High-Speed Network Servo MINAS A6N Motor Business Unit Automotive & Industrial Systems Company Panasonic Corporation 2016/1/15 Rev. 3 A6N Series NEW Communication MAX 16,000 times/s ! In order from left, size A, B, C, D, E and F. Page 2 2016/1/15 Rev. 3 Motor Business Unit, AIS Company Features Page 3 2016/1/15 Rev. 3 Motor Business Unit, AIS Company Concept Ultimate High-Performance ! Drive Motor - Velocity fc = 3.2 kHz - Canceling Load Disturbance - Reducing Resonance by Model Reference - Precise 23 bit (8 Mp/r) Absolute Encoder - 30 % Compact Size * - More Toughness Rotor Structure + 100 Mbps Full-duplex Page 4 2016/1/15 Rev. 3 * For middle or high inertia type - Period min 0.0625 ms - Precise Pos. Comparing - Infinitely Rotatable Func. for Absolute Encoder Motor Business Unit, AIS Company Drive Appearance COM LED indicates RTEX state. 7 Segments LED (2 Digits) Indicates Servo state. Analog Monitor Connector (X7) Velocity, Torque …etc. 1: AM1 2: AM2 3: GND LINK LED indicates RTEX wiring trouble. Charge Lamp of Main Circuit USB Connector (X1) For PANATERM, MINI-B 5pin Node Address Setting RSW (2 Digits) Range: 00-31 Power Input Connector (XA) Safety STO I/F Connector (X3) * Main Power RTEX RX Connector (X2A) Connect TX of the previous node. Control Power RTEX TX Connector (X2B) Connect RX of the following node. Regenerative-R and Motor Connector (XB) I/O Connector (X4) Sensor inputs, Alarm output …etc. Half pitch 26pin Regenerative-R Motor Linear Encoder Connector (X5) * Panasonic Serial or A/B/Z Note that there is the difference between A5N and A6N in Regenerative-R pins. Encoder Connector (X6) Panasonic Serial Earth Terminals 200 W, 200 V Size A W40 x H150 x D130 mm Page 5 2016/1/15 Rev. 3 * This figure shows the multi-functional type (suffix F) that is still under development. The standard type (suffix E) does not have X3 and X5 connectors. Motor Business Unit, AIS Company Drive Features Velocity Response A6 Conventional Canceling Load Disturbance Disturbance (Torque and Inertia) Servo Controller M Load disturbance is canceled quickly! Compensator by Estimating Load Page 6 2016/1/15 Rev. 3 Motor Business Unit, AIS Company 40 % UP! Even if load changed, stability is kept! Motor Features 67.5 mm High Inertia MHMF 200 W Weight 760 g 20 % 30 % Light! Shorter! MHMF Type Max Speed: 6500 r/min (400 W or less) Max Torque: 350 % (1 kW or less) Torque 350 % 16 % UP Expanded Operatable Area 23 bit Absolute Encoder + More Precise Position (1 kW or more) Conventional Speed Disturbance 1/5 30 % UP 6500 r/min Page 7 2016/1/15 Rev. 3 Speed New A6 Motor Business Unit, AIS Company Speed Network Features Shortest Com. Period 0.083 ms Max. Pulse Frequency -25 % 4 Gp/s 0.0625 ms 1000 % MAX 16,000 times / s 400 Mp/s Previous A5N Page 8 2016/1/15 Rev. 3 New A6N Previous A5N Motor Business Unit, AIS Company New A6N New Function: Precise Position Comparing At preset positon, drive outputs a pulse. e.g. Camera Motor Position Comparing Value Actual Position Pulse for Shutter Trigger Compared Output Previous A5N New A6N Servo Drive Servo Drive Trigger Pulse Counter Cam Compared Output Precision UP! Encoder A/B phase Page 9 2016/1/15 Rev. 3 Motor Business Unit, AIS Company Trigger Cam New Function: Infinitely Rotatable Absolute Encoder Maximum value can be set freely. (*) 23-bit Absolute Encoder Reduction Mechanism Machine End such as turn table Rotating Infinitely in One Direction Angle of machine end can be calculated with multi-turn data. Rotation at Machine End Synchronize maximum value with rotation at machine end. (*) 0 Positon Encoder Multi-turn Data Position 0 * This setting has some limitations, so it is not quite free. At wrap-around position of multi-turn data, actual positon feed-backed to the host controller with RTEX also shows wrap-around. Page 10 2016/1/15 Rev. 3 Motor Business Unit, AIS Company Compliance As a result of various reliability test, it is compliant with every country standard. Drive Europe EC Directive Page 11 Motor EMC Directive EN55011 EN61000-6-2 EN61000-6-4 EN61800-3 Low Voltage Directive EN61800-5-1 EN50178 EN60034-1 EN60034-5 UL UL508C (File #E164620) UL1004-1, 6 (File #E327868) CSA C22.2 #14 KC KN11 KN61000-4-2, 3, 4, 5, 6, 8, 11 SEMI F47 (For control power input) 2016/1/15 Rev. 3 Motor Business Unit, AIS Company Lineup Page 12 2016/1/15 Rev. 3 Motor Business Unit, AIS Company Structure of Model No. MADLN15NE Specific Model Servo Drive A6 family Functionality (*) E: Standard F: Multi-functional Frame Size Safety I/F (*) N: Without Safety I/F T: With Safety I/F (STO) Interface N: R TEX S: Analog / Pulse Specifying Max. Current Power Input 1: 1-phase AC100 V 3: 3-phase AC200 V 5: 1 or 3-phase AC200 V * The combination has the following limitation: Standard type (suffix E) is without safety I/F, and multi-functional type (suffix F) is with safety I/F. Page 13 2016/1/15 Rev. 3 Motor Business Unit, AIS Company Lineup Motor Rated Output [W] Drive Power 1-phase AC 100-120 V 1 or 3phase AC 200-240 V 50 100 200 400 750 1k 1.5k A A B C MADLN 01NE MADLN 11NE MBDLN 21NE MCDLN 31NE A A B C D D MADLN 05NE MADLN 15NE MBDLN 25NE MCDLN 35NE MDDLN 45NE MDDLN 55NE 3-phase AC 200-230 V 2k 3k 4k-5k E F F MEDLN 83NE MFDLN A3NE MFDLN B3NE Upper: Frame size Lower: Typical model No. in standard type. Depending on combination with motor, make sure of the brochure. e.g.) 1 kW MSMF102 corresponds with MDDLN55NE. Page 14 2016/1/15 Rev. 3 Motor Business Unit, AIS Company Points Changed from A5N to A6N Page 15 2016/1/15 Rev. 3 Motor Business Unit, AIS Company Comparison between A5N and A6N Previous Ａ5Ｎ Standard (D1) Multiple (21) New Ａ６Ｎ Standard (E) Multiple (F) Velocity Response 2.3 kHz 3.2 kHz Canceling Load Disturbance - 2DOF Control & Reducing Resonance Good Excellent Encoder Incremental 20 bit Absolute 17 bit Absolute 23 bit Usable as incremental Com. Period [ms] 1 / 0.5 / 0.166 / 0.083 2 / 1 / 0.5 / 0.25 / 0.125 / 0.0625 Pos. Comparing - Infinitely Absolute - Full-closed Control Safe Torque Off (STO) Analog Monitor X7 Con. / Update - SIL 2 6-pin, Molex 53014-0610 T = 0.5 ms - SIL 3 5-pin, Molex 53398-8605 T = 0.125 ms Note 1. A6N multi-functional type (suffix F) is still under development. Note 2. After replacing A5N by A6N, gain tuning is needed again. Even if setting the same gain as A5N, the same motion cannot be shown because of enhanced response. Page 16 2016/1/15 Rev. 3 Motor Business Unit, AIS Company Changed Parameters Changed or Added Parameters Absolute Encoder Pr0.15 Pr6.88 Gain Tuning Pr2.24 - 26 Pr4.32 Pr5.23 - 24 Pr6.60 - 76 RTEX Pr7.20 Pr7.41 Pr7.91 Pr7.95 - 98 Others Pr7.93 Note: Except for parameters manufacturer uses. Two-Degree-Of-Freedom (2DOF) control is enabled as the factory default setting. 2DOF Pr6.47 bit0 Default Page 17 2016/1/15 Rev. 3 A5N A6N Disable 0 Enable 1 Motor Business Unit, AIS Company Distinguishing A6N When host controller distinguish A6N from A4N or A5N, model number should be used. <Model#> MADLN15NE The 4th character The 4th character A4N A5N A6N D H L To read the model number of the drive, use system ID command (x2h). When command type code = 120h (or 12h) and index = 0, the response byte15 shows the 4th character of the model number. Page 18 2016/1/15 Rev. 3 Motor Business Unit, AIS Company RTEX Page 19 2016/1/15 Rev. 3 Motor Business Unit, AIS Company About the RTEX Advanced Network to realize high-precise real-time performance for Servo Control Concept High Performance & Low Cost Simple High Reliability Easy Development Page 20 2016/1/15 Rev. 3 Motor Business Unit, AIS Company System Structure Internet High-efficiency Ring Topology Real-time Information of Devices Up to 32-slave Slave Servo A6N Master Host Controller HMI Parameter Setting & Real-time Monitoring * * Depends on a host controller specification Page 21 2016/1/15 Rev. 3 Stepper Drive or Inverter IN OUT CAT5e STP MAX 100 m inter-node cable Partners provide various devices except servo. Motor Business Unit, AIS Company Global Collaboration Partners provide various devices. Page 22 2016/1/15 Rev. 3 Motor Business Unit, AIS Company All-in-One Motion I/F Control Mode Target Pos. Cmd. Profile Position (PP) Cyclic Position (CP) Cyclic Velocity (CV) Cyclic Torque (CT) 1xh 2xh 3xh 4xh Pos. Cmd. Vel. Cmd. Trq. Cmd. A6N Motion Profile Generator Pos. Ctrl. Vel. Ctrl. Trq. Ctrl. RTEX Command Code M Enc. Target Vel. Acc. Dec. Note: Profile Position is applicable to only “Point to Point (PTP)” control. Page 23 2016/1/15 Rev. 3 Motor Business Unit, AIS Company Combination of Period, Axes and Modes Update Period Com. Period 4.000 ms 16-byte Mode 32-byte Mode Available Mode 2.000 ms 32 16 PP, CP, CV, CT 2.000 ms 2.000 ms 32 16 PP, CP, CV, CT 2.000 ms 1.000 ms 32 16 PP, CP, CV, CT 1.000 ms 1.000 ms 32 16 PP, CP, CV, CT 1.000 ms 0.500 ms 32 16 PP, CP, CV, CT 0.500 ms 0.500 ms 32 16 PP, CP, CV, CT 0.500 ms 0.250 ms 16 - PP, CP, CV, CT 0.250 ms 0.250 ms 16 - PP, CP, CV, CT 0.250 ms 0.125 ms 8 - CP, CV, CT 0.125 ms 0.125 ms 8 - CP, CV, CT 0.125 ms 0.0625 ms 4 - CP, CV, CT Previous Extended Extended Page 24 Max. # of Axes (*) Com. Period: Frame transmitting period Update Period: Data inside the frame updating period 2016/1/15 Rev. 3 Typical * If some devices except servo is also connected on RTEX, this number is decreased. Motor Business Unit, AIS Company Update and Communication Period Shorter communication period makes quick response. 1:1 Update Period time n+1 n Controller Calculation n+2 Data Exchange Com. Period n n+1 n+2 Communication Frame Servo Data Exchange n Command Flow n+1 Response Flow n+2 Data Exchange: Data reading and writing to com. IC Responded Quickly Update Period 1:1/2 n+1 n n+2 Controller Calculation Com. Period n n+1 n n+2 n+1 n+2 Communication Frame Servo Data Exchange n n n+1 n+1 n+2 n+2 Note: The same command is transmitted two times. If previous command has communication error, the subsequent one is used in servo. Page 25 2016/1/15 Rev. 3 Motor Business Unit, AIS Company Shorter Update Period More precisely on high-speed CP control in micro circular interpolation such as laser machine and LCD dispenser. Y Y Ideal Trace Command Position New A6N Previous X X Increased the number of points per distance makes command position more smooth in addition to new high-resolution encoder. Page 26 2016/1/15 Rev. 3 Motor Business Unit, AIS Company Monitoring Item Examples - Drive Model No. - Drive Serial No. - Firmware Version - Motor Model No. - Motor Serial No. - Alarm Code (History) - Warning Code - Parameters Host Controller Page 27 Servo A6N 2016/1/15 Rev. 3 - Power-ON Time - Actual Position - Drive Temperature - Actual Velocity - Encoder Temperature - Torque - Relay Switch Times - Position Error - Fan ON Time - Encoder Resolution - Fan Life Time - Commanded Position - Capacitor Life Time - Latched Position - Commanded Velocity - Re-Generative Ratio - Over-Load Ratio - Inertia Ratio - Rotor Mechanical Angle - Rotor Electrical Angle - Absolute Multi-turn Data - P-N Voltage - RTEX Com. Error Count - Encoder Com. Error Count - X4 Connector I/O Motor Business Unit, AIS Company Precise Position Latch After the encoder position is latched at trigger input, it is sent to the host controller with RTEX. Servo A6N More detail timing than update period Host Controller Latched Position Encoder Latch Trigger At the trigger timing, the encoder position is latched precisely. 2ch available for trigger inputs Page 28 2016/1/15 Rev. 3 Motor Business Unit, AIS Company Feed-Forwards from Host Controller High-resolution feed-forward from host controller is effective for both high-response and low-vibration. Host Controller Trq. FF Motion Profile Generator Servo A6N Vel. FF Pos. CMD Pos. Ctrl. + + Vel. Ctrl. + + Trq. Ctrl. M Enc Notes: - In 16-byte mode, either velocity or torque FF available. - Torque FF is also useful for torque compensation in “Stick Motion” of circular interpolation. Page 29 2016/1/15 Rev. 3 Motor Business Unit, AIS Company RTEX Overview Page 30 2016/1/15 Rev. 3 Motor Business Unit, AIS Company Difference from Ethernet Upper layer optimized for servo control Ethernet e.g. HTTP SMTP FTP RTEX Real-time Control Application e.g. DNS TCP UDP Too large over-head Real-time IP IEEE802.3 or Ethernet Frame Real-time Frame Physical Layer is the same. 100BASE-TX 100BASE-TX Note: Ethernet is a registered trademark of Xerox corporation. Page 31 2016/1/15 Rev. 3 Lower Risk of Virus Motor Business Unit, AIS Company ASIC control Efficient Frame Simplified frame to realize high-speed real-time control 62-byte Ethernet 8-byte 14-byte 20-byte 20-byte Preamble, SFD Ethernet Header IP Header TCP Header Data Too long header, inefficiency RTEX Data RTEX Header Page 32 2016/1/15 Rev. 3 Short header suitable for real-time ctrl. Motor Business Unit, AIS Company CP Control Needs Isochronous PTP CP Point To Point Continuous Path Y Y Circular Interpolation B B Linear Interpolation A A An example of the same speed for both X and Y. Isochronous is important. X - Separately positioning - Not corresponding Start/Stop timing between X and Y. (Only target position is important.) e.g.) Semiconductor Machine X - Synchronized positioning - Corresponding Start/Stop timing (Route is important as well.) e.g.) Machine Tool, Robot Note: CP control depends on a controller specification, and cannot perform with solely servo drive. Page 33 2016/1/15 Rev. 3 Motor Business Unit, AIS Company Isochronous Transmission At the same time, commands reflected in all servos. Time Master Slave TX RX Host Controller RX Command TX RX Command Although receiving timings are different among the axes, the command reflection timings are controlled to be the same. TX RX Command TX RX Command Com. IC controls it automatically. Page 34 2016/1/15 Rev. 3 TX Frame Receiving Timing XINTRX Servo Control Reflection Timing XSYNC Servo Drive Axis #1 Servo Drive Axis #2 Servo Drive Axis #3 Servo Drive Axis #4 XINTRX and XSYNC are timing signals communication IC generates. Motor Business Unit, AIS Company Isochronous Accuracy Servo calculation start signals (XSYNC) inside each drive. High Precision ! Axis #1 Axis #2 Jitter: +/- 70ns Axis #3 Axis #4 Note: Generally, the jitter less than 1 us is ideal. Page 35 2016/1/15 Rev. 3 Motor Business Unit, AIS Company The number of axes: 4 Cable length inter-node: 0.3m Fully Synchronization NC in host controller is synchronized with all servo controls (position, velocity, current) by a unique patented algorithm. Improvement of sync precision among axes! Servo Ctrl. Pulse RTEX Async. All Axes Sync Suitable for gantry application as well as CP control. X2 Page 36 2016/1/15 Rev. 3 X1 Motor Business Unit, AIS Company Difference between Pulse and RTEX Host Controller (an example) Pulse Motion Profile Gen. Servo Position Data Position Data Pulse IC CPU Pulse CPU Counter INT INT Latch Timer Async. Timer As each servo makes sampling independently, data reflected timings are different among the axes. Host Controller (an example) RTEX Motion Profile Gen. Servo Position Data Position Data CPU Com. IC Position Data Com. IC CPU INT Transmit INT Timer Sync. The same Timing Sync. Timer As synchronized with communication, data is reflected at the same time in all axes. Page 37 2016/1/15 Rev. 3 Motor Business Unit, AIS Company Cyclic Position Command Velocity Position Command (*) Time Differentiate Pulse Integrate Time RTEX Position Command [pulse] Time Command update period (NC calculation period) Position is absolute. To prevent positioning error when data lost by communication error. *Note. In pulse I/F, the pulse frequency represents the product of position resolution and velocity. Since the frequency has the limitation of approximately 8 Mpulse/s by practical transmission, it determines the maximum resolution. To get higher resolution of position command, network is necessary. Page 38 2016/1/15 Rev. 3 Motor Business Unit, AIS Company Less Wiring S-ON PULS SIGN Pulse At least these wires necessary Host Controller CLR Servo Drive OZ ALM M Slider NOT POT Home It is more effective that drive is placed near motor. RTEX M Simple! Host Controller Wiring Trouble Reduced Page 39 2016/1/15 Rev. 3 Without increasing wires, many information can be transmitted. Servo Drive Slider NOT POT Home Sensors are tied to servo. Motor Business Unit, AIS Company Error Correction Error corrected at going through each node. Strong Noise Immunity Master Slave Data Broken TX RX RX TX Error Corrected Restored RX Since error is not accumulated, it is effective in many nodes system. TX Data Broken RX Error Corrected TX In normal communication, when data broken, correct data cannot be transmitted until next cycle. In RTEX, the error correction keeps real-time performance in such a situation. Restored RX TX Note: The error correct ability has limitations, so there is a case where it cannot restore broken data. Page 40 2016/1/15 Rev. 3 Motor Business Unit, AIS Company RTEX Specifications Item Specifications Speed 100 Mbps Physical Layer 100BASE-TX Full-duplex by IEEE 802.3u Cable Shielded Twisted Pair by TIA/EIA-568B CAT5e Topology Ring Isolation Pulse Transformer with common-mode choke Connector 8-pin RJ45 by IEC 60603-7 Cable Length Inter-node: Max. 100 m, Total: Max. 200 m Noise Immunity 2.5 kV over, IEC 61000-4-4 Level4 compliant Com. Period * 2 to 0.0625 ms Update Period * 4 to 0.125 ms Number of Axes * Up to 32 Motion Interface * Profile Position, Cyclic Position / Velocity / Torque * Depending on host controller specification. Page 41 2016/1/15 Rev. 3 Motor Business Unit, AIS Company Test Operation Page 42 2016/1/15 Rev. 3 Motor Business Unit, AIS Company System Example AC PANATERM for A5/A6 FREE MINI-B 5pin A6N Host Controller TX USB Positive Direction (Note) L1 L3 L1C L2C Motor RX TX DC24V NOT RX HOME POT Tie sensors according to the host controller specification. Note: With Pr0.00, it is defined. Page 43 2016/1/15 Rev. 3 Motor Business Unit, AIS Company Servo Settings Parameter settings are depend on host controller specification. At least the followings must be set. Part Item Front Panel Node Address Pr0.00 Positive Direction Pr0.01 Control Mode Pr0.08 - 0.10 Electronic Gear Pr0.15 Absolute Encoder Pr4.00 - 4.12 I/O Assignment (If necessary) Pr5.04 Limit Inputs Pr7.20 - 7.21 Com. and Update Period Pr7.22 16-byte/32-byte Mode Selection Pr7.23 Response Byte3 Structure Pr7.25 RTEX Speed Unit Note: 1. In some host controller, parameters are automatically set with RTEX. 2. After setting parameters, write them into EEPROM and turn power off and on. Page 44 2016/1/15 Rev. 3 Motor Business Unit, AIS Company Operation After making sure of correct wiring, power ON. (Turning-on sequence depends on controller spec.) When both LINK and COM LED indicate green, RTEX communication is established. According to host controller specification, Servo-ON and Start. Gain tuning with PANATERM. Page 45 2016/1/15 Rev. 3 Motor Business Unit, AIS Company Front Panel 7-segment LED COM LED (Red / Green) LINK LED (Green) Node Address Setting Rotary Switch Range: 00 - 31 Pin #1 Page 46 2016/1/15 Rev. 3 Analog Monitor Connector Motor Business Unit, AIS Company LINK / COM LED LINK RTEX State OFF Not Link Cause: - Wiring problem between my RX and previous TX. - Power-OFF of previous node. Solid Green Good Note: During reset, Green is indicated. COM RTEX State OFF INITIAL Blinking Green CONFIGURATION Solid Green RUNNING (Cyclic Transmission) * Blinking Red Drive has detected a clearable alarm for RTEX. Solid Red Drive has detected an unclearble alarm for RTEX, and needs reset. * If setting Pr7.23 bit4 to 1, it is Flashing Green in RUNNING state when servo control is not synchronized with communication yet. Page 47 2016/1/15 Rev. 3 Motor Business Unit, AIS Company 7-segment LED Normal Servo Ready and RTEX established Not Ready or Not established Servo ON Servo OFF Note: At power-on, node address is displayed for a moment before this indication. Alarm Cleared Sub Code All segments blinking Page 48 2016/1/15 Rev. 3 Cleared Warning Alarm Main Code Waring Warning Code (2s) Only right dot blinking Motor Business Unit, AIS Company Normal (4s) Parameter Setting FREE Download PANATERM from the following web site: http://industrial.panasonic.com/ww/products/motors-compressors/fa-motors/ac-servo-motors/minas-a5-panaterm To show all parameters, select “Parameter list”. Page 49 2016/1/15 Rev. 3 Motor Business Unit, AIS Company Positive Direction With Pr0.00, define positive direction. Page 50 2016/1/15 Rev. 3 Motor Business Unit, AIS Company Control Mode In the standard type (suffix E), set Pr0.01 to 0. The multi-functional type (suffix F) that supports full-closed control is still under development. Semi-Closed Full-Closed 0 6 Pr0.01 A6N suffix F Full-Closed Control Motor Rotary Encoder Linear Encoder X5: Serial or A/B/Z X6: Serial Page 51 2016/1/15 Rev. 3 Note: In Full-Closed, position control (PP or CP) only enabled. Motor Business Unit, AIS Company Electronic Gear e.g.) When commanding as 10000 pulse/r (A4N incremental equivalent), then set the followings: Pr0.08 = 0, Pr0.09 = 0, Pr0.10 = 10000 Pr0.08 is Pr 0 In addition, adjust the FIR filter (Pr2.23) to smooth out the position command. Multiplication makes stepwise. Page 52 2016/1/15 Rev. 3 Pos. cmd. FIR filter Motor Business Unit, AIS Company Smooth! Absolute Encoder Setting With Pr0.15, set an application for 23-bit absolute encoder. Value Description 4 0 Using as absolute system. 1 Using as incremental system. 2 Using as absolute system. Ignores multi-turn count overflow. 3 Using as single-turn absolute system. Multi-turn is not used. 4 Using as absolute system. Pr6.88 is set as maximum value of multi-turn data. Wrap-around as follows: - When multi-turn data is at upper limit, positive rotation changes the data to zero. - When multi-turn data is at zero, negative rotation changes the value to the upper limit. Note: Setting value 4 is for the infinitely rotatable absolute function. Page 53 2016/1/15 Rev. 3 Motor Business Unit, AIS Company Battery Necessary Unnecessary Necessary Unnecessary Necessary IN-signals Assignment Default settings: X4 Name X4 Pin # Setting Value (hex) Setting Signal Setting Logic Pr4.00 SI1 5 00323232h SI-MON5 Normally Open Pr4.01 SI2 7 00818181h POT Normally Closed Pr4.02 SI3 8 00828282h NOT Normally Closed Pr4.03 SI4 9 002E2E2Eh SI-MON1 Normally Open Pr4.04 SI5 10 00222222h HOME Normally Open Pr4.05 SI6 11 00212121h EXT2 Normally Open Pr4.06 SI7 12 002B2B2Bh EXT3 Normally Open Pr4.07 SI8 13 00313131h SI-MON4 Normally Open Note: If homing with edge of HOME, POT or NOT, the assignment must be HOME:SI5, POT:SI6 and NOT:SI7. If not so, alarm occurs. Page 54 2016/1/15 Rev. 3 Motor Business Unit, AIS Company OUT-signals Assignment Default settings: X4 Name X4 Pin # Setting Value (hex) Setting Signal Pr4.10 SO1+ SO1- 1 2 00030303h BRK-OFF Pr4.11 SO2+ SO2- 25 26 00101010h EX-OUT1 Pr4.12 SO3+ SO3- 3 4 00010101h ALM Remark If changing to EX-OUT2, set to 00111111h. Normally Closed For EX-OUT1 and EX-OUT2 bit layout in RTEX command block, it is the same as A4N. Page 55 2016/1/15 Rev. 3 Motor Business Unit, AIS Company Limit Operation With setting Pr5.04 to 1, limit input operation by servo should be disabled because such a operation is normally done by host controller. Even if disabled, limit inputs status can be monitored via RTEX with Pr7.23 setting. Page 56 2016/1/15 Rev. 3 Motor Business Unit, AIS Company Communication and Update Period Since setting way is changed from A5N and A4N, new Pr7.91 is added. To keep the compatibility, previous Pr7.20 can be used as well. No. 7.20 7.21 7.91 Page 57 Attr. Name R RTEX Communication Period (Old) R RTEX Ratio of Command Update Period R Range RTEX Communication Period (New) 2016/1/15 Rev. 3 -1 to 12 Unit - Description -1: Using Pr7.91 3: 0.5 ms 6: 1 ms Else: Do not set. Command Update / Communication Period 1 to 2 0 to 2000000 - ns 62500 125000 250000 500000 1000000 2000000 Else: Do not set. It causes Err93.5. Motor Business Unit, AIS Company Communication and Update Period (Cont.) Page 58 Parameter Setting Value Update Period [ms] Com. Period [ms] Pr7.20 Pr7.21 Pr7.91 4.000 2.000 -1 2 2000000 2.000 2.000 -1 1 2000000 2.000 1.000 -1 2 1000000 1.000 1.000 -1 1 1000000 Pr7.20 = 6, Pr7.21 = 1 also allowed. 1.000 0.500 -1 2 500000 Pr7.20 = 3, Pr7.21 = 2 also allowed. 0.500 0.500 -1 1 500000 Pr7.20 = 3, Pr7.21 = 1 also allowed. 0.500 0.250 -1 2 250000 0.250 0.250 -1 1 250000 0.250 0.125 -1 2 125000 0.125 0.125 -1 1 125000 0.125 0.0625 -1 2 62500 2016/1/15 Rev. 3 Remark Motor Business Unit, AIS Company Default Setting 16-byte/32-byte Mode Pr7.22 Page 59 It depends on host controller specifications. 2016/1/15 Rev. 3 Motor Business Unit, AIS Company RTEX Response byte3 Setting for external input status from X4 connector. Response byte3: With Pr4.00 to 4.07, set the correspondence to X4 connector inputs. Name Range Description bit2: In POT/NOT disabled (Pr5.04=1), its status response activation. 0: Status enabled 1: Status disabled (Always 0) Pr7.23 RTEX Functional Expansion 2 -32768 to 32767 bit3: Arrangement of POT/NOT status. 0: POT is bit1, NOT is bit0 Select 1: NOT is bit1, POT is bit0 according to the controller bit6: Logic of POT/NOT status. specification. 0: Positive logic, Active is 1 1: Negative logic, Active is 0 Page 60 2016/1/15 Rev. 3 Motor Business Unit, AIS Company Limit Sensors Wiring A4N Regardless of parameter setting, physical layout decides wiring. CW direction PANATERM for A5 X5 Connector A5N / A6N CCWL CWL According to parameter setting, wiring is changed. Positive direction (Note) X4 Connector NOT POT Note: Positive direction is set with Pr0.00. Page 61 2016/1/15 Rev. 3 Motor Business Unit, AIS Company RTEX Response Bit Layout for Limit Flags Even if A4N is used in default setting for bit layout of limit flags, the default parameter must be changed in A5N or A6N when using CW is plus. A4N byte3 bit1 Default CCWL bit0 CWL A5N / A6N byte3 Pr7.23 bit3=0 (Default) bit1 bit0 POT NOT CCW is plus (Pr0.00=1) NOT POT CW is plus (Pr0.00=0) Pr7.23 bit3=1 Parameters: Page 62 A4N A5N / A6N Positive Direction Pr43 Pr0.00 Bit layout of Limit Flags Pr43 Pr7.23, bit3 2016/1/15 Rev. 3 Motor Business Unit, AIS Company RTEX Devices Development Page 63 2016/1/15 Rev. 3 Motor Business Unit, AIS Company RTEX Circuit Example 100BASE-TX Physical Layer + ASIC PHY ASIC CPU RTEX Circuit Pulse Transformer RJ45 Status LED RTEX Technical Documents: http://industrial.panasonic.com/ww/products/motors-compressors/fa-motors/ac-servo-motors/a5n_rtex/rtex Page 64 2016/1/15 Rev. 3 Motor Business Unit, AIS Company Communication ASIC “MNM1221” If you develop RTEX products, the ASIC is provided. Ref. Schematics, Example Codes, …etc. Available Simple Protocol & Easy Development Specifications Ordering No. DV0P444-9 Packing Quantities 90 pcs Power Supply Voltage 3.3 V Consumption Max. 100 mA (For reference) Operating Ambient Temp -40 to +85 degree C Package LQFP 100 pin 14 x 14 mm Lead Pitch 0.5 mm RoHS Compliant Operating Mode Master / Slave Notes: - You are subject to limitation that you must not compete with Panasonic products. - To provide the datasheet, NDA is needed in advance. - For further information, please contact us. Page 65 2016/1/15 Rev. 3 Motor Business Unit, AIS Company RTEX Monitoring Tool “Log Reader” is to readout own communication data logged on memory inside the drive. As another tool, a partner Cosmo Techs provides ”RTEX Analyzer”. Log Reader Servo Drive FREE Host Controller USB RTEX Note: Other axis data cannot be readout. Page 66 2016/1/15 Rev. 3 Motor Business Unit, AIS Company Wiring Page 67 2016/1/15 Rev. 3 Motor Business Unit, AIS Company Power Supply and Motor In single-phase case, connect L1 and L3. This is different from A5N. A6N Put circuit that makes main power turn off at alarm. AC XB XA MC MCCB 5 Noise Filter 4 3 L1 L2 Main Power L3 2 L1C Control 1 L2C Power P N B U V W Connect a regenerative resistor, if necessary. 6 5 4 3 Red 2 White 1 Black Green / Yellow Motor If necessary, put an AC reactor. X6 X4 14 *2 BTP-I 15 BTN-I Note: *1. This figure shows an example of the size A or B. For the other size, refer to the specifications. E5V E0V BTP-O BTN-O PS PS 2016/1/15 Rev. 3 2 3 4 5 6 Encoder Shell *2. The battery is used for absolute encoder system. It is normally installed on the encoder cable, or alternatively can be also tied to X4 connector. Page 68 Shield 1 Motor Business Unit, AIS Company *2 Cable side connector: Molex 55100-0670 Main Circuit Block Diagram Size A and B do not have this circuit. A6N P RB B Internal Regenerative resistor U V W L1 L2 L3 Relay for dynamic break N Page 69 2016/1/15 Rev. 3 Motor Business Unit, AIS Company Regenerative Resistor (Size A-D) Size A, B Connector XB Regenerative Resistor Regenerative-R Note: Do not connect N pin. Motor When not using the regenerative resistor, leave both P and B unconnected. Size C, D Connector XB Regenerative-R Regenerative Resistor Motor When not using the regenerative resistor, connect the short wire between RB and B. Note: In all sizes, put a circuit that makes main power OFF when a built-in thermal protector activates in the regenerative resistor. Page 70 2016/1/15 Rev. 3 Motor Business Unit, AIS Company Regenerative Resistor (Size E, F) Size E Connector XC Regenerative Resistor Regenerative-R Do not connect. When not using the regenerative resistor, connect the short wire between RB and B. Screw Terminal Size F Main Power Control Power Regenerative-R Do not connect. Regenerative Resistor When not using the regenerative resistor, connect the short bar between RB and B. Motor Note: In all sizes, put a circuit that makes main power OFF when a built-in thermal protector activates in the regenerative resistor. Page 71 2016/1/15 Rev. 3 Motor Business Unit, AIS Company Counter-measures for Noise Reducing PWM Noise Radiated from Drive Stable Frame Ground Install a ferrite core on motor cable U, V and W. Ferrite Core: ZCAT3035-1330 by TDK (DV0P1460) Motor Cable U V W E Do not install it on E. Make the back of chassis tightly contact earthed metal frame. Surface of the metal frame must be kept conductive. Page 72 2016/1/15 Rev. 3 Motor Business Unit, AIS Company Sensor Inputs Cable side connector: 3M 10126-3000PE 10326-52A0-008 DC 12 to 24 V 6 7 Positive Limit Normally Closed 8 Negative Limit Normally Closed 10 HOME I-COM SI2 (POT) 4.7k 1k SI3 (NOT) 4.7k 1k SI5 (HOME) 4.7k 11 1k SI6 (EXT2) Normally Open 12 Latch Input 4.7k 1k Normally Open Latch Input A6N X4 4.7k SI7 (EXT3) Normally Open () shows default setting. Page 73 2016/1/15 Rev. 3 Motor Business Unit, AIS Company 1k General Purpose Inputs A6N X4 4.7k 9 1k SI4 (SI-MON1) 4.7k Normally Open 13 Normally Open 1k SI8 (SI-MON4) 4.7k 5 SI1 (SI-MON5) Normally Open () shows default setting. Note: Host controller can monitor states of SI-MONs over RTEX. These inputs do not influence servo control in the drive. Page 74 2016/1/15 Rev. 3 Motor Business Unit, AIS Company 1k Sensor Example 1 A6N Panasonic Industrial Devices SUNX X4 Photo-sensor PM-65 (NPN transistor output) 6 I-COM 4.7k 1k Out1: Normally Closed Out2: Normally Open Proximity-sensor GX-F12 (NPN transistor output) 4.7k Main Circuit Brown Vdd DC 24 V Output Black Ic Ic = (Vdd - Vf) / 4.7k When Vdd is 24 V, Ic is about 5 mA. 2016/1/15 Rev. 3 Vf Vf = approx. 1.2 V Blue GX-F12A: Normally Open GX-F12B: Normally Closed Page 75 1k Motor Business Unit, AIS Company Sensor Example 2 A6N Photo-Sensor by OMRON EE-SX672A (NPN transistor output) X4 6 Note DC24V Main Circuit Note: If “L” pin is open, ON during shade. If “L” pin is tied to “+” pin, ON during light. Page 76 2016/1/15 Rev. 3 Motor Business Unit, AIS Company I-COM 4.7k 1k Relay Control Outputs Ic = (Vdd - Vce) / R W = Ic^2 x R A6N X4 DC 12 to 24 V Ic Vdd 3 For turning main power off SO3+ (ALM) 4 SO3(ALM-) 1 SO1+ (BRK-OFF+) 2 SO2+ (EX-OUT1+) 26 SO2(EX-OUT1-) Note: SO1 can be set to generic EX-OUT. The generic output does not influence servo control in the drive. During alarm, transistor OFF 10 During release, transistor ON SO1(BRK-OFF-) 25 For generic 2016/1/15 Rev. 3 10 Vce For releasing motor brake Page 77 Vce (sat) = approx. 1.2 V max Ic = 50 mA max R 10 () shows default setting. Motor Business Unit, AIS Company Encoder Emulation Output A6N X4 RS422 Line Receiver 17 18 20 19 16 GND RS422 Line Driver AM26C31 equivalent OA+ OAOB+ OB- GND Shield Shell FG FG Note: A termination resistor (typ. 330 Ohm) must be put between line-receiver inputs. Page 78 2016/1/15 Rev. 3 Motor Business Unit, AIS Company RTEX Cable (4 pairs type) “Straight” Wiring Max 100 m RJ45 plug RJ45 plug 1 White-Orange 1 2 Orange 2 3 4 5 6 7 8 White-Green Green Blue White-Blue 3 4 5 6 7 8 Shell White-Brown Brown Shield Shell 1 twisted pair Notes: - STP(Shielded Twisted Pair cable) conformed to category 5e must be used. - Colors of the lead wire are defined by TIA/EIA-568B. - A pair connected to 3-6pin is used as signal line. - Unused 3 pairs must be also connected to 1-2, 4-5 and 7-8 as the above figure. Page 79 2016/1/15 Rev. 3 Motor Business Unit, AIS Company 8 RTEX Cable (2 pairs type) “Straight” Wiring Max 100 m RJ45 plug RJ45 plug 1 White-Orange 1 2 Orange 2 3 4 5 6 7 8 White-Green Green 3 4 5 6 7 8 Shell Shield Shell twisted pair Notes: - STP(Shielded Twisted Pair cable) conformed to category 5e must be used. - Colors of the lead wire are defined by TIA/EIA-568B. - A pair connected to 3-6pin is used as signal line. - Unused 3 pairs must be also connected to 1-2 as the above figure. Page 80 2016/1/15 Rev. 3 Motor Business Unit, AIS Company 1 8 Analog Monitor Lead wire side connector: Housing: Molex 51021-0500 Terminal: Molex 50058-8500 AWG #28 - 32 Pin #1 5 e.g. Oscilloscope A6N X7 1 2 3 1k AM1 AM2 GND Do not connect to the other pins that is used for manufacturer. Page 81 2016/1/15 Rev. 3 Motor Business Unit, AIS Company 1k Dimensions in mm Page 82 2016/1/15 Rev. 3 Motor Business Unit, AIS Company Size A Nameplate Page 83 2016/1/15 Rev. 3 Motor Business Unit, AIS Company Size B Nameplate Page 84 2016/1/15 Rev. 3 Motor Business Unit, AIS Company Size C Nameplate Page 85 2016/1/15 Rev. 3 Motor Business Unit, AIS Company Size D Nameplate Page 86 2016/1/15 Rev. 3 Motor Business Unit, AIS Company Size E Nameplate Page 87 2016/1/15 Rev. 3 Motor Business Unit, AIS Company Size F Nameplate Page 88 2016/1/15 Rev. 3 Motor Business Unit, AIS Company Page 89 2016/1/15 Rev. 3 Motor Business Unit, AIS Company