speed control Adaptive processing Notch filter Load variation compensation Torque command generation Motor current Torque command Current control Motor Load characteristics estimation Resonance frequency measurement Motor speed Encoder Servo amp 1) Real-time automatic tuning The load characteristics are estimated from the motor speed and torque command, and using the inertia estimation value as a base, the basic gains relevant to the position control and speed control are set automatically. Moreover, by an addition of concurrently estimated friction torque to the torque command in advance or compensates as load variation , a reducing of positioning settling time is achieved. 2) Adaptive filter By estimating the resonance frequency from the motor speed, and removing the frequency component in question from the torque command, any vibration caused by resonance phenomena is suppressed. Motor Business Unit, Panasonic Corporation No.SX-DSV03031- 92 - 5-1-1 Real-time automatic tuning The load characteristics of machine are estimated in real-time. From the estimation result, the basic gain setting and load variation compensation corresponding to the stiffness parameter are performed automatically. In the case with the two-degree-of-freedom control mode, refer to 5-1-3/5-1-4. 1) Scope This function operates under the conditions below. Condition under which real-time automatic tuning is operated Depending on the control mode, a different real-time automatic tuning mode is enabled. Control mode For the details, refer to the description of parameter Pr0.02 "Real-time automatic tuning mode setting". • Must be in the servo-on state. • Input signals for deviation counter clear, command input inhibition, etc., and parameters Others for other than the control such as torque limit setting are set appropriately, and any problem does not exist with the motor normal rotation. 2) Precautions Under conditions below, the real-time automatic tuning may not operate normally. In such a case, change the load condition/operation pattern, or manually set the relevant parameters while referring to the description of manual adjustment function. Condition under which real-time automatic tuning operation is inhibited • The load inertia is smaller than, or larger than the rotor inertia. (Less than threefold, or twentyfold or more) Load condition • Fluctuation occurs with load inertia. • The machine stiffness is significantly low. • Nonlinear characteristics exist such as looseness by backlash. • Continuous use at the speed less than 100 [r/min] and at low speed. • The acceleration/deceleration is moderate such as by 2000 [r/min] or less per 1 [s]. • Conditions of speed at 100 [r/min] or more and acceleration/deceleration by 2000 Operation pattern [r/min] or more per 1 [s] do not continue for longer than 50 [ms]. • The acceleration/deceleration torque is smaller than the offset loading/viscous friction torque. Motor Business Unit, Panasonic Corporation No.SX-DSV03031- 93 - 3) Parameters for controlling real-time automatic tuning The operation of real-time automatic tuning is set with the parameters below. Category 0 No. 02 Parameter name Real-time automatic tuning mode setting Setting range 0 to 6 Unit -- 0 03 Real-time automatic tuning stiffness setting 0 to 31 -- 6 10 Function expansion setting -32768 ～32768 -- Function Sets the operation mode of real-time automatic tuning. Set Mode Description value The real-time automatic tuning 0 Disabled function is disabled. This mode emphasizes stability. The offset loading and friction 1 Standard compensation are not performed, also the gain switching is not used. This mode emphasizes positioning. The mode is used with, for example, ball screw driven equipment with Positioning 2 horizontal axis, with which there is *1 no offset loading and the friction is small. In addition to the positioning mode, the offset loading of such as vertical Vertical axis axis is compensated, and the 3 *2 fluctuation of positioning settling time is suppressed. In addition to the vertical axis mode, Friction the positioning settling time is 4 compensation reduced with such as the belt driven *3 axis having a large friction. No change is made to the basic gain setting and friction compensation setting, and only the load Load characteristics estimation is 5 characteristics performed. This is used in measurement combination with the set-up support software. By configuring in detail the combination of real-time automatic tuning function with Pr6.32 Customize 6 "Real-time automatic tuning custom *4 setting", customization is possible to suit the use. *1. With the speed/torque control, it becomes the same as standard mode. *2. With the torque control, it becomes the same as standard mode. *3. With the speed control, it becomes the same as vertical axis mode. With the torque control, it becomes the same as standard mode. *4. Depending on the control mode, some functions are unavailable. Refer to the description of Pr6.32. Sets the responsiveness for when the real-time automatic tuning is enabled. As the set value becomes higher, the speed responsiveness becomes higher and the servo stiffness is also increased, but vibration becomes more prone to occur. Change the value from low to high while checking the operation. When bit14=1, enable automatic adjustment of load variation suppression function (Continued) Motor Business Unit, Panasonic Corporation No.SX-DSV03031- 94 Classification 6 No. 31 Parameter name Real-time automatic tuning estimation speed Setting range 0 to 3 Unit - Function Sets the estimated velocity for load characteristics when the real-time automatic tuning is enabled. The higher the setting value is, the faster the tracking to the load characteristic change is, but estimated variations to disturbances become larger. The estimated result will be stored in EEPROM every 30 minutes. Set value Mode Description Stops the load characteristic 0 Stationary estimation. Responds in the minute unit to 1 Nearly stationary the change of the load characteristic. Responds in the second unit to 2 Gradual change the change of the load characteristic. Conducts an optimal estimation 3 Abrupt change to the change of the load * characteristics. *: When the automatic oscillation detection is enabled via set-up support software, this setting is ignored and the operation follows the set value 3. When the customizing mode is selected as the operational mode for the real-time automatic tuning (Pr0.02 = 6), set the advanced settings for the automatic adjusting function. Bit 6 32 Real-time automatic tuning custom settings (to be continued) -32768 to 32767 - Content Load characteristic estimation *1, *2 Description Set enabled or disabled for the load characteristic estimation function. 1 to 0 Setting value = 0: Disabled Setting value =1: Enabled Set update subjected to the load characteristic estimation result of Inertia ratio Pr0.04 "Inertia ratio." 3 to 2 update Setting value = 0: Uses current settings. *3 Setting value = 1: Replace by an estimate value. Set updates subjected to the load characteristic estimation result with Pr6.07 "Additional value to torque command," Pr6.08 "Torque compensation value in positive direction" and Pr6.09 "Torque compensation value in negative direction." Setting value = 0: Uses current settings. Setting value = 1: Disables the torque compensation. Applies zero clear to parameters above. Torque Setting value = 2: Vertical axis mode 6 to 4 compensation Updates Pr6.07 and applies zero clear *4 to Pr6.08 and Pr6.09. Setting value = 3: Friction compensation (few) Updates Pr6.07 and sets less compensation to Pr6.08 and Pr6.09. Setting value =4: Friction compensation (moderate) Sets moderate compensation to Pr6.08 and Pr6.09. Setting value = 5: Friction compensation (strong) Sets strong compensation to Pr6.08 and Pr6.09. *1: When the load characteristic estimation is disabled, the current settings do not change, even if the inertia ratio is replaced by the estimate value. In addition, if the torque compensation value is replaced by the estimate value, zero clear (disabled) applies. *2: When the load characteristic measurement is enabled, at the same time, set Pr6.31 "Real-time automatic tuning estimation speed" to a value other than zero (stopping the estimation). Motor Business Unit, Panasonic Corporation No.SX-DSV03031- 95 - Classification No. Parameter name Setting range Unit Function Bit 6 32 Real-time automatic tuning custom settings (continued) -32768 to 32767 - Content Description Sets enabled or disabled for the basic Stiffness gain setting by Pr0.03 "Real-time 7 setting automatic tuning stiffness setting." *5 Setting value = 0: Disabled Setting value = 1: Enabled Sets the change availability to fix Fixed parameters which are usually fixed parameter 8 values. setting Setting value = 0: Uses current settings *5 Setting value = 1: Sets fixed to values. Selects a setting method for the relevant parameters of gain switching when the real-time automatic tuning is Gain enabled. switching 10 to 9 Setting value = 0: Uses current settings setting Setting value = 1: Gain switching is *5 disabled. Setting value = 2: Gain switching is enabled. *3: When the inertia ratio update is enabled, set bits 1-0 (load characteristic estimation) to 1 (enabled) at the same time. If both are not enabled, the inertia ratio is not updated. *4: When the torque compensation is enabled -- which means that this setting is set to 2-5 -- set bits 3-2 (inertia ratio update) to 1 (enabled) at the same time. The torque compensation alone cannot be updated. *5: When this setting is set to a setting other than zero, set bits 3-2 (inertia ratio update) settings to 1 (enabled). At this moment, bits 1-0 (load characteristic estimation) can set whether the inertia ratio update is enabled or not. Note: This parameter needs the settings in bit unit. The operation in the case of wrong setting gives no guarantee. Therefore, we recommend using the set-up support software when editing parameters. Note: Do not change this parameter while the motor is running. In addition, the parameter is actually changed when the motor stops after the establishment of the load characteristic measurement result. * Setting method for parameters in bit unit Calculate the setting value of Pr6.32 according to the following procedure when each setting is set to a value other than zero. 1. Check the least significant bit of each setting. Ex.: The least significant bit of the torque compensation function is 4. 2. Multiply the "least significant bit" power of 2 by the setting value. Ex.: When the torque compensation function is set to the friction compensation (moderate), 24 x 4 = 64 3. Calculate each setting in accordance with sections 1 and 2. The setting of Pr6.32 shall be the value that all are added. Ex.: In the following case: load characteristic measurement is enabled; inertia ration update is enabled; torque compensation is friction compensation (moderate); stiffness setting is enabled; fixed parameters are set to fixed values; gain switching setting is enabled; 20×1+22×1+24×4 +27×1+28×1+29×2 = 1477 Motor Business Unit, Panasonic Corporation No.SX-DSV03031- 96 - 4. Parameters that are changed by the real-time automatic tuning The real-time automatic tuning updates the following parameters using the load characteristic estimates, depending on Pr0.02 "Real-time automatic tuning mode setting" and Pr6.32 "Real-time automatic tuning custom setting." Classification No. Parameter name Setting range Unit 0 04 Inertia ratio 0 to 10000 % 6 07 -100 to 100 % 6 08 -100 to 100 % Function Updates this parameter when the inertia ration update of real-time automatic tuning is enabled. Updates this parameter when the vertical axis mode of real-time automatic tuning is enabled. Updates this parameter when the friction compensation mode of real-time automatic tuning is enabled. 6 09 -100 to 100 % Updates this parameter when the friction compensation mode of real-time automatic tuning is enabled. Additional value to torque command Torque compensation value in positive direction Torque compensation value in negative direction The real-time automatic tuning updates the following basic gain setting parameters, depending on Pr0.03 "Real-time automatic tuning stiffness setting." For more information, see the setting table for the basic gain parameters in section 7. Classification No. Parameter name Setting range Unit 1 00 First position loop gain 0 to 30000 0.1/s 1 01 First velocity loop gain 1 to 32767 0.1 Hz 1 02 1 to 10000 0. 1ms Function Updates to a setting depending on the stiffness when the stiffness setting is enabled. Updates to a setting depending on the stiffness when the stiffness setting is enabled. Updates to a setting depending on the stiffness when the stiffness setting is enabled. 1 04 0 to 2500 0.01 ms Updates to a setting depending on the stiffness when the stiffness setting is enabled. 1 05 0 to 30000 0.1/s Updates to a setting depending on the stiffness when the stiffness setting is enabled. 1 06 1 to 32767 0.1 Hz Updates to a setting depending on the stiffness when the stiffness setting is enabled. 1 07 1 to 10000 0.1 ms Updates to a setting depending on the stiffness when the stiffness setting is enabled. 1 09 0 to 2500 0.01 ms Updates to a setting depending on the stiffness when the stiffness setting is enabled. Classification No. 1 03 1 08 1 10 1 11 1 12 1 13 1st velocity loop integration time constant Filter time constant for the first torque Second position loop gain Second velocity loop gain 2nd velocity loop integration time constant Filter time constant for the second torque The real-time automatic tuning sets the following parameters to fixed values. Parameter name Setting range First velocity detection 0 to 5 filter Second velocity 0 to 5 detection filter Velocity feedforward 0 to 2000 gain Velocity feedforward 1 to 6400 filter Torque feedforward 0 to 2000 gain Torque feedforward 0 to 6400 filter Unit 0.1 % 0.01 ms 0.1 % 0.01 ms Function Sets to 0 when the fixed parameter setting is enabled. Sets to 0 when the fixed parameter setting is enabled. Sets to 300 (30%) when the fixed parameter setting is enabled. Sets to 50 (0.5 ms) when the fixed parameter setting is enabled. Sets to 0 when the fixed parameter setting is enabled. Sets to 0 when the fixed parameter setting is enabled. (To be continued) Motor Business Unit, Panasonic Corporation No.SX-DSV03031- 97 - The real-time automatic tuning sets the following parameters in accordance with the gain switching setting. Classification No. 1 14 1 15 1 16 1 17 1 18 1 19 1 20 1 21 1 22 1 23 1 24 1 25 1 26 1 27 Parameter name Second gain setting Position control switching mode Position control switching delay time Position control switching level Position control switching hysteresis Position gain switching time Velocity control switching mode Velocity control switching delay time Velocity control switching level Velocity control switching hysteresis Torque control switching mode Torque control switching delay time Torque control switching level Torque control switching hysteresis Setting range 0 to 1 Unit - 0 to 10 - 0 to 10000 0.1 ms 0 to 20000 - 0 to 20000 - 0 to 10000 0.1 ms 0 to 5 - 0 to 10000 0.1 ms 0 to 20000 - 0 to 20000 - 0 to 3 - 0 to 10000 0.1 ms 0 to 20000 - 0 to 20000 - Function Sets to 1 except to hold the current setting. Sets to 10 when the gain switching is enabled. Sets to zero when the gain switching is disabled. Sets to 50 except to hold the current setting. Sets to 50 except to hold the current setting. Sets to 33 except to hold the current setting. Sets to 33 except to hold the current setting. Sets to 0 except to hold the current setting. Sets to 0 except to hold the current setting. Sets to 0 except to hold the current setting. Sets to 0 except to hold the current setting. Sets to 0 except to hold the current setting. Sets to 0 except to hold the current setting. Sets to 0 except to hold the current setting. Sets to 0 except to hold the current setting. The following settings are always disabled when Pr0.02 "Real-time automatic tuning mode setting" is a value other than zero. Note that the parameter setting itself is not changed. Classification No. 6 10 6 13 Parameter name Function expansion setting Setting range -32768 to 32767 Unit Second inertia ratio 0 to 10000 % - Function The bit (bit 3) for inertia ratio switching function permission is internally invalidated. Parameter settings can be changed, but the inertia ratio switching function is invalidated. The following settings and parameters are set automatic for enable/disable state of Pr 6.10 “Function expansion setting” load variation suppression function automatic adjustment. Classification No. Parameter name Setting range Unit 6 10 Function extension setting -32768 to 32767 - 6 23 Load fluctuation compensation gain -100 to 100 % 6 24 Load fluctuation compensation filter 10 to 2500 0.01 ms 6 73 Load estimation filter 0 to 2500 0.01 ms 6 74 Torque compensation frequency 1 0 to 5000 0.1 Hz Function When set to Pr 6.10 bit14=1 in case of stiffness setting is enabled, load fluctuation suppression function will become enabled (bit1 = 1). When set to Pr 6.10 bit14=0,it is disabled(bit1 = 1). When set to Pr 6.10 bit14=1 in case of stiffness setting is enabled, sets to 90%. When set to Pr 6.10 bit14=0, set to 0%. When set to Pr 6.10 bit14=1 in case of stiffness setting is enabled, updates to match rigidity. When set to Pr 6.10 bit14=0, value is held. When set to Pr 6.10 bit14=1 in case of stiffness setting is enabled, sets to 0.13 ms. When set to Pr 6.10 bit14=0, set to 0 ms. Regardless value of the Pr 6.10 bit 14, sets to 0. (To be continued) Motor Business Unit, Panasonic Corporation No.SX-DSV03031- 98 - Classification No. 6 75 6 76 5. Parameter name Torque compensation frequency 2 Load estimate numbers Setting range Unit 0 to 5000 0.1 Hz 0 to 8 - Function Regardless value of the Pr 6.10 bit14 , sets to 0. When set to Pr 6.10 bit14=1 in case of stiffness setting is enabled, sets to 4. When set to Pr 6.10 bit14=0, set to 0. How to use If Pr0.02 "Real-time automatic tuning mode setting" is set to a value other than zero, control parameters are automatically set depending on Pr0.03 "Real-time automatic tuning stiffness setting" and Pr 6.10 “Function expansion setting” bit 14. Input an operating command after turning the servo on. Success for the load characteristic estimation updates Pr0.04 "Inertia ratio." Depending on the mode settings, Pr6.07 "Additional value to torque command," Pr6.08 "Torque compensation value in positive direction" and Pr6.09 "Torque compensation value in negative direction" also change. Increasing Pr0.03 "Real-time automatic tuning stiffness setting" can enhance motor response. Adjust to an optimum value while considering the vibrating condition and the positioning setting time. 6. Other cautions A. Although oscillation or an abnormal noise may occur until the load characteristic estimation becomes stable immediately after the servo first turns on following the start or when Pr0.03 "Real-time automatic tuning stiffness setting" is increased, it is not abnormal if it soon becomes stabilized. However, if oscillation or the continuous abnormal noise for three reciprocating motions or more occurs very often, take the following measures: 1. Decrease Pr0.03 "Real-time automatic tuning stiffness setting." 2. Set Pr0.02 "Real-time automatic tuning mode setting" to zero and disable the real-time automatic tuning. 3. Set Pr0.04 "Inertia ratio" to a calculated value on the equipment, and set Pr6.07 "Additional value to torque command," Pr6.08 "Torque compensation value in positive direction" and Pr6.09 "Torque compensation value in negative direction" to zero. 4. Disabale load variation suppression function. (bit1=0 after Pr 6.10 bit14=0) B. Pr0.04 "Inertia ratio," Pr6.07 "Additional value to torque command," Pr6.08 "Torque compensation value in positive direction" and Pr6.09 "Torque compensation value in negative direction" may enormously change after oscillation or an abnormal noise occurs. In such a case, implement measures in item 3 above. C. Pr0.04 "Inertia ratio," Pr6.07 "Additional value to torque command," Pr6.08 "Torque compensation value in positive direction" and Pr6.09 "Torque compensation value in negative direction" which are results by the real-time automatic gain tuning are written in EEPROM every 30 minutes. When the power is restored, the automatic tuning is executed with these data as defaults. Note that the real-time automatic gain tuning results are not stored if the power is turned off before 30 minutes pass. In this case, manually write the parameters in EEPROM and turn the power off. D. Since the control gain update is implemented at the time of shutdown, the change of the setting value of Pr0.03 Real-time automatic tuning stiffness setting" may not be reflected when the motor does not stop such as the cases that the gain is extremely-low and the command in one direction is continuously given. In this case, oscillation or an abnormal noise may occur depending on the stiffness setting reflected after the stop. When changing the stiffness, stop the motor once, be sure to confirm that the stiffness setting has been reflected, and conduct the next operation. Motor Business Unit, Panasonic Corporation No.SX-DSV03031- 99 - 7. Setting table for the basic gain parameters First gain Stiffness 0 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 Pr1.00 For load fluctuation suppression function Second gain Pr1.04 *2 Pr1.01 Pr1.02 Position [0.1/s] Velocity [0.1 Hz] Velocity integration [0.1 ms] Torque [0.01 ms] 20 25 30 40 45 55 75 95 115 140 175 320 390 480 630 720 900 1080 1350 1620 2060 2510 3050 3770 4490 5000 5600 6100 6600 7200 8100 9000 15 20 25 30 35 45 60 75 90 110 140 180 220 270 350 400 500 600 750 900 1150 1400 1700 2100 2500 2800 3100 3400 3700 4000 4500 5000 3700 2800 2200 1900 1600 1200 900 700 600 500 400 310 250 210 160 140 120 110 90 80 70 60 50 40 40 35 30 30 25 25 20 20 1500 1100 900 800 600 500 400 300 300 200 200 126 103 84 65 57 45 38 30 25 20 16 13 11 9 8 7 7 6 6 5 5 Pr1.05 Pr1.09 *1 Pr 6.24 Velocity [0.1 Hz] Velocity integration [0.1 ms] Torque [0.01 ms] Load fluctuation compensation filter [0.01/ms] 15 20 25 30 35 45 60 75 90 110 140 180 220 270 350 400 500 600 750 900 1150 1400 1700 2100 2500 2800 3100 3400 3700 4000 4500 5000 10000 10000 10000 10000 10000 10000 10000 10000 10000 10000 10000 10000 10000 10000 10000 10000 10000 10000 10000 10000 10000 10000 10000 10000 10000 10000 10000 10000 10000 10000 10000 10000 1500 1100 900 800 600 500 400 300 300 200 200 126 103 84 65 57 45 38 30 25 20 16 13 11 9 8 7 7 6 6 5 5 2500 2500 2500 2500 2500 2500 2500 2120 1770 1450 1140 880 720 590 450 400 320 270 210 180 140 110 90 80 60 60 50 50 40 40 40 40 Pr1.06 Pr1.07 Position [0.1/s] 25 30 40 45 55 70 95 120 140 175 220 380 460 570 730 840 1050 1260 1570 1880 2410 2930 3560 4400 5240 5900 6500 7100 7700 8400 9400 10500 *1: In the 17-bit absolute encoder, the least value is restricted to 10. Motor Business Unit, Panasonic Corporation No.SX-DSV03031- 100 - 5-1-2 Adaptive filter With actual operating condition, estimate the resonance frequency from vibration components which are included in the motor velocity, and remove the resonance to reduce the oscillation. 1. Scope This function operates under the following conditions. Conditions in which the adaptive filter operates Control mode The control mode shall be one other than the torque control mode. • The servo shall be on. • Elements other than control parameters, such as torque limit and input inhibit to the Others deviation counter clear command, shall be properly set, and the normal revolution of motor shall be trouble-free. 2. Cautions In the following conditions, the motor may be inoperative. In this case, manually set the notch filter and suppress the resonance. Conditions in which the operation of adaptive filter is blocked. • If the resonance frequency is three times or less velocity response frequency (Hz). • When the resonance peak or the control gain is low, if the effect on the motor velocity Resonance point does not appear. • If more than two resonance points exist. • If motor velocity fluctuation which includes high-frequency content occurs by non-linear elements such as backlash. Command pattern • If the acceleration and deceleration are rapid as 30000 (r/min) or more per one second. Load 3. Relevant parameters The following parameters can set the operations of adaptive filter. Classification 2 No. 00 Parameter name Adaptive filter mode Setting range 0 to 6 Unit Function - Sets the operational mode of adaptive filter. Set to zero (disabled) or four (clear) temporarily when changing the mode. Setting value is 0: Adaptive filter is disabled. Adaptive filter is disabled. Parameters related to the third and fourth notch filters hold the current values. Setting value is 1: One adaptive filter is enabled. One adaptive filter is enabled. Parameters related to the third notch filter are updated depending on the adaptive result. Setting value is 2: Two adaptive filters are enabled. Two adaptive filters are enabled. Parameters related to the third and fourth notch filters are updated depending on adaptive results. Setting value is 3: Resonance frequency measurement mode The resonance frequency is measured. The result can be confirmed in PANATERM. Parameters related to the third and fourth notch filters hold the current values. Setting value is 4: Adaptive results are cleared. Parameters related to the third and fourth notch filters are disabled and adaptive results are cleared. Setting value is 5: High accurate adaptive filter Two adaptive filters are enabled. Parameters related to the third and fourth notch filter are updated depending on adaptive results. We recommend this setting when using two adaptive filters. Setting value is 6: Maker uses. It is the fit gain function of PANATERM, and internally used. Do not use this setting in normal conditions. (To be continued) Motor Business Unit, Panasonic Corporation No.SX-DSV03031- 101 - The adaptive filter automatically sets the following parameters. Classification Parameter name No. Setting range Unit 2 07 Third notch frequency 50 to 5000 2 08 Third notch width 0 to 20 - 2 09 Third notch depth 0 to 99 - 2 10 Fourth notch frequency 50 to 5000 Hz 2 11 Fourth notch width 0 to 20 - 2 12 Fourth notch depth 0 to 99 - 4. Hz Function The first resonance frequency which the adaptive filter estimates is automatically set. When a resonance point is not found, 5000 is set. Is automatically set when the adaptive filter is enabled. Is automatically set when the adaptive filter is enabled. The second resonance frequency which the adaptive filter estimates is automatically set. When a resonance point is not found, 5000 is set. Is automatically set when two adaptive filter are enabled. Is automatically set when two adaptive filter are enabled. How to use Input an operating command with the condition in which Pr2.00 "Adaptive filter mode" is set to a value other than zero. When the resonance point has an effect on the motor velocity, the parameters of the third notch filter and/or the fourth notch filter are automatically set depending on the number of adaptive filters. 5. Other cautions A. Although oscillation or an abnormal noise may occur until the adaptive filter becomes stable immediately after the servo first turns on following the start or when the stiffness setting is increased in the case that the real-time automatic tuning is enabled, it is not abnormal if it soon becomes stabilized. However, if oscillation or the continuous abnormal noise for three reciprocating motions or more occurs very often, take the following measures. 1. 2. 3. 4. Write the parameters in normal operating into EEPROM once. Decrease Pr0.03 "Real-time automatic tuning stiffness." Set Pr2.00 "Adaptive filter mode" to zero, and disable the adaptive filter. Set the notch filter manually. B. The settings of the third and fourth notch filters may enormously change after oscillation or an abnormal noise occurs. In such a case, disable the adaptive filter as mentioned in the third item above temporarily, set Pr2.07 "The third notch frequency" and Pr2.10 "The fourth notch frequency" to 5000 (disabled), and enable the adaptive filter again. C. The third notch filter frequency (Pr2.07) and the fourth notch filter frequency (Pr2.10) are written in EEPROM every 30 minutes. When the power is restored, the process is executed with these data as defaults. Motor Business Unit, Panasonic Corporation No.SX-DSV03031- 102 - 5-1-3 Real-time automatic tuning (two degrees of freedom control mode: standard type) Two-degree-of-freedom control mode has the standard type and synchronization type. Standard type: Is standard mode. Use this type usually. Synchronization type: Use in the case of trajectory control for multiple axes such as articulated robots. This section is for the automatic tuning function dedicated to the standard type. The results from the real-time estimation of the machine load characteristics automatically implement the basis gain setting and load variation compensation depending on the stiffness parameter. 1. Scope This function operates under the following conditions. Conditions in which the real-time automatic tuning operates Pr0.01 = 0: Position control; Pr0.01 = 1: Velocity control ; Pr0.01=6 Full close control Control mode Bit 0 = 1 and bit 3 = 0 in Pr6.47: Two-degree-of-freedom control mode • The servo shall be on. • Parameters other than control, such as the torque limit setting, and input signals, such as Others deviation counter clear and command input inhibit, shall be properly set, and the normal revolution of motor shall be trouble-free. 2. Cautions In the following conditions, the real-time automatic tuning may be inoperative. In this case, change the load conditions and moving pattern or manually set relevant parameters referring to the explanation of manual adjusting function. Conditions in which the operation of real-time automatic tuning is blocked • If the load inertia is small or large compared to the rotor inertia. (Less than three times or twenty times or more) • If the load inertia fluctuates. Load condition • If the machine stiffness is extremely low. • If non-linear characteristics such as looseness due to backlash exist. Moving pattern • If the operation continues at a low velocity less than 100 (r/min). • If the acceleration and deceleration are gradual 2000 (r/min) or less per one second. • If the condition that the velocity is 100 (r/min) or more and the acceleration and deceleration are 2000 (r/min) or more per one second does not continue for 50 (ms) or more. • If the acceleration and deceleration torques are small compared to the offset load and viscous friction torques. Motor Business Unit, Panasonic Corporation No.SX-DSV03031- 103 - 3. Parameters which control the operation of the real-time automatic tuning Set the operation of real-time automatic tuning with the following parameters. Classification No. Parameter name Setting range Unit 02 Real-time automatic tuning mode setting 0 03 Real-time automatic tuning stiffness setting 0 to 31 - 6 10 Function expansion setting -32768 ～32768 -- 0 0 to 6 - Function Sets an operational mode on the real-time automatic tuning. Setting Mode Description The function of real-time 0 and 6 Disabled automatic tuning is disabled. Mode which puts weight on stability. It does not implement an Standard response offset load and friction 1 mode compensation, or use the gain switching. Mode which puts weight on positioning. Use for devices of High response small ball screw drive with low 2 mode 1 friction and without any offset load on the horizontal axis. In addition to the high response mode 1, restrains the positioning High response setting time from varying by 3 mode 2 applying the third gain and the offset load compensation. In addition to the high response High response mode 2, reduces the positioning 4 mode 3 setting time using a load with large *1 friction. Does not change the settings of the basic gain and friction Load compensation, and estimates only 5 characteristic the load characteristics. Use in measurement combination with set-up support software. To be used for fine adjustment of rigidity setting after completion of 6 Fit gain mode fit gain. *1: In velocity control, it is the same as high response mode 2. In addition, Parameters of Pr6.08 "Torque compensation value in positive direction," Pr6.09 "Torque compensation in negative direction" and Pr6.50 "Viscous friction compensation gain" are updated, but not reflected in the operation. Sets responsivity when the real-time automatic tuning is enabled. The higher the setting is, the better the velocity response is, and the servo stiffness increases, but oscillation is easier to occur. Change the value from a low value to a high value while checking the operation. When bit14=1, enable automatic adjustment of load variation suppression function (To be continued) Motor Business Unit, Panasonic Corporation No.SX-DSV03031- 104 - Classification No. Parameter name Setting range Unit 6 31 Real-time automatic tuning estimation speed 0 to 3 - 6 32 Real-time automatic tuning custom setting -32768 to 32767 - Function Sets the estimated velocity of load characteristic when the real-time automatic tuning is enabled. The higher the setting is, the faster the tracking to the load characteristic change is, but the estimated variation to disturbance becomes larger. The estimation result is stored in EEPROM every 30 minutes. Setting Mode Description Stops the load characteristic 0 Stationary estimation. Responds in the minute unit to 1 Nearly stationary the change of the load characteristic. Responds in the second unit to 2 Gradual change the change of the load characteristic. Conducts an optimal estimation 3 Abrupt change to the change of the load * characteristics. *: When the automatic oscillation detection is enabled via set-up support software, this setting is ignored and the operation follows the setting 3. You cannot use in two-degree-of-freedom control mode. Use with the setting 0. Motor Business Unit, Panasonic Corporation No.SX-DSV03031- 105 - 4. Parameters which are changed in the real-time automatic tuning The real-time automatic tuning updates the following parameters using the load characteristic estimates, depending on Pr0.02 "Real-time automatic tuning mode setting." Classification No. Parameter name Setting range Unit 0 04 Inertia ratio 0 to 10000 % 6 07 -100 to 100 % 6 08 -100 to 100 % Updates this parameter when the real-time automatic tuning is enabled (Pr0.02 = 1 to 4). Updates this parameter in the case of the high response mode 2 or 3 of real-time automatic tuning. Updates this parameter in the case of the high response mode 3 of real-time automatic tuning. 6 09 -100 to 100 % Updates this parameter in the case of the high response mode 3 of real-time automatic tuning. 6 50 0 to 10000 0.1%/(10 000 r/min) Additional value to torque command Torque compensation value in positive direction Torque compensation value in negative direction Viscous friction compensation gain Function Updates this parameter in the case of the high response mode 3 of real-time automatic tuning. The real-time automatic tuning updates the following basic gain setting parameters, depending on Pr0.03 "Real-time automatic tuning stiffness setting." For more information, see the setting table for the basic gain parameters in section 7. Classification No. Parameter name Setting range Unit 1 00 First position loop gain 0 to 30000 0.1/s 1 01 First velocity loop gain 1 to 32767 0.1 Hz 1 02 1 to 10000 0.1 ms Updates the setting depending on the stiffness when the real-time automatic tuning is enabled (Pr0.02 = 1 to 4,6). Updates the setting depending on the stiffness when the real-time automatic tuning is enabled (Pr0.02 = 1 to 4,6). Updates the setting depending on the stiffness when the real-time automatic tuning is enabled (Pr0.02 = 1 to 4,6). 1 04 0 to 2500 0.01 ms Updates the setting depending on the stiffness when the real-time automatic tuning is enabled (Pr0.02 = 1 to 4,6). 1 05 0 to 30000 0.1/s Updates the setting depending on the stiffness when the real-time automatic tuning is enabled (Pr0.02 = 1 to 4,6). 1 06 1 to 32767 0.1 Hz Updates the setting depending on the stiffness when the real-time automatic tuning is enabled (Pr0.02 = 1 to 4,6). 1 07 1 to 10000 0.1 ms Updates the setting depending on the stiffness when the real-time automatic tuning is enabled (Pr0.02 = 1 to 4,6). 1 09 0 to 2500 0.01 ms Updates the setting depending on the stiffness when the real-time automatic tuning is enabled (Pr0.02 = 1 to 4,6). 2 22 Command smoothing filter 0 to 10000 0.1 ms 6 48 Adjustment filter 0 to 2000 0.1 ms 1st velocity integration time constant Filter time constant for the first torque Second position loop gain Second velocity loop gain 2nd velocity integration time constant Filter time constant for the second torque Function Updates the setting depending on the stiffness when the real-time automatic tuning is enabled (Pr0.02 = 1 to 4). *: In velocity control, it is fixed to primary filter. Updates the setting depending on the stiffness when the real-time automatic tuning is enabled (Pr0.02 = 1 to 4,6). *: In velocity control, it is fixed to primary filter. The real-time automatic tuning sets the following parameters to fixed values. Classification No. 1 03 1 08 1 10 1 11 1 12 1 13 Parameter name First velocity detection filter Second velocity detection filter Velocity feedforward gain Velocity feedforward filter Torque feedforward gain Torque feedforward filter Setting range Unit 0 to 5 - 0 to 5 - 0 to 2000 0.1 % 1 to 6400 0.01 ms 0 to 2000 0.1 % 0 to 6400 0.01 ms Function Sets to 0 when the real-time automatic tuning is enabled (Pr0.02 = 1 to 4). Sets to 0 when the real-time automatic tuning is enabled (Pr0.02 = 1 to 4). Sets to 1000 (100%) when the real-time automatic tuning is enabled (Pr0.02 = 1 to 4). Set to 0 (disabled) when the real-time automatic tuning is enabled (Pr0.02 = 1 to 4). Sets to 1000 (100%) when the real-time automatic tuning is enabled (Pr0.02 = 1 to 4). Sets to 0 (disabled) when the real-time automatic tuning is enabled (Pr0.02 = 1 to 4). (To be continued) Motor Business Unit, Panasonic Corporation No.SX-DSV03031- 106 - Classification No. 6 10 6 49 Parameter name Function expansion setting Command response filter/adjustment filter damping term setting Setting range -32768 to 32767 0 to 99 Unit - Function Sets bit 4 to 1 when the real-time automatic tuning is enabled (Pr0.02 = 1 to 4). Sets to 15 when the real-time automatic tuning is enabled (Pr0.02 = 1 to 4). The real-time automatic tuning sets the following parameters depending on Pr0.02 "Real-time automatic tuning mode setting." Classification No. Parameter name Setting range Unit 1 14 Second gain setting 0 to 1 - 1 15 0 to 10 - 1 16 0 to 10000 0.1 ms 1 17 0 to 20000 - 1 18 0 to 20000 - Sets to 1 when the real-time automatic tuning is enabled (Pr0.02 = 1 to 4). Sets to 0 in the case of the standard response mode (Pr0.02 = 1). Sets to 7 in the cases of high response modes 1-3 (Pr0.02 = 2 to 4). Sets to 10 when the real-time automatic tuning is enabled (Pr0.02 = 1 to 4). Sets to 0 when the real-time automatic tuning is enabled (Pr0.02 = 1 to 4). Sets to 0 when the real-time automatic tuning is enabled (Pr0.02 = 1 to 4). 1 19 0 to 10000 0.1 ms Sets to 10 when the real-time automatic tuning is enabled (Pr0.02 = 1 to 4). 1 20 0 to 5 - Sets to 0 when the real-time automatic tuning is enabled (Pr0.02 = 1 to 4). 1 21 0 to 10000 0.1 ms Sets to 0 when the real-time automatic tuning is enabled (Pr0.02 = 1 to 4). 1 22 0 to 20000 - Sets to 0 when the real-time automatic tuning is enabled (Pr0.02 = 1 to 4). 1 23 0 to 20000 - Sets to 0 when the real-time automatic tuning is enabled (Pr0.02 = 1 to 4). 1 24 0 to 3 - Sets to 0 when the real-time automatic tuning is enabled (Pr0.02 = 1 to 4). 1 25 0 to 10000 0.1 ms Sets to 0 when the real-time automatic tuning is enabled (Pr0.02 = 1 to 4). 1 26 0 to 20000 - Sets to 0 when the real-time automatic tuning is enabled (Pr0.02 = 1 to 4). 1 27 0 to 20000 - Sets to 0 when the real-time automatic tuning is enabled (Pr0.02 = 1 to 4). Position control switching mode Position control switching delay time Position control switching level Position control switching hysteresis Position gain switching time Velocity control switching mode Velocity control switching delay time Velocity control switching level Velocity control switching hysteresis Torque control switching mode Torque control switching delay time Torque control switching level Torque control switching hysteresis 6 05 Position control third gain effective time 0 to 10000 0.1 ms 6 06 Position control third gain scale factor 50 to 1000 % Function Sets to 0 (disabled) in the cases of the standard response mode and the high response mode 1 (Pr0.02 = 1 and 2). Sets to "Pr2.22 x 20" in the cases of high response modes 2 or 3 (Pr0.02 = 3, 4). (However, the maximum value is limited to 10000.) Sets to 100 (100%) in the cases of the standard response mode and the high response mode 1 (Pr0.02 = 1 and 2). Sets to 200 (200%) in the cases of the high response modes 2 or 3 (Pr0.02 = 3, 4). Motor Business Unit, Panasonic Corporation No.SX-DSV03031- 107 - The following settings are always disabled when Pr0.02 "Real-time automatic tuning mode setting" is a value other than zero. Note that the parameter setting itself is not changed. Classification No. Parameter name 6 10 Function expansion setting Setting range -32768 to 32767 6 13 Second inertia ratio 0 to 10000 Unit % Function The bit (bit 3) for inertia ratio switching function permission is internally invalidated. Parameter settings can be changed, but the inertia ratio switching function is invalidated. The following settings and parameters are set automatic for enable/disable state of Pr 6.10 “Function expansion setting” load variation suppression function automatic adjustment. Classification No. Parameter name Setting range Unit 6 10 Function extension setting -32768 to 32767 - 6 23 Load variation compensation gain -100 to 100 % 6 24 Load variation compensation filter 10 to 2500 0.01 ms 6 73 Load estimation filter 0 to 2500 0.01 ms 6 74 0 to 5000 0.1 Hz Regardless value of the Pr 6.10 bit 14, sets to 0. 6 75 Torque compensation frequency 1 Torque compensation frequency 2 0 to 5000 0.1 Hz Regardless value of the Pr 6.10 bit 14, sets to 0. 6 76 Load estimation numbers 0 to 8 - 5. Function When set to Pr 6.10 bit14=1 in case of stiffness setting is enabled, load variation suppression function will become enabled (bit1 = 1). When set to Pr 6.10 bit14=0,it is disabled(bit1 = 1). When set to Pr 6.10 bit14=1 in case of stiffness setting is enabled, sets to 90%. When set to Pr 6.10 bit14=0, set to 0%. When set to Pr 6.10 bit14=1 in case of stiffness setting is enabled, updates to match rigidity. When set to Pr 6.10 bit14=0, value is held. When set to Pr 6.10 bit14=1 in case of stiffness setting is enabled, sets to 0.13 ms. When set to Pr 6.10 bit14=0, set to 0 ms. When set to Pr 6.10 bit14=1 in case of stiffness setting is enabled, sets to 4. When set to Pr 6.10 bit14=0, set to 0. How to use If Pr0.02 "Real-time automatic tuning mode setting" is set to a value other than zero, control parameters are automatically set depending on Pr0.03 "Real-time automatic tuning stiffness setting" and Pr 6.10 “Function expansion setting” bit 14. Input an operating command after turning the servo on. Success for the load characteristic estimation updates Pr0.04 "Inertia ratio." Depending on the mode settings, Pr6.07 "Additional value to torque command," Pr6.08 "Torque compensation value in positive direction," Pr6.09 "Torque compensation value in negative direction" and Pr6.50 "Viscous friction compensation gain" also change. Increasing Pr0.03 "Real-time automatic tuning stiffness setting" can enhance motor response. Adjust to an optimum value while considering the vibrating condition and the positioning setting time. 6. Other cautions A. Although oscillation or an abnormal noise may occur until the load characteristic estimation becomes stable immediately after the servo first turns on following the start or when Pr0.03 "Real-time automatic tuning stiffness setting" is increased, it is not abnormal if it soon becomes stabilized. However, if oscillation or the continuous abnormal noise for three reciprocating motions or more occurs very often, take the following measures. 1. Decrease Pr0.03 "Real-time automatic tuning stiffness setting." 2. Set Pr0.02 "Real-time automatic tuning mode setting" to zero and disable the real-time automatic tuning. 3. Set Pr0.04 "Inertia ratio" to a calculated value on the equipment, and set Pr6.07 "Additional value to torque command," Pr6.08 "Torque compensation value in positive direction," Pr6.09 "Torque compensation value in negative direction" and Pr6.50 "Viscous friction compensation gain" to zero. 4. Disabale load variation suppression function. (bit1=0 after Pr 6.10 bit14=0) B. Pr0.04 "Inertia ratio," Pr6.07 "Additional value to torque command," Pr6.08 "Torque compensation value in positive direction," Pr6.09 "Torque compensation value in negative direction" and Pr6.50 "Viscous friction compensation gain" may enormously change after oscillation or an abnormal noise occurs. In such a case, implement measures in item 3 above. Motor Business Unit, Panasonic Corporation No.SX-DSV03031- 108 - C. Pr0.04 "Inertia ratio," Pr6.07 "Additional value to torque command," Pr6.08 "Torque compensation value in positive direction," Pr6.09 "Torque compensation value in negative direction" and Pr6.50 "Viscous friction compensation gain" which are results by the real-time automatic gain tuning are written in EEPROM every 30 minutes. When the power is restored, the automatic tuning is executed with these data as defaults. Note that the real-time automatic gain tuning results are not stored if the power is turned off before 30 minutes pass. In this case, manually write the parameters in EEPROM and turn the power off. D Since the control gain update is implemented at the time of shutdown, the change of Pr0.03 "Real-time automatic tuning stiffness setting" may not be reflected when the motor does not stop such as the cases that the gain is extremely-low and the command in one direction is continuously given. In this case, oscillation or an abnormal noise may occur depending on the stiffness setting reflected after the stop. When changing the stiffness, stop the motor once, be sure to confirm that the stiffness setting has been reflected, and conduct the next operation. Motor Business Unit, Panasonic Corporation No.SX-DSV03031- 109 - 7. Setting table for the basic gain parameters Command response Adjustment filter For load fluctuation suppression function Pr1.04 Pr1.09 *1 Pr2.22 Pr6.48 *2 Pr6.24 Time constant [0.1 ms] High Standard response response modes mode 1-3 Time constant [0.1 ms] Load fluctuation compensation filter [0.01/ms] 155 115 94 84 64 54 44 34 34 24 23 16 13 11 9 8 7 6 5 5 4 4 3 3 3 2 2 2 2 2 2 2 2500 2500 2500 2500 2500 2500 2500 2120 1770 1450 1140 880 720 590 450 400 320 270 210 180 140 110 90 80 60 60 50 50 40 40 40 40 First gain/Second gain Pr1.00 Pr1.05 Pr1.01 Pr1.06 Pr1.02 Pr1.07 Position [0.1/s] Velocity [0.1 Hz] Velocity integration [0.1 ms] Torque [0.01 ms] 20 25 30 40 45 55 75 95 115 140 175 320 390 480 630 720 900 1080 1350 1620 2060 2510 3050 3770 4490 5000 5600 6100 6600 7200 8100 9000 15 20 25 30 35 45 60 75 90 110 140 180 220 270 350 400 500 600 750 900 1150 1400 1700 2100 2500 2800 3100 3400 3700 4000 4500 5000 3700 2800 2200 1900 1600 1200 900 700 600 500 400 310 250 210 160 140 120 110 90 80 70 60 50 40 40 35 30 30 25 25 20 20 1500 1100 900 800 600 500 400 300 300 200 200 126 103 84 65 57 45 38 30 25 20 16 13 11 9 8 7 7 6 6 5 5 Stiffness 0 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 1919 1487 1214 960 838 668 496 394 327 268 212 139 113 92 71 62 50 41 33 28 22 18 15 12 10 9 8 7 7 6 6 5 764 595 486 384 335 267 198 158 131 107 85 55 45 37 28 25 20 17 13 11 9 7 6 5 4 4 3 3 3 2 2 2 *1: In the 17-bit absolute encoder, the least value is restricted to 10. *2: Pr6.48 "Adjustment filter" is the value which pluses one to its value for B to G frames. Motor Business Unit, Panasonic Corporation No.SX-DSV03031- 110 - 5-1-4 Real-time automatic tuning (two-degree-of-freedom control mode: synchronization type) Two-degree-of-freedom control mode has the standard type and synchronization type. Standard type: It is standard mode. Use this type usually. Synchronization type: Use in the case of trajectory control for multiple axes such as articulated robots. This section is for the automatic tuning function dedicated to the synchronization type. However, this function is available only for position control. The results from the real-time estimation of the machine load characteristics automatically implement the basis gain setting and load variation compensation depending on the stiffness parameter. 1. Scope This function operates under the following conditions. Conditions in which the real-time automatic tuning operates Pr0.01 = 0: Position control Control mode Bit 0 = 1 and bit 3 = 1 in Pr6.47: Two-degree-of-freedom control mode • The servo shall be on. • Parameters other than control, such as the torque limit setting, and input signals, such as Others deviation counter clear and command input inhibit, shall be properly set, and the normal revolution of motor shall be trouble-free. 2. Cautions In the following conditions, the real-time automatic tuning may be inoperative. In this case, change the load conditions and moving pattern or manually set relevant parameters referring to the explanation of manual adjusting function. Conditions in which the operation of real-time automatic tuning is blocked • If the load inertia is small or large compared to the rotor inertia. (Less than three times or twenty times or more) Load condition • If the load inertia fluctuates. • If the machine stiffness is extremely low. • If non-linear characteristics such as looseness due to backlash exist. Moving pattern • If the operation continues at a low velocity less than 100 (r/mini). • If the acceleration and deceleration are gradual 2000 (r/min) or less per one second. • If the condition that the velocity is 100 (r/min) or more and the acceleration and deceleration are 2000 (r/min) or more per one second does not continue for 50 (ms) or more. • If the acceleration and deceleration torques are small compared to the offset load and viscous friction torques. Motor Business Unit, Panasonic Corporation No.SX-DSV03031- 111 - 3. Parameters which control the operation of the real-time automatic tuning Set the operation of real-time automatic tuning with the following parameters. Classification No. Parameter name Setting range Unit Function - Sets an operational mode on the real-time automatic tuning. Setting Mode Description The function of real-time 0 and 6 Disabled automatic tuning is disabled. Mode for the synchronization control. The offset load and friction compensation is not implemented. The command 1 Synchronization response filter is held. In any case, use this mode. If there is any difficulty, use other mode. In addition to the synchronization mode, the kinetic friction and Synchronized viscous friction compensation is 2 friction applied. Use this mode in the case compensation of the load with friction large. The inertia ratio estimation, offset load and friction compensation are not implemented. Only the gain filter setting is updated depending on the stiffness table. 3 Stiffness setting In the load that the inertia variation is large, use this mode after estimating the inertia by the synchronization mode etc. The gain filter setting is held, and only the inertia ratio and the Load kinetic friction and viscous friction 4 characteristic compensation among load update characteristics are applied. The settings of the basic gain and friction compensation are not Load changed, and only the load 5 characteristic characteristics estimation is measurement executed. Use in combination with set-up support software. Use this mode when you wish to Load fluctuation make robust adjustments for 6 response mode fluctuating loads. 02 Real-time automatic tuning mode setting 0 03 Real-time automatic tuning stiffness setting 0 to 31 - 6 10 Function expansion setting -32768～ 32768 -- 0 0 to 6 Sets responsivity when the real-time automatic tuning is enabled. The higher the setting is, the better the velocity response is, and the servo stiffness increases, but oscillation is easier to occur. Change the value from a low value to a high value while checking the operation. When bit14=1, enable automatic adjustment of load variation suppression function (To be continued) Motor Business Unit, Panasonic Corporation No.SX-DSV03031- 112 - Classification No. Parameter name Setting range Unit 6 31 Real-time automatic tuning estimation speed 0 to 3 - 6 32 Real-time automatic tuning custom setting -32768 to 32767 - Function Sets the estimated velocity of load characteristic when the real-time automatic tuning is enabled. The higher the setting is, the faster the tracking to the load characteristic change is, but the estimated variation to disturbance becomes larger. The estimation result is stored in EEPROM every 30 minutes. Mode Description Set value Stops the load characteristic 0 Stationary estimation. Responds in the minute unit to 1 Nearly stationary the change of the load characteristic. Responds in the second unit to 2 Gradual change the change of the load characteristic. Conducts an optimal estimation 3 Abrupt change to the load characteristics. * *: When the automatic oscillation detection is enabled via set-up support software, this setting is ignored and the operation follows the set value 3. You cannot use in two-degree-of-freedom control mode. Use with the set value 0. Motor Business Unit, Panasonic Corporation No.SX-DSV03031- 113 - 4. Parameters which are changed in the real-time automatic tuning The real-time automatic tuning updates the following parameters using the load characteristic estimates, depending on Pr0.02 "Real-time automatic tuning mode setting." Classification No. 0 04 6 08 6 09 6 50 Parameter name Inertia ratio Torque compensation value in positive direction Torque compensation value in negative direction Viscous friction compensation gain Setting range Unit 0 to 10000 % -100 to 100 % -100 to 100 % 0 to 10000 0.1%/ (10000r/ min) Function Updates this parameter in the case of the synchronous mode (Pr 0.02=1), synchronous friction compensation mode (Pr 0.02=2) and load characteristics update mode (Pr 0.02~=4). Fixed to 100 in case of load fluctuation response mode (Pr 0.02 = 6). Updates this parameter in the cases of the synchronized friction compensation mode (Pr0.02 = 2) and load characteristic update mode (Pr0.02 = 4). Updates this parameter in the cases of the synchronized friction compensation mode (Pr0.02 = 2) and load characteristic update mode (Pr0.02 =4). Updates this parameter in the cases of the synchronized friction compensation mode (Pr0.02 = 2) and load characteristic update mode (Pr0.02 = 4). The real-time automatic tuning updates the following basic gain setting parameters, depending on Pr0.03 "Real-time automatic tuning stiffness setting." For more information, see the setting table for the basic gain parameters in section 7. Classification No. Parameter name Setting range Unit 1 00 First position loop gain 0 to 30000 0.1/s 1 01 First velocity loop gain 1 to 32767 0.1 Hz 1 02 First velocity integration 1 to 10000 time constant 0.1 ms 1 04 Filter time constant for the first torque 0 to 2500 0.01 ms 1 05 Second position loop gain 0 to 30000 0.1/s 1 06 Second velocity loop gain 1 to 32767 0.1 Hz 1 07 Second velocity 1 to 10000 integration time constant 0.1 ms 1 09 Filter time constant for the second torque 0 to 2500 0.01 ms 6 48 Adjustment filter 0 to 2000 0.1 ms Function Updates the setting depending on the stiffness when the real-time automatic tuning is enabled (Pr0.02 = 1 to 4). In the case of Pr 0.02 = 6, updates to position loop gain of load fluctuation response. Updates the setting depending on the stiffness when the real-time automatic tuning is enabled (Pr0.02 = 1 to 4,6). Updates the setting depending on the stiffness when the real-time automatic tuning is enabled (Pr0.02 = 1 to 4). Sets to 10000 (disabled) in the case of Pr 0.02 = 6. Updates the setting depending on the stiffness when the real-time automatic tuning is enabled (Pr0.02 = 1 to 4,6). Updates the setting depending on the stiffness when the real-time automatic tuning is enabled (Pr0.02 = 1 to 4). In the case of Pr 0.02 = 6, updates to position loop gain of load fluctuation response. Updates the setting depending on the stiffness when the real-time automatic tuning is enabled (Pr0.02 = 1 to 4,6). Updates the setting depending on the stiffness when the real-time automatic tuning is enabled (Pr0.02 = 1 to 4). Sets to 10000 (disabled) in the case of Pr 0.02 = 6. Updates the setting depending on the stiffness when the real-time automatic tuning is enabled (Pr0.02 = 1 to 4,6). Updates the setting depending on the stiffness in the cases of the synchronization mode, synchronized friction compensation mode and stiffness setting mode (Pr0.02 = 1 to 3,6). Motor Business Unit, Panasonic Corporation No.SX-DSV03031- 114 - The real-time automatic tuning sets the following parameters to fixed values, or uses the current settings. Setting range Unit 0 to 5 - 0 to 5 - Velocity feedforward gain 0 to 2000 0.1 % 11 Velocity feedforward filter 1 to 6400 0.01 ms 1 12 Torque feedforward gain 0 to 2000 0.1 % 1 13 Torque feedforward filter 0 to 6400 0.01 ms 2 22 Command smoothing filter 0 to 10000 0.1 ms 6 07 Additional value to torque command -100 to 100 % 6 10 Function expansion setting -32768 to 32767 - 6 Command response 49 filter/compensation filter damping term setting 0 to 99 - Classification No. 1 03 1 08 1 10 1 Parameter name First velocity detection filter Second velocity detection filter Function Sets to 0 when the real-time automatic tuning is enabled (Pr0.02 = 1 to 4,6). Sets to 0 when the real-time automatic tuning is enabled (Pr0.02 = 1 to 4,6). Sets to 1000 (100%) in the cases of the synchronization mode, synchronized friction compensation mode and stiffness setting mode (Pr0.02 = 1 to 3,6). Sets to 0 (disabled) in the cases of the synchronization mode, synchronized friction compensation mode and stiffness setting mode (Pr0.02 = 1 to 3,6). Sets to 1000 (100%) in the cases of the synchronization mode, synchronized friction compensation mode and stiffness setting mode (Pr0.02 = 1 to 3,6). Sets to 0 (disabled) in the cases of the synchronization mode, synchronized friction compensation mode and stiffness setting mode (Pr0.02 = 1 to 3,6). Uses the current settings when the real-time automatic tuning is enabled (Pr0.02 = 1 to 4,6). Sets this parameter to 0 (disabled) in the cases of the synchronized friction compensation mode (Pr0.02 = 2) and load characteristic update mode (Pr0.02 = 4). Sets bit 4 = 1 in the cases of the synchronization mode, synchronized friction compensation mode and stiffness setting mode (Pr0.02 = 1 to 3,6). Sets the tens digit to 1 and holds the ones digit, in the cases of the synchronization mode, synchronized friction compensation mode and stiffness setting mode (Pr0.02 = 1 to 3,6). The real-time automatic tuning sets the following parameters or uses the current settings, depending on Pr0.02 "Real-time automatic tuning mode setting." Classification No. Parameter name Setting range Unit 1 14 Second gain setting 0 to 1 - 1 15 Position control switching mode 0 to 10 - 1 16 Position control switching delay time 0 to 10000 0.1 ms 1 17 Position control switching level 0 to 20000 - 1 18 Position control switching hysteresis 0 to 20000 - 1 19 Position gain switching time 0 to 10000 0.1 ms 1 20 0 to 5 - 1 21 0 to 10000 0.1 ms 1 22 0 to 20000 - 1 23 0 to 20000 - 1 24 0 to 3 - 1 25 0 to 10000 0.1 ms Velocity control switching mode Velocity control switching delay time Velocity control switching level Velocity control switching hysteresis Torque control switching mode Torque control switching delay time Function Sets to 1 in the cases of the synchronization mode, synchronized friction compensation mode and stiffness setting mode (Pr0.02 = 1 to 3,6). Sets to 0 in the cases of the synchronization mode, synchronized friction compensation mode and stiffness setting mode (Pr0.02 = 1 to 3,6). Sets to 10 in the cases of the synchronization mode, synchronized friction compensation mode and stiffness setting mode (Pr0.02 = 1 to 3,6). Sets to 0 in the cases of the synchronization mode, synchronized friction compensation mode and stiffness setting mode (Pr0.02 = 1 to 3,6). Sets to 0 in the cases of the synchronization mode, synchronized friction compensation mode and stiffness setting mode (Pr0.02 = 1 to 3,6). Sets to 10 in the cases of the synchronization mode, synchronized friction compensation mode and stiffness setting mode (Pr0.02 = 1 to 3,6). Sets to 0 when the real-time automatic tuning is enabled (Pr0.02 = 1 to 4,6). Sets to 0 when the real-time automatic tuning is enabled (Pr0.02 = 1 to 4,6). Sets to 0 when the real-time automatic tuning is enabled (Pr0.02 = 1 to 4,6). Sets to 0 when the real-time automatic tuning is enabled (Pr0.02 = 1 to 4,6). Sets to 0 when the real-time automatic tuning is enabled (Pr0.02 = 1 to 4,6). Sets to 0 when the real-time automatic tuning is enabled (Pr0.02 = 1 to 4,6). (To be continued) Motor Business Unit, Panasonic Corporation No.SX-DSV03031- 115 Classification No. 1 26 1 27 6 05 6 06 Parameter name Torque control switching level Torque control switching hysteresis Position control third gain effective time Position control third gain scale factor Setting range Unit 0 to 20000 - 0 to 20000 - 0 to 10000 0.1 ms 50 to 1000 % Function Sets to 0 when the real-time automatic tuning is enabled (Pr0.02 = 1 to 4,6). Sets to 0 when the real-time automatic tuning is enabled (Pr0.02 = 1 to 4,6). Uses the current settings when the real-time automatic tuning is enabled (Pr0.02 = 1 to 4,6). Uses the current settings when the real-time automatic tuning is enabled (Pr0.02 = 1 to 4,6). The following settings are always disabled when Pr0.02 "Real-time automatic tuning mode setting" is a value other than zero. Note that the parameter setting itself is not changed. Classification No. Parameter name 6 10 Function expansion setting Setting range -32768 to 32767 6 13 Second inertia ratio 0 to 10000 Unit % Function The bit (bit 3) for inertia ratio switching function permission is internally invalidated. Parameter settings can be changed, but the inertia ratio switching function is invalidated. The following settings and parameters are set automatic for enable/disable state of Pr 6.10 “Function expansion setting” load variation suppression function automatic adjustment. Classification No. Parameter name Setting range Unit 6 10 Function extension setting -32768 to 32767 - 6 23 Load fluctuation compensation gain -100 to 100 % 6 24 Load fluctuation compensation filter 10 to 2500 0.01 ms 6 73 Load estimation filter 0 to 2500 0.01 ms 6 74 0 to 5000 0.1 Hz Regardless value of the Pr 6.10 bit 14, sets to 0. 6 75 Torque compensation frequency 1 Torque compensation frequency 2 0 to 5000 0.1 Hz Regardless value of the Pr 6.10 bit 14, sets to 0. 6 76 Load estimate numbers 0 to 8 - Function When set to Pr 6.10 bit14=1 in case of stiffness setting is enabled, load variation suppression function will become enabled (bit1 = 1). When set to Pr 6.10 bit14=0,it is disabled(bit1 = 1). When set to Pr 6.10 bit14=1 in case of stiffness setting is enabled, sets to 90%. When set to Pr 6.10 bit14=0, set to 0%. When set to Pr 6.10 bit14=1 in case of stiffness setting is enabled, updates to match rigidity. When set to Pr 6.10 bit14=0, value is held. When set to Pr 6.10 bit14=1 in case of stiffness setting is enabled, sets to 0.13 ms. When set to Pr 6.10 bit14=0, set to 0 ms. When set to Pr 6.10 bit14=1 in case of stiffness setting is enabled, sets to 4. When set to Pr 6.10 bit14=0, set to 0. In case Pr 0.02 “Real-time automatic tuning mode setting” = 6, (load fluctuation response mode), the setting will be changed to the following: Classification No. 6 10 6 23 6 24 6 73 6 74 6 75 6 76 Parameter name Function extension setting Load fluctuation compensation gain Load fluctuation compensation filter Load estimation filter Torque compensation frequency 1 Torque compensation frequency 2 Load estimate numbers Setting range -32768 to 32767 Unit Function - Load fluctuation suppression function always become enabled (bit1 = 1) -100 to 100 % Sets to 100%. 10 to 2500 0.01 ms Updates to match rigidity. 0 to 2500 0.01 ms Sets to 0.13 ms. 0 to 5000 0.1 Hz Updates to match rigidity. 0 to 5000 0.1 Hz Updates to match rigidity. 0 to 8 - Sets to 4. Motor Business Unit, Panasonic Corporation No.SX-DSV03031- 116 - 5. How to use If Pr0.02 "Real-time automatic tuning mode setting" is set to a value other than zero, control parameters are automatically set depending on Pr0.03 "Real-time automatic tuning stiffness setting" and Pr 6.10 “Function expansion setting” bit 14. Input an operating command after turning the servo on. Success for the load characteristic estimation updates Pr0.04 "Inertia ratio." Depending on the mode settings, Pr6.07 "Additional value to torque command," Pr6.08 "Torque compensation value in positive direction," Pr6.09 "Torque compensation value in negative direction" and Pr6.50 "Viscous friction compensation gain" also change. Increasing Pr0.03 "Real-time automatic tuning stiffness setting" can enhance motor response. Adjust to an optimum value while considering the vibrating condition and the positioning setting time. 6. Other cautions A. Although oscillation or an abnormal noise may occur until the load characteristic estimation becomes stable immediately after the servo first turns on following the start or when Pr0.03 "Real-time automatic tuning stiffness setting" is increased, it is not abnormal if it soon becomes stabilized. However, if oscillation or the continuous abnormal noise for three reciprocating motions or more occurs very often, take the following measures. 1. Decrease Pr0.03 "Real-time automatic tuning stiffness." 2. Set Pr0.02 "Real-time automatic tuning mode setting" to zero and disable the real-time automatic tuning. 3. Set Pr0.04 "Inertia ratio" to a calculated value on the equipment, and set Pr6.07 "Additional value to torque command," Pr6.08 "Torque compensation value in positive direction," Pr6.09 "Torque compensation value in negative direction" and Pr6.50 "Viscous friction compensation gain" to zero. 4. Disabale load variation suppression function. (bit1=0 after Pr 6.10 bit14=0) B. Pr0.04 "Inertia ratio," Pr6.07 "Additional value to torque command," Pr6.08 "Torque compensation value in positive direction," Pr6.09 "Torque compensation value in negative direction" and Pr6.50 "Viscous friction compensation gain" may enormously change after oscillation or an abnormal noise occurs. In such a case, implement measures in item 3 above. C. Pr0.04 "Inertia ratio," Pr6.07 "Additional value to torque command," Pr6.08 "Torque compensation value in positive direction," Pr6.09 "Torque compensation value in negative direction" and Pr6.50 "Viscous friction compensation gain" which are results by the real-time automatic gain tuning are written in EEPROM every 30 minutes. When the power is restored, the automatic tuning is executed with these data as defaults. Note that the real-time automatic gain tuning results are not stored if the power is turned off before 30 minutes pass. In this case, manually write the parameters in EEPROM and turn the power off. D. Since the control gain update is implemented at the time of shutdown, the change of Pr0.03 "Real-time automatic tuning stiffness setting" may not be reflected when the motor does not stop such as the cases that the gain is extremely-low and the command in one direction is continuously given. In this case, oscillation or an abnormal noise may occur depending on the stiffness setting reflected after the stop. When changing the stiffness, stop the motor once, be sure to confirm that the stiffness setting has been reflected, and conduct the next operation. Motor Business Unit, Panasonic Corporation No.SX-DSV03031- 117 - 7. Setting table for the basic gain parameters Adjustment filter For load fluctuation suppression function Pr1.04 Pr1.09 *1 Pr6.48 *2 Pr6.24 Pr1.00 Pr1.05 Pr6.24 Pr6.74 Pr6.75 Time constant [0.1 ms] Load fluctuation compensation filter [0.01/ms] Load fluctuation position loop gain 0.1 [1/s] Load fluctuation compensation filter [0.01/ms] Torque compensation frequency L 0.1 [Hz] Torque compensation frequency H 0.1 [Hz] First gain/Second gain Pr1.01 Pr1.06 Pr1.02 Pr1.07 Position [0.1/s] Velocity [0.1 Hz] Velocity integration [0.1 ms] Torque [0.01 ms] 0 20 15 3700 1500 15 1330 25 7 25 20 2800 1100 155 115 2500 1 2500 20 990 34 10 2 30 25 2200 900 94 2500 25 800 42 12 3 40 30 1900 800 84 2500 30 660 51 15 4 45 35 1600 600 64 2500 35 570 59 17 5 55 45 1200 500 54 2500 45 440 76 22 6 75 60 900 400 44 2500 60 330 104 30 7 95 75 700 300 34 2120 75 270 129 37 8 115 90 600 300 34 1770 90 220 153 44 9 140 110 500 200 24 1450 110 180 184 53 10 175 140 400 200 23 1140 140 140 231 66 11 320 180 310 126 16 880 180 110 290 83 12 390 220 250 103 13 720 220 90 346 99 13 480 270 210 84 11 590 270 70 413 118 14 630 350 160 65 9 450 350 60 512 146 15 720 400 140 57 8 400 400 50 570 163 16 900 500 120 45 7 320 500 40 678 194 17 1080 600 110 38 6 270 600 40 678 194 18 1350 750 90 30 5 210 750 40 678 194 19 1620 900 80 25 5 180 900 40 678 194 20 2060 1150 70 20 4 140 1150 40 678 194 21 2510 1400 60 16 4 110 1400 40 678 194 22 3050 1700 50 13 3 90 1700 40 678 194 23 3770 2100 40 11 3 80 2100 40 678 194 24 4490 2500 40 9 3 60 2500 40 678 194 25 5000 2800 35 8 2 60 2800 40 678 194 26 5600 3100 30 7 2 50 3100 40 678 194 27 6100 3400 30 7 2 50 3400 40 678 194 28 6600 3700 25 6 2 40 3700 40 678 194 29 7200 4000 25 6 2 40 4000 40 678 194 30 8100 4500 20 5 2 40 4500 40 678 194 31 9000 5000 20 5 2 40 5000 40 678 194 Stiffness Pr1.00 Pr1.05 For load variation support mode (Pr0.02 = 6) only *1: In the 17-bit absolute encoder, the least value is restricted to 10. *2: Pr6.48 "Adjustment filter" is the value which pluses one to its value for B to G frames. Motor Business Unit, Panasonic Corporation No.SX-DSV03031- 118 - 5-2 Manual adjusting function Although A6 series has the automatic adjusting functions described above, the series may require manual readjustment when the functions cannot be used because of load conditions and the operating pattern restriction, or when the best response and stability are desired. Here, the manual adjusting functions are described by being divided by the following functions and control modes. 1. Block diagram for position control mode (5-2-1) 2. Block diagram for velocity control mode (5-2-2) 3. Block diagram for torque control mode (5-2-3) 4. Block diagram for full-close control mode (5-2-4) 5. Gain switching function (5-2-5) 6. Notch filter (5-2-6) 7. Damping function (5-2-7) 8. Feedforward function (5-2-8) 9. Load variation suppression function (5-2-9) 10. Third gain switching function (5-2-10) 11. Friction torque compensation (5-2-11) 12. Inertia ratio switching function (5-2-12) 13. Hybrid vibration suppression function (5-2-13) 14. Two-staged torque filter (5-2-14) 15. Quadrant projection suppression function (5-2-15) 16. Two-degree-of-freedom control mode (during position control) (5-2-16) 17. Block diagram for two-degree-of-freedom control mode (during position control) (5-2-17) 18. Two-degree-of-freedom control mode (during velocity control) (5-2-18) 19. Block diagram for two-degree-of-freedom control mode (during velocity control) (5-2-19) 20. Two-degree-of-freedom control mode (during full closed control) (5-2-20) 21. Block diagram for two-degree-of-freedom control mode (during full closed control) (5-2-21) Motor Business Unit, Panasonic Corporation No.SX-DSV03031- 119 - 5-2-1 Block diagram for position control mode The following diagram shows the scheme of A6 series position control. Internal position command Command pulse accumulation Position command speed [By command] speed [r/min] Vibration damping control Switching selection Pulse train Input settings PULSE SIGN Command frequency division multiple number (electronic gear) 2.13 Smoothing filter Frequency Input selection 0.05 Direction setting 0.06 Mode 0.07 One revolution 0.08 First numerator Denominator 0.09 Second numerator 5.00 0.10 Third numerator 5.01 First order lag 2.22 Fourth numerator 5.02 FIR 2.23 Gain switching Depth Width 2.14 2.15 6.41 2.27 2.16 2.17 6.60 2.28 Third 2.18 2.19 6.71 2.29 Fourth 2.20 2.21 6.72 2.30 First Second ＋ Filter Command position deviation Second setting 1.14 Mode 1.15 Delay time 1.16 Level 1.17 Hiss 1.18 Changeover time 1.19 Third time Third scaling factor 6.05 6.06 [By command] － multiple number (electronic gear) Inverse transform Friction compensation Torque feedforward Velocity feedforward Command frequency division Gain 1.10 Gain 1.12 Filter 1.11 Filter 1.13 Additional value 6.07 Positive direction 6.08 Negative direction 6.09 Velocity control Proportional ＋ － Position control First 1.00 Second 1.05 ＋ ＋ － ＋ 1.01 1.02 Second 1.06 1.07 Inertia ratio Velocity detection Integral First 6.10 Second inertia ratio 6.13 Torque filter ＋ 0.04 Function extension ＋ ＋ ＋ First 1.04 Second 1.09 Two-staged torque filter filter Encoder position deviation Velocity control command [Encoder pulse] [r/min] Feedback pulse accumulation Motor Velocity [Encoder pulse] [r/min] First 1.03 Second 1.08 Time constant 6.42 Damping term 6.43 Load variation suppression Compensation gain 6.23 Frequency 1 6.74 Compensation filter 6.24 Frequency 2 6.75 Estimate filter 6.73 Number of times 6.76 Pulse regeneration Pulse output OA OB OZ One revolution 0.11 Reversal 0.12 Velocity detection Notch filter Numerator/denominator Frequency Denominator Width Depth 5.03 Torque limit Current control Encoder エンコーダ Motor モータ Response setting 6.11 Torque command Main power [%] First 2.01 2.02 2.03 Selection 5.21 Second 2.04 2.05 2.06 First 0.13 Third 2.07 2.08 2.09 Second 5.22 Fourth 2.10 2.11 2.12 Fifth 2.24 2.25 2.26 Adaptive mode setting 2.00 supply 外部スケール Load Position control block diagram Motor Business Unit, Panasonic Corporation No.SX-DSV03031- 120 - [E***], [G***] Internal velocity alone is available. 5-2-2 Block diagram for velocity control mode The following diagram shows the scheme of A6 series velocity control. Gain switching AI1 input voltage [V] Second setting 1.14 Mode 1.20 Delay time 1.21 Level 1.22 Hiss 1.23 Analog input 1 16bitA/D Analog input AI1 Torque feedforward Scaling Friction compensation correction 4.22 Offset 4.23 Filter Gain Reversal 3.02 Gain 1.12 3.03 Filter 1.13 Velocity control command [r/min] Additional value 6.07 Velocity control Proportional Velocity command selection Acceleration and deceleration limit Acceleration time Inside and outside switching Direction designation 3.12 3.00 Deceleration time 3.13 3.01 S-shape 3.14 Internal velocity command ＋ － Integral First 1.01 1.02 Second 1.06 1.07 Inertia ratio 0.04 Extension 6.10 Second inertia ratio 6.13 Velocity detection ＋ ＋ ＋ Torque filter ＋ First 1.04 Second 1.09 Two-staged torque filter filter First 3.04 Fifth 3.08 Second 3.05 Sixth 3.09 Third 3.06 Seventh 3.10 Fourth 3.07 Eighth 3.11 First 1.03 Time constant 6.42 Second 1.08 Damping term 6.43 Load variation suppression Pulse regeneration Feedback pulse accumulation Motor velocity [Encoder pulse] [r/min] 0.11 One revolution Reversal Pulse output OA OB OZ 0.12 Compensation gain 6.23 Frequency 1 6.74 Compensation filter 6.24 Frequency 2 6.75 Estimation filter 6.73 Number of times 6.76 Velocity detection Numerator/denominator Denominator Notch filter 5.03 Frequency Torque limit Current control Encoder エンコーダ Motor モータ Response setting 6.11 Main power supply Width Depth First 2.01 2.02 2.03 Selection 5.21 Second 2.04 2.05 2.06 First 0.13 Third 2.07 2.08 2.09 Second 5.22 Fourth 2.10 2.11 2.12 Fifth 2.24 2.25 2.26 Torque command [%] Adaptive mode setting 2.00 Load 外部スケール Velocity control block diagram Motor Business Unit, Panasonic Corporation No.SX-DSV03031- 121 - [E***], [G***] This function cannot be used. 5-2-3 Block diagram for torque control mode The following diagram shows the scheme of A6 series torque control. AI2 input voltage [V] Analog input 2 12bitA/D Gain switching 1.14 Second setting Analog input AI2 Scaling correction Offset Filter 4.25 Gain 3.19 4.26 Reversal 3.20 Torque command selection Mode 1.24 Delay time 1.25 Level 1.26 Hiss 1.27 Absolute value Scaling Command selection 3.17 Direction designation 3.18 (Torque command) Analog input 1 16bitA/D Analog input correction AI1 Offset 4.22 Filter 4.23 Gain 3.19 Reversal 3.20 Sign Scaling Velocity limit [r/min] (Velocity limit) Gain 3.02 Reversal 3.03 AI1 input voltage [V] Velocity control Proportional Velocity limit selection Command selection ＋ 3.17 － Internal velocity limit Velocity detection Limit value 1 Limit value 2 filter 3.21 3.22 Feedback pulse accumulation [Encoder pulse] First 1.03 Second 1.08 Integral First 1.01 1.02 Second 1.06 Torque filter 1.07 First 1.04 Inertia ratio 0.04 Second 1.09 Extension 6.10 Second inertia ratio 6.13 Two-staged torque filter Time constant 6.42 Damping term 6.43 Motor velocity [r/min] Pulse regeneration One revolution Reversal Pulse output OA OB OZ 0.11 0.12 Velocity detection Numerator/denominator Notch filter Denominator 5.03 Frequency Torque limit Encoder エンコーダ Motor モータ Current control Response setting 6.11 Torque command [%] Depth 2.01 2.02 2.03 Selection 5.21 Second 2.04 2.05 2.06 First 0.13 Third 2.07 2.08 2.09 Second 5.22 Fourth 2.10 2.11 2.12 Fifth 2.24 2.25 2.26 Adaptive mode setting Load 外部スケール Width First 2.00 Main power supply Torque control block diagram Motor Business Unit, Panasonic Corporation No.SX-DSV03031- 122 - [E***], [G***] This function cannot be used. 5-2-4 Block diagram for full-close control mode The following diagram shows the scheme of A6 series full-close control. Position command speed [r/min] Command pulse accumulation [By command] Internal position command speed [r/min] Vibration damping control Switch select Pulse train PULSE SIGN Input settings Command frequency division multiple number (electronic gear) 0.05 Input selection Direction setting 0.06 Mode 0.07 First numerator Denominator 0.09 Second numerator 0.10 Third numerator Fourth numerator Frequency 5.00 5.01 First order lag 5.02 FIR 2.22 2.23 Width Depth 2.14 2.15 6.41 2.27 2nd 2.16 2.17 6.60 2.28 2.18 4th Position command deviation [By command] Filter 1st 3rd ＋ － 2.13 Smoothing filter 2.20 division 6.71 6.71 2.19 2.19 6.72 6.72 2.21 2.21 Outside scale frequency Numerator 3.24 Denominator 3.25 2.29 2.30 Gain switching Command frequency division multiple number (electronic gear) Inverse transform Velocity feedforward Gain Filter Torque feedforward Friction compensation Additional value 6.07 1.10 Gain 1.12 Positive direction 6.08 1.11 Filter 1.13 Negative direction 6.09 Second setting 1.14 Third setting 6.05 Mode 1.15 Scaling factor 6.06 Delay time 1.16 Level 1.17 Hiss 1.18 Changeover time 1.19 Velocity control Proportional Position control ＋ First － Outside scale pulse output EXA EXB EXZ Outside scale pulse regeneration Numerator 0.11 Denominator 5.03 Reversal Encoder pulse output OA OB OZ 1.00 Second 1.05 Full-close deviation [Outside scale pulse] 6.20 Z phase setting 6.21 Output method 6.22 ＋ ＋ － Velocity control command [r/min] Feedback pulse accumulation [Outside scale pulse] 0.12 Z phase width ＋ Reversal First 1.03 Second 1.08 1.01 1.02 Second 1.06 1.07 Inertia ratio 0.04 Extension 6.10 Second inertia ratio 6.13 ＋ ＋ ＋ Torque filter ＋ First 1.04 Second 1.09 Two-staged torque filter Motor velocity [r/min] Time constant 6.42 Damping term 6.43 Hybrid deviation [By command] Command frequency division multiple number (electronic gear) Inverse transform Outside scale 0.11 － ＋ Velocity detection inverse frequency division Denominator 3.25 Numerator 3.24 Pulse regeneration One revolution Velocity detection filter Integral First Notch filter 0.12 Width Depth First 2.01 2.02 2.03 Frequency Numerator/denominator Denominator Torque limit Input settings 5.03 Type 3.23 Reversal 3.26 Z phase disabled 3.27 Encoder Motor Current control Response setting 6.11 Main power supply Selection 5.21 Second 2.04 2.05 2.06 First 0.13 Third 2.07 2.08 2.09 Second 5.22 Fourth 2.10 2.11 2.12 Fifth 2.24 2.25 2.26 Torque command [%] Adaptive mode setting 2.00 Outside scale Full-close control block diagram Motor Business Unit, Panasonic Corporation No.SX-DSV03031- 123 - 5-2-5 Gain switching function Gain switching using internal data or external signals provides the following effects: • Suppresses vibrations by decreasing the gain during stop time (servo lock) • Reduces settling time by increasing the gain during stop time (during settling) • Improves command follow-up performance by increasing the gain during operating time • Switches the gain through external signals according to the condition of the equipment 1) Relevant parameters Set up the gain switching function using the following parameters. Class No. 1 14 Parameter name 2nd gain setting Range Unit 0 to 1 - 1 15 Position control switching mode 0 to 10 1 16 Position control switching delay time 0 to 10000 1 17 Position control switching level 0 to 20000 1 18 Position control switching hysteresis 0 to 20000 1 19 Position gain switching time 0 to 10000 - Function Set to make optimum adjustments using the gain switching function. 0: Fixed to 1st gain. Speed loop operations are switched between PI and P through gain switching input (GAIN). GAIN input photocoupler OFF PI operation GAIN input photocoupler ON P operation * The above case assumes that the logical setting for GAIN input is a-contact. For b-contact setting, OFF and ON are reversed. 1: Enables gain switching between 1st gain (Pr. 1.00 to Pr. 1.04) and 2nd gain (Pr. 1.05 to Pr. 1.09) Defines trigger conditions for gain switching during position control. Setup Switching condition value 0 Fixed to 1st gain 1 Fixed to 2nd gain 2 Gain switching input 3 Torque command 4 Disabled (fixed to 1st gain) 5 Speed command 6 Position deviation 7 Positional command available 8 Positioning not complete 9 Actual velocity 10 Positional command available + actual velocity Defines the time duration from trigger detection to actual gain switching from the 2nd gain to the 1st gain when the switching mode is set to 3, 5 to 10 during position control. Defines the level of trigger determination when the switching mode is set Mode to 3, 5, 6, 9 or 10 during position control. dependent The unit differs depending on the switching mode setting. Note) Specify as "level ≥ hysteresis." Defines the hysteresis of trigger determination when the P switching mode is set to 3, 5, 6, 9 or 10 during position control. Mode dependent The unit differs depending on the switching mode setting. Note) If "level < hysteresis," then it will be reset to "hysteresis = level" internally. Can be set to suppress a rapid rise in the position loop gain when there is a large difference between Pr. 1.00 (1st position loop gain) and Pr. 1.05 0.1 ms (2nd position loop gain) during position control. When the position loop gain increases, the gain change lasts for the time indicated by the setup value. 0.1 ms (To be continued) Motor Business Unit, Panasonic Corporation No.SX-DSV03031- 124 - Class No. Parameter name Range Unit 1 20 Velocity control switching mode 0 to 5 - 1 21 Velocity control switching delay time 0 to 10000 1 22 1 23 1 24 1 25 Torque control switching delay time 0 to 10000 1 26 1 27 Function Defines trigger conditions for gain switching during velocity control. Setup Switching condition value 0 Fixed to 1st gain 1 Fixed to 2nd gain 2 Gain switching input 3 Torque command 4 Speed command variation 5 Speed command Defines the time duration from trigger detection to actual gain switching from the 2nd gain to the 1st gain when the switching mode is set to 3 to 5 during velocity control. Defines the level of trigger determination when the switching mode is set Mode to 3 to 5 during velocity control. Velocity control 0 to 20000 dependent The unit differs depending on the switching mode setting. switching level Note) Specify as "level ≥ hysteresis." Defines the hysteresis of trigger determination when the switching mode Mode is set to 3 to 5 during velocity control. Velocity control 0 to 20000 dependent The unit differs depending on the switching mode setting. switching hysteresis Note) If "level < hysteresis," then it will be reset to "hysteresis = level" internally. Defines trigger conditions for gain switching during torque control. Setup Switching condition value 0 Fixed to 1st gain Torque control 0 to 3 1 Fixed to 2nd gain switching mode 2 Gain switching input 3 Torque command 0.1 ms Defines the time duration from trigger detection to actual gain switching from the 2nd gain to the 1st gain when the switching mode is set to 3 during torque control. Defines the level of trigger determination when the switching mode is set Mode to 3 during torque control. Torque control 0 to 20000 dependent The unit differs depending on the switching mode setting. switching level Note) Specify as "level ≥ hysteresis." Defines the hysteresis of trigger determination when the switching mode Mode is set to 3 during torque control. Torque control 0 to 20000 dependent The unit differs depending on the switching mode setting. switching hysteresis Note) If "level < hysteresis," then it will be reset to "hysteresis = level" internally. 0.1 ms Motor Business Unit, Panasonic Corporation No.SX-DSV03031- 125 - 2) How to use After setting the gain switching mode for each control mode to be used, enable the gain switching function using Pr. 1.14 "2nd gain setting"(Pr. 1.14 = 1). Switching mode setup Switching condition Description of gain switching value 0 Fixed to 1st gain 1 Fixed to 2nd gain 2 Gain switching input available 3 Large torque command 4 Large velocity command variation 5 Large velocity command 6 Large position deviation Fixed to 1st gain (Pr. 1.00 to Pr. 1.04). Fixed to 2nd gain (Pr. 1.05 to Pr. 1.09). 1st gain when the gain switching input (GAIN) is open. 2nd gain when the gain switching input (GAIN) is connected to COM-. * It will be fixed to the 1st gain if the gain switching input (GAIN) is not allocated to input signals. Switched to the 2nd gain when the absolute value of the torque command during the previous 1st gain has exceeded the set level plus hysteresis [%]. Switched back to the 1st gain when the absolute value of the torque command during the previous 2nd gain was kept at or below the set level minus hysteresis [%] for the delay time. Enabled only during velocity control. Switched to the 2nd gain when the absolute value of the velocity command variation during the previous 1st gain has exceeded the set level plus hysteresis [10 r/min/s]. Switched back to the 1st gain when the absolute value of the velocity command variation during the previous 2nd gain was kept below the set level minus hysteresis [10 r/min/s] for the delay time. * Except for velocity control, it is fixed to the 1st gain. Enabled for position, velocity and full-closed control. Switched to the 2nd gain when the absolute value of the velocity command during the previous 1st gain has exceeded the set level plus hysteresis [r/min]. Switched back to the 1st gain when the absolute value of the velocity command during the previous 2nd gain was kept below the set level minus hysteresis [r/min] for the delay time. Enabled for position and full-closed control. Switched to the 2nd gain when the absolute value of the position deviation during the previous 1st gain has exceeded the set level plus hysteresis [pulse]. Switched back to the 1st gain when the absolute value of the position deviation during the previous 2nd gain was kept below the set level minus hysteresis [pulse] for the delay time. * The unit [pulse] used for level and hysteresis is defined as encoder resolution for position control and external scale resolution for full-closed control. (To be continued) Motor Business Unit, Panasonic Corporation No.SX-DSV03031- 126 switching mode setup value Switching condition 7 Positional command available 8 Positioning not complete 9 High actual velocity 10 Positional command available + actual velocity Description of gain switching Enabled during position and full-closed control. Switched to the 2nd gain when the positional command is not 0 during the previous 1st gain. Switched back to the 1st gain when the positional command is kept at 0 for the delay time during the previous 2nd gain. Enabled during position and full-closed control. Switched to the 2nd gain when the positioning was incomplete during the previous 1st gain. Switched back to the 1st gain when the positioning complete status was kept for the delay time during the previous 2nd gain. Enabled during position and full-closed control. Switched to the 2nd gain when the absolute value of the actual velocity during the previous 1st gain has exceeded the set level plus hysteresis [r/min]. Switched back to the 1st gain when the absolute value of the actual velocity during the previous 2nd gain was kept below the set level minus hysteresis [r/min] for the delay time. Enabled during position and full-closed control. Switched to the 2nd gain when the positional command is not 0 during the previous 1st gain. Switched back to the 1st gain when the positional command is kept at 0 for the delay time during the previous 2nd gain and the absolute value of the actual velocity is below the set level minus hysteresis [r/min]. Motor Business Unit, Panasonic Corporation No.SX-DSV03031- 127 - 3) Setup procedure Assume that the servo driver's internal status changes as shown in the following figure, when the load moves from Position A to Position B. To use the gain switching function under this condition, set up the relevant parameters according to the procedure described below. [1] Set up the gain switching conditions with the following parameters. Pr. 1.15 "Position control switching mode" Pr. 1.20 "Velocity control switching mode" Pr. 1.24 "Torque control switching mode" M A B Large Set in Pr 1.15 Position control Full-closed control Position command 7 Position deviation 6 Positioning complete ON OFF ON 8 Velocity control Motor velocity Set in Pr 1.20 5 Velocity command Velocity control command variation 9,10 5 4 Torque control Set in Pr 1.24 Torque command Select the 1st gain regardless of the status Select the 2nd gain regardless of the status Switch with the gain switching input (GAIN) Open: 1st gain, Short-circuit: 2nd gain * When the logic is set to a-contact 3 3 3 0 0 0, 4 1 1 1 2 2 2 Motor Business Unit, Panasonic Corporation No.SX-DSV03031- 128 - [2] Define the switching level and hysteresis according to the switching conditions. 1st gain 2nd gain 1st gain Hysteresis Switching level [3] Define the switching delay time. The switching delay time defines the time delay for switching from the 2nd gain to the 1st gain. To switch from the 2nd gain to the 1st gain, the specified switching conditions must be satisfied continuously during the switching delay time. Hysteresis Cancelled as the conditions are no longer met Switching delay time Switching level 1st gain 2nd gain 1st gain [4] Define the position gain switching time. When the gain is switched, the velocity loop gain, velocity integration time constant, velocity detection filter and torque filter time constant will be instantaneously switched. The position loop gain, however, can be changed gradually to avoid any trouble resulting from a rapid increase to a higher gain. Motor Business Unit, Panasonic Corporation No.SX-DSV03031- 129 - 5-2-6 Notch filter When machine rigidity is low, vibrations and sounds may be caused by a shaft twisting resonance, which inhibits increasing the gain. In such a case, a notch filter can be used to suppress resonant peaks, thus allowing the setting of a higher gain or reducing vibrations. 1) Relevant parameters For A6 Series, five notch filters are available, which are adjustable in frequency, width and depth. Class No. Parameter name Range Unit 2 1 1st notch frequency 50 to 5000 Hz 2 2 1st notch width 0 to 20 - 2 3 1st notch depth 0 to 99 - 2 4 2 5 2nd notch width 0 to 20 - 2 6 2nd notch depth 0 to 99 - 2 7 3rd notch frequency *1 50 to 5000 Hz 2 8 3rd notch width *1 0 to 20 - 2 9 3rd notch depth *1 0 to 99 - 2 10 4th notch frequency *1 50 to 5000 Hz 2 11 4th notch width *1 0 to 20 - 2 12 4th notch depth *1 0 to 99 - 2 24 5th notch frequency 50 to 5000 Hz 2 25 5th notch width 0 to 20 - 2 26 5th notch depth 0 to 99 - 2nd notch frequency 50 to 5000 Hz Function Defines the center frequency of the 1st notch filter. * If set to 5000, the notch filter becomes disabled. Defines the frequency span of the 1st notch filter. Defines the depth of the 1st notch filter in the center frequency. Defines the center frequency of the 2nd notch filter. * If set to 5000, the notch filter becomes disabled. Defines the frequency span of the 2nd notch filter. Defines the depth of the 2nd notch filter in the center frequency. Defines the center frequency of the 3rd notch filter. * If set to 5000, the notch filter becomes disabled. Defines the frequency span of the 3rd notch filter. Defines the depth of the 3rd notch filter in the center frequency. Defines the center frequency of the 4th notch filter. * If set to 5000, the notch filter becomes disabled. Defines the frequency span of the 4th notch filter. Defines the depth of the 4th notch filter in the center frequency. Defines the center frequency of the 5th notch filter. * If set to 5000, the notch filter becomes disabled. Defines the frequency span of the 5th notch filter. Defines the depth of the 5th notch filter in the center frequency. *1 When the adaptive filter function is used, the parameter value is automatically set. 2) How to use Identify the resonance frequency using the frequency characteristic measuring function, resonance frequency monitor or operating waveforms on the waveform graphic function of the setup support software, and set it to the notch frequency for use. Motor Business Unit, Panasonic Corporation No.SX-DSV03031- 130 - 3) Width/depth of the notch The width of the notch filter is represented as the ratio of frequency bandwidth, whose attenuation rate is -3[dB], against the notch center frequency when the depth is 0 as shown on the left in the following table. The depth of the notch filter is represented as the input/output ratio in which the center frequency input is completely shut out with the set value 0 or completely flowed with the set value 100. Values in [dB] notation are shown on the right in the following table. Notch width Bandwidth/Center frequency 0 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 0.50 0.59 0.71 0.84 1.00 1.19 1.41 1.68 2.00 2.38 2.83 3.36 4.00 4.76 5.66 6.73 8.00 9.51 11.31 13.45 16.00 Notch depth Input/output ratio [dB] notation 0 1 2 3 4 5 6 7 8 9 10 15 20 25 30 35 40 45 50 60 70 80 90 100 0.00 0.01 0.02 0.03 0.04 0.05 0.06 0.07 0.08 0.09 0.10 0.15 0.20 0.25 0.30 0.35 0.40 0.45 0.50 0.60 0.70 0.80 0.90 1.00 -∞ -40.0 -34.0 -30.5 -28.0 -26.0 -24.4 -23.1 -21.9 -20.9 -20.0 -16.5 -14.0 -12.0 -10.5 -9.1 -8.0 -6.9 -6.0 -4.4 -3.1 -1.9 -0.9 0.0 Gain [dB] Notch filter frequency characteristic Depth 0, Width 4 Depth 50, Width 4 Depth 0, Width 8 Frequency [Hz] Motor Business Unit, Panasonic Corporation No.SX-DSV03031- 131 - 5-2-7 Damping function 5-2-7-1 Damping control This function reduces vibration at the edge or over the entire equipment by removing the vibration frequency components specified by the positional command. Among the four frequency settings, up to two can be used at the same time. Vibration 先端が振動 at the edge Vibration monitored by 変位センサで振動観測 displacement sensor Setup of edge vibration frequency Driver ドライバ Motor モータ 薄い鉄の板 移動 Move カップリング シーケンサ Coupling Sequencer Positional command Damping filter Torque command Position/Velocity control ボールねじ screw 移動体 Movable Ball body 機台 Machine Motor current Current control Motor Load Motor position Encoder Servo amp 1) Applicable range Damping control is activated under the following conditions. Conditions under which damping control is activated Should be position control or full-closed control. Pr. 0.02=0: Position control Control mode Pr. 0.02=3: 1st control mode of position/velocity control Pr. 0.02=4: 1st control mode of position/torque control Pr. 0.02=6: Full-closed control 2) Caution Damping control may not work properly or no effect can be obtained under the following conditions. Conditions hindering damping control • Vibrations are excited by factors other than commands (such as external forces). • The ratio of resonance frequency and anti-resonance frequency is large. Load condition • The vibration frequency is out of the range between 0.5 and 300.0 [Hz]. Motor Business Unit, Panasonic Corporation No.SX-DSV03031- 132 - 3) Relevant parameters Set up damping control operation using the following parameters. Class No. Parameter name Range Unit Function Defines how to switch among the four filters used for damping control. • When set to 0: Up to two filters can be used simultaneously. • When set to 1 or 2: To be switched by external input (VS-SEL1, VS-SEL2) Pr. 2.13 0 1 2 VSSEL2 OFF OFF ON ON VSSEL1 OFF ON OFF ON OFF ON 1st damping Enabled Enabled Disabled Enabled Disabled Disabled Disabled 2nd damping Enabled Disabled Enabled Disabled Enabled Disabled Disabled 3rd damping Disabled Enabled Disabled Disabled Disabled Enabled Disabled 4th damping Disabled Disabled Enabled Disabled Disabled Disabled Enabled • When set to 3: To be switched by command direction Pr. 2.13 3 Position command direction Positive direction Negative direction 1st damping Enabled Disabled 2nd damping Disabled Enabled 3rd damping Enabled Disabled 4th damping Disabled Enabled Contents of setup values 4 to 6 will differ with enabled/disabled switching of two degree-of-freedom control mode. • Position control (Two degree-of-freedom control mode disabled) 2 13 Damping filter switching selection 0 to 6 - Pr 2.13 4 5, 6 VSSEL1 - 1st 2nd 3rd damping damping damping Enabled Enabled Enabled Same action as set value 0 4th damping Disabled • Position control (Two degree-of-freedom control mode enabled) Pr. VS1st 2nd 2.13 SEL1 model-type model-type damping damping 4 Enabled Enabled 5 OFF Enabled Disabled ON Disabled Enabled Pr. 2.13 6 Position command direction Positive direction Negative direction 1st model-type damping Enabled 2nd model-type damping Disabled Disabled Enabled • full-close control 1st 2nd 3rd 4th Pr damping damping damping damping 2.13 4～6 Same action as set value 0 *1 Switching of damping frequency and damping filter setting is performed on the rising edge of the command when the number of command pulses (before positional command filter) per command pulse detection frequency (0.125 ms) changes from 0 to a value other than 0 while the positioning complete is being output. In particular, in a case where the damping frequency is increased or changed to be disabled, and the positioning complete range is set large, if a large number of pulses are accumulated in the filter (the area equivalent of the value of positional command before filter minus the value of positional command after filter integrated over the time) at the time of the above switching, these pulses are discharged rapidly right after the switching, which causes the motor to return to the previous position, making the motor run at a velocity higher than the original command velocity temporarily, to which care must be taken. *2 There will be a delay after changing the damping frequency or damping filter setting until it is applied to the internal calculation. If the switching as described in *1 occurs during this delay time, the change may be suspended. Motor Business Unit, Panasonic Corporation No.SX-DSV03031- 133 - Class No. Parameter name Range Unit 2 14 1st damping frequency 0 to 3000 0.1 Hz 2 15 1st damping filter setting 0 to 1500 0.1 Hz 6 41 1st damping depth 0 to 1000 - 2 27 1st damping width setting 0 to 1000 - 2 16 2nd damping frequency 0 to 3000 0.1 Hz 2 17 2nd damping filter setting 0 to 1500 0.1 Hz 6 60 2nd damping depth 0 to 1000 - 2 28 2nd damping width setting 0 to 1000 - 2 18 3rd damping frequency 0 to 3000 0.1 Hz 2 19 3rd damping filter setting 0 to 1500 0.1 Hz 6 71 3rd damping depth 0 to 1000 - 2 29 3rd damping width setting 0 to 1000 - 2 20 4th damping frequency 0 to 3000 0.1 Hz Function Defines the 1st damping frequency of damping control that suppresses vibration at the load edge. Measure the frequency of vibration at the load edge and set up a value in unit of 0.1[Hz]. The valid frequency range is between 0.5 and 300.0 [Hz]. Disabled when set to 0 to 9. If torque saturation occurs with the 1st damping frequency enabled, decrease the value. When you need faster operation, increase the value. In normal cases, set to 0. Note) The maximum setup value is internally limited to the corresponding damping frequency or “3000 - damping frequency,” whichever is smaller. Defines the depth against the 1st damping frequency. The depth becomes maximum when the setup value is 0. The larger the setup value, the smaller the depth. Although the damping effect increases as the depth becomes larger, the delay becomes large. While the delay decreases as the depth becomes smaller, the damping effect decreases. Use this parameter to fine tune the damping effect and delay. Sets the width for the 1st damping frequency. The enabled range of setup is between 10 to 1000 and will operate as set to 100 between the range of 0 to 9. Within the setup range, the width will increase with the increase in the setup value, increasing robustness against vibration fluctuation. Defines the 2nd damping frequency of damping control that suppresses vibration at the load edge. Measure the frequency of vibration at the load edge and set up a value in unit of 0.1[Hz]. The valid frequency range is between 0.5 and 300.0[Hz]. Disabled when set to 0 to 9. If torque saturation occurs with the 2nd damping frequency enabled, decrease the value. When you need faster operation, increase the value. In normal cases, set to 0. Note) The maximum setup value is internally limited to the corresponding damping frequency or “3000 - damping frequency,” whichever is smaller. Defines the depth against the 2nd damping frequency. The depth becomes maximum when the setup value is 0. The larger the setup value, the smaller the depth. Although the damping effect increases as the depth becomes larger, the delay becomes large. While the delay decreases as the depth becomes smaller, the damping effect decreases. Use this parameter to fine tune the damping effect and delay. Sets the width for the 2nd damping frequency. The enabled range of setup is between 10 to 1000 and will operate as set to 100 between the range of 0 to 9.Within the setup range, the width will increase with the increase in the setup value, increasing robustness against vibration fluctuation. Defines the 3rd damping frequency of damping control that suppresses vibration at the load edge. Measure the frequency of vibration at the load edge and set up a value in unit of 0.1[Hz]. The valid frequency range is between 0.5 and 300.0[Hz].Disabled when set to 0 to 9. If torque saturation occurs with the 3rd damping frequency enabled, decrease the value. When you need faster operation, increase the value. In normal cases, set to 0. Note) The maximum setup value is internally limited to the corresponding damping frequency or “3000 - damping frequency,” whichever is smaller. Defines the depth against the 3rd damping frequency. The depth becomes maximum if the setup value is 0. The larger the setup value, the smaller the depth. Although the damping effect increases as the depth becomes larger, the delay becomes large. While the delay decreases as the depth becomes smaller, the damping effect decreases. Use this parameter to fine tune the damping effect and delay. Sets the width for the 3rd damping frequency. The enabled range of setup is between 10 to 1000 and will operate as set to 100 between the range of 0 to 9. Within the setup range, the width will increase with the increase in the setup value, increasing robustness against vibration fluctuation. Defines the 4th damping frequency of damping control that suppresses vibration at the load edge. Measure the frequency of vibration at the load edge and set up a value in unit of 0.1[Hz]. The valid frequency range is between 0.5 and 300.0 [Hz]. Disabled when set to 0 to 9. Motor Business Unit, Panasonic Corporation No.SX-DSV03031- 134 Class No. Parameter name Range Unit 2 21 4th damping filter setting 0 to 1500 0.1 Hz 6 72 4th damping depth 0 to 1000 - 2 30 4th damping width setting 0 to 1000 - Function If torque saturation occurs with the 4th damping frequency enabled, decrease the value. When you need faster operation, increase the value. In normal cases, set to 0. Note) The maximum setup value is internally limited to the corresponding damping frequency or “3000 - damping frequency,” whichever is smaller. Defines the depth against the 4th damping frequency. The depth becomes maximum if the setup value is 0. The larger the setup value, the smaller the depth. Although the damping effect increases as the depth becomes larger, the delay becomes large. While the delay decreases as the depth becomes smaller, the damping effect decreases. Use this parameter to fine tune the damping effect and delay. Sets the width for the 4th damping frequency. The enabled range of setup is between 10 to 1000 and will operate as set to 100 between the range of 0 to 9. Within the setup range, the width will increase with the increase in the setup value, increasing robustness against vibration fluctuation. Motor Business Unit, Panasonic Corporation No.SX-DSV03031- 135 - 4) How to use [1] Setup of damping frequency (Pr 2.14, Pr 2.16, Pr 2.18, Pr.2.20) Measure the vibration frequency at the top of the equipment. When you can use such instrument as a laser displacement meter to directly measure the top end vibration, read out the vibration frequency from the measured waveform in unit of 0.1[Hz] and set it to the parameter. If no measuring device is available, measure the frequency based on the residual vibration of the position deviation waveform measured using the vibration frequency monitor or the waveform graphic function of the setup support software. Position deviation Command velocity Calculate vibration frequency [2] Setup of damping filter (Pr 2.15, Pr 2.17, Pr 2.19, Pr 2.21) First set to 0 and check the torque waveform during operation. Although you can reduce the settling time by specifying a larger value, the torque ripple increases at the command changing point as shown in the following figure. Set up a value within the range where no torque saturation occurs under the actual condition. If torque saturation occurs, the vibration suppression effect will be lost. Damping filter setup is appropriate Damping filter setup is too large Torque saturation Torque command [3] Damping depth setting (Pr. 6.14, Pr. 6.60, Pr. 6.71, Pr. 6.72) Damping width setting (Pr. 2.27, Pr. 2.28, Pr. 2.29, Pr. 2.30) If further aims to vibration suppression, set optimum value that most vibration is redused by increase (shallow) depth setting value little by little from 0. Also if reducing the control delay is desired, reduce (narrow) width setting. When support variation of vibration frequency, increase (widen) width setting. Motor Business Unit, Panasonic Corporation No.SX-DSV03031- 136 - 5-2-7-2 Model-type damping filter This function reduces vibration at the edge or over the entire equipment by removing the vibration frequency components specified by the positional command. The model-type damping filter can also remove resonance frequency components as well as anti-resonance frequency components, enhancing the effect of a conventional damping filter to generate smooth torque commands and offering a better damping effect. In addition, the removal of anti-resonance frequency components and resonance frequency components can increase the responsiveness of the command response filter, which improves the settling time. However, unlike a conventional damping filter, the model-type damping filter cannot obtain vibration components from the position sensor for the measurement of anti-resonance frequency components and resonance frequency components, which thus requires frequency characteristics analysis and the setting of optimum parameter values. Positional command Torque Model-type Damping filter Position/Velocity command control Motor Current current Motor control Load Motor position Encoder Servo amp 1) Applicable range The model-type damping filter is activated under the following conditions. Control mode Conditions under which the model-type damping filter is activated • Must be position controlled with two degree-of-freedom control enabled. 2) Caution The model-type damping filter may not work properly or no effect can be obtained under the following conditions. Conditions hindering the model-type damping filter • Vibrations are excited by factors other than commands (such as external forces). Load condition • The resonance frequency and the anti-resonance frequency are out of the range between 5.0 and 300.0 [Hz]. The damping filter works in a conventional manner under the following conditions. Conditions under which the damping filter works in a conventional manner • The resonance frequency and the anti-resonance frequency do not satisfy the following equation: 300.0 [Hz] ≥ Resonance frequency > Anti-resonance frequency ≥5.0 [Hz] • The response frequency and the anti-resonance frequency do not satisfy the following equation: Parameter setting 300.0 [Hz] ≥ Anti-resonance frequency x 4 ≥ Response frequency ≥ Anti-resonance frequency ≥ 5.0 [Hz] • With the value in Pr. 2.13 "Damping filter switching selection" set to 4, the 1st and 2nd model-type damping filters are both enabled, and multiplying the 1st and 2nd response frequency/anti-resonance frequency ratios gives a value larger than 8. (In this case, only the 2nd model-type damping filter works as a conventional damping filter.) When the damping filter works in a conventional manner, the three parameters of anti-resonance frequency, anti-resonance attenuation ratio and response frequency will be used for damping frequency, damping depth and damping filter setting. To completely disable this function, all of the five parameters of resonance frequency, resonance attenuation ratio, anti-resonance frequency, anti-resonance attenuation ratio and response frequency should be set to 0. Motor Business Unit, Panasonic Corporation No.SX-DSV03031- 137 - 3) Relevant parameters Set up the model-type damping filter using the following parameters. Class No. Parameter name Range Unit Function Defines the switching method for the 4 filters used for damping control. • When set to 0: Up to two filters can be used simultaneously. • When set to 1 or 2: To be switched by external input (VS-SEL1, VS-SEL2) Pr 2.13 VSSEL2 VSSEL1 1st damping 2nd damping 3rd damping 4th damping 0 - - Enabled Enabled Disabled Disabled Disabled 1 2 - OFF Enabled Disabled - ON Disabled Enabled Enabled Disabled OFF OFF Disabled Disabled Enabled Disabled OFF ON Enabled Disabled Disabled OFF Disabled Enabled Disabled Disabled ON Enabled Disabled ON ON Disabled Disabled Disabled Enabled • When set to 3: To be switched by command direction Pr 2.13 2 13 Damping filter switching selection 0 to 6 - 3 Position command direction 1st damping 2nd damping Positive direction Enabled Negative direction Disabled 3rd damping 4th damping Disabled Enabled Disabled Enabled Disabled Enabled Contents of setup values 4 to 6 will differ with enabled/disabled switching of two degree-of-freedom control mode. • Two degree-of-freedom control mode disabled (position control, full-close control) Pr 2.13 VSSEL1 4 - 5, 6 1st damping 2nd damping 3rd damping 4th damping Enabled Enabled Enabled Same action as set value 0 Disabled • Two degree-of-freedom control mode enabled (position control only) 6 61 1st resonance frequency 0 to 3000 0.1Hz 6 62 1st resonance damping ratio 0 to 1000 - 6 63 1st anti-resonance frequency 0 to 3000 0.1Hz 6 64 1st anti-resonance damping ratio 0 to 1000 - 6 65 1st response frequency 0 to 3000 0.1Hz Pr 2.13 4 5 VSSEL1 OFF ON 1st model type damping Enabled Enabled Disabled Pr 2.13 6 Position command direction Positive direction Negative direction 2nd model type damping Enabled Disabled Enabled 1st model type damping Enabled Disabled 2nd model type damping Disabled Enabled Defines the resonance frequency of the model-type damping filter's load. The unit is [0.1 Hz]. Defines the resonance attenuation ratio of the model-type damping filter's load. The attenuation ratio can be set as the setup value multiplied by 0.001. The value of 1000 results in an attenuation of 1 (no peak). The smaller the setup value, the smaller the attenuation ratio (higher resonance peak). Defines the anti-resonance frequency of the model-type damping filter's load. The unit is [0.1 Hz]. Defines the anti-resonance attenuation ratio of the model-type damping filter's load. The attenuation ratio can be set as the setup value multiplied by 0.001. The value of 1000 results in an attenuation of 1 (no peak). The smaller the setup value, the smaller the attenuation ratio (higher resonance peak). Defines the response frequency of the model-type damping filter's load. The unit is [0.1 Hz]. (To be continued) Motor Business Unit, Panasonic Corporation No.SX-DSV03031- 138 Class No. Parameter name Range Unit 6 66 2nd resonance frequency 0 to 3000 0.1Hz 6 67 2nd resonance damping ratio 0 to 1000 - 6 68 2nd anti-resonance frequency 0 to 3000 0.1Hz 6 69 2nd anti-resonance damping ratio 0 to 1000 - 6 70 2nd response frequency 0 to 3000 0.1Hz Function Defines the 2nd resonance frequency of the model-type damping filter's load. The unit is [0.1 Hz]. Defines the 2nd resonance attenuation ratio of the model-type damping filter's load. The attenuation ratio can be set as the setup value multiplied by 0.001. The value of 1000 results in an attenuation of 1 (no peak). The smaller the setup value, the smaller the attenuation ratio (higher resonance peak). Defines the 2nd anti-resonance frequency of the model-type damping filter's load. The unit is [0.1 Hz]. Defines the 2nd anti-resonance attenuation ratio of the model-type damping filter's load. The attenuation ratio can be set as the setup value multiplied by 0.001. The value of 1000 results in an attenuation of 1 (no peak). The smaller the setup value, the smaller the attenuation ratio (higher resonance peak). Defines the 2nd response frequency of the model-type damping filter's load. The unit is [0.1 Hz]. *1) For parameter attributes, refer to Section 9-1. 4) How to use [1] As preparation, measure the resonance frequency and anti-resonance frequency using the frequency characteristic measuring function of PANATERM with torque velocity mode. Ex.) The figure below shows the measurement result with a belt device. Ignoring small resonances, the resonance frequency at the gain peak and the anti-resonance frequency at the gain valley are as follows: 1st resonance frequency = 130 [Hz], 1st anti-resonance frequency = 44 [Hz] 2nd resonance frequency = 285 [Hz], 2nd anti-resonance frequency=180 [Hz] [2] The resonance attenuation ratio and anti-resonance attenuation ratio should have initial values of around 50 (0.050). [3] The response frequency should start with the same value as the anti-resonance frequency. [4] Specify a value of 4 to 6 in Pr. 2.13 "Damping filter switching selection" to enable model-type damping control. [5] Activate the motor and fine tune the parameters in the following sequence so that vibration components including command position deviation become small. (1) Anti-resonance frequency (2) Anti-resonance attenuation ratio (3) Resonance frequency (4) Resonance attenuation ratio [6] Once the setting where vibration is minimized was found, increase the setup value of response frequency. The response frequency increases from one to four times the anti-resonance frequency, and the higher the frequency, the smaller the delay due to damping control. However, the damping effect decreases gradually, so a balanced setting should be chosen. Example of frequency characteristic measurement with setup support software PANATERM Motor Business Unit, Panasonic Corporation No.SX-DSV03031- 139 - 5-2-8 Feed forward function Instead of using feedback control only, the velocity feed forward function can be used during position control or full closed control to reduce position deviation and improve responsiveness, by calculating the velocity control command necessary for operation based on the internal positional command and adding the result to the velocity command calculated from the comparison with position feedback. Also, the torque feed forward function can improve the response time of the velocity control system by calculating the torque command necessary for operation based on the velocity control command and adding the result to the torque command calculated from the comparison with velocity feedback. 1) Relevant parameters In A6 Series, two feed forward functions, velocity feed forward and torque feed forward, are available for use. Class No. Parameter name Range Unit 1 10 Velocity feed forward gain 0 to 4000 0.1% 1 11 Velocity feed forward filter 0 to 6400 0.01 ms 1 12 Torque feed forward gain 0 to 2000 0.1% 1 13 0 to 6400 0.01 ms 6 00 0 to 100 0.1 V/ 100% 6 10 -32768 to 32767 - 2) Torque feed forward filter Analog torque feed forward gain setting * Not available with [E***], [G***]. Function expansion setting Function Multiplies the velocity control command calculated from the internal positional command by the ratio of this parameter and adds the result to the velocity command resulting from the positional control process. Defines the time constant of 1st delay filter which affects the input of velocity feed forward. *it is disabled when.the two degree of freedom control mode Multiplies the torque command calculated from the velocity control command by the ratio of this parameter and adds the result to the torque command resulting from the velocity control process. Defines the time constant of 1st delay filter which affects the input of torque feed forward. Defines the input gain of analog torque FF. Disabled when set to 0 to 9. Defines the bit related to analog torque FF. bit5 0: Analog torque FF disabled 1: Analog torque FF enabled * The least significant bit is bit0. Usage example of velocity feed forward With the velocity feed forward filter set at approx. 50 (0.5 ms), gradually increasing the velocity feed forward gain will enable velocity feed forward. The position deviation during operation at a constant velocity is reduced as shown in the following equation in proportion to the value of velocity feed forward gain. Position deviation [unit of command] = command velocity [unit of command/s] / position loop gain [1/s] x (100 - velocity feed forward gain [%]) / 100 Position deviation Velocity FF gain Motor velocity Command velocity 0[%] 50[%] 80[%] Time The position deviation in velocity-constant region becomes smaller as the velocity feed forward gain is increased. Motor Business Unit, Panasonic Corporation No.SX-DSV03031- 140 - Although calculatory position deviation is 0 with the gain set at 100%, significant overshoot occurs during acceleration/deceleration. If the updating cycle of the positional command input is longer than the driver control cycle, or the pulse frequency varies, the operating noise may increase while velocity feed forward is active. If this is the case, use the positional command filter (1st delay/FIR smoothing), or increase the velocity feed forward filter setup value. 3) Usage example of torque feed forward To use torque feed forward, the inertia ratio must be correctly configured. Use the value estimated upon execution of real time auto tuning, or specify the inertia ratio that can be calculated from the machine specification in Pr. 0.04 "Inertia ratio." With the torque feed forward filter set at approx. 50 (0.5 ms), gradually increasing the torque feed forward gain will enable torque feed forward. Position deviation at a constant acceleration/deceleration can be minimized close to 0 by increasing the torque forward gain. This means that position deviation can be maintained at near 0 over the entire operation area while driving in trapezoidal speed pattern under an ideal condition where disturbance torque is not active. Motor velocity Velocity FF gain = 100[%] fixed Position deviation Command velocity Torque FF gain 0[%] 50[%] Time 100[%] Torque feed forward can decrease the position deviation in acceleration-constant region. Zero position deviation is impossible in actual situation because of disturbance torque. As with the velocity feed forward, increasing the time constant pf torque feed forward filter suppresses the operating noise but increases position deviation at the acceleration change point. Motor Business Unit, Panasonic Corporation No.SX-DSV03031- 141 - 4) Usage example of analog torque feed forward [E***], [G***] This function is not usable. When bit5 is set to 1 in Pr. 6.10 "Function expansion setting," analog torque feed forward is enabled. Also, when the analog input 3 is used for other function (for example, analog torque limit), the function is disabled. With Pr. 6.00 "Analog torque feed forward gain setting," the voltage [V] applied on the analog input 3 is converted to torque, which is added to the torque command [%]. This will be torque in CCW direction at positive voltage [V], and in CW direction at negative voltage [V]. The following graph shows the process of conversion from the input voltage [V] at the analog input 3 into the torque command [%] applied to the motor. The inclination of the graph indicates the case with Pr. 6.00=30. The inclination varies depending on the set value in Pr. 6.00. Torque command [%] = 100 x input voltage [V] / (Pr. 6.00 setup value x 0.1) Torque command [%] 333 200 -10 6 -6 10 Input voltage[V] -200 -333 Motor Business Unit, Panasonic Corporation No.SX-DSV03031- 142 - 5-2-9 Load variation suppression function This function improves stability by suppressing motor velocity variation due to disturbance torque or load variation. This is effective when real-time auto tuning cannot handle load variation sufficiently. Function corresponding to load variation Velocity control output Torque compensation Disturbance compensation Disturbance torque Load estimation F1 6.74 K 6.23 T2 6.73 F2 6.75 T1 6.24 N 6.76 Torque command － + Load variation Motor velocity Motor + load 1) Applicable range This function is only applicable when the following conditions are met. Conditions under which the load variation suppression function is activated Control mode • Should be either position control or velocity control Other • Should be in servo-on condition • Elements other than control parameters, such as deviation counter clear command inhibit and torque limit, are appropriately set, enabling the motor to run normally. 2) Caution No effect may be obtained under the following conditions. Conditions hindering the load variation suppression function • The rigidity is low (the anti-resonance point is at low frequency range of 10 Hz or Load below) • The load shows a clear non-linear trend with friction and backlash. Motor Business Unit, Panasonic Corporation No.SX-DSV03031- 143 - 3) Relevant parameters Class No. Parameter name Range Unit 6 10 Function expansion setting -32768 to 32767 - 6 23 6 24 6 73 6 74 Torque compensation 0 to 5000 frequency 1 6 75 Torque compensation 0 to 5000 frequency 2 6 76 Load variation -100 to 100 compensation gain Load variation 10 to 2500 compensation filter Load estimation filter 0 to 2500 Load estimation count 0 to 8 % 0.01 ms Function Enables or disables the load variation suppression function. bit1 0: Disables the load variation suppression function 1: Enables the load variation suppression function bit2 0:Disables the load variation stabilization setting 1: Enables the load variation stabilization setting bit4 0: Disables the load variation suppression function automatic adjustment 1: Enables the load variation suppression function automatic adjustment * The least significant bit is bit0. Defines the compensation gain against load variation. Defines the filter time constant against load variation. 0.01 ms Defines the filter time constant for load estimation. Defines the filter frequency 1 against the velocity control output. Torque compensation is enabled when the relation between Pr. 6.74 0.1 Hz "Torque compensation frequency 1" and Pr. 6.75 "Torque compensation frequency 2" satisfies the following formula. (Pr. 6.75 x 32) ≥ Pr. 6.74 > Pr. 6.75 ≥ 1.0 Hz Defines the filter frequency 2 against the velocity control output. Torque compensation is enabled when the relation between Pr. 6.74 0.1 Hz "Torque compensation frequency 1" and Pr. 6.75 "Torque compensation frequency 2" satisfies the following formula. (Pr. 6.75 x 32) ≥ Pr. 6.74 > Pr. 6.75 ≥ 1.0 Hz Defines the load estimation count. - * The symbols in parenthesis indicate the parameter symbols in the figure on the previous page. 4) How to use There are two methods below for adjusting the load variation suppression function. When there is no load inertia variation (disturbance suppression setting) [1] Make normal gain adjustment in advance. Use real-time auto tuning (Pr. 0.02=1) with the load variation suppression function automatic adjustment disabled (Pr. 6.10 bit14=0), and set stiffness (Pr. 0.03) as high as possible. [2] Set bit14 to 1 in Pr. 6.10 "Function expansion setting" to enable the load variation suppression function automatic adjustment, and check disturbance suppression effect with the motor rotate. * Before enabling or disabling the load variation suppression function, turn off the servo first. * If this change causes the motor to oscillate or generates an abnormal sound, return to Step [1] and decrease the servo rigidity by one or two levels before repeating the subsequent steps. [3] If further aims to adjust, set bit14 to 0 in Pr. 6.10 to disable the automatic adjustment of load variation suppression function. [4] Specify a small value as possible in Pr. 6.24 "Load variation compensation filter." Decreasing the filter setup value within the range that does not produce any significant abnormal sound or torque command variation will improve disturbance suppression performance and reduce motor velocity variation and encoder position deviation. * When an abnormal sound at high frequency (1 kHz or above) is generated, increase the value in Pr. 6.76 "Load estimation count." * When vibration at low frequency (10 Hz or below) is produced after operation stops, increase the value in Pr. 6.23 "Load variation compensation gain". * No change is required for Pr. 6.73 "Load estimation filter" in normal cases, but you can set the optimum point by fine-tuning within the range between around 0.00 and 0.20 ms. Motor Business Unit, Panasonic Corporation No.SX-DSV03031- 144 - ■ When there is load inertia variation (load variation stabilization setting) [1] Turn ON the control power in two-degree-of-freedom position control (synchronization type) (Pr. 0.01=0, Pr. 6.47 bit0=1 bit3=1). [2] Set the command response filter (Pr. 2.22) to 10ms. [3] Set real-time auto tuning to load variation support mode, and operate the motor in a pattern as large as possible load variation occurs in this state. [4] Set the stiffness setting (Pr. 0.03) as large as possible. [5] Set the command response filter to appropriate value to continue to derease while checking response of the motor. (*In case of need to the multi-axis trajectory control, change all axes Pr. 2.22 to the same value and adjust.) Motor Business Unit, Panasonic Corporation No.SX-DSV03031- 145 - 5-2-10 Third gain switching function In addition to the normal gain switching function shown in 5-2-5, the 3rd gain can be further set to switch gains on the point of stopping. By increasing the gain on the point of stopping for a given time, the positioning steady state can be shortened. (1) Scope This function is unable to be applied unless the following conditions are satisfied. Conditions under which the 3rd gain switching function is operated. Control mode • Either position control or fully-closed control. Miscellaneous • In the servo ON condition. • Elements other than control parameters, such as deviation counter clear command input prohibition, torque limit, etc. are properly set and the motor is free of obstacle to normal motor rotation. (2) Related parameters Class. No. 6 05 6 06 Parameter name Position control third gain effective time Position control third gain scale factor Setting range unit 0-10000 0.1 ms 50-1000 % Function Set the time when third gain becomes effective. Set third gain at the scale factor against first gain. Third gain = first gain x Pr6.06/100 (3) How to use Under the condition in which the regular gain switching function operates normally, set the time for applying the third gain to Pr6.05 “Position control third gain effective time, and set the third gain for Pr6.06 “Position control third gain scale factor” at the scale factor against the first gain. • When the third gain is not used, set Pr6.05=0 and Pr6.06=100. • The third gain is effective only at the time of position control/fully closed control. • In the third gain interval, the position loop gain/speed proportional gain only become the third gain, and for all others, the settings of first gain are applied. • When the second gain switching conditions are established in the third gain interval, the gain is switched to the second gain. • At the time of switching the second gain to the third gain, Pr1.19 “Position gain switching time” is applied. • Even when the gain is switched from the second gain to the first gain because of parameter changes, the third gain interval is generated, to which care must be taken. Ex.) Pr1.15 “position command switching mode: = 7 Switching conditions: with position command Position command speed [r/min] Second gain Pr1.05 to 1.09 Pr6.05×0.1 ms Third gain First gain Pr1.00-1.04 [Third gain interval] Position loop gain = Pr1.00×Pr6.06/100 Speed proportional gain = Pr1.01×Pr6.06/100 For speed integration time constant, speed detection filter and torque filter, first gain values are used as they are. Motor Business Unit, Panasonic Corporation No.SX-DSV03031- 146 - 5-2-11 Friction torque compensation As functions for reducing effects of friction which exists in the mechanical system, three kinds of friction torque compensations are available: eccentric load compensation that compensates the constantly working offset torque, dynamic friction compensation whose direction varies in accord with the operation direction, and viscous friction torque correction amount that is varied by the command speed. (1) Scope This function is unable to be applied unless the following conditions are satisfied. Conditions for activating friction torque compensations. Control mode • Varies in accord with respective functions. See the parameter description in (2) below. Miscellaneous • To be in the servo ON state. • Elements other than control parameters, such as deviation counter clear command input prohibition, torque limit, etc. are properly set and the motor is free of obstacle to normal motor rotation. (2) Related parameters By combining the following four parameters, friction torque compensation is set. Class. No. 6 07 6 08 6 09 6 50 Parameter name Setting range Additional value to -100 - 100 torque command Torque compensation value -100 - 100 in positive direction Torque compensation value -100 - 100 in negative direction Viscous friction compensation gain 0 - 10000 unit Functions In a control mode other than torque control, eccentric compensation % value constantly added to the torque command is set. Dynamic friction compensation value to be added to the torque % command at the time of position control and fully closed control and when forward direction position command is entered. Dynamic friction compensation value to be added to the torque % command at the time of position control and fully closed control and when reverse direction position command is entered. When 2-degree-of-freedom control mode is effective, the result multiplying the command speed by this setting is added to the torque 0.1 %/ command as the viscous friction torque correction amount. By setting (10000 the estimated viscous friction coefficient of real-time auto tuning, there mm/s) are cases in which the feedback scale position deviation in the vicinity of steady state may be improved. Motor Business Unit, Panasonic Corporation No.SX-DSV03031- 147 - (3) How to use The friction torque compensation is added as illustrated below in accordance with the entered position command direction. Command speed Pr6.50 [Viscous friction compensation gain] [Positive direction] Pr6.08 [Positive direction torque compensation] Pr6.09 [Negative direction torque compensation] Pr6.07 [Torque command additional value] Time Pr6.50 [Viscous friction compensation gain] [Negative direction] Motor non-energized Motor energized Motor non-energized The total of eccentric compensation set by constantly fixed torque command additional value, dynamic friction compensation set by positive torque compensation or negative torque compensation, which is added in accordance with the command speed direction lastly entered, and viscous friction compensation added in accordance with command speed becomes the friction compensation torque. Command speed direction is reset when power supply is turned ON and with motor non-energized. Pr6.07 “Additional value to torque command” reduces variations of positioning action caused by the moving direction by setting the torque command value when a constant eccentric load torque is constantly applied to the motor by gravity in the vertical axis, etc. Pr6.08 “Torque compensation value in positive direction” and Pr6.09 “Torque compensation value in negative direction” are loads that require a large dynamic friction torque due to radial load, such as belt driving shaft, and degradation and variations of positioning steady state time due to dynamic friction can be reduced by setting the friction torque in each rotating direction to each parameter. Pr6.50 “viscous friction compensation gain” reduces response delay at the time of acceleration by setting a torque command value against viscous load. Because of its properties, the compensation is proportional to the speed command value. There is no problem in which eccentric load compensation and dynamic friction compensation are used in combination or individually but the following restrictions are applied depending on the control mode switching or the servo ON state. • At the time of torque control: Irrespective of parameter settings, the eccentric load compensation and dynamic friction compensation are zero. • At the time of speed control and the servo OFF: The eccentric load compensation is effective in accordance with Pr6.07. The dynamic friction compensation becomes zero irrespective of parameter settings. • At the time of position control or fully closed control and the servo ON: Until the first position command is entered, the previous eccentric load compensation and dynamic friction compensation values are maintained. When the command is changed from without position command to with position command, the eccentric load compensation is updated in accordance with Pr6.07. In addition, in response to the command direction, the dynamic friction compensation value is updated in accordance with parameter Pr6.08 or Pr6.09. Motor Business Unit, Panasonic Corporation No.SX-DSV03031- 148 - 5-2-12 Inertia ratio switching function By the inertia ratio switching input (J-SEL), the inertia ratio can be changed over between first and second. This is useful for applications where the load inertia is changed in two stages. (1) Scope This function is unable to be applied unless the following conditions are satisfied. Conditions under which inertia ratio switching function is operated Control mode • Able to be used in all control modes. Miscellaneous • To be in the servo ON state. • Elements other than control parameters, such as deviation counter clear command input prohibition, torque limit, etc. are properly set and the motor is free of obstacle to normal motor rotation. • Real-time auto tuning must be invalid (Pr0.02 = 0). • Adaptive filter function must be invalid (Pr2.00 = 0). • Load fluctuation suppressing function must be invalid (Pr6.10 bit 1 = 0). (2) Precaution • Carry out inertia ratio switching with the motor stopped. If the inertia ratio is switched while the motor is in motion, vibrations, oscillations, or other phenomena may occur. • In the event that the difference between the first inertia ratio and the second inertia ratio is large, vibrations, etc. may occur even when the motor is stopped. Be sure to use this after such vibrations, etc. do not pose any problem on the actual machine. (3) Related parameters By combining the following three parameters, the inertia ratio switching function is set. Class. No. Setting range Parameter name unit 6 10 Function expansion setting -32768 32767 - 0 04 Inertia ratio 0-10000 % 6 13 Second inertia ratio 0-10000 % Functions Set the bits related to inertia ratio switching. bit3 0: Inertia ratio switching invalid 1: Valid *The least significant bit is designated as bit0. Ex.) When inertia ratio switching is made valid: Setting = 8 Set the first inertia ratio. Set the ratio of load inertia to motor rotor inertia. Set the second inertia ratio. Set the ratio of load inertia to the motor rotor inertia. (4) How to use By the inertia ratio switching input (J-SEL), the first inertia ratio and the second inertia ratio are switched. Inertia ratio switching input (J-SEL) OFF ON Adaptive inertia ratio First inertia ratio (Pr0.04) Second inertia ratio (Pr6.13) Motor Business Unit, Panasonic Corporation No.SX-DSV03031- 149 - 5-2-13 Hybrid vibration suppressing function A function to suppress vibration arising from the twist amount between the motor and the load in the fully-closed control mode. This function enables high setting of gains. (1) Scope This function is unable to be applied unless the following conditions are satisfied. Conditions in which hybrid vibration suppression functions are activated. Control mode • Fully-closed control mode Miscellaneous • To be in the servo ON state. • Elements other than control parameters, such as deviation counter clear command input prohibition, torque limit, etc. are properly set and the motor is free of obstacle to normal motor rotation. (2) Precautions • This function is effective when the twist amount between the motor shaft and the load is great. When the twist amount is small, there are cases in which the effect may be small. (3) Related parameters Combining the following parameters, hybrid vibration suppression function is set. Class. No. Parameter name Setting range unit 6 34 Hybrid vibration suppression gain 0-30000 0.1/s 6 35 Hybrid vibration suppression filter 10-6400 0.01 ms Functions Set hybrid vibration suppression gain. Basically, set the same value as the position loop gain and finely adjust while monitoring the conditions. Set the hybrid vibration suppression filter. (4) How to use [1] Set Pr6.34 [Hybrid vibration suppression gain] to be same as the position loop gain. [2] While driving in the fully-closed control, increase the setting of Pr6.35 [hybrid vibration suppression filter] gradually and check changes of response. If response seems to be improved, while adjusting Pr6.34 and Pr6.35, find a combination that can achieve the optimum response. Motor Business Unit, Panasonic Corporation No.SX-DSV03031- 150 - 5-2-14 Two-stage torque filter In addition to conventional first and second torque filters (Pr1.04 and Pr1.09), still another torque filter is able to be set. Using this two-stage torque filter, suppression effects of high-pass vibration components can be increased. When second gain is chosen Second torque filter (Pr1.09) Gain switching When first gain is chosen Torque command Two-stage torque filter (Pr6.42 and,Pr6.43) First torque filter (Pr1.04) (1) Scope This function is unable to be applied unless the following conditions are satisfied. Conditions in which two-stage torque filter function is activated. Control mode • This can be used in all control modes. Miscellaneous • To be in the servo ON state. • Elements other than control parameters, such as torque limit, etc. are properly set and the motor is free of obstacle to normal motor rotation. (2) Precautions • Excessively large setting causes control to be unstable, possibly generating vibration. Set to an appropriate value while checking the apparatus for conditions. • Changing Pr6.43 “Two-stage torque filter damping terms” may generate vibration. Change Pr6.43 while the motor stands still. (3) Related parameters Class. No. Parameter name Setting range unit 6 42 Two-stage torque 0 to 2500 filter time constant 0.01 ms 6 43 Two-stage torque 0 to 1000 filter damping term - Functions Set the time constant of two-stage torque filter. The time constant becomes invalid when the setting is zero. [When the time constant is used in the second filter at Pr6.43≥50] The corresponding time constant becomes 5 to 159 (0.05 to 1.59 ms). (Equivalent to 100 to 3000 Hz in terms of frequency.) Motor operates with the settings from 1 through 4 as 5 (3000 Hz), and with the settings from 159 to 2500 as 159 (100 Hz). Set the damping term of two-stage torque filter. By this setting, the filter degree of two-stage torque filter is changed over. 0 to 49: To operate as a primary filter. 50 to 1000: To operate as a second filter and at the setting of 1000, the filter becomes a second filter of = 1.0. The smaller the setting, the more vibratory. Basically, it is recommended to use at the setting of 1000. (4) How to use In the event that the high-pass vibration is unable to be removed by conventional first and second torque filters, set the two-stage torque filter. With Pr6.43 “Two-stage torque filter damping term” = 1000 ( = 1.0), adjust the Pr6.42 “two-stage torque filter time constant.” Motor Business Unit, Panasonic Corporation No.SX-DSV03031- 151 - 5-2-15 Quadrant projection suppression function Control configuration can be switched to suppress quadrant projection occurring during arc interpolation of 2 or more axes. To be used in conjunction with load fluctuation suppression function. (1) Scope This function is unable to be applied unless the following conditions are satisfied: Conditions in which quadrant projection suppression function is triggered Control mode • To be in either position control or full close control mode. • To be in Servo-On state. • Elements other than control parameters, such as prohibition of deviation counter Others clear command input and torque limit, etc. are set appropriately, in a state where there are no obstructions in normal motor revolutions. (2) Points to note There are cases where effects cannot be observed under the following conditions: Conditions where the effects of quadrant projection suppression function is disrupted · When rigidity is low (anti-resonance point exists in the low frequency range of 10 Hz or lower) Load · When non-linearity of load is strong from existence of backlash, etc. · When action patterns are changed. (3) Related parameters Class. No. 5 45 5 46 5 47 5 48 5 49 6 47 Parameter name Setting range Quadrant projection -1000 to positive direction 1000 compensation amount Quadrant projection -1000 to negative direction 1000 compensation amount Quadrant projection compensation delay 0 to 1000 time Quadrant projection compensation filter 0 to 6400 setting L Quadrant projection compensation filter 0 to 10000 setting H Function expansion setting 2 0 to 5000 unit Functions Sets amount of compensation to be added to torque command when the position command is in positive direction and quadrant projection compensation function is enabled. Sets amount of compensation to be added to torque command 0.1% when the position command is in negative direction and quadrant projection compensation function is enabled. Sets the length of delay time for switching of amount of compensation after position command has been reversed, when ms quadrant projection compensation function is enabled. Sets time constant for low-pass filter on the amount of 0.01 ms compensation on torque command when quadrant projection compensation function is enabled. Sets time constant for high-pass filter on the amount of 0.1 ms compensation on torque command when quadrant projection compensation function is enabled. Bit14: Enables/disables quadrant projection compensation 0.1 Hz function. (0: disabled, 1: enabled) 0.1% (4) How to use [1] Reclose control power supply after enabling quadrant projection suppression function (Pr 6.47 bit14 = 1) [2] In case of position control (Pr 0.01=0), refer to 5-2-9 and adjust load fluctuation suppression function by external suppression setting.In case of full close control (Pr 0.01=6), can not use load fluctuation suppression function. [3] Measure quadrant projection [4] Level is unsatisfactory, conduct further fine adjustment using Pr 5.45 through Pr 5.49. [5] Set initial values to: Pr 5.47 = 0, Pr 5.48 = Pr 1.04, Pr 5.49 =0. [6] Measure the magnitude of quadrant projection and conduct fine adjustments to Pr 5.45 and Pr 5.46 of each axis. *In case the direction of quadrant projects shifts with the direction of movement, try changing Pr 5.47 and Pr 5.48. *In case the effects of direction compensation are to be reversed in the positive-negative direction, try changing Pr 5.49. Motor Business Unit, Panasonic Corporation No.SX-DSV03031- 152 - 5-2-16 Two-degree-of-freedom control mode (with position control) The two-degree-of-freedom control mode is an extended function of position control mode to improve the responsiveness by making it possible to independently set the command response and servo rigidity. (1) Scope This function is unable to be applied unless the following conditions are satisfied. Conditions in which two-degree-of-freedom control mode is activated. Control mode • Position control Miscellaneous • To be in the servo ON state. • Elements other than control parameters, such as torque limit, etc. are properly set and the motor is free of obstacle to normal motor rotation. (2) Related parameters First of all, with Pr6.47 “Function expansion setting 2” = 1, fill in EEPROM, and then, make the 2-degree-of-freedom control mode effective by resetting the control power supply. Thereafter, adjust by the real-time auto-tuning (see 5-1-3). Only when further improvement is required, while checking responses, finely adjust the following parameters manually. Class. No. Parameter name Setting range 6 47 Function expansion setting 2 -32768 32767 2 22 Command smoothing filter 0 - 10000 6 48 Adjustment filter 0 - 2000 unit Functions Various functions are set in bit units. bit0 2-degree-of-freedom mode 0: Invalid 1: Valid bit3 Choose 2-degree-of-freedom control real-time auto-tuning. 0: Standard type 1: Synchronous type *The least significant bit is set to bit0. *bit3 (2-degree-of-freedom control real-time auto-tuning chosen) becomes enabled only when bit0 is set to 1: Valid. At the time of the 2-degree-of-freedom control, the time constant of command response filter is used. The maximum value is restricted to 2000 (=200.0 ms). (The parameter value itself is not restricted but the applied value 0.1 ms inside the driver is restricted. The damping term is set by Pr6.49 “Command response filter and adjustment filter damping term setting.”) Making this parameter smaller can quicken the command response, whereas making it larger can slow the command response. To set the time constant of adjustment filter. When the torque filter setting is changed, set the adjustment filter to a near value while referring to setting of real-time auto-tuning. In 0.1 ms addition, by finely adjusting the adjustment filter while monitoring the encoder position deviation in the vicinity of steady state, overshoot or vibration waveforms may be sometimes improved. (to be continued) Motor Business Unit, Panasonic Corporation No.SX-DSV03031- 153 - Class. No. Parameter name 6 49 Command response filter and adjustment filter damping term setting 6 50 Viscous friction compensation gain Setting range unit 0 to 99 - 0 to 10000 (10000 0.1 %/ r/min) Functions Set the damping terms of command response filter and adjustment filter. In the decimal number system, the first digit indicates the command response filter setting and the second digit the adjustment filter setting. Target digits: 0 to 4: No damping term (operates as a first filter). 5 to 9: Secondary filter (damping term becomes 1.0. 0.86. 0.71. 0.5, 0, and 0.35). However, when Pr2.13 “Damping filter switching selection” is 4 (two of model type damping controls are valid), the damping ratio is fixed to 1.0 when the secondary filter is chosen. Ex.) In the event that you want to have = 1.0 for the command response filter and = 0.71 for the adjustment filter 1, the setting should be 75 (5 for the first digit ( = 1.0) and the second digit is 7 ( = 0.71)). For the time constant of command response filter, Pr2.22 “Command smoothing filter” is applied. Add the result of multiplying the command speed by this setting to the torque command as the viscous friction torque correction value. Setting the estimated value of viscous friction coefficient of real time auto-tuning may sometimes improve the encoder position deviation near the steady state. Motor Business Unit, Panasonic Corporation No.SX-DSV03031- 154 - 5-2-17 Block diagram for two degree-of-freedom control mode (with position control) Two degree-of-freedom control mode (with position control) shall be as per the block diagram indicated below: Command pulse accumulation Position command speed [By command] [r/min] Damping function Switching selection Pulse train SIGN Command frequency division multiple number (electronic gear) Input settings PULSE Input selection 0.05 Direction setting 0.06 Mode 0.07 One revolution 0.08 First numerator 0.09 Denominator 0.10 Second numerator 5.01 Fourth numerator 5.02 Response frequency Depth Width 1st 2.14 2.15 6.41 2.27 Model 1st 6.61 6.62 6.63 6.64 6.65 2nd 2.16 2.17 6.60 2.28 Model 2nd 6.66 6.67 6.68 6.69 6.70 3rd 2.18 2.19 6.71 2.29 4th 2.20 2.21 6.72 2.30 2.23 ＋ Anti-resonanc e damping Filter 2.22 FIR Antiresonance fre1quency Resonance damping ratio Resonance Frequency Frequency 5.00 Third numerator 2.13 Smoothing filter ratio Command position deviation [By command] － Adjustment filter Command response filter Time constant 6.48 Time constant 2.22 Damping term 6.49 Damping term 6.49 Command frequency division Gain switching Second setting 1.14 Mode 1.15 Delay time 1.16 Level 1.17 Hysteresis 1.18 Changeover time 1.19 6.05 Third time Friction compensation multiple number (electronic gear) Additional value Inverse transform Torque feedforward Positive direction Velocity feedforward Gain Gain 1.12 Filter 1.13 Negative direction Gain 6.07 6.08 6.09 6.50 1.10 Third scaling factor 6.06 Velocity control Proportional ＋ Position control First － Second 1.00 1.05 ＋ ＋ ＋ － 1.01 1.02 Second 1.06 1.07 Inertia ratio 6.10 Internal position command speed [r/min] Encoder position deviation Velocity control command [Encoder pulse] [r/min] First 1.03 Second inertia ratio 6.13 Second 1.08 ＋ ＋ ＋ Torque filter ＋ 0.04 Extension Velocity detection filter Integral First First 1.04 Second 1.09 Two-staged torque filter Time constant 6.42 Damping term 6.43 Load variation suppression Feedback pulse Motor Velocity accumulation [r/min] Pulse regeneration One １回転 revolution 反転 Reversal Pulse output OA OB OZ Compensation gain 6.23 Frequency 1 6.74 Compensation filter 6.24 Frequency 2 6.75 Estimate filter 6.73 Number of times 6.76 0.11 0.12 Velocity detection 分子／分母 Numerator/denominat 分母 Denominator Notch filter 5.03 Frequency Torque limit Current control エンコーダ Encoder モータ Motor Response setting 応答設定 6.11 6.11 Torque command [%] Width Depth First 2.01 2.02 2.03 Selection 5.21 Second 2.04 2.05 2.06 First 0.13 Third 2.07 2.08 2.09 Second 5.22 Fourth 2.10 2.11 2.12 Fifth 2.24 2.25 2.26 Adaptive mode setting 2.00 Main power 外部スケール Load supply Two degree-of-freedom control mode (with position control) block diagram Motor Business Unit, Panasonic Corporation No.SX-DSV03031- 155 - 5-2-18 Two-degree-of-freedom control mode (with speed control) The two-degree-of-freedom control mode is an extended function of speed control mode to improve the responsiveness by making it possible to independently set the command response and servo rigidity. (1) Scope This function is unable to be applied unless the following conditions are satisfied. Conditions in which two-degree-of-freedom control mode is activated. Control mode • Speed control Miscellaneous • To be in the servo ON state. • Elements other than control parameters, such as torque limit, etc. are properly set and the motor is free of obstacle to normal motor rotation. (2) Related parameters First of all, set Pr6.47 “Function expansion setting 2” to 1 and write in EEPROM; then, reset the control power supply to enable the 2-degree-of-freedom mode. Thereafter, adjust the related parameters by real-time auto-tuning (see 5-1-3). Only when further improvement is required, manually finely adjust the following parameters while confirming responses. Class. No. Parameter name Setting range -32767 to 32768 6 47 Function expansion setting 2 2 22 Command smoothing filter 0 to 10000 6 48 Adjustment filter 0 to 2000 unit Functions Various functions are set in bit units. bit0 2-degree-of-freedom mode 0: Invalid 1: Valid *The least significant bit is set to bit0. At the time of the 2-degree-of-freedom control, the time constant of command response filter is used. The maximum value is restricted to 640 (=64.0 ms). 0.1 ms (The parameter value itself is not restricted but the applied value inside the driver is restricted.) Making this parameter smaller can quicken the command response, whereas making it larger can slow the command response. To set the time constant of adjustment filter. When the torque filter setting is changed, set the adjustment filter to a near value while referring to setting of real-time auto-tuning. 0.1 ms At the time of speed control mode, The maximum value is restricted to 640 (=64.0 ms). (The parameter value itself is not restricted but the applied value inside the driver is restricted.) Motor Business Unit, Panasonic Corporation No.SX-DSV03031- 156 - 5-2-19 Block diagram for two degree-of-freedom control mode (with speed control) Two degree-of-freedom control mode (with speed control) shall be as per the block diagram indicated below. Gain switching AI1 input voltage [V] Analog input 1 16bitA/D Offset 4.22 Gain 3.02 Filter 4.23 Inversion 3.03 Speed control command [r/min] 1.14 Mode 1.20 Delay time 1.21 Level 1.22 Hysteresis 1.23 Friction compensation Torque field forward Scaling Analog input correction AI1 Second setting Gain 1.12 Filter 1.13 Additional value 6.07 Gain 6.50 Speed control Speed command selection Acceleration/ deceleration limit Acceleration time IN/OUT switching Direction designation Command response filter 3.12 Time constant 3.00 Deceleration time 3.13 Adjustment filter 3.01 S-letter 3.14 Time constant 3.04 Fifth 3.08 Second 3.05 Sixth 3.09 Third 3.06 Seventh 3.10 Fourth 3.07 Eighth 3.11 6.48 Proportion Integration ＋ － Speed detection filter Internal speed command First 2.22 First 1.03 Second 1.08 First 1.01 1.02 Second 1.06 1.07 Inertia ratio 0.04 Function enhancement 6.10 Second inertia ratio 6.13 ＋ ＋ ＋ Torque filter ＋ First 1.04 Two 1.09 Two-stage torque filter Time constant 6.42 Damping term 6.43 Suppression of load fluctuation Feedback pulse accumulation [Encoder pulse] Motor speed [r/min] Pulse generation Pulse output OA OB OZ 1 rotation 0.11 Inversion 0.12 Compensation gain 6.23 Frequency 1 6.74 Compensation filter 6.24 Frequency 2 6.75 Estimation filter 6.73 Number of times 6.76 Notch filter Speed detection Numerator/ Denominator Denominator Frequency 5.03 Torque limit Current control Encoder エンコーダ 外部スケール Load Motor モータ Response setting 6.11 Main power supply Width Depth First 2.01 2.02 2.03 Selection 5.21 Second 2.04 2.05 2.06 First 0.13 Third 2.07 2.08 2.09 Second 5.22 Fourth 2.10 2.11 2.12 Fifth 2.24 2.25 2.26 Torque command [%] Adaptive mode setting 2.00 Two degree-of-freedom control mode (with speed control) block diagram Motor Business Unit, Panasonic Corporation No.SX-DSV03031- 157 - 5-2-20 Two degree-of-freedom control mode (full-close control) The two degree-of-freedom control mode is an extended function of full-close control mode to improve the responsiveness by making it possible to independently set the command response and servo rigidity. (1) Scope This function is unable to be applied unless the following conditions are satisfied: Conditions in which two-degree-of-freedom control mode is activated Control mode • Full-close control Others • To be in the servo ON state • Elements other than control parameters, such as torque limit, etc. are properly set and the motor is free of obstacle to normal motor rotation. (2) Related parameters First of all, with Pr6.47 write “Function expansion setting 2” = 1 into EEPROM, and then, make the two degree-of-freedom control mode enabled by resetting the control power supply. Thereafter, adjust by the real-time auto-tuning (refer to 5-1-3). Only when further improvement is required, finely adjust the following parameters manually while checking the responses. Class. No. Parameter name 6 47 Function expansion setting 2 2 22 Command smoothing filter 6 48 Adjustment filter Setting range unit Functions Various functions are set in bit units. bit 0 Two degree-of-freedom control mode 0: Invalid 1: Valid bit 3 Two degree-of-freedom control real-time auto-tuning -32768 to select 32767 0: Standard type 1: Synchronous type *The least significant bit is set to bit 0. *bit 3 (two-degree-of-freedom control real-time auto-tuning chosen) becomes enabled only when bit 0 is set to 1: Enabled. At the time of the two degree-of-freedom control, the time constant of command response filter is used. The maximum value is restricted to 2000 (= 200.0 ms). (The parameter value itself is not restricted but the applied value 0 to 10000 0.1 ms inside the driver is restricted. The damping term is set by Pr6.49 “Setting of command response filter and adjustment filter damping terms.”) Making this parameter smaller can quicken the command response, whereas making it larger can slow the command response. Sets the time constant of adjustment filter. When the torque filter setting is changed, set the adjustment filter to a near value while referring to setting of real-time auto-tuning. In 0 to 2000 0.1 ms addition, by finely adjusting the adjustment filter while monitoring the encoder position deviation in the vicinity of steady state, overshoot or vibration waveforms may be sometimes improved. (to be continued) Motor Business Unit, Panasonic Corporation No.SX-DSV03031- 158 - Class. No. 6 49 6 50 Parameter name Setting range unit Functions Sets the damping term of command response filter and adjustment filter. In the decimal number system, the first digit indicates the command response filter setting and the second digit the adjustment filter setting. Target digits: 0-4: No damping term (operates as a primary filter). Command response 5-9: Secondary filter (damping term ζ becomes 1.0, 0.86, 0.71, 0.50, filter / adjustment and 0.35 in sequence). 0 to 99 filter damping term However, when Pr 2.13 “Damping filter switching select” is 4 (when setting two of model type damping controls are valid), the damping ratio is fixed to 1.0 when the secondary filter is chosen. Ex.) In the event that you want to have ζ = 1.0 for the command response filter and ζ = 0.71 for the adjustment filter 1, the setting value is 75 (5 for the first digit ( ζ = 1.0) and 7 for the second digit ( ζ= 0.71)). Pr 2.22 “Command smoothing filter” is applied for the time constant of command response filter, Adds the result of multiplying the command speed by this setting to the torque command as the viscous friction torque compensation Viscosity friction 0.1 %/ value. Setting the estimated value of viscous friction coefficient of 0 to 10000 compensation gain (10000 r/min) real time auto-tuning may sometimes improve the encoder position deviation near the steady state. Motor Business Unit, Panasonic Corporation No.SX-DSV03031- 159 - 5-2-21 Block diagram for two-degree-of-freedom control mode (full closed control) The two degree-freedom control mode (with full-close control) is configured as follows: Position command speed [rpm] Command pulse accumulation [By command] Internal position command speed [r/min] Vibration damping control Switch select Pulse train PULSE SIGN Input settings Command frequency division multiple number (electronic gear) 0.05 Input selection Direction setting 0.06 Mode 0.07 First numerator Denominator 0.09 Second numerator 0.10 5.00 Third numerator 5.01 First order lag 2.22 Fourth numerator 5.02 FIR 2.23 Position command deviation [By command] Adjustment filter Command frequency division multiple number Gain Width Depth 1st 2.14 2.15 6.41 2.27 2nd 2.16 2.17 6.60 2.28 3rd 2.18 2.19 2.19 6.71 6.71 2.29 4th 2.20 2.21 2.21 6.72 6.72 2.30 Outside scale frequency division Numerator 3.24 Denominator 3.25 Command response filter Time constant 6.48 Time constant 2.22 Damping term 6.49 Damping term 6.49 Gain switching Second setting Velocity feedforward (electronic gear) Inverse transform Filter Frequency ＋ － 2.13 Smoothing filter Torque feedforward Friction compensation Additional value 1.10 Gain 1.12 Positive direction Filter 1.13 Negative direction 6.07 6.08 6.09 1.14 Third setting 6.05 Mode 1.15 Scaling factor 6.06 Delay time 1.16 Level 1.17 Hysteresis 1.18 Changeover time 1.19 Velocity control Proportional Position control ＋ － Outside scale pulse output EXA EXB EXZ Encoder pulse output OA OB OZ Outside scale pulse regeneration Numerator 0.11 Denominator 5.03 Reversal 0.12 Z phase width 6.20 Z phase setting 6.21 Output method 6.22 First 1.00 Second 1.05 Full-close deviation [Outside scale pulse] Reversal － ＋ Velocity control command [r/min] Feedback pulse accumulation [Outside scale pulse] Velocity detection filter First 1.03 Second 1.08 Integral First 1.01 1.02 Second 1.06 1.07 Inertia ratio 0.04 Extension 6.10 Second inertia ratio 6.13 ＋ ＋ ＋ Torque filter ＋ First 1.04 Second 1.09 Two-staged torque filter Motor velocity [r/min] Time constant 6.42 Damping term 6.43 Hybrid deviation [By command] Command frequency division multiple number (electronic gear) Inverse transform Outside scale 0.11 － ＋ Velocity detection inverse frequency division Denominator 3.25 Numerator 3.24 Pulse regeneration One revolution ＋ ＋ Notch filter 0.12 Frequency Width Depth Numerator/denominator Denominator Torque limit Input settings 5.03 Type 3.23 Reversal 3.26 Z phase disabled 3.27 Encoder Motor Current control Response setting 6.11 Main power supply First 2.01 2.02 2.03 Selection 5.21 Second 2.04 2.05 2.06 First 0.13 Third 2.07 2.08 2.09 Second 5.22 Fourth 2.10 2.11 2.12 Fifth 2.24 2.25 2.26 Torque command [%] Adaptive mode setting 2.00 Outside scale Two degree-of-freedom control mode (with full-close control) block diagram Motor Business Unit, Panasonic Corporation No.SX-DSV03031- 160 - 6. Applied functions 6-1 Torque limit switching function A function to switch the torque limit value by operating direction or torque limit switching input (TL-SEL). (1) Scope This function is unable to be applied unless the following conditions are satisfied. Conditions in which the torque limit switching function is activated. Control mode • Position control, speed control, and fully closed control Miscellaneous • To be in the servo ON state. • Elements other than control parameters, such as deviation counter clear command input prohibition, torque limit, etc. are properly set and the motor is free of obstacle to normal motor rotation. * At the time of torque control and at the time of measuring frequency response characteristics (torque speed (regular) mode) by PANATERM, the switching function is invalidated and Pr0.13 “First torque limit” only is validated. (2) Related parameters 0 13 First torque limit Setting range 0 to 500 5 21 Torque limit selection 0 to 6 - 5 22 Second torque limit 0 to 500 % 5 23 5 24 5 25 5 26 Class. No. Parameter name Torque limit switching setting 1 Torque limit switching setting 2 Positive direction torque limit for external input Negative direction torque limit for external input unit % Functions Set the first limit value of motor output torque. Set the torque limit choosing system. 0: Positive direction P-ATL(0 to 10 V), negative direction N-ATL (-10 to 0 V) 1: Positive direction/negative direction Pr0.13 2: Positive direction Pr0.13, negative direction Pr5.22 3: TL-SEL OFFPr0.13, TL-SEL ONPr5.22 4: Positive direction P-ATL(0 to 10 V), negative direction N-ATL (0 to 10 V) 5: Positive direction/negative direction P-ATL (0 to 10 V) 6: TL-SEL OFF Positive direction Pr0.13, negative direction Pr5.22 TL-SEL ON Positive direction Pr5.25, negative direction Pr5.26 Set the second limit value of motor output torque. Set the change rate (gradient) from first to second at the time of torque limit switching. Set the change rate (gradient) from second to first at the time of 0 to 4000 ms/100 % torque limit switching. Set the positive direction torque limit at the time of torque limit 0 to 500 % switching input. 0 to 4000 ms/100 % 0 to 500 % Set the negative direction torque limit at the time of torque limit switching input. Motor Business Unit, Panasonic Corporation No.SX-DSV03031- 161 - (3) Content • The torque limit switching mode is shown in the table below: Pr5.21 Torque limit switching input (TL-SEL) Torque limit switching setting (Pr5.23 and Pr5.24) Positive direction torque limit Negative direction torque limit Analog input*1 0 1 - - 2 - - Pr0.13 Pr0.13 OFF 3 Pr5.22 Pr0.13 Effective ON Pr5.22 4 Analog input*1 5 OFF 6 Pr0.13 Pr5.22 Pr5.25 Pr5.26 ON *1: In the event that the torque limit value is designated by the analog input, see 6-2 “Analog torque limit function.” • Setting of change rate at the time of torque limit switching: When the motor is used with Pr5.21 “Torque limit selection” = 3, an gradient is able to be provided to the change when the torque limit is switched. This function is invalid in other settings. The change rate (gradient) set by Pr5.23 “Torque limit switching setting 1” is applied when the first torque limit is switched to the second torque limit and the change rate (gradient) set by Pr5.24 “Torque limit switching setting 2” is applied when the second torque limit is switched to the first torque limit. The sign of the change rate (gradient) is automatically switched in the driver in accordance with the magnitude relationship between the first torque limit and the second torque limit. Setting Pr5.23 “Torque limit switching setting 1” or Pr5.24 “Torque limit switching setting 2” to 0 instantaneously switches the torque limit. Torque limit switching input (TL-SE) First toque limit (Pr0.13) Torque limit switching setting 1 (Pr5.23) Second torque limit (Pr5.22) Torque limit switching setting 2 (Pr5.24) Note) When the first torque limit (Pr0.13) and the second torque limit (Pr5.22) is changed from the front panel or communication, the change rate setting is ignored and the torque limit value after the change is immediately applied. The change rate setting becomes effective only at the time of switching by the torque limit switching input (TL-SEL). Motor Business Unit, Panasonic Corporation No.SX-DSV03031- 162 - [E***], [G***] This function is unable to be used. 6-2 Analog torque limit function The torque limit is set by the use of analog input 2 and 3. The maximum torque limit value is restricted by Pr0.13 “First torque limit.” (1) Scope This function is unable to be applied unless the following conditions are satisfied. Conditions in which analog torque limit function is activated. Control mode • Position control, speed control, and fully closed control Miscellaneous • To be in the servo ON state. • Elements other than control parameters, such as deviation counter clear command input prohibition, torque limit, etc. are properly set and the motor is free of obstacle to normal motor rotation. (2) Related parameters 0 13 First torque limit Setting range 0 to 500 5 21 Torque limit selection 0 to 6 - 5 27 10 to 100 0.1 V /100% 4 25 -342 to 342 5.86 mV 4 26 0 to 6400 0.01 ms 4 28 -342 to 342 5.86 mV 4 29 0 to 6400 0.01 ms Class. No. Parameter name Analog torque limit input gain Analog input 2 (AI2) offset setting Analog input 2 (AI2) filter setting Analog input 3 (AI3) offset setting Analog input 3 (AI3) filter setting unit Functions % To set the first limit value of motor output torque. To set the torque limit selection system. 0: Positive directionP-ATL (0 to 10 V), negative direction N-ATL (-10 to 0 V) 4: Positive directionP-ATL (0 to 10 V), negative direction N-ATL (0-10 V) 5: Positive direction and negative directionP-ATL (0-10 V) For settings 1, 2, 3 and 6, see 6-1 “Torque limit switching functions.” To set the conversion gain from voltage [V] applied to the analog torque limit input (P-ATL, N-ATL) to the torque limit [%]. To set the offset adjustment value against the voltage applied to analog input 2. To set the time constant of the primary delay filter against the voltage applied to analog input 2. To set the offset adjustment value against the voltage applied to analog input 3. To set the time constant of primary delay filter against the voltage applied to the analog input 3. (3) Content Pr5.21 Positive direction analog torque limit input (P-ATL) Negative direction analog torque limit input (N-ATL) -10 to 0 V Positive direction torque limit Negative direction torque limit N-ATL 0 0 to 10 V P-ATL 1 2 Set by parameters*1 3 4 0 to 10 V 0 to 10 V P-ATL N-ATL 5 0 to 10 V Not affected. P-ATL 6 Set by parameters*1 Note 1: When the torque limit value is designated by parameters, see 6-1 “Torque limit switching functions.” Motor Business Unit, Panasonic Corporation No.SX-DSV03031- 163 - Conversion graphs from analog torque limit input voltage [V] to torque command [%] to motors are shown as follows. The gradients of the graphs show the case of Pr5.27=30. The gradients vary in accord with the Pr5.27 settings. • Pr5.21 “Torque limit selection” = 0 Positive direction analog torque limit [%] = 100 × input voltage [V]/(Pr5.27 setting × 0.1) Negative direction analog torque limit [%] = 100 × (-input voltage [V])/(Pr5.27 setting × 0.1)) Positive direction torque limit [%] Negative direction torque limit [%] 200 200 6 -10 10 P-ATL Input voltage [V] -10 -6 10 N-ATL Input voltage [V] • Pr5.21 “Torque limit selection” = 4 Positive direction analog toque limit [%] = 100×input voltage [V]/(Pr5.27 setting ×0.1) Negative direction torque command [%] = 100×input voltage [V]/(Pr5.27 setting ×0.1) Positive direction torque limit [%] Negative direction torque limit [%] 200 200 6 -10 10 P-ATL Input voltage [V] -10 6 10 N-ATL Input voltage [V] • Pr5.21 “Torque limit selection”= 5 Forward/reverse direction analog torque limit [%] =100×input voltage [V]/(Pr5.27 setting×0.1) Positive/negative direction torque limit [%] 200 -10 6 10 P-ATL Input voltage [V] Motor Business Unit, Panasonic Corporation No.SX-DSV03031- 164 - 6-3 Allowable motor operating range setting function The motor is set for the range of the position command input by Pr5.14 “Allowable motor operating range.” When the motor exceeds the allowable operating range of motor, the motor is able to be stopped by issuing an alarm by the allowable motor operating range setting protection. Using this function can prevent the motor from colliding against the machine edge by motor oscillation. (1) Scope This function is unable to be applied unless the following conditions are satisfied. Conditions in which allowable motor operating range setting function is activated. Control mode • Position control and fully closed control Miscellaneous • To be in the servo ON state. • Elements other than control parameters, such as deviation counter clear command input prohibition, torque limit, etc. are properly set and the motor is free of obstacle to normal motor rotation. (2) Precaution Take care that this function is not the protection against the abnormal position command. When the allowable motor operating range setting protection is activated, the motor is decelerated and stopped in conformity to Pr5.10 “Sequence at alarm.” Because depending on a load, the load may come in contact with the machine edge and break during deceleration, the range of setting of Pr5.14 shall be the setting with the deceleration action taken into account. The allowable motor operating range setting protection is invalid at the time of trial operation by the front monitor and at the time of frequency response characteristics function by communication. (3) Related parameters Class. No. 5 14 Parameter name Setting range Allowable motor operating range 0 to 1000 unit Functions To set the allowable motor operating range with respect to the 0.1 position command input range. When this setting is exceeded, the rotation allowable motor operating range setting protection occurs. Motor Business Unit, Panasonic Corporation No.SX-DSV03031- 165 - (4) Action examples [1] When position command is not entered (with servo ON) Because the position command is not entered, the allowable motor operating range is the amount of movement set by Pr5.14 on both sides of the motor position. When the motor enters the error occurring range (lightly shaded area) due to oscillation, etc., the allowable motor operating range setting protection occurs. Motor Load Pr5.14 Pr5.14 Error occurring range Allowable motor operating range Error occurring range [2] When moving to the right side (with servo ON) When the position command to the right side direction is entered, the allowable motor operating range expands just as much as the position command entered, and becomes the range of rotating speed set by Pr5.14 on both sides of the position command input range. Motor Load Pr5.14 Error occurring range Position command input range Pr5.14 Allowable motor operating range Error occurring range [3] When moving to the left side (with servo ON) When the position command to the left-side direction is entered, the position command input range is further expanded. Motor Load Pr5.14 Error occurring range Position command input range Allowable motor operating range Pr5.14 Error occurring range Conditions in which the position command input range is cleared. The position command input range is zero-cleared under the following conditions: When power supply is turned ON: While the position deviation is being cleared (deviation counter clear is effective and drive prohibition input becomes valid when Pr5.05 “Sequence at drive prohibition” is set to 2). At the time of start and end of trial operation action via communication Motor Business Unit, Panasonic Corporation No.SX-DSV03031- 166 - 6-4 Command division/multiplication switching function The numerator of command division/multiplication can be switched to four at maximum using DIV1 and DIV2. For the command division/multiplication functions, see 4-2-2 “Command division/multiplication multiplication (electronic gear) function.” (1) Scope This function is unable to be applied unless the following conditions are satisfied. Control mode Miscellaneous Conditions in which command division/multiplication switching function is activated. • Position control and fully closed control • To be in the servo ON state. • Elements other than control parameters, such as deviation counter clear command input prohibition, torque limit, etc. are properly set and the motor is free of obstacle to normal motor rotation. (2) Related parameters Class. No. Parameter name Setting range unit 0 to 8388608 pulse 0 to 1073741824 - 1 to 1073741824 - 0 to 1073741824 - 0 to 1073741824 - 0 to 1073741824 - 0 08 Number of command pulses per one motor rotation 0 09 division/multiplication First command numerator Command 0 10 5 00 division/multiplication denominator Second command division/multiplication numerator Third command 5 01 division/multiplication numerator Fourth command 5 02 division/multiplication numerator Functions To set the number of command pulses corresponding to one motor rotation. In the case of zero setting or fully closed control, Pr0.09 “First command division/multiplication numerator,” Pr0.10 “Command division/multiplication denominator,” Pr5.00 “Second command division/multiplication numerator,” Pr5.01 “Third command division/multiplication numerator,” and Pr5.02 “Fourth command f division/multiplication numerator” become valid. To set the numerator of division/multiplication processing for the command pulse input. This becomes valid when Pr0.08 “Number of command pulses per motor rotation” is zero. When the setting is zero at the time of position control, encoder resolution capabilities are set to the numerator. When the setting is zero at the time of fully closed control, the command division/multiplication ratio is forcibly set to 1 to 1. To set the denominator of division/multiplication processing for the command pulse input. This becomes valid when Pr0.08 “Number of command pulses per motor rotation” is zero. To set the second numerator of division/multiplication processing for the command pulse input. This becomes valid when Pr0.08 “Number of command pulses per motor rotation” is zero. When the setting is zero at the time of position control, encoder resolution capabilities are set to the numerator. When the setting is zero at the time of fully closed control, the command division/multiplication ratio is forcibly set to 1 to 1. To set the third numerator of division/multiplication processing for the command pulse input. This becomes valid when Pr0.08 “Number of command pulses per motor rotation” is zero. When the setting is zero at the time of position control, encoder resolution capabilities are set to the numerator. When the setting is zero at the time of fully closed control, the command division/multiplication ratio is forcibly set to 1 to 1. To set the fourth numerator of division/multiplication processing for the command pulse input. This becomes valid when Pr0.08 “Number of command pulses per motor rotation” is zero. When the setting is zero at the time of position control, encoder resolution capabilities are set to the numerator. When the setting is zero at the time of fully closed control, the command f division/multiplication ratio is forcibly set to 1 to 1. • The correspondence table of DIV1 and DIV2 to the numerator and denominator of command division/multiplication processing to be chosen is shown as follows: DIV1 DIV2 OFF ON OFF ON OFF OFF ON ON Command division/multiplication processing Numerator Denominator Pr0.09 Pr0.10 Pr5.00 Pr0.10 Pr5.01 Pr0.10 Pr5.02 Pr0.10 Motor Business Unit, Panasonic Corporation No.SX-DSV03031- 167 - 6-5 Settings of various sequence actions Sequences in various action states can be optionally set. 6-5-1 Sequence at the time of drive prohibition inputs (POT and NOT) The action sequence after entering drive prohibition inputs (POT and NOT) is set. (1) Related parameters Class. No. Setting range Parameter name unit 5 04 Drive prohibition input setting 0 to 2 - 5 05 Sequence at drive prohibition 0 to 2 - 5 11 Immediate stop torque setting 0 to 500 % Functions To set entering action of drive prohibition inputs (POT and NOT) 0: Functions as POT Positive direction drive prohibition and NOT Negative direction drive prohibition. When POT is entered at the time of positive direction action, the motor stops in compliance with Pr5.05 “Sequence at drive prohibition” In the case of negative direction, the motor makes same action at the time of NOT input. 1: POT and NOT become invalid and do not exert any effect on actions. 2: En38.0 “Drive prohibition input protection” occurs by entering either POT or NOT. To set the state during deceleration and stop after drive prohibition inputs (POT and NOT) are entered when Pr5.04 “Drive prohibition input setting” is 0. To set the torque limit at the time of an immediate stop. (2) Content • Detail of Pr5.05 “Sequence at drive prohibition” Pr5.04 0 *1 *2 *3 *4 *5 *6 Pr5.05 During deceleration*6 0 Dynamic brake action 1 Torque command = 0 in drive prohibition direction 2 Immediate stop*5 After stop Torque command = 0 in drive prohibition direction Torque command = 0 in drive prohibition direction Torque command = 0 in drive prohibition direction*1 Position deviation/ External scale deviation Retention*2 Retention*2 Clear before and after deceleration *3 In the case of position control and fully closed control, position command = 0 state is indicated, in the case of speed control, speed control = 0 state, and in the case of torque control, speed limit value =0 state. Continuing giving commands in the drive prohibition direction with drive prohibition input set to ON causes position deviation to accumulate and Err24.0 “Excess position deviation error.” When the drive prohibition input is turned ON, stop giving commands in the drive prohibition direction. Position deviation and external scale deviation are cleared twice, deceleration start instance and deceleration completion instance. In the event that the position is controlled in order to clear the position deviation and external scale deviation, home position return action must be conducted to return. Because in the event that the setting is 2 in Pr5.04 “Drive prohibition input setting,” Err38.0 “Drive prohibition input protection” occurs when either one of POT or NOT turns ON, the motor operates not in accordance with this setting but in accordance with Pr5.10 “Sequence at alarm.” When other error occurs, too, priority is given to Pr5.10 “Sequence at alarm” in the same manner. Immediate stop means to immediately stop with control applied while servo is turned ON. The torque command value in such event is restricted by Pr5.11 “Immediate stop torque setting.” Because an immediate stop abruptly decelerates the motor, in position control, the position deviation may instantaneously increase, and Err24.0 “Position deviation excess protection” or Err34.0 “Allowable motor operating range setting error protection” may occur. In such event, set Pr0.14 “Position deviation excess setting” and Pr5.14 “Allowable motor operating range” to appropriate values. During deceleration means an interval in which the motor achieves the speed lower than 30 r/min from the condition in which the motor operates. When the motor speed becomes 30 r/min or lower once and then changes after stopping, the motor follows the state after stopping irrespective of the motor speed. Motor Business Unit, Panasonic Corporation No.SX-DSV03031- 168 - 6-5-2 Sequence with Servo OFF The operation sequence in Servo OFF condition is set. (1) Related parameters Class. No. Parameter name 5 06 Sequence at Servo OFF. 5 11 Immediate stop torque setting Setting range unit 0 to 9 - 0 to 500 % Functions To set the state during deceleration and after stop with Servo OFF. To set the torque limit at the time of immediate stop. (2) Content • Detail of Pr5.06 “Sequence at servo-off” Pr5.06 8 Dynamic brake (DB) action Free run (DB OFF) Dynamic brake (DB) action Free run (DB OFF) Dynamic brake (DB) action Free run (DB OFF) Dynamic brake (DB) action Free run (DB OFF) Immediate stop*1 9 Immediate stop*1 0 1 2 3 4 5 6 7 *1 *2 *3 *4 *5 During deceleration*4 After stop Position deviation and External scale deviation Dynamic brake (DB) action Cleared Dynamic brake (DB) action Cleared Free (DB OFF) Free (DB OFF) Cleared Cleared Dynamic brake (DB) action Held*2 Dynamic brake (DB) action Held*2 Free (DB OFF) Free (DB OFF) Dynamic brake (DB) action Free (DB OFF) Held*2 Held*2 Cleared*5 Cleared*5 An immediate stop means to instantaneously stop with control applied with Servo ON. The torque command value in such event is restricted by Pr5.11 “Immediate stop torque setting.” Continuing to give the position command with Servo OFF, or continuing to operate the motor causes position deviation to accumulate, and Err24.0 “Excess position deviation error” may occur. In addition, turning servo ON under the condition of large position deviation and external scale deviation causes control to zero the deviation to take place, and the motor may suddenly operate. When the motor is used with position deviation and external scale deviation held, take utmost care to the above. When any error occurs with Servo OFF, the motor operates in accordance with Pr5.10 “Sequence at alarm.” In addition, when the main power supply is turned OFF with Servo OFF, the motor follows Pr5.07 “Main power OFF sequence.” During deceleration means an interval in which the motor achieves the speed lower than 30 r/min from the condition in which the motor operates. When the motor speed becomes 30 r/min or lower once and then changes after stopping, the motor follows the state after stopping irrespective of the motor speed. Position deviation and external scale deviation are cleared before and after deceleration and after shifting to servo-OFF, position deviation and external scale deviation are constantly zero-cleared. Motor Business Unit, Panasonic Corporation No.SX-DSV03031- 169 - 6-5-3 Sequence with main power supply OFF The action sequence with the main power supply OFF is set. (1) Related parameters Class. No. Parameter name Setting range unit 5 07 Main power supply OFF sequence 0 to9 - 5 11 Immediate stop torque setting 0 to 500 % Functions To set the state during deceleration and after stop with main power supply OFF. To set the torque limit at the time of immediate stop. (2) Content • Detail of Pr5.07 “Main power supply OFF sequence” Pr5.07 8 Dynamic brake (DB) action Free run (DB OFF) Dynamic brake (DB action Free run (DB OFF) Dynamic brake (DB action Free run (DB OFF) Dynamic brake (DB action Free run (DB OFF) Immediate stop*1 9 Immediate stop*1 0 1 2 3 4 5 6 7 *1 *2 *3 *4 *5 *6 During deceleration After stop Position deviation/ External scale deviation Dynamic brake (DB) action Cleared Dynamic brake (DB) action Cleared Free (DB OFF) Free (DB OFF) Cleared Cleared Dynamic brake (DB) action Held*2 Dynamic brake (DB) action Held*2 Free (DB OFF) Free (DB OFF) Dynamic brake (DB) action Free (DB OFF) Held*2 Held*2 Cleared*5 Cleared*5 An immediate stop means to instantaneously stop with control applied with Servo ON. The torque command value in such event is restricted by Pr5.11 “Immediate stop torque setting.” Continuing to give the position command with the main power supply OFF, or continuing to operate the motor causes position deviation to accumulate, and Err24.0 “Excess position deviation error” may occur. In addition, turning servo ON under the condition of large position deviation and external scale deviation causes control to zero the deviation to take place, and the motor may suddenly operate. When the motor is used with position deviation and external scale deviation held, take utmost care to the above. When any error occurs with the main power supply OFF, the motor operates in accordance with Pr5.10 “Sequence at alarm.” When the main power supply is turned OFF with Servo ON, and in the event that bit0 of Pr5.08 “LV trip selection with the main power OFF” is 1, Err13.1 “Main power supply short voltage error” occurs, and the motor operates in accordance with Pr5.10 “Sequence at alarm.” During deceleration means an interval in which the motor achieves the speed lower than 30 r/min from the condition in which the motor operates. When the motor speed becomes 30 r/min or lower once and then changes after stopping, the motor follows the state after stopping irrespective of the motor speed. Position deviation and external scale deviation are cleared before and after deceleration and after shifting to main power supply OFF, position deviation and external scale deviation are constantly zero-cleared. When Dynamic brake operation input is enabled with main power supply OFF, Dynamic brake operation input will be possible. In input and output signal assignment of Pr. 4.02 “SI3 input selection”, if connected to the COM- by a contact setting, Dynamic brake that built in driver will release, in case of disconnected to COM- , Dynamic brake that built in driver will operate. When servo ON, during the trip, safety state or main power is turned on, this input is disabled and the motor operates in accordance with normal sequence setting. Motor Business Unit, Panasonic Corporation No.SX-DSV03031- 170 - 6-5-4 Sequence at alarm Action sequence in the alarm generated state is set. (1) Related parameters Parameter name Setting range unit Sequence at alarm 0 to7 - Class. No. 5 10 Functions To set the state during deceleration and after a stop when an alarm is generated. (2) Content • Detail of Pr5.10 “Sequence at alarm” Pr5.10 0 1 2 3 4 5 6 7 During deceleration*3 Dynamic brake (DB) action Free run (DB OFF) Dynamic brake (DB) action Free run (DB OFF) Action A: Immediate stop Action B: DB operation*2 Action A: Immediate stop Action B: DB OFF*2 Action A: Immediate stop Action B: DB operation*2 Action A: Immediate stop Action B: DB OFF*2 After stop Position deviation/ External scale deviation Dynamic brake (DB) action Cleared*1 Dynamic brake (DB) action Cleared*1 Free (DB OFF) Free (DB OFF) Cleared*1 Cleared*1 Dynamic brake (DB) action Cleared*1 Dynamic brake (DB) action Cleared*1 Free (DB OFF) Cleared*1 Free (DB OFF) Cleared*1 *1 Position deviation and external scale deviation when alarm is generated are held in the alarm generated state, and cleared when alarm is cleared. *2 Action A and B indicates whether an immediate stop is carried out when any error is generated. When the alarm that must respond to an immediate stop is generated, and when this setting is 4 to 7, the motor follows action A and an immediate stop is conducted. When the alarm that does not respond to an immediate stop occurs, no immediate stop takes place and dynamic brake (DB) operation or free run designated in action B result (see 6-5-5). For the time until the motor makes a deceleration stop, keep the main circuit power supply ON. For the alarm that responds to an immediate stop, see 7-1 “Protection function list.” *3 During deceleration means an interval in which the motor achieves the speed lower than 30 r/min from the condition in which the motor operates. When the motor speed becomes 30 r/min or lower once and then changes after stopping, the motor follows the state after stopping irrespective of the motor speed. Motor Business Unit, Panasonic Corporation No.SX-DSV03031- 171 - 6-5-5 An immediate stop action when alarm comes on. The motor is controlled and immediately stopped when alarm that must respond to an immediate stop occurs. (1) Related parameters Class. No. Parameter name Setting range unit 5 10 Sequence at alarm 0-7 - 5 11 Immediate stop torque setting 0 - 500 % 5 13 Overspeed level setting 0 - 20000 6 14 Immediate stop time at the time of alarming 6 15 Second overspeed level 0 - 20000 setting 0 - 1000 Functions To set the state during deceleration and after stopping when alarm is generated. Setting to 4 through 7 enables an immediate stop. To set torque limit at an immediate stop. When the motor speed exceeds this setting, Err26.0 “Overspeed protection” occurs. r/min In the case of zero setting, the overspeed level is the value of motor maximum rotating speed x 1.2 time. To set the allowable time to stop at an immediate stop when alarm is generated. When this setting is exceeded, the motor is forced to be in ms the alarm state. In the case of zero setting, no immediate stop takes place but the motor becomes in the immediate alarm state. When the motor speed exceeds this setting, Err26.1 “Second overspeed protection” occurs. r/min In the case of zero setting, the overspeed level is the value of motor maximum rotating speed x 1.2 time. (2) Content • Immediate stop action when alarm that must respond to an immediate stop occurs Speed [r/mn] Motor speed Speed command Stop judgment reference speed (30 r/min) Time Alarm Occurrence of alarm that must be met with immediate stop Alarm not occurring Pr5.11 Torque limit For regular operation For regular operation *Pr5.11[Immediate stop torque setting] Impact alleviation measures at immediate stop. Regular action (action by command from upper level) Immediate stop action Alarm state (Action after stop: DB/Free run) Immediate stop time The immediate alarm state is generated when the actual speed is not 30 r/min or lower even after the time set in Pr6.14 “Immediate stop time at the time of alarming” passes after the alarm that must be met with an immediate stop comes on. In addition, if alarm not responding to an immediate stop occurs inside the driver in the middle of an immediate stop, the immediate alarm state is generated. Motor Business Unit, Panasonic Corporation No.SX-DSV03031- 172 - Setting of Pr5.13 “Overspeed level setting” and Pr6.15 “Second overspeed level” There are cases in which the motor does not normally stop even when the immediate stop function is used. For example, as illustrated below, where are cases in which the motor speed rises because the motor is unable to be normally controlled even if the motor speed exceeds Pr5.13 “Overspeed level setting” and the motor enters the immediate stop action For safety measures in such case, Err26.1 “Second overspeed protection” is provided. Because Err26.1 is the alarm that does not respond to an immediate stop, motor energization is cut off to stop the motor in accordance with the sequence action B at the time of alarm. Set the allowable overspeed level to Pr6.15 “Second overspeed level setting.” Furthermore, set Pr5.13 to a low value with sufficient margin to Pr6.15. In the case of small margin or the same setting, both Err26.0 and Err26.1 may be detected. In such event, Err26.0 is displayed but because Err26.1 is generated inside, the alarm that does not respond to an immediate stop is prioritized, and no immediate stop takes place. Furthermore, in the event that Pr6.15 is set to be lower than Pr5.13, Err26.1 is generated before Err26.0, and no immediate stop takes place. Speed [r/min] <For cutoff of energization> Second overspeed level (Pr6.15) <For immediate stop> Overspeed level (Pr5.13) Motor speed Speed command Time Alarm Energized state Occurrence of Err26.0 (Alarm to meet with immediate stop) Alarm not occurring Occurrence of Err26.1 (Alarm not to meet with immediate stop) inside Energized Cutoff Regular action (action by command from upper level) Immediate stop action Action conforming to sequence action B at the time of alarm When the speed set in Pr6.15 “Second overspeed level setting” is exceeded, energization is cut off and actions conforming to sequence action B at the time of alarm is performed. Motor Business Unit, Panasonic Corporation No.SX-DSV03031- 173 - 6-5-6 Drop prevention function when alarm comes on When the alarm that must respond to an immediate stop comes on, drop in the vertical axis, etc. is prevented by keeping the motor energized for the time from when the brake release output (BRK-OFF) is turned OFF to when the external brakes actually begin to work. (1) Related parameters Class. No. Parameter name Setting range unit 5 10 Sequence at alarm 0 to7 - 6 10 Function expansion setting -32768 to 32767 - 6 51 Immediate stop completion wait time 0-10000 ms Functions To set the state during deceleration and after stopping when alarm is generated. Setting to 4 through 7 enables an immediate stop. To set the bit concerning drop prevention function. bit10: Drop prevention function at the time of alarm Position deviation processing 0: Invalid (retention) 1: Valid (clear) When the drop prevention function is made enabled, usually set to 1. Note: The lest significant bit is designated as bit0. When alarm that must respond to an immediate stop is generated, after turning OFF the brake release output (BRK-OFF), set the time to maintain the motor energization. In the case of zero setting, the drop prevention function is disabled. (2) Content • Drop prevention function action when alarm that must respond to an immediate stop When motor stops (30 r/min or less) Motor speed Presence or absence of alarm occurrence Servo alarm output (ALM) When motor rotates (30 r/min or more) Immediate stop deceleration started. (30r/min or less) Normal ON (Normal) 30[r/min] or less 30 r/min Alarm that must respond to immediate stop occurs. 0.5 - 5 ms OFF (Error) Normal 0.5 - 5 ms Motor energized state Dynamic brake action (Note) OFF (action) ON (Release) OFF (Error) ON (Normal) Timing when external brake actually operates. Timing when external brake actually operates. Brake release output (BRK-OFF) Alarm that must respond to immediate stop occurs. OFF (action) ON (Release) Pr6.51 set time Pr6.51 set time Energized Non-enegized Released Action Energized Released Non-enegized Action In the event that the drop prevention function is enabled when alarm is generated, set Pr5.10 “Sequence at alarm” to 4, Pr6.10 “Function expansion setting” bit 10 to “1,” and a value longer than the time when brake release output (BRK-OFF) is turned OFF and external brake actually operates to Pr6.51 “Immediate stop end wait time.” Motor Business Unit, Panasonic Corporation No.SX-DSV03031- 174 - 6-6 Torque saturation protection function When the torque saturation state continues for a given period, alarm is able to be generated. Related parameter Class. 6 No. Parameter name 57 Torque saturation error protection detection time Setting range 0 to 5000 unit Functions ms Set torque saturation error protection detection time. When torque saturation occurs for longer than the time setting, Err16.1 “Torque saturation error protection” occurs. In the event that the setting is 0, this function is invalidated and Err16.1 does not occur. • For example, Err16.1 occurs when the torque saturation state continues for about 5 seconds when 5000 is set. • When torque is controlled, this function is invalidated and Err16.1 does not occur. • When an immediate stop alarm occurs, this function is invalidated and Err 16.1 does not occur. Torque Torque limit Torque command Time Signal output during torque limit (TLC) OFF ON Alarm output (ALM) OFF ON Non-occurrence of alarm Less than Pr6.57 setting ms When torque saturation state does not continue for Pr6.57 setting ms, Err16.1 does not occur and the count is cleared. OFF Err16.1 occurrence Pr6.57 setting ms When torque saturation state continues for Pr6.57 setting or longer, Err16.1 occurs. Motor Business Unit, Panasonic Corporation No.SX-DSV03031- 175 - 7. Protection functions/alarm functions 7-1 Protection function list This servo driver incorporates various protection functions. When these protection functions are activated, the servo driver turns OFF the alarm output signal (ALM) and enters the trip state, and Error Code No. is displayed on the 7-segment LEDs of the front panel unit. Error No. Main Sub 11 12 13 0 0 0 1 14 15 16 18 21 23 24 25 26 27 28 29 31 33 34 36 37 38 39 40 41 42 43 44 0 1 0 1 0 1 2 0 1 0 1 0 0 1 0 0 1 0 1 2 0 0 2 0 2 0 1 2 3 4 5 6 7 0 0-1 0-2 0 0 1 2 0 0 0 0 0 Alarm name History Control power supply short voltage protection Overvoltage protection Main power supply short voltage protection (short voltage across P and N) Main power supply short voltage protection (AC cutoff detection) Overcurrent protection IPM error protection Overheat protection Encoder overheat error protection Overload protection 1 Torque saturation error protection Overload protection 2 Regeneration overload protection Regeneration Tr error protection Encoder communication disconnection error protection Encoder communication error protection Encoder communication data error protection Position deviation excess protection Speed deviation excess protection Hybrid deviation excess protection Overspeed protection Second overspeed protection Command pulse input frequency error protection Absolute clear abnormal protection Command pulse multiplication error protection Pulse regeneration limit protection Deviation counter overflow error protection Deviation counter overflow error protection 2 Safety function error protection 1 Safety function error protection 2 I/F input redundant allocation error 1 protection I/F input redundant allocation error 2 protection I/F input function No. error 1 I/F input function No. error 2 I/F output function No. error 1 I/F output function No. error 2 Counter clear allocation error Command pulse prohibition input allocation error Range of motor movement setting error protection EEPROM parameter error EEPROM check code error Drive prohibition input protection Analog input 1 (Al1) excess protection Analog input 2 (Al2) excess protection Analog input 3 (Al3) excess protection Absolute system down protection Absolute counter overflow protection Absolute overspeed error protection Incremental encoder initialization error protection Absolute 1-rotation counter error protection Incremental 1-rotation counter error protection Attributes Clearable Immediate stop*6 *1 *1 Switchable *7 Switchable *7 *2 *2 (To be continued) Motor Business Unit, Panasonic Corporation No.SX-DSV03031- 176 - Error No. Main Sub 45 47 48 49 50 0 0 0 0 0 1 51 0 1 2 3 4 5 55 0 1 2 70 0 1 72 0 80 0 87 0 92 0 93 0 1 94 0 2 95 0-4 97 0 Other numbers Alarm name History Absolute multi-rotation counter error protection Incremental counter error protection Absolute status error protection Increment encoder Z-phase error protection Increment encoder CS-phase error protection External scale connection error protection External scale communication data error External scale ST error 0 External scale ST error 1 External scale ST error 2 External scale ST error 3 External scale ST error 4 External scale ST error 5 Phase A connection error protection Phase B connection error protection Phase Z connection error protection Phase U current detector error protection Phase W current detector error protection Thermal relay error Modbus communication timeout protection Forced alarm input protection Encoder data recovery abnormal protection Parameter setup error 1 Block data setting error protection Block operation error protection Return to origin error protection Motor auto recognition error Control mode setting error protection Other errors Attributes Clearable Immediate stop*6 Motor Business Unit, Panasonic Corporation No.SX-DSV03031- 177 - *1: When Err16.0 “Overload Protection 1” or Err16.2 “Overload Protection 2” is activated, error can be cleared about 10 seconds after the occurrence. *2: When Err40.0 “Absolute System Down Error protection,” or Err42.0 “Absolute Overspeed Protection” occurs, the error is unable to be cleared unless Absolute Clear is performed. *3: In the event that any alarm that is unable to be cleared occurs, first remove the error causes, and then, cut off the power supply once, and then, reset. *4: In the event that any alarm that can be cleared occurs, the alarm is able to be cleared from Alarm Clear Input (A-CLR), front panel operation, or communication Never fail to clear alarm while the motor is under suspension after removing error causes and securing safety. *5: In the event that the control circuit inside the servo driver malfunctions due to excessively large noise, etc., the foregoing display may appear. In such event, immediately cut off the power supply. *6: Immediate stop refers to alarms which result in an immediate stop when setting is made to 4 to 7 in Pr5.10 “Sequence at alarm” are shown. For the detail of an immediate stop, see 6-5-4 “Sequence at alarm.” *7: Err 16.0 “Overload protection,” and Err 16.2 “Overload protection 2” can be switched to responsive/non-responsive by switching bit 11 of “Function expansion setting 2” of Pr 6.47. Set to non-responsive at time of shipment. Motor Business Unit, Panasonic Corporation No.SX-DSV03031- 178 - 7-2 Description of protective functions Protective functions Main Sub 11 12 0 0 Name Under voltage protection of control power supply Overvoltage protection 0 Main power supply under-voltage protection (PN) 1 Main power supply under-voltage protection (AC) 13 0 Over current protection 1 IPM error protection 14 Causes Voltage between P and N of converting unit of control power supply has fallen down and dropped below specified value. 1) Low power supply voltage. Occurrence of momentary power failure. 2) Power capacity shortage…Due to rush current at the main power-on, power supply voltage has fallen down. 3) Servo driver failure (circuit failure) Power supply voltage has exceeded the allowable input voltage range→Voltage between P and N of converting unit has exceeded the specified value. Power supply voltage is high. A voltage jump due to phase-advancing capacitor and UPS (uninterruptible power supply). 1) Disconnection of regeneration resistor Actions taken Measure L1C-L2C line voltage of connector and terminal block 1) Increase the capacity of power supply voltage. Change the power supply. 2) Increase the power capacity. 3) Replace with new servo driver. Measure connector (L1, L2, and L3) line voltages. Enter correct voltage. Remove the phase-advancing capacitor. 1) Measure the resistance value of the external resistor between terminal B1 and terminal B2 of servo driver with tester, and if the value is ∞, disconnect them. Exchange the external resistor. 2) External regeneration resistor is not appropriate and 2) Change the specified regeneration resistance value to could not absorb the regenerative energy. wattage. 3) Servo driver failure (circuit failure) 3) Replace with new servo driver. In case of Pr5.08 ” LV trip selection with the main Measure connector (L1, L2, and L3) line voltages. power off” = 1, the voltage between L1 and L3 has stopped instantaneously for more than the prescribed time in Pr5.09 “Main power off detection time,” or the voltage between P and N of converting unit of mains power has fallen down during servo-on and dropped below specified value. 1) Increase the capacity of power supply voltage. Change 1) Low power supply voltage. Occurrence of momentary power failure. the power supply. Remove the causes that the electromagnetic contactor of mains power was turned off, and turn on power again. 2) Occurrence of momentary power failure. 2) Check the setting of Pr5.09 (Main power off detection time). 3) Power capacity shortage…Due to rush current at the Correctly set each phase of the power supply. 3) Increase the power capacity. For power capacity, refer main power-on, power supply voltage has fallen down. to ” List of servo drivers and compatible peripheral 4) Open-phase…3-phase input servo driver has been equipment.” 4) Correctly connect each phase of the power supply (L1, operated with single phase input. 5) Servo driver failure (circuit failure) L2, and L3). For single-phase 100 V and single-phase 200 V, use L1 and L3. 5) Replace with new servo driver. Current flowing to converting unit has exceeded the specified value. 1) Remove the motor wire, perform servo-on operation, 1) Servo driver failure and in case of immediate occurrence, replace with new (running) servo driver. (Failure of the circuit, IGBT or other component) 2) Check that the motor wire (U, V and W) is not shorted, 2) Short of the motor wire (U, V and W). and the branched out wire out of the connector. Correctly connect the motor wire. 3) Measure the insulation resistance between motor wire, 3) Earth fault of the motor wire. U, V and W and earth wire. In case of poor insulation, replace the motor. 4) Check the balance of resistance between each motor 4) Burnout of the motor. line, and if unbalance is found, replace the motor. 5) Check that the connector pin for the connection U, V, 5) Poor contact of the motor wire. W of the motor does not come off, if it is loosen or come off, securely fix it. 6) Replace the servo driver. Do not use 6) Adhesion of dynamic braking relay due to frequent Servo-ON/Servo-OFF as a means of staring/stopping the operation. servo ON/OFF operation. 7) Check the product number (capacity) of the motor 7) The motor does not apply to servo driver. servo driver with nameplate, and change to a right 8) Timing of pulse input is the same as or earlier than motor for servo driver. 8) Input pulse after waiting for more than 100 ms after servo-on. servo-on. (Continued) Motor Business Unit, Panasonic Corporation No.SX-DSV03031- 179 - Protective functions Main 0 Over-heat protection 1 Encoders abnormal overheat protection 0 Over-load protection 1 (overload protection 1) 2 Over-load protection 2 (overload protection 2) 15 16 Causes Name Actions taken Sub The temperature of radiator of servo driver and power device has exceeded the specified value. 1) Improve the ambient temperature of servo driver 1) The ambient temperature of servo driver has and the cooling condition. exceeded the specified value. 2) Increase the capacity of the motor and servo driver. Set up longer acceleration/deceleration time. 2) Overload Reduce the load. The temperature of encoder has exceeded an 1) Improve the ambient temperature of servomotor encoder overheat abnormal level. and the cooling condition. 1) The ambient temperature of servomotor is 2) Increase capacity of servo driver and motor. high. Set up longer acceleration/deceleration time. 2) Overload Reduce the load. When a torque command value exceeded the Check that torque (current) waveform does not overload protection time characteristics, it has oscillate, moving violently up and down, by analog resulted in overload protection. output or communication. Check it through an overload warning display and a front panel or communication about the load factor 1) With heavy load, the actual torque has exceeded the rated torque, and the operation 1) Increase the capacity of the motor and servo driver. has been continued for a long time. Set up longer acceleration/deceleration time. 2) Oscillation and hunting due to improper Reduce the load. gain adjustment. Vibration and abnormal 2) Readjust the gain. noise of motor. Pr0.04 “Inertia ratio” setting value error. 3) Miswiring, disconnection of motor. 3) Connect the motor wire as described in the wiring diagram. Replace the cable. 4) The machine has hit the peripheral objects, 4) Resolve the machine state which has gotten worse. and the load suddenly has become large. Lower the load. The machine state has gotten worse. 5) Electromagnetic brake keeps functioning. 5) Measure the voltage at brake terminal. Release the brake. 6) While wiring multiple units, miswiring has 6) Correctly wire the motor wire and encoder cable to occurred by connecting the motor cable to be aligned with the axis. other axis. At the end of this section, the overload protection time characteristics are described. 1 0 18 Torque saturation abnormality protection Torque saturated state has continued between the setup value of Pr6.57 “Torque saturation abnormality protection detection time.” • Check the operational state of driver. • Perform the action same as that of Err16.0, Err16.2. Regenerative energy has exceeded the capacity Check the load factor of the regeneration resistor from of regeneration resistor. the front panel or via communication. Do not use in the continuous regenerative braking application. 1) Due to the regenerative energy during deceleration caused by large load inertia, 1) Check the operation pattern (velocity monitor). converter voltage has risen, and the voltage Check the load factor of the regeneration resistor is raised further due to the lack of capacity and over-regeneration alarm display. Increase the of absorbing this energy by the regeneration capacity of the motor and servo driver, and slow the resistor. deceleration time. Use the external regeneration Over2) Because the motor rotational speed is high, resistor. regeneration regenerative energy cannot be absorbed in 2) Check the operation pattern (velocity monitor). load protection the given deceleration time. Check the load factor of the regeneration resistor and over-regeneration alarm display. Increase the capacity of the motor and servo driver, and slow the 3) The operating limit of the external resistor is deceleration time. Lower the motor rotational limited to 10% duty. speed. Use the external regeneration resistor. 3) Turn the setting of Pr0.16 to 2. <Request>When Pr0.16 is set to 2, an external protective apparatus, such as thermal fuse must be provided without fail. The regeneration resistor will not be protected, and the regeneration resistor may abnormally produce heat and be burned. 1 Regeneration Tr error protection • Failure of regeneration driving Tr of servo driver. • Replace the servo driver. (Continued) Motor Business Unit, Panasonic Corporation No.SX-DSV03031- 180 - Protective functions Main 0 21 1 23 Name Encoder Encoder and servo driver communication was cut off communication a fixed number of times, and a detection function of disconnect error guidewire malfunction has become active. protection Communication error has occurred in data from the encoder. Data error mainly due to noise. Encoder Encoder cables are connected, but communication data has communication some error. error protection 0 Encoder communication data error protection 0 Position deviation excess protection 1 Speed deviation excess protection 0 Hybrid deviation excess error protection 0 Over-speed protection 1 2nd over-speed protection 24 25 26 0 27 Causes Actions taken Sub 1 2 Command pulse input frequency error protection Absolute clear abnormal protection Command pulse multiplier error protection Install the wiring for the connection of encoder cable according to the correct connection. Correct the miswiring of the connector pins. • Secure power supply voltage of the encoder at DC5 V±5 % (4.75 to 5.25 V)…Be notified particularly in case of longer encoder cable. • If motor wire and encoder cable are bound together, separate them. • Connect the shield to FG. Data communication from the encoder is normal, but • Secure power supply voltage of the encoder at DC5 contents of data are not correct. Data error mainly due V±5 % (4.75 to 5.25 V)…Be notified particularly in to noise. Encoder cables are connected, but case of longer encoder cable. communication data has some error. • If motor wire and encoder cable are bound together, separate them. • Connect the shield to FG. Position deviation pulse has exceeded the setting of 1) Check that the motor follows the position command Pr0.14 “Position deviation excess setting.” pulses. Check that the output toque has not 1) The motor movement has not followed the saturated on torque monitor. Make a gain command. adjustment. Maximize Pr0.13 “The 1st torque limit setup” and Pr5.22 “The 2nd torque limit setup.” Make a connection of the encoder as described in the wiring diagram. Prolong 2) Pr0.14 “Position deviation excess setting” value is acceleration/deceleration time. Lower the load and low. speed. 2) Increase the setup value of Pr0.14. The difference between internal position command • Increase the setup value of Pr6.02. speed and actual speed (velocity deviation) has • Prolong the acceleration/deceleration time of internal exceeded the setting of Pr6.02 “Speed deviation position command speed, or improve the following excess setup.” capability by making a gain adjustment. NOTE) At the moment when internal position • Disable speed deviation excess detection. (Pr6.02=0) command speed forcibly became 0, for example immediate stop due to command pulse input inhibition (INH) and positive direction/negative direction drive prohibition input, velocity deviation has been large. Also, because velocity deviation has been large also at start-up of internal position command speed, set with sufficient margin. During the full-closed control, a load position due to • Check the connection of the motor and the load. • Check the connection in the external scale and servo external scale and a motor position due to encoder were misaligned for the set pulse number or more at driver. Pr3.28 “Hybrid deviation excess setting.” • Check that changes in the motor position (encoder During the full-closed control, numerator of electronic feedback value) have the same sign as those in the gear were changed or switched. load position (external scale feedback value) when moving the load. Check that the numerator and denominator of the external scale division (Pr3.24, 3.25) and reversal of external scale direction (Pr3.26) are correctly set. • Fix the numerator of electronic gear during the full-closed control. The motor rotational speed has exceeded the setup • Do not give an extravagant velocity command. value of Pr5.13 “Over-speed level setup.” • Check the command pulse input frequency and division/multiplication ratio. The motor rotational speed has exceeded the setup • When overshoot occurs due to improper gain value of Pr6.15 “The 2nd over-speed level setup.” adjustment, make a gain adjustment. • Wire the encoder cable as described in the connection diagram. The frequency of command pulse input is more than • Check the command pulse input. 1.2 times the setting in Pr5.32 “Command pulse input maximum setup/digital filter setup.” Absolute encode multi-rotation clear has been • Confirm whether absolute encode multi-rotation executed when a block operation was enabled (Pr 6.28 clear has when a block operation was enabled.(Note) is non 0). This is a safety measure and is not an abnormality. Division and multiplication ratio which are set up • Check the setup value of command with the command pulse counts per single turn and the division/multiplication numerator of electronic gear. 1st and the 4th numerator/denominator of the electronic gear are not appropriate. (Continued) Motor Business Unit, Panasonic Corporation No.SX-DSV03031- 181 - Protective functions Main 28 0 0 29 2 0 31 2 0 1 2 3 33 4 5 6 7 34 0 0 36 37 Name Causes Actions taken Sub 1 0 1 2 Limit of pulse replay protection The output frequency of pulse regeneration has exceeded the limit. • Check the setup values of Pr0.11 “Output pulse counts per one motor revolution” and Pr5.03 “Denominator of pulse output division.” • When disabling the detection, set Pr5.33 “Pulse regenerative output limit enable” to 0. Position deviation value of the encoder pulse standard has exceeded 230-1 (1073741823). • Check that the motor follows the position command. • Check that the output toque has not saturated on torque monitor. • Make a gain adjustment. • Maximize Pr0.13 “The 1st torque limit setup” and Pr5.22 “The 2nd torque limit setup”. • Make a connection of the encoder as described in the wiring diagram. • Confirm that motor rotates in accordance with the positioning command. • Confirm that output torque has not saturated by the torque monitor. • Adjust gain. • Set Pr.0.13 “1st torque limit setting” and Pr5. 22 “2ndtorque limit setting” to maximum. • Connect encoder connection wiring as per the wiring diagram. • In case of the repeated occurrence, because failure is possible, replace the servo driver. Return to a dealer for investigation (repair). Deviation counter overflow protection Value of positioning deviation has exceeded±230-1(1073741823) in pulse units. Or the value ofpositioning deviation has exceeded Deviation counter ±230 (1073741824) in command units. overflow protection 2 Safety function error protection 1 Safety function error protection 2 I/F overlap allocation error 1 protection I/F overlap allocation error 2 protection I/F input function number error 1 I/F input function number error 2 I/F output function number error 1 I/F output function number error 2 Counter clear allocation error Command pulse inhibition input allocation error Safety function has detected an error. Input signals (SI1, SI2, SI3, SI4, and SI5) are assigned with two functions. • Allocate correct function to each connector pin. Input signals (SI6, SI7, SI8, SI9, and SI10) are assigned with two functions. • Allocate correct function to each connector pin. Input signals (SI1, SI2, SI3, SI4, and SI5) are assigned with undefined number. Input signals (SI6, SI7, SI8, SI9, and SI10) are assigned with undefined number. Output signals (SO1, SO2, and SO3) are assigned with undefined number. • Allocate correct function to each connector pin. Output signals (SO4, SO5, and SO6) are assigned with undefined number. • Allocate correct function to each connector pin. Counter clear function is assigned to a signal number other than SI7. Command pulse inhibition input function is assigned to a signal number other than SI10. • Allocate correct function to each connector pin. • Allocate correct function to each connector pin. • Allocate correct function to each connector pin. • Allocate correct function to each connector pin. The motor has exceeded the motor working range set to Pr5.14 “Allowable motor operating range setting” against the position command Motor working input range. 1) Check gain (the balance of position loop gain range setup error 1) Gain is not appropriate. and velocity loop gain) and inertia ratio. protection 2) Increase the setup value of Pr5.14. Or, set Pr5.14 to 0 and disable the protective function. 2) Pr5.14 setup value is low. • Reset all parameters. Data in parameter storage area has been EEPROM • In case of the repeated occurrence, because failure parameter error damaged when reading the data from EEPROM is possible, replace the servo driver. Return to a at power-on. protection dealer for investigation (repair). EEPROM check EEPROM writing-check data has been damaged Failure is possible. Replace the servo driver. Return when reading the data from EEPROM at to a dealer for investigation (repair). cord error power-on. protection (Continued) Motor Business Unit, Panasonic Corporation No.SX-DSV03031- 182 - Protective functions Main Name Causes Actions taken Sub 38 0 39 0 1 2 40 0 41 0 42 0 43 0 44 0 45 0 47 0 48 0 49 0 Both positive and negative direction drive • Check that there is no error in the switches, wires prohibition inputs (POT and NOT) have been and power supply connected to the positive Drive turned ON at Pr5.04 “Over-travel inhibition input direction/negative direction drive prohibition input. prohibition input setting” =0. Check particularly that start-up of the power supply protection Either positive direction drive prohibition input for the control signal (DC12 to 24 V) is not slow. or negative direction drive prohibition input has been turned ON at Pr5.04=2. The voltage more than the value set in Pr4.24 • Correctly set Pr4.24 “Analog input 1 (AI1) excess Analog input 1 “Analog input 1 (AI1) excess setup” has been setup.” (AI1) excess applied to analog input 1. Check the connection of I/F connector. protection • Set Pr4.24 to 0 and disable the protective function. The voltage more than the value set in Pr4.27 • Correctly set Pr4.27 “Analog input 2 (AI2) excess Analog input 2 “Analog input 2 (AI2) excess setup” has been setup.” (AI2) excess applied to analog input 2. Check the connection of I/F connector. protection • Set Pr4.27 to 0 and disable the protective function. The voltage more than the value set in Pr4.30 • Correctly set Pr4.30 “Analog input 3 (AI3) excess Analog input 3 “Analog input 3 (AI3) excess setup” has been setup.” (AI3) excess applied to analog input 3. Check the connection of I/F connector. protection • Set Pr4.30 to 0 and disable the protective function. The power supplies and battery powers to After connecting the power supply for the battery, clear Absolute absolute encoder were shut down, and the the absolute encoder. system down built-in capacitor voltage dropped below The alarm cannot be cleared until the absolute encoder error protection specified value. is reset. • Set Pr0.15 (Absolute encoder setup) to appropriate Absolute Multi-turn counter of absolute encoder has value. counter over exceeded the specified value. • Make an amount transferred from the machine zero error protection within 32767 rotations. 1) Check the driving from outside in a power outage When using absolute encoder and the rotational speed at the time, and operate to 1) During a power failure, when only battery make it below specified value. power is supplied, the motor rotational speed 2) Because the mode was switched to a power failure Absolute has exceeded the specified value. mode during normal activity over-speeds 2) During normal operation, for some reason, • Check the encoder-side power supply voltage (5 error protection the power of encoder has been shut down, V±5 %). and the rotational speed has exceeded the • Check the connection of connector CN2. specified value. The alarm cannot be cleared until the absolute encoder is reset. Incremental encoder An error has been detected at initialization time Replace the motor. initialization of serial incremental encoder. error protection Absolute single Absolute encoder has detected a single turn turn counter counter error. error protection/ incremental Serial incremental encoder has detected an error Replace the motor. single turn in the incremental counter value of single turn counter counter. error protection (between z-phase signals) Absolute Absolute encoder has detected a multi-turn multi-turn counter error. counter error protection/ Replace the motor. Serial incremental encoder has detected an error incremental in the incremental counter values between CS counter error signals. protection Absolute status When power is turned on, absolute encoder has Arrange so as the motor does not run at power-on. error protection been rotated at the specified value or above. Incremental Missing pulse of Z-phase of serial incremental encoder Z encoder has been detected. Replace the motor. phase error Failure of encoder. protection Incremental CS signal logic error of serial incremental Encoder CS encoder has been detected. Replace the motor. signal error Failure of encoder. protection (Continued) Motor Business Unit, Panasonic Corporation No.SX-DSV03031- 183 - Protective functions Main 0 50 1 0 1 2 51 3 4 5 0 55 Name Causes Actions taken Sub 1 2 0 70 1 72 0 80 0 87 0 Communication between the external scale and • Install the wiring for the connection in the external scale according to the correct connection. External scale the servo driver was cut off a fixed number of Correct the miswiring of the connector pins. times, and a detection function of guidewire connection error protection malfunction has become active. Communication error has occurred in data from • Secure power supply voltage DC5 V±5 % (4.75 to the external scale. Data error mainly due to 5.25 V) of the external scale…Be notified External scale noise. External scale cables are connected, but particularly in case of longer external scale cable. • Separate if the motor wire and the external scale communication communication data has some error. cable are bound together. data error • Connect the shield to FG…Refer to the connection diagram for the external scale. External scale The external scale error code (ALMC) has ST error become 1 from bit 0. protection 0 Check the external scale specification. External scale The external scale error code (ALMC) has ST error become 1 from Bit 1. protection 1 Check the external scale specification. External scale The external scale error code (ALMC) has ST error become 1 from Bit 2. Remove the causes of the error, and then clear the protection 2 Check the external scale specification. external scale error from the front panel. External scale The external scale error code (ALMC) has And then, shut off the power to reset. ST error become 1 from Bit 3. protection 3 Check the external scale specification. External scale The external scale error code (ALMC) has become 1 from Bit 4. ST error protection 4 Check the external scale specification. External scale The external scale error code (ALMC) has ST error become 1 from Bit 5. protection 5 Check the external scale specification. A-phase wiring A-phase wiring in the external scale is defective, Check A-phase wiring in the external scale. error protection e.g. disconnected. B-phase wiring B-phase wiring in the external scale is defective, Check B-phase wiring in the external scale. error protection e.g. disconnected. Z-phase wiring Z-phase wiring in the external scale is defective, Check Z-phase wiring in the external scale. error protection e.g. disconnected. U-phase current detector error protection W-phase current detector error protection Thermal error Modbus communications U-phase current detection offset value has some • Turn off power once, and turn on again. error. • Even so, if an error indication appears and an error occurs, failure is possible. W-phase current detection offset value has some Discontinue the use and replace the motor and servo driver. error. Return to a dealer for investigation (repair). Thermal has some error. While ensuring Modbus execution right, Modbus communication against own axis has not been received for more than the set time. timeout protection Forced alarm Forced alarm input (E-STOP) is applied. input protection • Set Pr5.40 ”Modbus communication timeout period” to 0 to be disabled or to appropriate time. • Check the connection of Modbus communication. Check the wiring of forced alarm input (E-STOP). (Continued) Motor Business Unit, Panasonic Corporation No.SX-DSV03031- 184 - Protective functions Main 92 Causes Name Actions taken Sub 0 Encoder data recovery abnormal protection Initialization process of internal position information has not conducted normally under absolute and semi-closed control mode. • Secure encoder power supply voltage at DC5V±5% (4.75 to 5.25V). Care must be taken when the encoder lines are lengthy. • If motor wires and encoder wires are bundled together, separate them. • Connect shield to FG. • Check the setting value of the parameter. Electronic gear ratio exceeds the allowable 1) When a block operation was enabled (Pr 6.28 is range. non 0), Electronic gear ratio must be in the range Parameter setup 2) When a block operation was enabled(Pr 1/1000 to 8000. error 1 6.28 is non 0), Modbus connection was 2) When a block operation was enabled (Pr 6.28 is disabled (Pr 5.37 is 0). non 0), Modbus connection was disabled (Pr 5.37 is 0). 1) 0 1) Set a value other than zero for velocity, acceleration and deceleration. 93 1 Block data setting error protection 1) Velocity, acceleration and deceleration were 2) Check whether the conditional branch command or set to 0, and a block operation was started. the comparison purpose does not have any 2) A conditional branch command has not been problems. supported for comparison purpose. 3) Check whether the block data does not have any problems. 3) A designated block data command has been Check whether the block number designated does undefined. not have any problems. 4) Also, block data setup has some error. 4) Check whether the block data setup does not have any problems. 1) During the execution of movement system 1) Check whether the block operation sequence does command (During the execution of position not have any problems. command creation process), a new movement system command has been 2) Check whether the host sequence does not have any Block operation 94 0 executed. problems. error protection 2) During block operation, a new block number was designated to start. 3) Check whether the host sequence does not have any 3) Although it was servo-off, a block operation problems. was started. Return to origin Abnormal condition has occurred during Check for abnormalities in various sensor installation 94 2 error block operation return to origin status. protection Motor automatic The motor has not been matched by the servo 95 0 to 4 recognition Replace with a right motor for servo driver. driver. error protection Control mode When it was not position control, a block Check the setting of Pr 0.01”control mode setting” and 97 0 setting error operation was enabled Pr 6.28 “Special function selection” prtection • Turn off power once, and turn on again. Control circuit has malfunctioned due to excess • Even so, if an error indication appears and an error noise or other causes. Other occurs, failure is possible. Other error Self-diagnostic function of servo driver was number Discontinue the use and replace the motor and servo performed, and some error has occurred within driver. the servo driver. Return to a dealer for investigation (repair). Motor Business Unit, Panasonic Corporation No.SX-DSV03031- 185 - Overload protection time characteristics [Small type MSMF] Time [s] Overload protection time characteristics MSMF08,MSMF09 MSMF02,MSMF04 MSMF012 MSMF5AZ,MSMF011 Torque [%] NOTE) Use the motor so that actual torque stays in the continuous running range shown in S-T characteristic of each motor. Check the motor specification for “S-T characteristic.” Motor Business Unit, Panasonic Corporation No.SX-DSV03031- 186 - [Small type MHMF] Overload protection time characteristics（MHMF5AZ,MHMF01） Time [s] ・During the rotaption ・When the sarvo rock Torque [%] Time [s] Overload protection time characteristics（MHMF02,MHMF04） MHMF02 When the sarvo rock ・MHMF02,MHMF04 During the rotaption ・MHMF04 When the sarvo rock Torque [%] NOTE) Use the motor so that actual torque stays in the continuous running range shown in S-T characteristic of each motor. Check the motor specification for “S-T characteristic.” Motor Business Unit, Panasonic Corporation No.SX-DSV03031- 187 - Time [s] Overload protection time characteristics（MHMF08,MHMF09） MHMF08 When the sarvo rock ・MHMF08,MHMF09 During the rotaption ・MHMF09 When the sarvo rock Torque [%] NOTE) Use the motor so that actual torque stays in the continuous running range shown in S-T characteristic of each motor. Check the motor specification for “S-T characteristic.” Motor Business Unit, Panasonic Corporation No.SX-DSV03031- 188 - [Small type MQMF] Time [s] Overload protection time characteristics（MQMF01） ・When the sarvo rock ・During the rotaption Torque [%] Time [s] Overload protection time characteristics（MQMF02,04） MQMF02 When the sarvo rock ・MQMF02,MQMF04 During the rotaption ・MQMF04 When the sarvo rock Torque [%] NOTE) Use the motor so that actual torque stays in the continuous running range shown in S-T characteristic of each motor. Check the motor specification for “S-T characteristic.” Motor Business Unit, Panasonic Corporation No.SX-DSV03031- 189 - [Large type MDMF] Time [s] Overload protection time characteristics（MDMF10,15,20,30） ・When the sarvo rock ・サーボロック時 ・During the rotaption ・回転時 Torque [%] Time [s] Overload protection time characteristics（MDMF40,50） MDMF40 When the sarvo rock Torque [%] NOTE) Use the motor so that actual torque stays in the continuous running range shown in S-T characteristic of each motor. Check the motor specification for “S-T characteristic.” Motor Business Unit, Panasonic Corporation No.SX-DSV03031- 190 - [Large type MGMF] Time [s] Overload protection time characteristics（MGMF0.9,13,18） ・When the sarvo rock ・During the rotaption Torque [%] Time [s] Overload protection time characteristics（MGMF29,44） ・When the sarvo rock ・During the rotaption Torque [%] NOTE) Use the motor so that actual torque stays in the continuous running range shown in S-T characteristic of each motor. Check the motor specification for “S-T characteristic.” Motor Business Unit, Panasonic Corporation No.SX-DSV03031- 191 - [Large type MHMF] Time [s] Overload protection time characteristics（MHMF10,15,20） MHMF20 When the sarvo rock ・MHMF10,MHMF15 When the sarvo rock ・During the rotaption Torque [%] Time [s] Overload protection time characteristics（MHMF30,40,50） MHMF40 When the sarvo rock MHMF30 When the sarvo rock ・MHMF50 When the sarvo rock ・During the rotaption Torque [%] NOTE) Use the motor so that actual torque stays in the continuous running range shown in S-T characteristic of each motor. Check the motor specification for “S-T characteristic.” Motor Business Unit, Panasonic Corporation No.SX-DSV03031- 192 - [Large type MSMF] Time [s] Overload protection time characteristics MSMF30 When the sarvo rock MSMF10,15,20,40,50 When the sarvo rock During the rotaption Torque [%] NOTE) Use the motor so that actual torque stays in the continuous running range shown in S-T characteristic of each motor. Check the motor specification for “S-T characteristic.” Motor Business Unit, Panasonic Corporation No.SX-DSV03031- 193 - 7-3 Warning functions Before the protective functions become active, the warning can be generated, and conditions such as overloading can be checked beforehand. The warning will be automatically cleared as the cause of the error is removed. However, certain warning will remain latched for predetermined period as shown in the table below. To clear the warning before the warning under the latched condition is latched for predetermined period, implement the same procedure as that for clearing normal warning. (1)Related parameter Classification No. Parameter name Set range Unit 4 40 Warning output 1 0 to 28 - 4 41 Warning output 2 0 to 28 - Functions Select the warning issued as the warning output 1 (WARN1). Setting value 0: OR output of all warnings From 1: Use the following for a reference. Select the warning issued as the warning output 2 (WARN2). Setting value 0: OR output of all warnings From 1: Use the following for a reference. (2) Type of warning Warning number Warning name A0 Overload warning A1 Over-regeneration warning A2 Battery warning A3 Fan warning Encoder communication warning Encoder overheat warning *4 Oscillation detection warning A4 A5 A6 A7 Lifetime detection warning A8 External scale error warning A9 External scale communication warning C3 Main power off warning Content Load factor is 85% or more the protection level. Regenerative load factor is 85% or more the level. Battery voltage is 3.2 V or lower. Fan has stopped for 1 sec. The number of successive encoder communication errors has exceeded the specified value. Encoder temperature has exceeded the specified value. Oscillation or vibration has been detected. The life expectancy of capacity or fan has dropped below specified value The external scale has detected the warning. The number of successive external scale communication errors has exceeded the specified value. In case that Pr7.14 (Detection time of main power off warning) is 10 to 1999, the mains power between L1 and L3 has stopped instantaneously for more than the time prescribed in Pr7.14. Pr6.27*1 Pr4.40/ Pr4.41*2 Pr6.38 corresponding bit *3 1 Bit 7 2 Bit 5 3 bit 0 4 Bit 6 5 Bit 4 6 Bit 3 7 Bit 9 Fixed at no time limit. 8 Bit 2 9 Bit 8 10 Bit 10 14 Bit 12 Fixed at no time limit. Motor Business Unit, Panasonic Corporation No.SX-DSV03031- 194 - *1 The part “” indicates Pr6.27 “Latched time of warning” and can set the time interval 1 to 10s or no time limit. Note that the battery warning and the end of life warning have “no time limit.” *2 Through Pr4.40 “Warning output select 1” and Pr4.41 “Warning output select 2,” select the warning issued as the warning output signal 1 (WARN1) and signal 2 (WARN2). In case of setting value 0, OR output of all warnings will be obtained. In addition, do not use the setup values other than those listed in the above table. *3 Pr6.38 “Warning mask setup” disable each warning detection. The table indicates the corresponding bits. The warning detection will be disabled at bit=1. *4 Encoder thermal warning is effective only when 23 bit absolute encoder, 20 bit absolute encoder and 20 bit incremental serial encoder are used. If other encoders are used, it will be disabled. *5 Warnings can be cleared by using the alarm clear. While the alarm clear input (A-CLR) is kept ON, the all existing warnings are always cleared. Motor Business Unit, Panasonic Corporation No.SX-DSV03031- 195 - 7-4 Setup of gain pre-adjustment protection Before starting gain adjustment, set the following parameters based on the conditions of use, to assure safe operation. 1) Drive prohibition input setup By inputting the limit sensor signal to the driver, the bumping against mechanical end can be prevented. Refer to interface specification, positive/negative direction drive prohibition input (POT/NOT). In addition, set the following parameters which are related to drive prohibition input. Pr5.04 “Drive prohibition input setup” Pr5.05 “Sequence at drive prohibition” 2) Torque limit setup By limiting motor maximum torque, damage caused by failure or disturbance such as bite of the machine and collision will be minimized. To apply standardized limit through parameters, set Pr0.13 “The 1st torque limit.” If the torque limit setup is lower than the value required for the actual application, the following two protective features will be triggered: over-speed protection when overshoot occurs, and position deviation excess protection when delay in response to the command occurs. By allocating the torque in-limit output of interface specification to the output signal, torque limit condition can be detected externally. 3) Over-speed protection setup Generate Err26.0 “Over-speed protection” when the motor speed is excessively high. Default setting is the applicable motor maximum speed [r/min] × 1.2. If your application operates below the motor maximum speed, set Pr5.13 “Over-speed level setup” by using the formula below. Pr5.13 “Over-speed level setup” = Vmax × (1.2 to 1.5) Vmax: Motor maximum speed in operating condition [r/min] Factor in ( ) is margin to prevent frequent activation of over-speed protection. When running the motor at a low speed during initial adjustment stage, set the overspeed protection by multiplying the adjusting speed by a certain margin to protect the motor against possible oscillation. Motor Business Unit, Panasonic Corporation No.SX-DSV03031- 196 - 4) Position deviation excess protection setup During the position control or full-closed control, this function detects potential excessive difference between the position command and motor position and issues Err24.0 ”Position deviation excess protection”. Excess position deviation level can be set to Pr0.14 “Position deviation excess setting.” The deviation can be detected through command position deviation [pulse (command unit)] and encoder position deviation [pulse (encoder unit)], and one of which can be selected by Pr5.20 Position setting unit selection. (See the control block diagram) Default setting is 100000 [pulse (command unit)]. Because the position deviation during normal operation depends on the operating speed and gain setting, fill the equation below based on your operating condition and input the resulting value to Pr0.14. For Pr5.20 = 0 (detection through command position deviation), Pr0.14 “Position deviation excess setting” = Vc/Kp × (1.2 to 2.0) Vc: Maximum frequency of positional command pulse [pulse (command unit)/s] Kp: Position loop gain [1/s] Factor in ( ) is margin to prevent frequent activation of position deviation excess protection. NOTE 1) When switching position loop gain Kp, select the smallest value for calculation. NOTE 2) When using the positional command filter and damping control, add the following values. Positional command smoothing filter: Vc × Filter time constant [s] Positional command FIR filter: Vc × Filter time constant [s]/2 Damping control: Vc/(π × Damping frequency [Hz]) For Pr5.20 = 1 (Detection through encoder position deviation and full-closed position deviation) Pr0.14 “Position deviation excess setting” = Ve/Kp × (1.2 to 2.0) Ve: Maximum operation frequency [pulse/s] in encoder unit or full-closed unit Kp: Position loop gain [1/s] NOTE 3) When switching position loop gain Kp, select the smallest value for calculation. NOTE 4) When Pr5.20 = 1, setups of positional command filter and damping control have no effect. 5) Motor working range setup During the position control or full-closed control, this function detects the motor position which exceeds the revolutions set to Pr5.14 Allowable motor operating range setting, and issues Err34.0 Motor working range limit protection. For details, see 6-3 Motor working range setup functions. 6) Hybrid deviation excess error protection setup At the initial operation with full-closed control, operation failure may occur due to reverse connection of external scale or wrong external scale division ratio. To indicate this type of defect, Err25.0 “Hybrid deviation excess error protection” is issued when the deviation of motor position (encoder unit) and load position (external scale unit) exceed Pr3.28 “Hybrid deviation excess setting.” For details, see 4-5-3 Setting of hybrid deviation excess. Motor Business Unit, Panasonic Corporation No.SX-DSV03031- 197 - 8. Safety function This servo driver has safety function built in. [E***], [G***] This function is not available. 8-1 Outline of safe torque off (STO) function The safe torque off (STO) function is a safety function that shuts the motor current and turns off motor output torque by forcibly turning off the driving signal of the servo driver internal power transistor. For this purpose, the STO uses safety input signal and hardware (circuit). When STO is activated, the servo driver turns off the servo-ready output signal (S-RDY) and goes into a STO state, with the indication in the front panel turning to “St”. When STO input is released and servo-on input is Off, it will automatically transition itself to Servo Off state. Note 1) Difference with MINAS-A5 series: Even if STO function is activated, it will not go into an alarm state, unlike the A5 series. Motor Business Unit, Panasonic Corporation No.SX-DSV03031- 198 - 8-2 Input/output signal specification 8-2-1 Safety input signal • Two safety input circuit channels that trigger STO function are provided. Classification Signal name Signal Connector pin number SF1 + CN8-4 Safety input 1 Control mode Content CN8-3 SF2 + CN8-6 Torque It is input 1 that triggers STO function. This input turns off the upper arm drive signal of power transistor. When using the function, connect this pin in a way so that the photocoupler of this input circuit turns off to activate STO function. It is input 2 that triggers STO function. This input turns off the lower arm drive signal of power transistor. When using the function, connect this pin in a way so that the photocoupler of this input circuit turns off to activate STO function. Fully closed Input SF1- Position Speed Safety input 2 SF2- CN8-5 • Safety input 1 or 2 enables STO to operate within 5 ms after input, and then the motor output torque will be turned off. NOTE) Safety equipment self-diagnosis L pulse The safety output signal from the safety equipment such as safety controller and safety sensor may include L pulse for self-diagnosis. To prevent the L pulse from mis-triggering STO function, the safety input circuit has built-in filter that removes the self-diagnosis L pulse. Therefore, if the off period of safety input signal less than 1 ms, the safety input circuit does not detect this off event. To validate this off period, turn off the safety input signal for more than 5 ms. L pulse for self-diagnosis 5ms or above Safety input signal 1ms or less Servo drive amplifier Operation 5ms or less Normal operation STO state Motor Business Unit, Panasonic Corporation No.SX-DSV03031- 199 - 8-2-2 External device monitor (EDM) output signal • The monitor output signal is used by the external device to monitor the state of the safety input signal. Connect the monitor output to the external device monitor terminal of the safety equipment such as safety controller and safety sensor. Output Classification Signal name Control mode Connector pin number Signal EDM + CN8-8 EDM- CN8-7 EDM output Content Position • Output monitor signal that is used to check the safety function. *This output signal is not a safety output. Speed Torque Fully closed • Logical relationship between safety input signal and EDM output signal is as follows. Under normal conditions, when both safety input 1 and 2 are off, i.e. when STO function of 2 safety input channels are active, the photocoupler in EDM output circuit turns on. Signal name Signal Photocoupler logic SF1 ON ON OFF OFF SF2 ON OFF ON OFF EDM OFF OFF OFF ON Safety input EDM output By monitoring the logics (all 4 states) of photocoupler shown in the table above, the external device can determine the status (normal or abnormal) of safety input circuit and EDM output circuit. That is to say, in the case of an anomaly, although both safety input 1 and 2 are off, the photocoupler in EDM output circuit does not turn on. Or, although either safety input 1 or 2 or both safety input 1 and 2 turned on, the state in which the photocoupler in EDM output circuit turned on has been detected. • Maximum delay time from input of safety 1 and 2 signals to output of EDM signal is 6 ms. 8-2-3 Internal signal circuit block diagram Refer to “8-1 Outline of safe torque (STO) function” Motor Business Unit, Panasonic Corporation No.SX-DSV03031- 200 - 8-3 Description of functions 8-3-1 Activation to STO state, timing diagram Servo-on input (SRV-ON) Photocoupler ON (Servo-on command) Safety input 1 Safety input 2 *3 Photocoupler ON Photocoupler OFF (Servo-off command) Photocoupler OFF (STO state) max 5 ms Energized flow Motor energization Non-energized flow max 6 ms Photocoupler OFF EDM output Photocoupler ON 0.5 to 5 ms Dynamic brake *2 Action Release Photocoupler OFF (Not ready) Photocoupler ON (Ready) Servo ready output (S-RDY) Pr4.38 setting value Brake release output (BRK-OFF) Photocoupler ON (Brake release) Photocoupler OFF (Brake action) t1 *1 Motor rotational speed with Pr4.39 setting value If Pr4.38 set value is faster Pr4.38 setting value Photocoupler ON (Brake release) Set motor rotational speed Of Pr4.39 Photocoupler OFF (Brake action) t1 *1 If faster to fall below Pr 4.39 set value. *1. t1 will be a shorter time of either the setup value of Pr4.38 “Mechanical braking setting during operation” or elapsing time for the motor speed to fall below Pr4.39 “Brake release speed setup.” *2. Dynamic brake operates to the setting of Pr5.10 Sequence at alarm. *3. When safety input 1 or 2 turns off, the state changes to STO state. *4. The driver does not become alarm state. Motor Business Unit, Panasonic Corporation No.SX-DSV03031- 201 - 8-3-2 Return timing diagram from STO state Servo Off state STO state Photocoupler OFF (Servo-off command) Servo-on input (SRV-ON)*1 Safety input 1 Safety input 2 Photocoupler OFF Photocoupler ON (Servo-on command) Photocoupler ON Motor energization Non-energized flow Max 6 ms EDM output Dynamic brake *4 Servo ready output (S-RDY) Brake release output (BRK-OFF) Photocoupler ON Action *2 Photocoupler OFF After servo On input command, it will follow the normal servo-on/off action timing diagram. (Refer to 9-2, Timing chart) Release *3 Approx 1 ms Photocoupler OFF (Not ready) 16 ms or more Photocoupler ON (Ready) Photocoupler OFF (Brake action) *1. Photocouplers for safety input 1 and 2 should be turned on again with servo-on input turned off. Returning photocouplers for safety inputs 1 and 2 to ON will automatically reset it to Servo Off mode. There is no need to conduct alarm-clear. *2. This is an STO state and the dynamic brake operates according to Pr5.10 “Sequence at alarm.” *3. This is normal servo-off condition and the dynamic brake operates according to Pr5.06 “Sequence at servo-off.” Motor Business Unit, Panasonic Corporation No.SX-DSV03031- 202 - 8-4 Connection example 8-4-1 Example of connection to safety switch 24V Safety switch Servo drive amplifier Contact output SF1+ Safety input SF1- M SF2+ Safety input SF2- 0V EDM + EDM output EDM- 8-4-2 Example of connection to safety sensor Safety sensor Safety output (source) Servo drive amplifier Control output 1 SF1+ Safety input SF1- M Control output 2 SF2+ 0V SF2- 24V EDM+ EDM input EDM- EDM output Motor Business Unit, Panasonic Corporation No.SX-DSV03031- 203 - 8-4-3 Example of connection to safety controller EDM input Safety controller Servo drive amplifier T31 T33 SF1+ Safety input SF1G9SX-AD PWR M FB T1 T2 EI ED SF2+ ERR SF2A2 EDM+ S14 S24 EDM- EDM output Safety output (source) 0V Motor Business Unit, Panasonic Corporation No.SX-DSV03031- 204 - 8-4-4 Example of connection when using multiple axes Safety sensor Safety output (source) Control output 1 Servo drive amplifier Control output 2 SF1+ 0V 24V SF1- M SF2+ SF2- EDM input EDM+ EDM- EDM output Servo drive amplifier SF1+ SF1- M SF2+ SF2- EDM+ EDM- EDM output Servo drive amplifier SF1+ SF1- M SF2+ SF2- EDM+ EDM- EDM output • Capacity requirement per safety output (source) channel: 50×No. of connected axes (mA) • DC 24 V supply allowable voltage: 24 V±15 % • Maximum No. of connectable axes: 8 axes Motor Business Unit, Panasonic Corporation No.SX-DSV03031- 205 - 8-5 Safety precautions When using the STO function, be sure to perform equipment risk assessment to ensure that the system conforms to the safety requirements. Even while the STO function is working, the following potential safety hazards exist. Check safety in risk assessment. The motor may move when external force (e.g. gravity force on vertical axis) is exerted on it. Provide an external brake, etc., as necessary to secure the motor. Note that the purpose of servo motor with brake is holding and it cannot be used for braking application. When parameter Pr5.10 “Sequence at alarm” is set to free run (disable dynamic brake), the motor is free run state and requires longer stop distance even if no external force is applied. Make sure that this does not cause any problem. When power transistor, etc., becomes defective, the motor will move to the extent equivalent of 180 electrical angle (max.). Make sure that this does not cause any problem. The STO turns off the current to the motor but does not turn off power to the servo driver and does not isolate it. When starting maintenance service on the servo driver, turn off the driver by using a different disconnecting device. EDM output signal is not a safety output. Do not use it for an application other than failure monitoring. Dynamic brake and external brake release signal output are not related to safety function. When designing the system, make sure that the failure of external brake release during STO state does not result in danger condition. When using the STO function, connect equipment conforming to the safety standards. Motor Business Unit, Panasonic Corporation No.SX-DSV03031- 206 - 9. Other 9-1 List of parameters Classification 0: Basic setting Classification No. Parameter name 0 00 01 02 03 Unit Set range Rotational direction setting - 0 to 1 Control mode setting - 0 to 6 - 0 to 6 - 0 to 31 Real-time auto tuning setting Real-time auto tuning stiffness set Functions/Contents Establishes the relationship between command direction and motor rotational direction. 0: Sets to CW direction, 1: Sets to CCW direction Selects a control mode of servo driver. 0: Position control, 1: Speed control, 2: Torque control, 3: Position/Speed control, 4: Position/Torque control, 5: Speed/Torque control, 6: Full-closed control Sets an operation mode of real-time auto tuning. Sets machine stiffness at the execution of real-time auto tuning. Sets a load inertia ratio of the motor rotor inertia . Selects a command pulse input. 0: Photo coupler input 1: Exclusive input for line driver 2: Photo coupler input [250 kpps or below] Attribute Related control mode Relevance Reapplying the power All 4-1 Reapplying the power All - All 5-1-1 All 5-1-1 All - Reapplying the power Position, fullclosed 4-2-1 Always enabled Always enabled Always enabled 04 Inertia ratio % 0 to 10000 05 Command pulse input selection - 0 to 2 06 Command pulse rotational direction setting - 0 to 1 Sets a counting direction of command pulse. Reapplying the power Position, fullclosed 4-2-1 07 Command pulse input mode setting - 0 to 3 Sets a command pulse input mode. 0,2: 90° phase difference 2-phase pulse 1: Positive direction pulse train + Negative direction pulse train 3: Pulse train + Code Reapplying the power Position, fullclosed 4-2-1 Pulse 0 to 223 Sets a command pulse number that causes single turn of the motor shaft. Reapplying the power Position 4-2-2 - 0 to 230 When setting the command division/multiplication function as numerator/denominator, set up the numerator. - 1 to 230 P/r 1 to 2097152 - 0 to 3 % 0 to 500 Command unit 0 to 230 - 0 to 2 - 0 to 3 08 09 10 11 12 Command pulse number per one motor revolution First command division/multiplication numerator Command division/multiplication denominator Output pulse counts per one motor revolution Pulse output logic inversion/output source selection 13 1st torque limit 14 Position deviation excess setting 15 16 17 18 Absolute encoder setting External regeneration resistor setting External regeneration resistor selection For manufacturer’s use - 0 to 4 - - When setting the command division/multiplication function as numerator/denominator, set up the denominator. Sets respective output pulse number of A and B phases per one motor revolution. Selects the B-phase logic and the output source of the pulse regenerative output. Always enabled Always enabled Position, fullclosed Position, fullclosed 4-2-2 4-2-2 Reapplying the power All 4-2-4 Reapplying the power All 4-2-4 Always enabled All 6-1 7-4 Always enabled Position, fullclosed 7-4 Selects the using method of absolute encoder. Reapplying the power All 4-7-1 Sets for regeneration resistor-related. Reapplying the power All 4-6 Selects a type of load factor calculation for external regeneration resistor. Fix to 0. Reapplying the power All 4-6 - - - Sets the 1st limit value of motor output torque. Also, parameter values are limited at applicable motor maximum torque. Sets a position deviation excess set range. Setting value 0 disables detection of Err24.0 ”Position deviation excess protection.” Unit is expressed in accordance with Pr5.20 ”Position setting unit selection.” Motor Business Unit, Panasonic Corporation No.SX-DSV03031- 207 - Classification 1: Gain adjustment Classification No. Parameter name Unit Set range 1 00 1st position loop gain 0.1/s 0 to 30000 Sets the 1st position loop gain. 01 1st velocity loop gain 0.1 Hz 1 to 32767 Sets the 1st velocity loop gain. 0.1 ms 1 to 10000 Sets the 1st time constant of velocity loop integration. Holds integral at setting value 9999. Disables at setting value 10000. - 0 to 5 0 to 2500 Sets the time constant of 1st torque filter. 02 1st velocity integration time constant 03 1st velocity detection filter Functions/Contents Attribute Always enabled Always enabled Sets the 1st velocity detection filter in 6 stages. Always enabled Always enabled Always enabled Related control mode Relevance Position, full- closed 5-2 All 5-2 All 5-2 All 5-2 All 5-2 04 1st torque filter 0.01 ms 05 2nd position loop gain 0.1/s 0 to 30000 Sets the 2nd position loop gain. Always enabled Position, fullclosed 5-2 06 2nd velocity loop gain 0.1 Hz 1 to 32767 Sets the 2nd velocity loop gain. Always enabled All 5-2 07 2nd velocity integration time constant 0.1 ms 1 to 10000 Sets the 2nd time constant of velocity loop integration. Holds integral at setting value 9999. Disables at setting value 10000. Always enabled All 5-2 08 2nd velocity detection filter - 0 to 5 All 5-2 09 2nd torque filter 0.01 ms 0 to 2500 10 Velocity feed-forward gain 0.1 % Sets the 2nd velocity detection filter in 6 stages. Sets the time constant of 2nd torque filter. Always enabled Always enabled Always enabled All 5-2 Position, full- closed 5-2-8 5-2-8 0 to 4000 Sets velocity feed-forward gain. Always enabled Position, full- closed Position, speed, fullclosed Position, speed, fullclosed 11 Velocity feed-forward filter 0.01 ms 0 to 6400 Sets the time constant of velocity feed-forward filter *it is disabled when.the two degree of freedom control mode 12 Torque feed-forward gain 0.1 % 0 to 2000 Sets torque feed-forward gain. Always enabled 13 Torque feed-forward filter 0.01 ms 0 to 6400 Sets torque feed-forward filter. Always enabled 14 2nd gain setting - 0 to 1 - 0 to 10 15 16 17 18 19 20 21 22 23 24 25 26 27 Position control switching mode Position control switching delay time Position control switching level Position control switching hysteresis Position gain switching time Velocity control switching mode Velocity control switching delay time Velocity control switching level Velocity control switching hysteresis Torque control switching mode *1 Torque control switching delay time *1 Torque control switching level *1 Torque control switching hysteresis *1 Sets when performing optimal tuning using gain switching function. Selects gain switching condition of position control. Sets delay time when switching from 2nd gain to 1st gain. 5-2-8 5-2-8 Selects gain switching condition of torque control. Always enabled Always enabled Always enabled Always enabled Always enabled Always enabled Always enabled Always enabled Always enabled Always enabled Always enabled 0 to 10000 Sets delay time when switching from 2nd gain to 1st gain. Always enabled Torque 5-2-5 - 0 to 20000 Sets gain switching level. Always enabled Torque 5-2-5 - 0 to 20000 Sets hysteresis at gain switching. Always enabled Torque 5-2-5 0.1 ms 0 to 10000 - 0 to 20000 Sets gain switching level. - 0 to 20000 Sets hysteresis at gain switching. Sets gain switching time at gain switching position. Selects gain switching condition of speed control. Sets delay time when switching from 2nd gain to 1st gain. 0.1 ms 0 to 10000 - 0 to 5 0.1 ms 0 to 10000 - 0 to 20000 Sets gain switching level. - 0 to 20000 Sets hysteresis at gain switching. - 0 to 3 0.1 ms All 5-2-5 Position, full-closed 5-2-5 Position, full- closed 5-2-5 Position, full- closed 5-2-5 Position, full- closed 5-2-5 Position, full- closed 5-2-5 Speed 5-2-5 Speed 5-2-5 Speed 5-2-5 Speed 5-2-5 Torque 5-2-5 (Continued) *1 Not available with [E***], [G***]. Motor Business Unit, Panasonic Corporation No.SX-DSV03031- 208 - Classification No. Parameter name Unit Set range Functions, contents Attribute 1 28 29 30 31 32 33 34 35 36 37 38 39 40 41 42 43 44 45 46 47 48 49 50 51 52 Manufacturer use Manufacturer use Manufacturer use Manufacturer use Manufacturer use Manufacturer use Manufacturer use Manufacturer use Manufacturer use Manufacturer use Manufacturer use Manufacturer use Manufacturer use Manufacturer use Manufacturer use Manufacturer use Manufacturer use Manufacturer use Manufacturer use Manufacturer use Manufacturer use Manufacturer use Manufacturer use Manufacturer use Manufacturer use - - Do not change from the shipping value setting. Do not change from the shipping value setting. Do not change from the shipping value setting. Do not change from the shipping value setting. Do not change from the shipping value setting. Do not change from the shipping value setting. Do not change from the shipping value setting. Do not change from the shipping value setting. Do not change from the shipping value setting. Do not change from the shipping value setting. Do not change from the shipping value setting. Do not change from the shipping value setting. Do not change from the shipping value setting. Do not change from the shipping value setting. Do not change from the shipping value setting. Do not change from the shipping value setting. Do not change from the shipping value setting. Do not change from the shipping value setting. Do not change from the shipping value setting. Do not change from the shipping value setting. Do not change from the shipping value setting. Do not change from the shipping value setting. Do not change from the shipping value setting. Do not change from the shipping value setting. Do not change from the shipping value setting. - Related control mode - 53 Manufacturer use - - Do not change from the shipping value setting. - - 54 Manufacturer use - - Do not change from the shipping value setting. - - 55 Manufacturer use - - Do not change from the shipping value setting. - - 56 Manufacturer use - - Do not change from the shipping value setting. - - 57 Manufacturer use - - Do not change from the shipping value setting. - - 58 Manufacturer use - - Do not change from the shipping value setting. - - 59 Manufacturer use - - Do not change from the shipping value setting. - - 60 Manufacturer use - - Do not change from the shipping value setting. - - 61 Manufacturer use - - Do not change from the shipping value setting. - - 62 Manufacturer use - - Do not change from the shipping value setting. - - 63 Manufacturer use - - Do not change from the shipping value setting. - - 64 Manufacturer use - - Do not change from the shipping value setting. - - 65 Manufacturer use - - Do not change from the shipping value setting. - - 66 Manufacturer use - - Do not change from the shipping value setting. - - 67 Manufacturer use - - Do not change from the shipping value setting. - - 68 Manufacturer use - - Do not change from the shipping value setting. - - 69 Manufacturer use - - Do not change from the shipping value setting. - - 70 Manufacturer use - - Do not change from the shipping value setting. - - 71 Manufacturer use - - Do not change from the shipping value setting. - - 72 Manufacturer use - - Do not change from the shipping value setting. - - 73 74 75 76 77 78 Manufacturer use - - Do not change from the shipping value setting. Do not change from the shipping value setting. Do not change from the shipping value setting. Do not change from the shipping value setting. Do not change from the shipping value setting. Do not change from the shipping value setting. - - Manufacturer use Manufacturer use Manufacturer use Manufacturer use Manufacturer use Relation - Motor Business Unit, Panasonic Corporation No.SX-DSV03031- 209 - Classification 2: Vibration control function Classification 2 No. Parameter name Unit Set range 00 Adaptation filter mode - 0 to 6 01 1st notch frequency Hz 50 to 5000 02 1st notch width - 0 to 20 03 1st notch depth - 0 to 99 04 2nd notch frequency Hz 50 to 5000 05 2nd notch width - 0 to 20 06 2nd notch depth - 0 to 99 07 3rd notch frequency Hz 50 to 5000 08 3rd notch width - 0 to 20 09 3rd notch depth - 0 to 99 10 4th notch frequency Hz 50 to 5000 11 4th notch width - 0 to 20 12 4th notch depth - 0 to 99 13 Damping filter switching selection - 0 to 6 14 1st damping frequency 0.1 Hz 0 to 3000 15 1st damping filter setting 0.1 Hz 0 to 1500 16 2nd damping frequency 0.1 Hz 0 to 3000 17 2nd damping filter setting 0.1 Hz 0 to 1500 18 3rd damping frequency 0.1 Hz 0 to 3000 19 3rd damping filter setting 0.1 Hz 0 to 1500 20 4th damping frequency 0.1 Hz 0 to 3000 21 4th damping filter setting 0.1 Hz 0 to 1500 Functions, contents Attribute Always enabled Sets adaptation filter action Sets notch frequency of 1st resonance suppression notch filter. To be used matching the resonance frequency of the machine Sets notch width of 1st resonance suppression notch filter. Sets notch depth of 1st resonance suppression notch filter. Sets notch frequency of 2nd resonance suppression notch filter. To be used matching the resonance frequency of the machine Sets notch width of 2nd resonance suppression notch filter. Sets notch depth of 2nd resonance suppression notch filter. Sets notch frequency of 3rd resonance suppression notch filter. To be used matching the resonance frequency of the machine. Automatically set when adaptation notch is effective. Sets notch width of 3rd resonance suppression notch filter. Automatically set when adaptation notch is effective. Sets notch depth of 3rd resonance suppression notch filter. Automatically set when adaptation notch is effective. Sets notch frequency of 4th resonance suppression notch filter. To be used matching the resonance frequency of the machine. Automatically set when adaptation notch is effective. Sets notch width of 4th resonance suppression notch filter. Automatically set when adaptation notch is effective. Sets notch depth of 4th resonance suppression notch filter. Automatically set when adaptation notch is effective. To select the switchover method when damping filter is to be switched. Sets 1st damping frequency to suppress vibration at the load tip for vibration suppression control. Set value becomes effective from 10 (=Hz) and above. For fine tuning of 1st damping control function. Value to be set smaller in case of torque saturation of torque and larger for higher response. Sets 2nd damping frequency to suppress vibration at the load tip for vibration suppression control. Set value becomes effective from 10(=Hz) and above. For fine tuning of 2nd damping control function. Value to be set smaller in case of torque saturation of torque and larger for higher response. Sets 3rd damping frequency to suppress vibration at the load tip for vibration suppression control. Set value becomes effective from 10 (=Hz) and above. For fine tuning of 3rd damping control function. Value to be set smaller in case of torque saturation of torque and larger for higher response. Sets 4th damping frequency to suppress vibration at the load tip for vibration suppression control. Set value becomes effective from 10(=Hz) and above. For fine tuning of 4th damping control function. Value to be set smaller in case of torque saturation of torque and larger for higher response. Always enabled Related control mode Position, speed, full closed Relation 5-1-2 All 5-2-6 All 5-2-6 All 5-2-6 All 5-2-6 All 5-2-6 All 5-2-6 Always enabled All 5-2-6 5-1-2 Always enabled All 5-2-6 5-1-2 Always enabled All 5-2-6 5-1-2 Always enabled All 5-2-6 5-1-2 Always enabled All 5-2-6 5-1-2 Always enabled All 5-2-6 5-1-2 Always enabled Position, full close 5-2-7-1 Always enabled Position, full closed 5-2-7-1 Always enabled Position, full close 5-2-7-1 Always enabled Position, full closed 5-2-7-1 Always enabled Position, full closed 5-2-7-1 Always enabled Position, full closed 5-2-7-1 Always enabled Position, full closed 5-2-7-1 Always enabled Position, full closed 5-2-7-1 Always enabled Position, full closed 5-2-7-1 Always enabled Always enabled Always enabled Always enabled Always enabled Motor Business Unit, Panasonic Corporation No.SX-DSV03031- 210 Classification No. 22 Parameter name Command smoothing filter Unit Set range Functions, contents Attribute [For position control,full close control] For conventional control (Pr 6.47 bit 0 = 0) Will set primary delay filter time constant against position command. 2 For free control (Pr 6.47 bit 0 = 1) Will be set to time constant of command response filter. Maximum value is limited to 2,000 (=200.0 ms) *1 [For speed control] For conventional control (Pr 6.47 bit 0 = 0) This setting will be ignored. 2 For free control (Pr 6.47 bit 0 = 1) 0.1 ms 0 to 10000 Will be set to time constant of command response filter. Maximum value is limited to 640 (= 64.0 ms) *1 [For full close control] Will set primary delay filter time constant against position command at all times. Related control mode Relation 4-2-3 Always enabled Position, speed, full closed 5-2-15 5-2-16 5-2-17 5-2-18 *1: The value of the parameter itself will not be limited but the value to be applied will be limited within the driver. Attenuation term can be set at Pr 6.49 “Command response filter, adjustment filter damping term setting”. 23 Command FIR filter 0.1 ms 0 to 10000 Set FIR filter time constant against command. Always enabled Position, full closed 4-2-3 Always enabled All 5-2-6 All 5-2-6 All 5-2-6 31 1st vibration control width setting 2nd vibration control width setting 3rd vibration control width setting 4th vibration control width setting For manufacturer use - 32 For manufacturer use - Sets notch frequency of 5th resonance suppression notch filter. 50 to 5000 To be used matching the resonance frequency of the machine. Sets notch width of 5th resonance suppression 0 to 20 notch filter. Sets notch depth of 5th resonance suppression 0 to 99 notch filter. To conduct fine tuning of 1st vibration suppression 0 to 1000 control function. To conduct fine tuning of 2nd vibration 0 to 1000 suppression control function. To conduct fine tuning of 3rd vibration 0 to 1000 suppression control function. To conduct fine tuning of 4th vibration 0 to 1000 suppression control function. Please set fixed to 0 (zero). Please set fixed to 0 (zero). - - - - 33 For manufacturer use - - Please set fixed to 0 (zero). - - - 34 For manufacturer use - - Please set fixed to 0 (zero). - - - 35 For manufacturer use - - Please set fixed to 0 (zero). - - - 36 For manufacturer use - - Please set fixed to 0 (zero). - - - 37 For manufacturer use - Please set fixed to 0 (zero). - - - 24 5th notch frequency 25 5th notch width - 26 5th notch depth - 27 28 29 30 Hz - - Always enabled Always enabled Always enabled Always enabled Always enabled Always enabled - Position, full closed Position, full closed Position, full closed Position, full closed - 5-2-7-1 5-2-7-1 5-2-7-1 5-2-7-1 - Motor Business Unit, Panasonic Corporation No.SX-DSV03031- 211 - Classification 3: Speed and torque control, full-close control Classification No. 3 00 Parameter name Relation To select speed command for speed control. Always enabled Speed 4-3-1 4-3-2 To select designation method for speed command direction Always enabled Speed 4-3-1 4-3-2 Speed, torque 4-3-1 Speed 4-3-1 Always enabled Speed 4-3-2 Always enabled Speed 4-3-2 Always enabled Speed 4-3-2 Always enabled Speed 4-3-2 Always enabled Speed 4-3-2 Always enabled Speed 4-3-2 Always enabled Speed 4-3-2 Always enabled Speed 4-3-2 To set acceleration time in acceleration processing 0 to 10000 for speed command Always enabled Speed 4-3-6 To set acceleration time in deceleration processing 0 to 10000 for speed command Always enabled Speed 4-3-6 To set S-shape time in acceleration/deceleration processing for speed command Always enabled Speed 4-3-6 To select zero speed clamp input (ZEROSPD) function Always enabled Speed, torque 4-3-3 To set threshold for transfer to position lock Always enabled Speed, torque 4-3-3 - 0 to 3 - 0 to 1 03 04 Speed setting, 1st speed rpm 05 Speed setting, 2nd speed rpm 06 Speed setting, 3rd speed rpm 07 Speed setting, 4th speed rpm 02 Related control mode Set range Inside/outside speed setting switching Speed command direction designation selection Speed command input gain *1 Speed command input inversion *1 01 Attribute Unit rpm/V - 10 to 2000 To set input gain of analog speed command input 0 to 1 -20000 to 20000 08 Speed setting, 5th speed rpm 09 Speed setting, 6th speed rpm 10 Speed setting, 7th speed rpm 11 Speed setting, 8th speed rpm 12 Acceleration time setting (1000 Deceleration time setting (1000 13 15 S-shape acceleration/deceler ation setting Speed zero clamp function selection 16 Zero clamp level speed setting 14 17 18 19 20 Torque command selection *1 Torque command direction designation selection *1 ms/ rpm) ms/ rpm) ms 0 to 1000 - 0 to 3 rpm Functions, contents 10 to 20000 To set polarity of analog speed command To set 1st. internal speed command value. Furthermore, internal value shall be limited to the smaller of the set value of Pr 5.13 or the maximum motor revolution x 1.2. To set 2nd. internal speed command value. Furthermore, internal value shall be limited to the smaller of the set value of Pr 5.13 or the maximum motor revolution x 1.2. To set 3rd. internal speed command value. Furthermore, internal value shall be limited to the smaller of the set value of Pr 5.13 or the maximum motor revolution x 1.2. To set 4th internal speed command value. Furthermore, internal value shall be limited to the smaller of the set value of Pr 5.13 or the maximum motor revolution x 1.2. To set 5th internal speed command value. Furthermore, internal value shall be limited to the smaller of the set value of Pr 5.13 or the maximum motor revolution x 1.2. To set 6th internal speed command value. Furthermore, internal value shall be limited to the smaller of the set value of Pr 5.13 or the maximum motor revolution x 1.2. To set 7th internal speed command value. Furthermore, internal value shall be limited to the smaller of the set value of Pr 5.13 or the maximum motor revolution x 1.2. To set 8th internal speed command value. Furthermore, internal value shall be limited to the smaller of the set value of Pr 5.13 or the maximum motor revolution x 1.2. Always enabled Always enabled - 0 to 2 To select torque command and speed limit values Always enabled Torque 4-4 - 0 to 1 To select direction of torque command and commanding method Always enabled Torque 4-4 To set input gain of analog torque command input Always enabled Torque 4-4 To set analog torque command input polarity Always enabled Torque 4-4 0.1 Torque command input gain *1 V/100 Torque command input inversion *1 - 10 to 100 % 0 to 1 (Continued) *1 Not available with [E***], [G***] Motor Business Unit, Panasonic Corporation No.SX-DSV03031- 212 - Classification 3: Speed and torque control, full-close control Classification No. Parameter name Unit Set range Functions, contents 3 21 Speed limit value 1 *1 r/min 22 Speed limit value 2 *1 r/min 23 External scale type selection *1 - 24 External scale division numerator *1 - 0 to 223 Sets external scale division numerator 25 External scale division denominator *1 - 1 to 223 Sets external scale division denominator 26 External scale direction inversion *1 - 0 to 1 Sets polarity of external scale feedback pulse 27 Invalidate external scale Z-phase wire disconnection detection *1 - 0 to 1 Validate/invalidate Z-phase disconnection detection when using AB phase output type external scale. 0: Valid, 1: Invalid 28 Hybrid deviation excess setting *1 comm and units 1 to 227 Sets threshold value for Err 25.0 “Hybrid deviation excess error protection”. 29 Hybrid deviation clear setting *1 rotatio n 0 to 100 Clears hybrid deviation to zero at every set numbers of revolutions. Sets speed limit value. Furthermore, internal value 0 to 20000 shall be limited to the smaller of the set value of Pr 5.13 or the maximum motor revolution x 1.2. To be set in case of changing the speed limit value by direction. Furthermore, internal value shall be 0 to 20000 limited to the smaller of the set value of Pr 5.13 or the maximum motor revolution x 1.2. Selects external scale type. 0: AB phase output type 0 to 2 1: Serial communication type (incremental spec.) 2: Serial communication type (absolute spec.) Attribute Related control mode Relation Always enabled Torque 4-4-1-2 Always enabled Torque 4-4-1-2 Full closed 4-5-1 Full closed 4-5-2 Full closed 4-5-2 Full closed 4-5-1 Full closed - Full closed 4-5-3 7-4 Full closed 4-5-3 Reclose power supply Reclose power supply Reclose power supply Reclose power supply Reclose power supply Reclose power supply Reclose power supply *1 Not available with [E***], [G***] Motor Business Unit, Panasonic Corporation No.SX-DSV03031- 213 Classification 4: I/F monitor setting Classification No. Parameter name Unit Set range 4 00 SI1 Input selection - 0 to 00FFFFFFh Set function and logic for SI1 01 SI2 Input selection - 0 to 00FFFFFFh Set function and logic for SI2 02 SI3 Input selection - 0 to 00FFFFFFh Set function and logic for SI3 03 SI4 Input selection - 0 to 00FFFFFFh Set function and logic for SI4 04 SI5 Input selection - 0 to 00FFFFFFh Set function and logic for SI5 05 SI6 Input selection - 0 to 00FFFFFFh Set function and logic for SI6 06 SI7 Input selection - 0 to 00FFFFFFh Set function and logic for SI7 07 SI8 Input selection - 0 to 00FFFFFFh Set function and logic for SI8 08 SI9 Input selection - 0 to 00FFFFFFh Set function and logic for SI9 09 SI10 Input selection - 0 to 00FFFFFFh Set function and logic for SI10 10 SO1 Output selection - 0 to 00FFFFFFh Set function assignment for SO1 11 SO2 Output selection - 0 to 00FFFFFFh Set function assignment for SO2 12 SO3 Output selection - 0 to 00FFFFFFh Set function assignment for SO3 13 SO4 Output selection - 0 to 00FFFFFFh Set function assignment for SO4 14 SO5 Output selection - 0 to 00FFFFFFh Set function assignment for SO5 15 SO6 Output selection - 0 to 00FFFFFFh Set function assignment for SO6 - 0 to 28 Select type for analog monitor 1 - 0 to 214748364 - 0 to 28 16 17 18 19 20 21 Analog monitor 1 type Analog monitor 1 output gain Analog monitor 2 type Analog monitor 2 output gain For manufacturer use Analog monitor output setting - 0 to 214748364 - - 0 to 2 - Functions, contents Attribute Select output gain for analog monitor 1 Select type for analog monitor 2 Select output gain for analog monitor 2 Please set fixed to 0 (zero).. Select analog monitor output voltage type Reclose power supply Reclose power supply Reclose power supply Reclose power supply Reclose power supply Reclose power supply Reclose power supply Reclose power supply Reclose power supply Reclose power supply Reclose power supply Reclose power supply Reclose power supply Reclose power supply Reclose power supply Reclose power supply Always enabled Always enabled Always enabled Always enabled Always enabled Related control mode Relation All 2-3-1 All 2-3-1 All 2-3-1 All 2-3-1 All 2-3-1 All 2-3-1 All 2-3-1 All 2-3-1 All 2-3-1 All 2-3-1 All 2-3-2 All 2-3-2 All 2-3-2 All 2-3-2 All 2-3-2 All 2-3-2 All 2-3-3 All 2-3-3 All 2-3-3 All 2-3-3 - - All 2-3-3 22 Analog input 1 (AI1) offset setting *1 0.359 mV -5578 to 5578 Sets offset for analog input 1 Always enabled All 23 Analog input 1 (AI1) filter setting *1 0.01 ms 0 to 6400 Sets filter for analog input 1 Always enabled All 24 Analog input 1 (AI1) excessive setting *1 0.1 V 0 to 100 Sets excessive input voltage level for analog input 1 by voltage after offset. Always enabled All 4-3-1 4-4-1 4-4-2 4-3-1 4-4-1 4-4-2 - (Continued) *1 Not available with [E***], [G***] Motor Business Unit, Panasonic Corporation No.SX-DSV03031- 214 - Classification 4: I/F monitor setting Classification No. 4 25 Parameter name 30 Analog input 2 (AI2) offset setting *1 Analog input 2 (AI2) filter setting *1 Analog input 2 (AI2) excessive setting *1 Analog input 3 (AI3) offset setting *1 Analog input 3 (AI3) filter setting *1 Analog input 3 (AI3) excessive setting *1 31 Positioning completion range 32 Positioning completion output setting 33 INP hold time 34 26 27 28 29 Unit Set range 5.86 mV -342 to 342 Sets offset of analog input 2 0.01 ms 0 to 6400 Sets filter for analog input 2 0.1 V 0 to 100 Sets excessive input voltage level for analog input 2 by voltage after offset. 5.86 mV -342 to 342 Sets offset of analog input 3 0.01 ms 0 to 6400 Set filter for analog input 3 0.1 V 0 to 100 Set excessive input voltage level for analog input 3 by voltage after offset. Command units Functions, contents Attribute Always enabled Always enabled Always enabled Always enabled Always enabled Always enabled Related control mode All All Relation 4-4-2 6-2 4-4-2 6-2 All - All 6-2 All 6-2 All - Always enabled Position, full closed 4-2-6 To set judgment condition for positioning complete output Always enabled Position, full closed 4-2-6 Always enabled Always enabled Position, full closed 4-2-6 All 2-3-2 Always enabled Speed, torque 4-3-5 Always enabled Speed, torque 4-3-4 To set the allowable pulse numbers for positioning complete signal (INP). 0 to 2097152 Unit shall be in accordance with Pr 5.20 “Position setting unit selection”. - 0 to 10 ms 0 to 30000 Zero speed r/min 10 to 20000 35 Speed coincidence width r/min 10 to 20000 36 Attainment speed r/min 10 to 20000 To set INP hold time or positioning complete judgment time delay To set detection threshold for zero speed (ZSP) To set detection threshold of velocity coinciding output (V-COIN) by differential in speed command and actual speed. To set detection threshold of attained speed output (AT-SPEED) ms 0 to 10000 To set mechanical brake operation time at stopping Always enabled All 9-2-2 ms 0 to 32000 To set mechanical brake operation time during operation Always enabled All 9-2-2 9-2-3 41 Mechanical braking setting during no operation Mechanical braking setting during operation Brake release speed setting Warning output select 1 Warning output select 2 42 Positioning completion range 2 37 38 39 40 To set speed threshold mechanical brake output judgment during operation To select type of warning to be output by 0 to 28 Warning output 1 To select type of warning to be output by 0 to 28 Warning output 2 To set the allowable pulse numbers for Command positioning complete signal 2 (INP2). 0 to 2097152 Unit shall be in accordance with Pr 5.20 units “Position setting unit selection”. r/min 30 to 3000 Always enabled Always enabled Always enabled All 9-2-2 9-2-3 All 7-3 All 7-3 Always enabled Position, full closed 4-2-6 *1 Not available with [E***], [G***] Motor Business Unit, Panasonic Corporation No.SX-DSV03031- 215 - Classification 5: Expansion setting Classification No. 5 00 01 02 Parameter name 2nd. command division/multiplication numerator 3rd. command division/multiplication numerator 4th command division/multiplication numerator Attribute Related control mode Relation To set 2nd. command segmentation numerator Always enabled Position, full closed 6-4 0 to 230 To set 3rd. command segmentation numerator Always enabled Position, full closed 6-4 0 to 230 To set 4th command segmentation numerator Always enabled Position, full closed 6-4 All 4-2-4 All 6-5-1 7-4 All 6-5-1 7-4 All 6-5-2 All 6-5-3 All - All - All 6-5-4 Always enabled All 6-5-1 6-5-2 6-5-3 6-5-5 Always enabled All - Always enabled All 6-5-5 7-4 Always enabled Position, full closed 6-3 7-4 Reclose power supply All - Reclose power supply All 9-2-5 Unit Set range - 0 to 230 - Functions, contents To be set in case the number of output pulse per 0 to 8388608 one revolution of the motor is to be determined by the ratio of division numerator/denominator. 03 Pulse output division denominator - 04 Drive prohibition input setting - 0 to 2 To set operation prohibiting positive or negative drive input 05 Sequence at drive prohibition - 0 to 2 To set the sequence for prohibited drive inputs - 0 to 9 TO set the sequence when servo is Off - 0 to 9 06 07 Sequence at servo-off Main power supply AC Off sequence 08 LV trip selection with the main power AC OFF - 0 to 3 09 Main power supply AC Off detection time ms 70 to 2000 10 Sequence at alarm - 0 to 7 11 Immediate stop torque setting % 0 to 500 12 Overload level setting % 0 to 500 13 Over-speed level setting rpm 0 to 20000 14 Allowable motor operating range setting rotation 15 Control input signal read setting - 0 to 3 16 Alarm clear input setting (A-CLR) - 0 to 1 0.1 0 to 1000 To set the sequence when main power supply AC is Off To select whether to trip LV or Servo Off, in case of main power supply alarm. In addition, also sets conditions for detection of main power supply off warning, in case the main power supply cut-off condition persists more than the time set in Pr 7.14. Bit 0 0: Servo Off in accordance with setting of Pr 5.07 and resumes Servo On when power supply reclosed. 1: Detects Err 13.1 Main power supply low voltage protection. Bit 1 0: Main power supply Off warning detects only on Servo On conditions. 1: Main power supply off warning always detected. To set main power supply alarm detection time. When set to 2000, main power supply Off detection is invalidated. To set sequence for alarm To set torque limit for immediate stop. When set to 0, torque limit for normal operation shall be applied. To set overload level. Set to be 115% when set value is 0. Furthermore, internal value is limited to 115%. To set detection level for Err 26.0 “Over speed protection”. Maximum motor revolution x 1.2 when value set to 0. Furthermore, internal value is limited to maximum motor revolution x 1.2. To set motor over-run movement quantity against position command. To select control input signal read cycle. 0:0.25 ms, 1:0.5 ms, 2:1 ms, 3:2 ms. However, to exclude deviation counter clear input (CL) and command pulse prohibited input (INH). To select acknowledgement time for alarm (A-CLR) input. 0: 120 ms 1: As per Pr 5.15 “Control input signal confirmation time selection”. Reclose power supply Reclose power supply Reclose power supply Always enabled Always enabled Always enabled Reclose power supply Always enabled (Continued) Motor Business Unit, Panasonic Corporation No.SX-DSV03031- 216 - Classification 5 No. Parameter name Unit Set range Functions, contents Attribute Related control mode Relation Always enabled Position, full closed 4-2-5 Always enabled Position, full closed 4-2-7 To select receiving conditions for counter clear input signal 0: Invalid 1: Clear at level (without read filter) 2: Clear at level (with read filter) 3: Clear at edge (without read filter) 4: Clear at edge (with read filter) To set valid/invalid of command pulse prohibited input (INH) 0: Valid, 1: Invalid To select signal read cycle of command pulse prohibited input (INH) 0: 3 consecutive matching of 0.250 ms cycle 1: 3 consecutive matching of 0.500 ms cycle 2: 3 consecutive matching of 1.0 ms cycle 3: 3 consecutive matching of 2.0 ms cycle 4: 1 matching of 0.250 ms cycle 5: 2 consecutive matching of 0.250 ms cycle Select positioning complete range and set unit for excessive positioning deviation. 0: Command unit, 1: Encoder unit Reclose power supply Position, full closed 4-2-7 Reclose power supply Position, full closed 7-4 To set the method for selecting forward and backward torque limit Always enabled 17 Counter clear input setting (CL) - 0 to 4 18 Command pulse prohibition input (INH) disable - 0 to 1 19 Command pulse prohibition input (INH) read setting - 0 to 5 20 Position setting unit selection - 0 to 1 21 Torque limit selection - 0 to 6 22 2nd torque limit % 0 to 500 To set the 2nd. output torque limit of the motor. The parameter is limited by the maximum torque of the motor being applied on. Always enabled 23 Torque limit switching setting 1 /100 % 0 to 4000 To set the rate of change (incline) from 1st. to 2nd. torque limit upon switching. Always enabled 24 Torque limit switching setting 2 /100 % 0 to 4000 To set the rate of change (incline) from 2nd. to 1st. torque limit upon switching. Always enabled 25 Positive direction torque limit for external input % 0 to 500 26 Backward direction torque limit for external input % 0 to 500 27 Analog torque limit input gain *1, *2 28 LED initial state - 0 to 42 29 RS232 communication baud rate setting *1 - 0 to 7 30 RS485 communication baud rate setting *1 - 0 to 7 31 Axis number - 0 to 127 32 Command pulse input maximum setup/digital filter setup Kpulse/s 250 to 8000 ms ms 0.1 V/ 100 % 10 to 100 To set the forward torque limit upon input of TL-SEL when Pr 5.21 “Torque limit selection” is set to 6. The parameter shall be limited by the maximum torque of the motor to be applied. To set the backward torque limit upon input of TL-SEL when Pr 5.21 “Torque limit selection” is set to 6. The parameter shall be limited by the maximum torque of the motor to be applied. Position, speed, full closed Position, speed, full closed Position, speed, full closed Position, speed, full closed 6-1 6-2 6-1 6-1 6-1 Always enabled Position, speed, full closed 6-1 Always enabled Position, speed, full closed 6-1 To set the conversion gain for analog torque limit input Always enabled Position, speed, full closed 6-2 To select the type of data to be indicated by the 7-segment led, in the initial state when the control power supply is turned on. To set the baud rate for RS232 communications. 0:2400, 1:4800, 2:9600, 3:19200, 4:38400, 5:57600, 6:115200, 7:230400 bps Note) In case it is not a Modbus communication (Pr 5.37 = 0), when value is set to 7, it will be set to 9600 internally. To set the baud rate for RS485 communications. 0:2400, 1:4800, 2:9600, 3:19200, 4:38400, 5:57600, 6:115200, 7:230400 bps Note) In case it is not a Modbus communication (Pr 5.37 = 0), when value is set to 7, it will be set to 9600 internally. To set axis number for communications. In case of using RS232 or RS485, use numbers in the range of 0 to 31. Please set the maximum number to be used for command pulse input. Specified pulse input frequency will generate Err 27.0 “Command pulse input frequency abnormal protection”. Note) Detection of abnormal command pulse input frequency is conducted on the number of pulses received by the driver. It may not be able to detect normally, in case of a pulse frequency input far larger than the set value. Reclose power supply All 3-1-3 3-2-1 Reclose power supply All 4-7-1-5 Reclose power supply All 4-7-1-5 Reclose power supply All - Reclose power supply Position, full closed - (To be continued) *1 Not available with [E***] *2 Not available with [G***] Motor Business Unit, Panasonic Corporation No.SX-DSV03031- 217 - Classification No. Parameter name Unit Set range 5 33 Pulse regeneration output limit enable - 0 to 1 34 For manufacturer use 35 Front panel lock 36 For manufacturer use 37 Modbus connection setting *1 - 0 to 2 38 Modbus communication setting *1 - 0 to 5 39 Modbus response waiting time *1 ms 0 to 10000 40 Modbus communication timeout time *1 ms 0 to 10000 41 For manufacturer use - - 42 Modbus broadcast setting *1 - - - - 0 to 1 - -32768 to 32767 Related control mode Relation All - - - All 3-1-4 - - Reclose power supply All - Reclose power supply All - Always enabled All - Always enabled All - - - - Always enabled All - Functions, contents Attribute To activate/deactivate Err. 28.0 “Pulse regeneration limit protection”. 0: Inactivate 1: Activate Please set to 4 fixed. To lock operations using the front panel 0: Front panel operations - Not restricted 1: Front panel operations - Locked Please set fixed to 0 (zero). To set RS232/RS485 communications protocol 0: MINAS standard protocol 1: Modbus-RTU (RS232 communications, only for 1:1) 2: Modbus-RTU (RS485 communications, 1:N capable) To set parity (even, odd, none) and stop bit length (1 bit, 2 bit) of Modbus communications. 0: Even/1 bit 1: Even/2 bit 2: Odd/1 bit 3: Odd/2 bit 4: None/1 bit 5: None/2 bit To set waiting time to be added from the receipt of Modbus communication request till the transmission of response data. Note) Delay time will be generated for the creation of response data, even if the value is set to 0 (zero). To set the time required to detect Err. 80.0 “Modbus communication timeout protection” in case broadcast designated Modbus communications from own specified axis has not been received exceeding the set time, while maintaining the state where Modbus exercise right is secured. Err. 80.0 is not detected when set value is set to 0 (zero). Please set fixed to 0 (zero). To set response action and request processing when a request for broadcast mode is received in Modbus communication. Bit 0 response action: 0: Invalid (none), 1: Valid (yes) *1 Bit 1 request processing: 0: Valid (process), 1: Invalid (no processing) Bit 2 through 15: Not used, to be set fixed to 0. Reclose power supply Reclose power supply - Bit 0 is set to be the least significant bit. *1 Response returned after Pr 5.31 x Pr 5.40 [ms]. No response returned when bit 1 = 1 50 Quadrant projection positive direction compensation value Quadrant projection negative direction compensation value Quadrant projection compensation delay time Quadrant projection compensation filter setting L Quadrant projection compensation filter setting H For manufacturer use - - Please set fixed to 0 (zero). 51 For manufacturer use - - Please set fixed to 0 (zero). 52 For manufacturer use - - Please set fixed to 0 (zero). 53 For manufacturer use - - Please set fixed to 0 (zero). 54 For manufacturer use - - Please set fixed to 0 (zero). 55 For manufacturer use - - Please set fixed to 0 (zero). 45 46 47 48 49 -1000 to 0.1% 1000 -1000 to 0.1% 1000 To set positive direction high-precision torque compensation value for quadrant projection. Always enabled To set negative direction high-precision torque compensation value for quadrant projection. Always enabled ms 0 to 1000 To set compensation timing delay time for quadrant projection. Always enabled 0.01 ms 0 to 6400 To set compensation value LPF time constant for quadrant projection. Always enabled 0.1 ms 0 to 10000 To set compensation value HPF time constant for quadrant projection. Always enabled Position, full closed Position, full closed Position, full closed Position, full closed Position, full closed - *1 Not available with [E***] Motor Business Unit, Panasonic Corporation No.SX-DSV03031- 218 - Class 6 No. Parameter name Unit Setting range 00 Analog torque feed forward gain setting *1 0.1 V/ 100 % 0 to 100 02 Speed deviation excess setting r/min 0 to 20000 r/min 0 to 500 0.1 ms 0 to 10000 % 04 05 06 07 08 09 10 11 13 14 15 16 JOG trial run command speed Position control third gain effective time Position control third gain scale factor Additional value to torque command Torque compensation value in positive direction Torque compensation value in negative direction Function expansion setting Current response setting Second inertia ratio Immediate stop time at the time of alarming Second overspeed level setting Manufacturer use Function/description Attribute Sets an input gain for analog torque FF. 0 to 9 are disabled. Sets the threshold value for Err24.1 "Speed deviation excess protection". When the set value is 0, the detection for speed deviation excess protection is disabled. Sets the command speed for JOG trial run (speed control). Always enabled Related control mode Position, speed, full-closed Relate d - Always enabled Position - Always enabled All 3-2-4 Sets the 3rd gain effective time of 3-level gain switching. Always enabled Position, full-closed 5-2-10 50 to 1000 Sets the 3rd gain at the multiplication of gain 1. Always enabled Position, full-closed 5-2-10 % -100 to 100 Sets the offset torque to be added to the torque command. Always enabled Position, speed, full-closed 5-1-1 % -100 to 100 Sets the value to be added to the torque command during positive-direction operation. Always enabled Position, full-closed 5-1-1 % -100 to 100 Sets the value to be added to the torque command during negative-direction operation. Always enabled Position, full-closed 5-1-1 Always enabled All 5-2-9 5-2-12 6-5-6 All - All 5-2-12 - -32768 to 32767 % 10 to 100 % 0 to 10000 ms 0 to 1000 r/min 0 to 20000 - - - 0 to 1 17 Front panel parameter writing selection 18 Power turn-on wait time 0.1s 0 to 100 19 Encoder Z-phase setting pulse 0 to 32767 20 External scale Z-phase expansion setting *1 μs 0 to 400 Sets various functions on a bit basis. bit0 Not used Fix at 0. bit1 Load fluctuation control function 0: Disabled 1: Enabled bit2 Load variation stabilization setting 0:Disabled 1:enabled. bit3 Inertia ratio switching 0: Disabled 1: Enabled bit4 Current response improvement 0: Disabled 1: Enabled bit5 Analog torque FF 0: Disabled 1: Enabled bit6-8 Not used Fix at 0. bit9 Manufacturer use Fix at 0. bit10 Fall prevention function during alarm, position deviation processing 0: Disabled (hold) 1: Enabled (clear) bit11 Encoder overheat abnormality protection detection 0: Disabled 1: Enabled *1 bit12 Not used Fix at 0. bit13 Manufacturer use Fix at 0 bit14 Load variation suppression function automatic adjustment setting:Disabled 1:enabled bit15 Not used Fix at 0. *The least significant bit is considered as bit0. *1 When the encoder overheat alarm is generated, Err15.1 "Encoder overheat abnormality protection" is generated together. Makes fine adjustment with current response considered as 100% at the time of delivery. Sets the ratio of load inertia with respect to motor rotor inertia. Always enabled Always enabled Sets the time allowed before an immediate stop is made when an alarm is generated. Always enabled All 6-5-5 Always enabled All 6-5-5 - - - Repower -on All 3-2-2 Repower -on All 9-2-1 Repower -on All 4-2-4 Repower -on Full-closed 4-2-4 Second overspeed protection is invoked when motor speed exceeds the set value at the time of an immediate stop during an alarm. Fix at 0. Selects an EEPROM write specification for the parameter change in the front panel. 0: Does not write to EEPROM concurrently 1: Writes to EEPROM concurrently Sets the initialization time after power-on with the standard setting of approximately 1.5 s + α (set value × 0.1 s). E.g. when the set value is 10: 1.5 s + (10 × 0.1 s) = approximately 2.5 s Makes fine adjustment of the encoder Z-phase width when the output pulse value per motor revolution after frequency division is not an integer. Can extend the width of external scale Z-phase output. (To be continued) *1 Not available with [E***], [G***]. Motor Business Unit, Panasonic Corporation No.SX-DSV03031- 219 - Class 6 No. Parameter name Unit 21 Serial absolute external scale Z-phase setting *1, *2 pulse 0 to 228 22 AB-phase output external scale AB phase regeneration method selection *1, *2 - 0 to 1 % -100 to 100 0.01 ms 10 to 2500 23 24 Load fluctuation correction gain Load fluctuation correction filter Attribute Related control mode Related Repoweron Full-closed 4-2-4 Repoweron Full-closed 4-2-4 Always enabled Position Speed 5-2-9 Always enabled Position Speed 5-2-9 Repoweron All 7-3 Repoweron Position - - - - Sets the load characteristic estimation speed to be applied when real-time auto tuning is enabled. Always enabled All 5-1-1 Sets details of the custom mode for real-time auto tuning. Set to 0 when two-degree-of-freedom control is used. Always enabled All 5-1-1 5-1-3 5-1-4 - - - Setting range Function/description Sets the Z-phase regeneration position to be applied when a serial absolute type external scale is used. 0: Z-phase output only when absolute external scale position = 0 1~228: Z-phase output at a set pulse period after a Z-phase output at absolute external scale position = 0; Z-phase output is not invoked before the passage of position 0. Selects the OA/OB pulse output regeneration method to be applied when an AB-phase output type external scale is used. 0: Signal not regenerated 1: Signal regenerated *Z-phase output always takes a through output without signal regeneration. *When "signal regenerated", which regenerates OA and OB duties on the driver side, is selected, waveform disturbance can be reduced. However, note that a delay in Z phase occurs. Sets a correction gain for load fluctuation. Sets the filter time constant for load fluctuation. Sets the warning latch time. 0: Latch time infinite 1 to 10: Latch time set to 1 to 10 [s] Selects between enabling and disabling the block operation function. 0: Block operation disabled 1: Block operation enabled 27 Warning latch time s 0 to 10 28 Special function selection *1 - 0 to 1 - - - 0 to 3 - -32768 to 32767 - - 0.1/s 0 to 30000 Sets the hybrid vibration suppression gain to be applied when full-closed control is used. Always enabled Full-closed 5-2-13 0.01 ms 0 to 6400 Sets the time constant of the hybrid vibration suppression filer for full-closed control. Always enabled Full-closed 5-2-13 Repoweron All 6－5－3 Always enabled All 7-3 Repoweron All 7-3 30 31 32 33 34 35 Manufacturer use Real-time auto tuning estimation speed Real-time auto tuning custom setting Manufacturer use Hybrid vibration suppression gain *1, *2 Hybrid vibration suppression filter *1, *2 36 Dynamic brake operation input - 0 to 1 37 Oscillation detection threshold value 0.1% 0 to 1000 38 Warning mask setting - -32768 to 32767 - - 39 41 Manufacturer use 1st damping depth - 0 to 1000 Fix at 0. Fix at 1000. Sets between enabling and disabling dynamic brake (DB) operation input by I/O. Note) This function is available only when the main power is turned off. 0: Disabled 1: Enabled Sets the threshold value for oscillation detection. When a torque vibration equal to or greater than this setting is detected, an oscillation detection warning is caused. When 0 is set, oscillation detection warning is disabled. Makes the mask setting for warning detection. When the corresponding bit is set to 1, the detection of the corresponding warning is disabled. Fix at 0. - - - Sets the vibration suppression depth for the first vibration suppression function. Always enabled Position, full-closed 5-2-7-1 42 Two-stage torque filter time constant 0.01 ms 0 to 2500 Sets the filter time constant for the torque command. When the set value is 0, the filter is disabled. This setting is always enabled irrespective of the gain selection status. Always enabled All 5-2-14 43 Two-stage torque filter damping term - 0 to 1000 Sets the damping term of the two-stage torque filter. Always enabled All 5-2-14 (To be continued) *1 Not available with [E***]. *2 Not available with [G***]. Motor Business Unit, Panasonic Corporation No.SX-DSV03031- 220 - Class 6 No. Parameter name Unit Setting range Function/description Attribute Related control mode Relate d Repower -on All 5-2-15 5-2-16 5-2-17 5-2-18 Always enabled PositionS peed Full close 5-2-15 5-2-16 5-2-17 5-2-18 Always enabled Position Full close 5-2-15 Always enabled Position Speed Full close 5-2-15 Always enabled All 6-5-6 47 Function expansion setting 2 - -32768 to 32767 Sets various functions on a bit basis. bit0 Two-degree-of-freedom control mode 0: Disabled 1: Enabled bit1 Not used Fix at 0. bit2 Encoder/external scale communication abnormality judgment setting 0: Interchange as conventionally 1: Abnormality/warning judgment relaxation bit3 Two-degree-of-freedom control real-time auto tuning selection *1 0: Standard type 1: Sync type bit4 -7 Not used Fix at 0. bit8 Manufacturer use Fix at 0. bit9-10 Not used bit11 Immediate stop alarm extension 0: Disabled 1: Enabled bit12-13 Manufacturer use bit14 Quadrant projection suppression function 0: Disabled 1: Enabled bit15 Not used Fix at 0. * The least significant bit is considered as bit0. *Regarding bit3 (two-degree-of-freedom control real-time auto tuning selection), the function is available only when bit0 is set to 1: Enabled. *1 For details on types, refer to 5-1-3 "Real-time auto tuning (two-degree-of-freedom control mode, standard type)" and 5-1-4 "Real-time auto tuning (two-degree-of-freedom control mode, sync type)". 48 Adjustment filter 0.1 ms 0 to 2000 Sets the adjustment filter time constant for two-degree-of-freedom control (position control, speed control, full close control). Command response 49 filter/adjustment - 0 to 99 filter damping term setting Sets the damping terms of the command response filter and adjustment filter for two-degree-of-freedom control (position control, full close control)Using decimal notation, the first digit indicates the setting for command response filter, and the second digit, the setting for adjustment filter. Digit correspondence 0 to 4: No damping term (operation as the primary filter) 5 to 9: Secondary filter (the damping term ζ takes 1.0, 0.86, 0.71, 0.50, and 0.35 in this order) However, when Pr2.13 "Damping filter switching selection" is 4 (two model type vibration controls are enabled) and the secondary filter is selected, the damping ratio is fixed at 1.0. Example) To make the command response filter be ζ= 1.0, and adjustment filer 1 be ζ = 0.71, set the value to 75 (first digit = 5 (ζ = 1.0), second digit = 7 (ζ = 0.71)). Note that Pr2.22 "Command smoothing filter" is applied as the time constant for the command response filter. With the command speed multiplied by this set value, the amount of correction to be added to the torque command is determined. As the unit of measure, [rated torque 0.1%/ (10000 r/min)] is used. 50 Viscous friction compensation gain 0.1%/ (10000 r/min) 0 to 10000 51 Immediate stop completion wait time ms 0 to 10000 - - Fix at 0. - - - - - Fix at 0. - - - - - Fix at 0. - - - 52 53 54 Manufacturer use Manufacturer use Manufacturer use Sets the time for which motor power-on is kept after brake release output (BRK-OFF) is turned off when an immediate stop alarm is generated. (To be continued) Motor Business Unit, Panasonic Corporation No.SX-DSV03031- 221 - Class 6 No. Parameter name 57 Torque saturation error protection detection time 60 61 62 63 64 65 66 67 68 69 70 71 72 73 74 75 76 2nd damping depth 1st resonance frequency 1st resonance damping ratio 1st anti-resonance frequency 1st anti-resonance damping ratio 1st response frequency 2nd resonance frequency 2nd resonance damping ratio 2nd anti-resonance frequency 2nd anti-resonance damping ratio 2nd response frequency 3rd damping depth 4th damping depth Load estimation filter Torque compensation frequency 1 Torque compensation frequency 2 Load estimation count Unit Setting range Function/description ms 0 to 5000 - 0 to 1000 0.1 Hz 0 to 3000 - 0 to 1000 0.1 Hz 0 to 3000 Sets the torque saturation abnormality protection detection time. When torque saturation continues for the set time duration or longer, Err16.1 "Torque saturation error protection" is invoked. When the set value is 0, this function is disabled and no alarm is generated. Sets the vibration control depth for the second vibration control function. Sets the resonance frequency for the load of model 1 type vibration control filter. Sets the resonance damping ratio for the load of model 1 type vibration control filter. Sets the anti-resonance frequency for the load of model 1 type vibration control filter. - 0 to 1000 Sets the anti-resonance damping ratio for the load of model 1 type vibration control filter. 0.1 Hz 0 to 3000 0.1 Hz 0 to 3000 - 0 to 1000 0.1 Hz 0~3000 Sets the response frequency for the load of model 1 type vibration control filter. Sets the resonance frequency for the load of model 2 type vibration control filter. Sets the resonance damping ratio for the load of model 2 type vibration control filter Sets the anti-resonance frequency for the load of model 2 type vibration control filter. - 0 to 1000 Sets the anti-resonance damping ratio for the load of model 2 type vibration control filter. 0.1 Hz 0 to 3000 - 0 to 1000 - 0 to 1000 0.01 ms 0～2500 0.1 Hz 0～5000 Sets the response frequency for the load of model 2 type vibration control filter. Sets the vibration control depth for the third vibration control function Sets the vibration control depth for the forth vibration control function. Sets the filter time constant for load estimation. Sets filter frequency 1 for speed control output. 0.1 Hz 0～5000 Sets filter frequency 2 for speed control output. － 0～8 Sets the number of times for load estimation. Attribute Related control mode Related Always enabled Position Speed Full-closed 6-6 Position, full-closed 5-2-7-1 Position 5-2-7-2 Position 5-2-7-2 Always enabled Position 5-2-7-2 Always enabled Position 5-2-7-2 Position 5-2-7-2 Position 5-2-7-2 Position 5-2-7-2 Always enabled Position 5-2-7-2 Always enabled Position 5-2-7-2 Position 5-2-7-2 Always enabled Always enabled Always enabled Always enabled Always enabled Always enabled Always enabled Always enabled Always enabled Always enabled Position, full-closed Position, full-closed Position Speed Always enabled Position Speed 5-2-9 Always enabled Position Speed 5-2-9 Always enabled Position Speed 5-2-9 5-2-7-1 5-2-7-1 5-2-9 Motor Business Unit, Panasonic Corporation No.SX-DSV03031- 222 - Classification 7: Special settings Class No. 7 00 01 03 04 05 06 07 08 09 10 11 12 13 14 15 16 20 21 22 23 24 25 26 27 28 29 Parameter name Manufacturer use Manufacturer use Manufacturer use Manufacturer use Manufacturer use Manufacturer use Manufacturer use Manufacturer use Manufacturer use Manufacturer use Manufacturer use Manufacturer use Manufacturer use Main power turn-off warning detection time Manufacturer use Manufacturer use Manufacturer use Manufacturer use Manufacturer use Manufacturer use Manufacturer use Manufacturer use Manufacturer use Manufacturer use Manufacturer use Manufacturer use Attribute Related control mode Related Fix at 0. - - - - Fix at 0. - - - - - Fix at 0. - - - - - Fix at 0. - - - - - Fix at 0. - - - - - Fix at 0. - - - - - Fix at 0. - - - - - Fix at 0. - - - - - Fix at 0. - - - - - Fix at 0. - - - - - Fix at 0. - - - - - Fix at 0. - - - - - Fix at 0. - - - Repower -on All - Unit Setting range - - - Function/description Sets the time elapsed before the main power turn-off warning is detected when a main power turn-off state continues. 0 to 9, 2000: Warning detection disabled 10 to 1999: Warning detection enabled (unit shown in ms). Note) To cause the warning detection to occur earlier than turn-off detection, maintain the relationship "Pr7.14 < Pr5.09" when this parameter is set. In addition, when the time set for Pr7.14 is long and the P-N voltage at the main power converter area is reduced to the specified value or below before the warning is detected, Err13.0 "Main power insufficient voltage protection" is invoked earlier than the warning. ms 0 to 2000 - - Fix at 0. - - - - - Fix at 0. - - - - - Fix at 0. - - - - - Fix at 0. - - - - - Fix at 0. - - - - - Fix at 0. - - - - - Fix at 0. - - - - - Fix at 0. - - - - - Fix at 0. - - - - - Fix at 0. - - - - - Fix at 0. - - - - - Fix at 0. - - - (To be continued) Motor Business Unit, Panasonic Corporation No.SX-DSV03031- 223 - Class No. 7 30 31 32 33 34 35 36 37 38 39 41 87 91 92 93 Parameter name Attribute Related control mode Related Fix at 0. - - - - Fix at 0. - - - - - Fix at 0. - - - - - Fix at 0. - - - - - Fix at 0. - - - - - Fix at 0. - - - - - Fix at 0. - - - - - Fix at 0. - - - - - Fix at 0. - - - - - Fix at 0. - - - - - Fix at 0. - - - - - Fix at 0. - - - - - Fix at 0. - - - - - Fix at 0. - - - - - Fix at 0. - - - Unit Setting range - - - Manufacturer use Manufacturer use Manufacturer use Manufacturer use Manufacturer use Manufacturer use Manufacturer use Manufacturer use Manufacturer use Manufacturer use Manufacturer use Manufacturer use Manufacturer use Manufacturer use Manufacturer use Function/description 分類8：メーカ使用 分類 No 8 00 01 02 03 04 05 10 12 13 14 15 19 ﾊﾟﾗﾒｰﾀ名称 Manufacturer use Manufacturer use Manufacturer use Manufacturer use Manufacturer use Manufacturer use Manufacturer use Manufacturer use Manufacturer use Manufacturer use Manufacturer use Manufacturer use 機能・内容 属性 関連制御 単位 設定範囲 - - Fix at 0. - - - - - Fix at 0. - - - - - Fix at 0. - - - - - Fix at 0. - - - - - Fix at 0. - - - - - Fix at 0. - - - - - Fix at 0. - - - - - Fix at 0. - - - - - Fix at 0. - - - - - Fix at 0. - - - - - Fix at 0. - - - - - Fix at 0. - - - ﾓｰﾄﾞ 関連 Motor Business Unit, Panasonic Corporation No.SX-DSV03031- 224 - 分類14：メーカ使用 分類 14 No 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 ﾊﾟﾗﾒｰﾀ名称 Manufacturer use Manufacturer use Manufacturer use Manufacturer use Manufacturer use Manufacturer use Manufacturer use Manufacturer use Manufacturer use Manufacturer use Manufacturer use Manufacturer use Manufacturer use Manufacturer use Manufacturer use Manufacturer use Manufacturer use Manufacturer use Manufacturer use Manufacturer use Manufacturer use Manufacturer use Manufacturer use Manufacturer use Manufacturer use Manufacturer use Manufacturer use Manufacturer use Manufacturer use Manufacturer use 機能・内容 属性 関連制御 単位 設定範囲 - - Fix at 0. - - - - - Fix at 0. - - - - - Fix at 0. - - - - - Fix at 0. - - - - - Fix at 0. - - - - - Fix at 0. - - - - - Fix at 0. - - - - - Fix at 0. - - - - - Fix at 0. - - - - - Fix at 0. - - - - - Fix at 0. - - - - - Fix at 0. - - - - - Fix at 0. - - - - - Fix at 0. - - - - - Fix at 0. - - - - - Fix at 0. - - - - - Fix at 0. - - - - - Fix at 0. - - - - - Fix at 0. - - - - - Fix at 0. - - - - - Fix at 0. - - - - - Fix at 0. - - - - - Fix at 0. - - - - - Fix at 0. - - - - - Fix at 0. - - - - - Fix at 0. - - - - - Fix at 0. - - - - - Fix at 0. - - - - - Fix at 0. - - - - - Fix at 0. - - - ﾓｰﾄﾞ 関連 Motor Business Unit, Panasonic Corporation No.SX-DSV03031- 225 - Classification 15: Manufacturer use Class 15 No. 00 16 17 30 31 33 34 35 Parameter name Manufacturer use Manufacturer use Manufacturer use Manufacturer use Manufacturer use Manufacturer use Manufacturer use Manufacturer use Unit Related Setting Function/description range Attribute control Related mode - - Fix at 0. - - - - - Fix at 2. - - - - - Fix at 4. - - - - - Fix at 0. - - - - - Fix at 5. - - - - - Fix at 0. - - - - - Fix at 0. - - - - - Fix at 0. - - - Motor Business Unit, Panasonic Corporation No.SX-DSV03031- 226 - 9-2 Timing charts 9-2-1 Timing chart of operation after power-on Control power OFF ON (L1C, L2C) Approx. 100 to 300 ms Internal control power OFF Establish Approx. 2 s Approx. 1.5 s Microprocessor operation Reset Initialize *3 Normal operation 0 s or more Main power OFF (L1, L2, L3) Servo-ready output ON *2 10 ms or more Output Tr OFF (S-RDY) 10 ms or more *2 Output Tr ON 0 s or more Servo-on input Input coupler OFF Input coupler ON (SRV-ON) Approx. 2 ms Dynamic brake Operation Release Approx. 25 ms ervo-on status output *4 Output Tr OFF Output Tr ON (SRV-ST) Approx. 60 ms Motor power-on No power-on Power-on Approx. 4 ms Brake release output Output Tr OFF (braking) Output Tr ON (Brake release) (BRK-OFF) Approx. 100 ms or more * Position/speed/torque command • • *1. *2. *3. *4. No command With command The above chart shows the timings from the turn-on of control power to the input of command. Input the servo-on signal, and the position, speed and torque commands in accordance with the timings shown in the above chart. This zone shows that the servo-on signal (SRV-ON), which is input from the hardware viewpoint, has not been received. The S-RDY output turns on when both conditions, which are the completion of microprocessor initialization and the establishment of the main power, have been met. Protection function starts operating approximately 1.5 s after the start of microprocessor initialization after the internal control power is established. When you design, allow all input/output signals connected to the driver (especially those which could be a trigger for protection function, such as positive-/negative-direction drive prohibition inputs and external scale inputs) to be established before protection function starts operating. For your information, this time duration can be extended with Pr6.18 "Power-on wait time". Note that the servo-on status output signal (SRV-ST) is to let you know of the receipt of servo-on input and is not an output to let you know that command input is possible. Motor Business Unit, Panasonic Corporation No.SX-DSV03031- 227 - 9-2-2 Timing chart of servo-on/-off operation with nonoperating motor (servo locked) (During normal operation, stop the motor and perform servo-on/-off operation.) Servo-on input (SRV-ON) Dynamic brake Input coupler OFF Input coupler OFF Input coupler ON Approx. 2 ms *3 Release Operation 1 to 6 ms *2 Operation Approx. 23 ms Servo-on status output *4 Output Tr (SRV-ST) OFF Output Tr ON t1 *1 Output Tr OFF Approx. 60 ms *1. *2. *3. *4. Motor power-on statuas No power-on Brake release output (BRK-OFF) Output Tr OFF (braking) Power-on No power-on Approx. 4 ms Output Tr ON (brake release) Output Tr OFF (braking) t1 depends on the setting specified for Pr4.37 "Mechanical braking setting during no operation". Dynamic brake operation during servo-off depends on the setting specified for Pr5.06 "Sequence at servo-off". Servo-on is not invoked before the rotational speed of motor is approximately 30 r/min or below. Note that the servo-on status output signal (SRV-ST) is to let you know of the receipt of servo-on input and is not an output to let you know that command input is possible. Motor Business Unit, Panasonic Corporation No.SX-DSV03031- 228 - 9-2-3 Timing chart of servo-on/-off operation with running motor (This chart shows the timing for an emergency stop or trip. Repeated use is not possible.) Input coupler OFF Servo-on input (SRV-ON) Input coupler ON Input coupler OFF *4 Dynamic brake Approx. 1 to 5 ms Release Operation*3 Operation *3 Approx. 23 ms Servo-on status output (SRV-ST) Motor power-on status *6 Output Tr OFF Power-on No power-on Approx. 60 ms Brake release output (BRK-OFF) Output Tr OFF Output Tr ON Approx. 4 ms Output Tr OFF (braking) Rotational speed of motor Output Tr ON (brake release) No power-on*5 Setting of Pr4.38 Output Tr OFF (braking) t1 *1 Rotational speed of motor Setting of Pr4.39 When the Pr4.38 setting is the earlier value Approx.30r/min Rotational speed of motor Setting of Pr4.38 Servo enabled Output Tr ON (brake release) Servo-on is not invoked before the rotational speed of motor is approx. 30r/min or below. Rotational speed of motor Setting of Pr4.39 Output Tr OFF (braking) t1 *1 When the time taken to be equal to or below the Pr4.39 setting is the earlier value *1. t1 takes the earlier of: the value specified for Pr4.38 "Mechanical braking setting during operation", or the time taken before the rotational speed of motor becomes equal to or below the value set for Pr4.39 "Brake release speed setting" *2. Even if the SRV-ON signal is turned on again when the motor is decelerating, the shift to servo-on is not invoked before the motor stops. *3. The dynamic brake operation during servo-off depends on the setting specified for Pr5.06 "Sequence at servo-off". *4. Servo-on is not invoked before the rotational speed of motor is approximately 30 r/min or below. *5. The power-on status of the motor during deceleration at the time of servo-off depends on the setting specified for Pr5.06 "Sequence at servo-off". *6. Note that the servo-on status output signal (SRV-ST) is to let you know of the receipt of servo-on input and is not an output to let you know that command input is possible. Motor Business Unit, Panasonic Corporation No.SX-DSV03031- 229 - 9-2-4 Timing chart of (servo-on command status) operation when abnormality (alarm) occurs Abnormality occurred or not Abnormal Normal Output Tr OFF Servo-on status output (SRV-ST) Output Tr ON *3 0.5 to 5 ms Dynamic brake Release Motor power-on status Power-on No power-on Output Tr OFF (not ready) Output Tr ON (ready) Servo-ready output (S-RDY) Servo alarm output (ALM) Output Tr OFF (alarm) Output Tr ON (not alarm) Brake release output Output Tr ON (BRK-OFF) (brake release) Setting of Pn4.38 Output Tr OFF (braking) t1 *1 Rotational speed of motor Setting of Pr4.39 Setting of Pn4.38 Output Tr ON (brake release) Rotational speed of motor Setting of Pr4.39 *2 Operation When the Pr4.38 setting is the earlier value Output Tr OFF (braking) t1 *1 When the time taken to be equal to or below the Pr4.39 setting is the earlier value *1. t1 takes the earlier of: the setting specified for Pr4.38 "Mechanical braking setting during operation", or the time taken before the rotational speed of motor becomes equal to or below the value set for Pr4.39 "Brake release speed setting". *2. The dynamic brake operation when an alarm is generated depends on the setting specified for Pr5.10 "Sequence during an alarm". *3. Note that the servo-on status output signal (SRV-ST) is to let you know of the receipt of servo-on input and is not an output to let you know that command input is possible. Motor Business Unit, Panasonic Corporation No.SX-DSV03031- 230 - 9-2-5 Timing chart of (servo-on command status) operation when an alarm is cleared 120 ms or more *1 Alarm clearance input (A-CLR) Input coupler Input coupler ON OFF Dynamic brake Servo-on status output Output Tr OFF *2 (SRV-ST) Motor power-on status Brake release output (BRK-OFF) Servo ready output (S-RDY) Servoa alarm output (ALM) Position/speed/tor que command No power-on Output Tr OFF (braking) Output Tr OFF (not ready) Output Tr OFF (alarm) No input Release Approx. 2 ms Operation Approx. 25 ms Output Tr ON Approax. 60 ms Power-on Output Tr ON (brake release) Approx. 4 ms Output Tr ON (ready) Output Tr ON (not alarm) 100 ms or more Input possible *1. The recognition time for alarm clearance input can be changed with Pr5.16 "Alarm clearance input setting" (the factory-configured setting is 120 ms). *2. Note that the servo-on status output signal (SRV-ST) is to let you know of the receipt of servo-on input and is not an output to let you know that command input is possible. Motor Business Unit, Panasonic Corporation No.SX-DSV03031- 231 - 9-3 Communication functions (RS232/RS485) MINAS-A6 series comes with two types of communication ports, RS232 and RS485, and allows connection to be made to the host in the following three configurations. Please refer to the separate Modbus communication specifications for Modbus communication specifications. 9-3-1 Connection with communication lines (1) For communications using RS232 only: Make a 1 to 1 connection between the host and the driver using RS232 and communicate using RS232 transmission protocol. RS232 Hosst X2 Servo Driver (2) For communications using both RS232 and RS485: When connecting multiple drivers to a single host, the first driver is connected to the host using RS232 and the remaining drivers may be connected to the first driver using RS485. The axis number of the driver connected to the host by RS232 shall be 0 (zero), while the remaining drivers will each be numbered 1 through F individually. RS232 Host Axis number 0 Axis number 1 Axis number 2 Axis number 3 X2 X2 X2 X2 RS485 RS485 RS485 Servo driver Communications to multiple drivers can be made by entering the axis number of the driver to be connected from the host in the axis of the command block, and sending commands in accordance with RS232 transmission protocol. Note) The driver with axis number 0 (zero) will output command to drivers connected by RS485, and when no response is returned from drivers connected by RS485 (drivers with axis numbers starting from 1), (Break in RS485 wiring or power cut-off of driver, etc.), it will return a transmission data with a command bite number “1” with a data region of 90H (RS485 error) to the host. (Indicates RS485 time out detection.) In case of transmitting continuous data, please ensure that the next command is output only when data transmission from the servo to the host has been confirmed. Motor Business Unit, Panasonic Corporation No.SX-DSV03031- 232 - (3) For communications using RS485 only: Multiple drivers can all be connected to a single host using RS485. Drivers will be assigned with individual axis number from 1 through F. RS485 Host Axis number 0 Axis number 1 Axis number 2 Axis number 3 X2 X2 X2 X2 RS485 RS485 RS485 Servo driver Command is transmitted to the module ID of the driver to be connected to the host using RS485 transmission protocol. Module ID of the communicating partner shall also be set in the axis of the command block. 9-3-2 Connector wiring diagram (1) In case of 1 to 1 communications using RS232: Host controller Servo driver X2 RS232 interface TXD RXD GND 4 3 1 SN751701 equivalent RXD TXD GND Motor Business Unit, Panasonic Corporation No.SX-DSV03031- 233 - (2) In case the servo driver connected to the host by RS232 communication is to conduct RS485 communications as a RS485 communication host: Host controller Servo driver X2 RS232 Interface TSD RXD GND 4 3 1 SN75170 equivalent RXD TXD GND RS485 interface 8 7 RS485+ RS485Servo driver X2 ADM485 equivalent 6 RS485+ 5 RS485GND 8 RS485+ 7 RS485Servo driver X2 ADM485 equivalent 6 RS485+ 5 RS485GND RS485+ 8 7 RS485- Motor Business Unit, Panasonic Corporation No.SX-DSV03031- 234 - (3) In case all servo drivers are connected to communicate with RS485 communications: Host controller Servo driver X2 RS485 interface RS485 RS485GND 6 5 1 8 7 ADM485 equivalent RS485+ RS485GND RS485+ RS485Servo driver X2 ADM485 equivalent 6 RS485+ 5 RS485GND 8 RS485+ 7 RS485Servo driver X2 ADM485 equivalent 6 RS485+ 5 RS485GND 8 RS485+ 7 RS485- Motor Business Unit, Panasonic Corporation No.SX-DSV03031- 235 - 9-3-3 Communication specifications RS232 Baud rate Data Parity Start bit Stop bit Full duplex, start-stop system 2400, 4800, 9600, 19200, 38400, 57600, 115200 bps 8 bit None 1 bit 1 bit RS485 Baud rate Maximum axis number Data Parity Start bit Stop bit Semi duplex, start-stop system 2400, 4800, 9600, 19200, 38400, 57600, 115200 bps 15 axis 8 bit None 1 bit 1 bit Baud rate can be selected by: Pr 5.29 Setting RS232 communication baud rate, or Pr 5.30 Setting RS485 communication baud rate. Changes to parameters will become effective when control power is switched on. Motor Business Unit, Panasonic Corporation No.SX-DSV03031- 236 - 9-3-4 Transmission sequence (1) Hand shake byte Line control is conducted using the following codes: Name ENQ EOT ACK NAK Code (Receiving end module acknowledgment byte) 05h (Receiving end module acknowledgment byte) 04h 06h 15h Function Transmit request Receive ready Acknowledge Negative acknowledge Contents: ENQ: Sent out when there are blocks to be transmitted. EOT: Transmitted when able to receive blocks. Line will transmit out ENQ and when EOT is received, it will go into transmit mode, receives ENQ and goes into receiving mode when EOT is transmitted. ACK: Transmitted when received blocks are judged to be without anomalies. NAK: Transmitted when received blocks are abnormal. Judgment of normal, abnormal is done by checksum and time-out. In case of RS485: Module recognition byte: The value of Pr 5.31 Axis number is taken as the module ID and its data with its bit 7 changed to 1 shall be the module recognition byte. ENQ and EOT shall be a 2 byte data with this recognition module byte attached. bit7 1 bit6 0 bit5 0 bit4 0 bit3 bit2 bit1 Module ID bit0 Module ID: 1 through 15 (However, connection on RS485 bus is limited to 16, including the host.) Module ID of the communicating host shall be 0 (zero). Motor Business Unit, Panasonic Corporation No.SX-DSV03031- 237 - (2) Transmission protocol Line control: Solves transmission direction and clashes. Receiving mode: From receipt of ENQ to transmission of EOT. Transmission mode: From transmission of ENQ and receiving of EOT. In case of slave mode: During EOT receipt stand by after transmission of ENQ, when ENQ is received, ENQ will have priority and will enter into receiving mode. Transmission control: In transmission mode, command block is transmitted continuously, then will go into ACK receiving stand by. Transmission is completed upon receipt of ACK. Re-try will be made in case of codes other than ACK. In case of error in command byte numbers, there are cases where ACK is not returned. In case ACK is not received within T2, a re-try will be performed. Re-try will be repeated from ENQ. Receiving control: In receiving mode, transmission blocks are received continuously. Command byte is obtained from the first byte, and the number of bytes plus 3 bytes will be received. Transmission is deemed to be received normally when the total sum of received data reaches zero, and ACK is returned. In case of abnormal checksum or inter-character time outs, NAK will be returned. In case of RS232 Host Driver ENQ EOT Data block Reception Received data ACK ENQ EOT Data block Transmit Transmission data ACK Motor Business Unit, Panasonic Corporation No.SX-DSV03031- 238 - In case of RS485 Host Driver Module ID: 0 Module ID: 1 81h, ENQ 81h, EOT Data block ACK Received data 80h, ENQ 80h, EOT Data block ACK Transmitted data Reception Transmission (4) Protocol parameters: There are the following parameters to control block transmissions: These values may be set to arbitrary values using INIT command to be explained later. Name Function T1 Inter-character time out T2 Protocol time out RTY M/S Retry time limit Master/Slave RS232 RS485 RS232 RS485 Initial value 5 (0.5 sec) 1 (0.1 sec) 10 (10 sec) 2 (2 sec) 1 (Once) 0 (slave) Set range Unit 1 to 255 0.1 sec 1 to 255 1 sec. 1 to 8 0,1 (master) Once T1: This is the time allowed between the module recognition byte and ENQ/EOT or the time from the receipt of character code in the transmission and reception data block till the receipt of the next character code of this equipment. Time out error will occur when this time is exceeded, and NAK will be returned to the transmitting side. T2: - Allowable time from the transmission of ENQ to the receipt of EOT by this equipment. When this time is exceeded, it indicates that the receiving side is not in a state to receive or was unable to receive the ENQ code for some reason. In this case, the next ENQ code will be resent to the receiving side. (Number of retries) - Allowable time from transmission of EOT until the receipt of the first character. NAK will be returned when this time is exceeded and receiving mode is terminated. - Allowable time from the transmission of checksum byte till the receipt of ACK. Similar to NAK receipt, ENQ code will be resent to the receiving side when this time is exceeded. RTY: Maximum number of retries. Judged to be transmission error if this number is exceeded. M/S: Switching of master/slave. In case clashing of ENQ should occur, decides which to have priority. (0 for slave mode, 1 for master mode) The one set as master will have priority. Motor Business Unit, Panasonic Corporation No.SX-DSV03031- 239 - (4) Block configuration Configuration of blocks transmitted in physical phase are as indicated: 1 byte N axis mode command Parameter (N bytes) check sum N: axis: command: mode: Checksum: Number of command bytes (0 to 240) Indicates the number of parameters required by the command Sets the value for Pr 5.31 Axis number (0 to 15) Control command (0 to 15) Indicates command execution mode (0 to 15) Contents vary with the command. Complement of 2 of the sum of byte units from the top of the block to immediately before. Motor Business Unit, Panasonic Corporation No.SX-DSV03031- 240 - 9-3-5 State transition diagram (1) RS232 Transmitting side EOT reception Size: Number of command bytes + 3 1 character transmission EOT stand by T2 stop Size: size - 1 ENQ receipt when slave Return ENQ to receiving buffer Clear transmission request After reception processing, transmission request received and still within number of retries. Transmit ENQ, T2 start T2 timeout Count one retry T2 stop Clear transmission buffer Block transmission When size is 0, Transmit checksum T2 start ACK/NAK Stand by Transmit request received but retry number exceeded. Reset retry number Clear transmission request Receive other than ACK or T2 time out Count one retry. T2 stop Clear transmission buffer ACK received Reset retry number T2 stop Clear transmission request Idling = ENQ reception stand by or reception being processed (with transmission request after completion) ENQ received EOT transmitted T2 stop T2 timeout NAK transmitted T2 stop T1 timeout NAK transmitted T1 stop Waiting for command byte number Receipt successful (size is 0 when sumcheck OK) Transmit ACK T1 stop Waiting completion of transmission data Receiving remaining blocks Received command byte number Size ← command byte number + 3 Sum ← command byte number T1 start, T2 stop T1 timeout NAK transmitted T1 stop Receiving unsuccessful (Sum check error when size is 0) 1 character receipt T1 start T1 start 1 character receipt Size ← size - 1 Sum ← sum + received character T1 start Receiving side Motor Business Unit, Panasonic Corporation No.SX-DSV03031- 241 - (2) RS485 Transmitting side module recognition byte is the module ID | 0x80 of the receiving side. Transmitting side 1 character transmission Size: size - 1 EOT reception Receiving side module ID T1 Start After reception processing, transmission request received and still within number of retries. Transmit Module recognition byte, ENQ, T2 start Transmit request received but retry number exceeded. Reset retry number Clear transmission request Block transmission EOT Stand by ID Stand by When module ID receiving and slave: Return ENQ to receiving buffer (→ Reception processing) Clear transmission request Size: Number of command bytes + 3 T2 stop When size is 0, Transmit checksum T2 start T2 timeout Count one retry T2 stop Clear transmission buffer ACK/NAKStand by T1 time out Count one retry T1 stop Clear transmission buffer Receive other than ACK or T2 time out Count one retry T2 stop Clear transmission ACK received Reset retry number T2 stop Clear transmission request Idling = Module ID stand by or reception being processed (with transmission request after completion) Module recognition byte received T1 time out T1 start T1 stop Reception successful (sum check OK when size is 0 and module recognition byte = module ID) Transmit ACK, T1 stop ENQ or EOT Stand by ENQ received by Module recognition byte = module ID, ENQ received Transmit Module recognition byte and EOT T2 start Module recognition byte is not module ID. ENQ received or T1 time out T1 Stop EOT received T2 start T2 time out If module recognition byte = module ID, then transmit NAK, T2 stop If not, T2 stop Waiting for command byte number T1 time out If module recognition byte = Module ID, transmit NAK, T1 stop. If other, T1 stop Transmit to other axis (module recognition byte is not module ID when size is 0) T1 stop T1 time out Transmit NAK, T1 stop Waiting completion of transmission Receiving unsuccessful (Sum check error when size is 0) 1 character receipt T1 start T1 start Receiving remaining blocks Received command byte number Size ← command byte number + 3 Sum ← command byte number T2 stop, T1 start 1 character receipt Size ← size - 1 Sum ← sum + received character T1 start Receiving side Motor Business Unit, Panasonic Corporation No.SX-DSV03031- 242 - 7. RS485 Timing (To apply accordingly for RS232) T3 T4 T3 T4 T5 Host → driver Transmission request Data block Driver → Host 0 to 2 ms Transmission permission 0 to 2 ms 0 to 2 ms ACK/NAK 0 to 2 ms RS485 bus occupancy T3 T5 T3 T4 T5 Host → driver Transmission permission ACK/NAK Driver → Host 0 to 2 ms RS485 bus occupancy Transmission request 0 to 2 ms Symbol Name Continuous inter-character time T3 Driver response time T4 Host response time T5 0 to 2 ms Minimum Stop bit length 4 ms 2 ms Data block 0 to 2 ms Maximum Protocol parameter T1 Protocol parameter T2 Protocol parameter T2 Note) Time is from the leading edge of stop bit. Motor Business Unit, Panasonic Corporation No.SX-DSV03031- 243 - 9-3-6 Command 0 Communication command list Mode 1 5 6 A B 1 7 8 9 2 0 1 2 4 5 6 7 8 9 A B C D E 7 0 1 2 6 7 8 9 0 2 3 4 B Contents NOP Read software version information Read driver model Read motor model Read driver serial number Read motor serial number INIT Obtain, release execution right Set RS232 protocol parameter Set RS485 protocol parameter POS, STATUS, I/O Read status Read command pulse counter Read feedback pulse counter Read current velocity Read current torque output Read current deviation counter Read input signal Read output signal Read current velocity, torque and deviation counter Read status, input signal, and output signal Read overload load ratio Read outside scale Read absolute encoder Read outside scale deviation and aggregate pulse PARAMETER Read individual user parameters Write individual user parameters Write user parameters into EEPROM Read individual user parameter attributes Read multiple user parameter attributes Write multiple user parameters ALARM Read current alarm data Read batched alarm history Clear alarm history Alarm clear Absolute clear Remarks Use only the abovementioned commands. Action of the driver cannot be guaranteed in case commands other than those listed above have been transmitted. In the event the number of received data with the abovementioned command is in error, regardless of the communication command, a single byte transmission communication data (error code only) will be transmitted. Motor Business Unit, Panasonic Corporation No.SX-DSV03031- 244 - 9-3-7 Communication command details [Read software version information] Command 0 Mode 1 Received data 0 axis 1 0 checksum Transmitted data 3 axis 1 0 Version (higher) (lower) Error code checksum Error code bit7 0: Normal 1: Error 6 5 4 Command error RS485 error 3 2 1 0 Version information will be returned with V.0.00 being separated into higher data and lower data. (Decimal point will be returned, expressed by 0 for the lower four (4) bits of the higher data.) Version shall be indicated by numbers ranging from 0 to 9. (Example: Ver 1.06 will be expressed as upper data: 10h and lower data: 06h.) Motor Business Unit, Panasonic Corporation No.SX-DSV03031- 245 - [Read driver model] Command 0 Mode 5 Received data 1 axis 5 0 Transmitted data 0Dh axis 5 0 checksum Driver model name (higher) ： Driver model name (lower) Error code checksum Error code bit7 6 0: Normal 1: Error 5 4 Command error RS485 error 3 2 1 0 1 0 Model name of driver is transmitted in 12 ASCII code characters. (Example) MADDT1105***” [Read motor model] Command 0 Mode 6 Received data 0 axis 6 0 Transmitted data 0Dh axis 6 0 Motor model name (Higher) checksum Motor model name (Lower) Error code checksum Error code bit7 0: Normal 1: Error 6 5 4 Command error RS485 error 3 2 Model name of motor is transmitted in 12 ASCII code characters. (Example) “MSMD012S1***” Motor Business Unit, Panasonic Corporation No.SX-DSV03031- 246 - [Read driver serial number] command 0 mode A Received data 1 axis A 0 checksum Transmitted data 5 axis A 0 Production year Production month Serial in the month (Lower) Serial in the month (Higher) Error code checksum Error code bit7 6 0: Normal 1: Error 5 4 Comman d error RS485 error 3 2 1 0 ■ Read the driver production serial number. ■ Serial in the month (Lower/Higher) is binary data. ■ Range of serial number in the month (Higher/Lower) is 0-255. Serial number in the month is calculated by the following formula. Serial number in the month ＝ Serial number in the month (Higher) × 100 ＋ Serial number in the month (Lower) [Read motor serial number] command 0 mode B Received data 0 axis B 0 checksum Transmitted data 5 axis B 0 Production year Production month Serial in the month (Lower) Serial in the month (Higher) Error code checksum Error code bit7 0: Normal 1: Error 6 5 4 Comman d error RS485 error 3 2 1 0 ■ Read the motor production serial number. ■ Serial in the month (Lower/Higher) is binary data. ■ Range of serial number in the month (Higher/Lower) is 0-255. Serial number in the month is calculated by the following formula. Serial number in the month ＝ Serial number in the month (Higher) × 256 ＋ Serial number in the month (Lower) Motor Business Unit, Panasonic Corporation No.SX-DSV03031- 247 - [Obtain, release execution right] Command 1 Mode 7 Received data 1 axis 7 1 mode checksum Error code bit7 0: Normal 1: Error Transmitted data 1 axis 7 1 Error code checksum 6 5 4 Command error RS485 error 3 mode error 2 1 0 In use Makes request to obtain execution right for writing parameters or writing EEPROMs, and releases the execution right when action is completed. Mode = 1: Request to obtain execution right Mode = 0: Request to release execution right When execution right has been acquired in the communication, no operation except for monitor mode can be made from the front panel. In case of failure to obtain execution right, an error code “in use” will be transmitted. Motor Business Unit, Panasonic Corporation No.SX-DSV03031- 248 - [Set RS232 protocol parameter] Command 1 Mode 8 Received data 4 axis 8 1 T1 T2 T6 0 RTY checksum Error code bit7 0: Normal 1: Error Transmitted data 1 axis 8 1 Error code checksum 6 5 T6 error 4 RS485 error 3 RTY error 2 1 T2 error T1 error 0 Processing will continue with the protocol parameters set previously, until the completion of the execution of this command. RTY is 4 bits. Units used are 0.1 sec for T1, 0.1 sec for T2, and 1 ms for T6. [Set RS485 protocol parameter] Command 1 Mode 9 Received data 4 axis 9 1 T1 T2 T6 0 RTY checksum Error code bit7 0: Normal 1: Error Transmitted data 1 axis 9 1 Error code checksum 6 5 T6 error 4 RS485 error 3 RTY error 2 1 T2 error T1 error 0 Processing will continue with the protocol parameters set previously, until the completion of the execution of this command. RTY is 4 bits. Units used are 0.1 sec for T1, 0.1 sec for T2, and 1 ms for T6. Motor Business Unit, Panasonic Corporation No.SX-DSV03031- 249 - [Read status] Command 2 Mode 0 Received data 0 axis 0 2 checksum Transmitted data 3 axis 0 2 Control mode Status Error code checksum Status bit7 Error code bit7 0: Normal 1: Error 6 6 5 5 Command error 4 4 RS485 error 3 In rotation, Positive direction 2 In rotation, Negative direction 1 Under velocity permitted by DB 3 2 1 0 Torque under limitation 0 ■ Control mode shall be as follows: 0 Position control mode 1 Velocity control mode 2 Torque control mode 3 Ful-close contrl mode Motor Business Unit, Panasonic Corporation No.SX-DSV03031- 250 - [Read command pulse counter] Command 2 Mode 1 Received data 0 axis 1 2 Transmitted data 5 axis 1 2 Value of counter L checksum H Error code checksum Error code bit7 6 0: Normal 1: Error 5 4 Command error RS485 error 3 2 1 0 Returns current position of command in absolute coordinates from the time of start-up. (cumulative sum of command pulse) The value of the counter is 32 bits. (-) for negative direction and (+) for positive direction shall be used in the value of the counter. [Read feedback pulse counter] Command 2 Mode 2 Received data 0 axis 2 2 Transmitted data 5 axis 2 2 Value of counter L checksum H Error code checksum Error code bit7 0: Normal 1: Error 6 5 4 Command error RS485 error 3 2 1 0 Returns current position of feedback pulse counter in absolute coordinates from the time of start-up. (-) for negative direction and (+) for positive direction shall be used in the value of the counter. Feedback pulse counter indicates the total number of pulses detected by the position detector, and shows the real movement of the motor position. Motor Business Unit, Panasonic Corporation No.SX-DSV03031- 251 - [Read current velocity] Command 2 Mode 4 Received data 0 axis 4 2 Transmitted data 3 axis 4 2 Current velocity L H Error code checksum checksum Error code bit7 6 0: Normal 1: Error 5 4 Command error RS485 error 3 2 1 0 1 0 Reads the current velocity (units: [r/min]) Output value is 16 bits. (-) for negative and (+) for positive direction when expressing velocity. [Read current torque] Command 2 Mode 5 Received data 0 axis 5 2 Transmitted data 3 axis 5 2 Torque command L H Error code checksum checksum Error code bit7 0: Normal 1: Error 6 5 4 Command error RS485 error 3 2 Reads current torque command value (Units: Converted based on rated motor toque = 2000) Output value is 16 bits. (-) for negative direction and (+) for positive direction of torque command. Motor Business Unit, Panasonic Corporation No.SX-DSV03031- 252 - [Read current position command deviation] Command 2 Mode 6 Received data 0 axis 6 2 Transmitted data 5 axis 6 2 Position command deviation L Checksum H Error code checksum Error code bit7 0: Normal 1: Error 6 5 4 Comman d error RS485 error 3 2 1 0 Reads the current value of deviation counter. (Units: [command range]) Output value is 32 bits. (+) is indicated when encoder position is in the negative position against the position command, and (-) for the positive position. Motor Business Unit, Panasonic Corporation No.SX-DSV03031- 253 - [Read input signal] Command 2 Mode 7 Received data 0 axis 7 2 checksum Transmitted data 5 axis 7 2 Data L Data H Error code checksum Error code bit7 6 0: Normal 1: Error Data bit7 6 Manufacturer use Command division multiplication switching 1 bit15 14 Manufacturer use Manufacturer use bit23 Command division multiplication switching 2 22 Vibration damping control switching 2 bit31 Manufacturer use 30 Manufacturer use 5 4 Command error RS485 error 5 3 2 1 0 4 3 2 1 0 Zero velocity clamp Control mode switching Prohibit positive direction drive Prohibit negative direction drive Alarm clear Servo ON 13 Internal velocity command select 2 12 Internal velocity command select 1 11 10 9 8 Manufacturer use Counter clear Gain switching Command pulse input inhibition 21 20 Internal velocity command select 3 19 Vibration damping control switching 1 18 17 16 Manufacturer use Manufacturer use Manufacturer use 28 27 Safety input 2 Safety input 1 26 Manufacturer use 25 Designate torque sign 24 Designate torque sign Torque limit switching 29 Manufacturer use Logic for each input signal shall follow the assignment setting of the parameter. Input signal from the connector X5 will not correspond 1:1, as these are internal logic data after input conversion. Prohibit positive direction drive, Prohibit negative direction drive will change in accordance with the input logic, even if prohibit drive input is disabled by parameter. Motor Business Unit, Panasonic Corporation No.SX-DSV03031- 254 - [Read output signal] Command 2 Mode 8 Received data 0 axis 8 2 checksum Transmitted data 7 axis 8 2 Data L Data H Alarm data L H Error code checksum Error code bit7 6 0: Normal 1: Error 5 4 Command error RS485 error 3 2 1 0 Data bit7 6 5 4 3 2 1 0 Manufacturer use Velocity match Torque being limited Zero velocity detection Mechanical brake release Positioning completed Servo alarm Servo ready bit15 14 13 12 11 10 9 8 Dynamic brake action Rush suppression relay control Regenerative brake control Manufacturer use Achieved velocity Manufacturer use 20 19 18 17 16 Velocity being limited output 2nd positioning complete Position command Yes/No input Alarm output 2 Alarm output 1 Motor excitation Power latch control bit23 22 21 Safety EDM Velocity command Yes/No output Alarm attribute output bit31 30 29 28 27 26 25 24 Manufacturer use Manufacturer use Manufacturer use Manufacturer use Manufacturer use Manufacturer use Manufacturer use Manufacturer use 4 3 2 1 0 Service life alarm Manufacturer use Battery alarm Alarm data bit7 6 5 Overload alarm Fan alarm Over regeneration alarm bit15 14 13 Manufacturer use Manufacturer use Manufacturer use Encoder Encoder communication overheat alarm alarm 12 11 10 9 8 Outside scale communication alarm Transmission detection alarm Outside scale abnormal alarm Motor Business Unit, Panasonic Corporation No.SX-DSV03031- 255 - The relationship between the signals and actions are as indicated in the following table: Signal name 0 1 Servo ready Not ready Ready state Servo alarm Normal Abnormal Positioning complete Positioning incomplete Positioning complete Mechanical brake release Mechanical brake activated Mechanical brake released Zero velocity detection Zero velocity undetected Zero velocity detected Torque being limited Torque not limited Torque limited Achieved velocity Velocity not achieved Velocity achieved Velocity match Velocity not matched Velocity matched Regenerative brake control Regeneration Tr OFF Regeneration Tr ON Rush suppression relay Rush suppression relay Rush suppression relay control released activated Dynamic brake action Dynamic brake released Dynamic brake activated Power latch control Power latch released Abnormal power latch Motor excitation Motor powered on Servo free Output signal to connector X5 will not correspond 1:1, as these are internal logic data before output conversion. Motor Business Unit, Panasonic Corporation No.SX-DSV03031- 256 - [Read current velocity, torque and position command deviation counter] Command 2 Mode 9 Received data 0 axis 9 2 checksum Transmitted data 9 axis 9 2 Data L (Velocity) H Data L (Torque) H Data L (Position command deviation) H Error code checksum Error code bit7 0: Normal 1: Error 6 5 4 Command error RS485 error 3 2 1 0 Output values are 16 bits for velocity and torque and 32 bits for deviation. The units and sign convention for output data are the same as for command numbers 24, 25, and 26. Motor Business Unit, Panasonic Corporation No.SX-DSV03031- 257 - [Read status, input signal, and output signal] Command Mode 2 A Received data 0 axis A 2 Checksum Transmitted data 0Dh axis A 2 Control mode Status Input signal L Input signal H Output signal L Output signal H Alarm data L H Error code checksum Error code bit7 0: Normal 1: Error 6 5 4 Command error RS485 error 3 2 1 0 The legend for each bit of control mode, status, input signal, output signal, and alarm data are the same as those for command numbers 20 (command =2, mode =0), 27 (mode =7), and 28 (mode = 8). Motor Business Unit, Panasonic Corporation No.SX-DSV03031- 258 - [Read overload load ratio] command mode 2 B Received data 0 axis B 2 Checksum Error code bit7 0: Normal 1: Error 6 Transmitted data 9 axis B 2 Manufacturer use L H Manufacturer use L H Overload load vaule L H Manufacturer use L H Manufacturer use L H Error code checksum 5 4 Command error RS485 error 3 2 1 0 ■Returs overload ratio in the overload load ratio=0.2% unit(500=100%). Motor Business Unit, Panasonic Corporation No.SX-DSV03031- 259 - [Read absolute encoder] Command 2 Mode D Received data 0 axis D 2 checksum Transmitted data 0Bh axis D 2 Encoder ID (L) (H) Status (L) (H) (L) 1 revolution data (H) Multi rev data (L) (H) 0 Error code checksum Encoder ID Encoder ID (L) 0Bh 23bit Absolute Encoder ID (H) A7h In case of 17bit Absolute Status (L) bit7 Battery alarm 6 System down 5 4 Multi-rev. error 0 3 Counter overflow 2 1 0 Count error Full absolute status Overspeed Status (H) bit4: System down bit5: Logical sum of battery alarm, multi-rev. error, counter overflow, count error, full absolute status, and overspeed. Error code bit7 0: Normal 1: Error 6 5 4 Command error RS485 error 3 2 1 0 Command error generated for encoder other than absolute. 1 revolution data = 23 bit (000000h to 7FFFFFh) Multi revolution data = 16 bit (0000h to FFFFh) Motor Business Unit, Panasonic Corporation No.SX-DSV03031- 260 - [Read outside scale deviation and aggregate pulse] Command 2 Mode E Received data 0 axis E 2 checksum Transmitted data 9 axis E 2 (L) Outside scale FB aggregate pulse (H) (L) Outside scale deviation (H) Error code checksum Error code bit7 0: Normal 1: Error 6 5 4 Command error RS485 error 3 2 1 0 Current position of outside scale counter will be returned by absolute coordinates from the point of start up, for outside scale feedback aggregate pulse. For outside scale feedback aggregate pulse, negative direction will be expressed with (-), and positive with (+) sign. Outside scale deviation will be expressed by (+) when the outside scale position is to the negative direction against the position command, and with a (-), when it is in the positive direction. Motor Business Unit, Panasonic Corporation No.SX-DSV03031- 261 - [Read individual parameters] Command 7 Mode 0 Received data 2 axis 0 7 Parameter classification Parameter No. checksum Transmitted data 5 axis 0 7 (L) Parameter value (H) Error code checksum Error code bit7 0: Normal 1: Error 6 5 4 3 Command error RS485 error Number error 2 1 0 Returns number error in case parameter classification and parameter number are out of range. Parameter value will be returned in value code extended to 32 bits. Motor Business Unit, Panasonic Corporation No.SX-DSV03031- 262 - [Write individual parameters] Command 7 Mode 1 Received data 6 axis 7 1 Parameter classification Parameter No. (L) Parameter value Transmitted data 1 axis 1 7 Error code checksum (H) checksum Error code bit7 0: Normal 1: Error 6 5 4 3 Data error Command error RS485 error Number error 2 1 0 Returns number error in case parameter classification and parameter number are out of range. This command is to temporarily change the parameter. In case of writing onto EEPROM, please execute the EEPROM write parameter (mode =2). Please make sure to set all unused parameters to 0 (zero). Failure to do this may result in data error. Data error will also occur when parameter values outside the set range is transmitted. Please transmit parameters code extended into 32 bits. Motor Business Unit, Panasonic Corporation No.SX-DSV03031- 263 - [Write parameters into EEPROM] Command 7 Mode 2 Received data 0 axis 2 7 checksum Error code bit7 0: Normal 1: Error Transmitted data 1 axis 2 7 Error code checksum 6 5 4 3 Command error RS485 error Number error 2 1 0 Write set parameters into EEPROM. Transmission data will be replied after completion of writing into EEPROM. It may take about 5 seconds maximum, to write onto the EEPROM. (when all parameters are changed) Data error will occur when writing fails. In case of control power supply LV, control LV error code will be returned and write will not be take place. Motor Business Unit, Panasonic Corporation No.SX-DSV03031- 264 - [Read individual user parameter and attributes] Command 7 Mode 6 Received data 2 axis 6 7 Parameter classification Parameter No. checksum Transmitted data 17 (11h) axis 6 7 Parameter classification Parameter No. (L) Parameter value (H) (L) MIN value (H) (L) MAX value (H) Attribute L H Error code checksum Attribute bit7 Unused parameter 6 Display prohibited 5 4 Change at initialize 3 2 1 0 Error code Bit15 14 13 13 12 11 9 8 Read only Error code bit7 0: Normal 1: Error 6 5 Command error 4 RS485 error 3 Number error 2 1 0 Returns number error in case parameter classification and parameter number are out of range. 32 bit code extended value will be returned for parameter MIN and MAX values. Motor Business Unit, Panasonic Corporation No.SX-DSV03031- 265 - [Read user parameter and attribute pages] Command 7 Mode 7 Received data 10h (16) axis 7 7 [1] Parameter classification [1] Parameter No. [2] Parameter classification Transmitted data 17 (11h) axis 6 7 [1] Parameter classification [1] Parameter No. (L) [1] Parameter value [2] Parameter No. ～ ～ ～ ～ (H) [8] Parameter classification [8] Parameter No. checksum (L) [1] MIN value (H) (L) [1] MAX value (H) [1] Attribute (L) (H) ～ ～ ～ ～ [8] Parameter classification [8] Parameter No. ･・･ [8] Attribute (L) (H) Error code checksum Attribute bit7 Unused parameter 6 Display prohibited 5 4 Change at initialize 3 2 1 Error code Bit15 14 13 13 12 11 9 0 8 Read only Error code bit7 0: Normal 1: Error 6 5 Command error 4 RS485 error 3 Number error 2 1 0 Returns number error in case parameter classification and parameter number are out of range. 32 bit code extended value will be returned for parameter MIN and MAX values. Motor Business Unit, Panasonic Corporation No.SX-DSV03031- 266 - [Write multiple user parameters] Command 7 Mode 8 Received data 30h(48) axis 8 7 [1] Parameter classification [1] Parameter No. Transmitted data 17(11h) axis 8 7 [1] Parameter classification [1] Parameter No. [2] Parameter classification 7 (L) [1] Parameter value [2] Parameter No. ～ ～ (H) ～ ～ ～ ～ ～ ～ [8] Parameter classification [8] Parameter No. [8] Parameter classification [8] Parameter No. (L) [8] Parameter value Error code checksum (H) checksum Error code bit7 0: Normal 1: Error 6 Data error 5 Command error 4 RS485 error 3 Number error 2 1 0 Please make sure to set all unused parameters to 0 (zero). Failure to do this may result in data error. Data error will also occur when parameter values outside the set range is transmitted. Returns number error in case parameter classification and parameter number are out of range. Motor Business Unit, Panasonic Corporation No.SX-DSV03031- 267 - [Read current alarm data] Command 9 Mode 0 Received data 0 axis 0 9 checksum Error code bit7 0: Normal 1: Error Transmitted data 2 axis 0 9 Alarm No. Error code checksum 6 5 4 Command error RS485 error 3 2 1 0 Alarm No. is 0 (zero) when no alarm is generated. Motor Business Unit, Panasonic Corporation No.SX-DSV03031- 268 - [Read batch alarm history] Command 9 Mode 2 Received data 0 axis 2 9 Transmitted data 29 (1Dh) axis 2 9 Alarm No. (main) Alarm No. (sub) Alarm No. (main) Alarm No. (sub) checksum ～ ～ Previous Two times before ～ ～ 14 times before Alarm No. (main) Alarm No. (sub) Error code checksum Error code bit7 6 0: Normal 1: Error 5 4 Comman d error RS485 error 3 2 1 0 Reads alarm going back 14 times in the past. [Clear alarm history] Command 9 Mode 3 Received data 0 axis 3 9 checksum Error code bit7 0: Normal 1: Error Transmitted data 1 axis 3 9 Error code checksum 6 Data error 5 Command error 4 RS485 error 3 2 1 0 Control LV Clears alarm data history. Data error in case of clear failure. In case of control power supply LV, error code Control LV will be returned and write will not take place. Motor Business Unit, Panasonic Corporation No.SX-DSV03031- 269 - [Alarm clear] Command 9 Mode 4 Received data 0 axis 4 9 checksum Error code bit7 Transmitted data 1 axis 4 9 Error code checksum 6 0: Normal 1: Error 5 4 Command error RS485 error 3 2 1 0 Clears currently activated alarm (only in case of alarms that can be cleared). Also clears absolute battery alarm. [Absolute clear] Command 9 Mode B Received data Transmitted data 0 axis 1 axis B 9 checksum B 9 Error code checksum Error code bit7 0: Normal 1: Error 6 5 4 Command error RS485 error 3 2 1 0 Clears absolute encoder error and multiple rotation data. Returns encoder error when absolute encoder is not in use. Motor Business Unit, Panasonic Corporation