OVERVIEW AC SERVO DRIVES & MOTION CONTROL 1
Comprehensive motion control solutions by Panasonic D GT and HM500 series touch terminals Page 51 A MINAS A5 series servo drives Page 6 B Motion control libraries, configuration and programming software Page 44 C FP series PLC Page 38 2 A MINAS A5 series servo drives B Motion control libraries, configuration and programming software C FP series PLC D GT and HM500 series touch terminals Highly dynamic servo drives with state-of-the-art technology.
Contents Comprehensive MC solutions by Panasonic...2 Accessories..............................................36-37 Overview..........................................................3 Programmable controllers..............................38 Applications.....................................................4 Positioning functions.................................39-43 MINAS A5 series........................................6-28 Software...................................................
Applications With its power range of 50 to 15,000W, Panasonic servo drives are ideally suited to solve both small (1 or 2 axes) and complex tasks (up to 256 axes) easily and quickly. The following industries make use of servo drives: packaging, textile, plastics, wood, paper, metal and mounting, and processing. Application examples: 4 Packaging machine X-Y table A complete solution with PLC, touch terminal, and servo drives from Panasonic.
Connections and interfaces Connector type (100/200V: A to E frame) [Connector type (100/200V: A to E-frame)] Front Panel Indicates parameters and errors Monitor output (digital: 1, analog: 2) Connection to monitor output Connection to input power SET Button Mains Residual current device 6 1 Output connector for monitor LED cover open Circuit Breaker (MCCB) Display LED Mode switching button Wiring of main connector Keys for incrementing/ decrementing digits Connection to PC USB mini-B cable (
MINAS A5 series MINAS A5 series The MINAS A5 series: Panasonic's standard AC servo drives. The highly dynamic servo drives can be controlled by pulses or analog signals. • Ultrafast response frequency: 2kHz bandwidth (velocity response) • Pulse input and output with up to 4MHz • Real-time autotuning function during operation • 4 notch filters: manual/automatic • 4 damping filters: manual/automatic • PANATERM V5.
MINAS A5 network series Thanks to its high transmission speed and sampling rate, RTEX (Realtime Express), the fast, real-time Ethernet bus for automation, is particularly well suited for highly dynamic single and multiple axes positioning tasks. The communication between master and slaves happens in real-time. EtherCAT (Ethernet for Control Automation Technology) offers similar excellent features like RTEX.
MINAS A5 high-performance real-time auto-gain tuning featuring simple setup. After installation, tuning is completed automatically in several operations. When the response is adjusted, simple tuning is supported with a change to one parameter value. Use of the gain adjustment mode in the setup support software contributes to optimum adjustment. The built-in auto 2000 vibration suppression function reduces equipment damage.
at stopping. Manual/Auto Damping Filter Ensures accurate positioning in a short time. A5 series A4 series 1,048,576 p/r 131,072 p/r Chip mounters, food processing machinery, robots, Example applicationachieves 1.04 New proprietary signal processing technology general production machinery, etc. pulses [1.04 million pulses] 130,000 million pulses with afilter 20-bit encoder.
Overview MINAS A5 motors and accessories Overview MINAS A5 motors and accessories 1,3 (3,8) 3000 (6000) 750 2,4 (7,1) 3000 (6000) 1000 3,18 (9,55) 3000 (5000) 1500 4,77 (13,3) 3000 (5000) 1000 3,18 (9,55) 3000 (5000) 1500 4,77 (13,3) 3000 (5000) 2000 6,37 (19,1) 3000 (5000) 3000 9,55 (28,6) 3000 (5000) 4000 12,7 (38,2) 3000 (4500) 5000 15,9 (47,7) 3000 (4500) 1000 4,7 (14,3) 2000 (3000) 1500 7,16 (21,5) 2000 (3000) 2000 9,55 (28,6) 2000 (3000) 3000 14,3 (43,0) 2000
Driver specifications Frame 200V Main circuit Control circuit MINAS A5E MINAS A5, A5N, A5B A, B, C, D 1-phase, 3-phase, 200–240V (+10%, -15%), 50/60Hz A, B, C, D 1-phase, 200–240V (+10%, -15%), 50/60Hz E, F 1-phase, 200-230V (+10%, -15%), 50/60Hz Input power Control circuit 400V Main circuit D, E, F, G, H – 3-phase, 380–480V (+10%, -15%), 50/60Hz D, E, F, G, H – 24V DC (±15%) 0–50°C, storage temperature: -20 to +65°C (max.
Driver functions MINAS A5E Control input Position control Control output Pulse input Line driver A Open collector Line driver B Signal format Electronic gear Smoothing filter Analog input Torque limit command Instantaneous speed observer Damping control Control input Control output Velocity command Torque limit command Velocity range Internal velocity command Smooth start-up and stopping Zero speed clamp Instantaneous speed observer Velocity control filter Control input Torque control Functions
Driver dimensions Frame D L1 5.2 All dimensions are in mm P1 3.5 Mounting bracket (optional) 5.2 N1 N2 N2 2.5 N1 2-ø5.2 ø5 .2 140 C B N2 B N2 C .2 22.2 A ø5 M L2 L1 P2 A M 15 5.2 Mounting bracket (optional) 2.5 5.2 B2 Frame F P2 P1 N1 2.5 .2 5.2 P2=P1 42.7 2.5 5.2 A B C ø5 N3 5.2 Mounting bracket (optional) Mounting bracket (optional) N3 5.2 L2=L1=M N1 N2 3.5 .2 33.1 ø5 15 L2 L1=M N2 C B A N1 Width Mounting bracket ø5.
Dimensions of drivers Frame G All dimensions are in mm Connector X7: For analog monitor signal connection XA: Main circuit input terminals Control circuit input terminals NC L1 X1 L1C X2 L2 L 2C L3 X3 NC NC B1 Connector X4: I/O signal connector X4 DB1 XB: Terminals for external braking resistor Terminals for motor connection Connector X1: USB connector Connector X2: RS232/485 communication connector Connector X3: Safety function connector B2 DB2 NC Connector X5: For feedback scale conn
Frame H X7: For analog monitor signal connection X1 X2 X3 X4 X5: For external scale connection X6: For encoder connection X5 X6 CHARGE L1C L1 L2 L3 L2C B1 DB1 X1: USB connector X2: RS232/485 communication connector X3: Safety function connector X4: I/O signal connector DB2 B2 NC U V W Screws for earth (x2) Control terminal for dynamic braking resistor Control power input terminals Terminals for motor connection Terminals for external braking resistor Main power input terminals 261 21
MINAS A5 motor specifications MSME (low inertia) 50–1500W 200V AC Motor Rated power W Required power kVA Rated current A Max. current A o-p Rotational speed r/min Weight kg Torque Nm MSME5AZG1 50 Rated rotational speed Max. rotational speed Without holding brake With holding brake Nominal Maximal MSME012G1 100 0.5 1.1 4.7 MSME022G1 200 1.5 6.5 Moment of inertia of rotor (x10-4 kg · m²) With internal resistor With external resistor Without holding brake With holding brake MSME102G1 1000 1.8 6.
Motor Rated power W Required power kVA Rated current A Max. current A o-p Rotational speed r/min Weight kg Torque Nm MDME (middle inertia) 1000–1500W 200V AC MDME102G1 1000 1.8 5.7 24 Rated rotational speed Max. rotational speed Without holding brake 5.2 With holding brake 6.7 Nominal 4.77 Maximal 14.3 MDME152G1 1500 2.3 9.4 40 2000 3000 6.7 8.2 7.16 21.
MINAS A5 motor specifications Motor Rated power W Required power kVA Rated current A Max. current A o-p Rotational speed r/min Weight kg Torque Nm MHMD (high inertia) 200–750W 200V AC MHMD022G1 200 0.5 1.6 6.9 Rated rotational speed Max. rotational speed Without holding brake With holding brake Nominal Maximal MHMD042G1 400 0.9 2.6 11 3000 MHMD082G1 750 1.3 4 17 5000 0.96 1.4 4.77 14.3 1.4 1.8 7.16 21.5 20-bit incremental encoder resolution: 1,048,576 p/r No limit No limit Encoder 4500 2.5 3.5 9.
Torque characteristics MSME5AZG1¨ MSME012G1¨ Torque [Nm] Rated torque [%] 100 0.5 0.25 (0.16) Rotation speed [rpm] 10 20 30 With oil seal 0 40 Ambient temperature [˚C] MSME022G1¨ Torque [Nm] Rated torque [%] Peak run range (4600) 0 10 20 30 40 Ambient temperature [˚C] Rated torque [%] 8.
Torque characteristics MSME104G1¨ MSME154G1¨ Torque [Nm] (4.0) Continuous run range 1000 2000 (3800)(4200) 0 3000 4000 5000 Rotation speed [rpm] 10 20 30 40 Ambient temperature [˚C] MSME204G1¨ Torque [Nm] Rated torque [%] 20 100 85 70 Peak run range 10 (7.
MDME102G1¨ MDME152G1¨ Torque [Nm] Rated torque [%] 15 Torque [Nm] 100 20 50 10 Peak run range 5 1000 (2200) 0 2000 3000 Rotation speed [rpm] 10 20 30 With oil seal With oil seal Continuous run range 0 40 Ambient temperature [˚C] MDME204G1¨ Rated torque [%] 30 (2200) 0 2000 3000 Rotation speed [rpm] 10 20 30 40 Ambient temperature [˚C] MDME404G1¨ Rated torque [%] 50 50 Continuous run range (9.
Torque characteristics MDMEC54G1¨ Torque [Nm] Rated torque [%] (224) 200 100 90 Peak run range 50 100 With oil seal (95.5) (57) Continuous run range 0 1000 (1500)(1700) 0 2000 3000 Rotation speed [rpm] 10 20 30 40 Ambient temperature [˚C] MHMD022G1¨ MHMD042G1¨ Torque [Nm] Rated torque [%] 100 80 70 2.0 (1.5) (1.2) Peak run range 1.0 Torque [Nm] Without holding brake (1.7) (1.
MHME104G1¨ MHME154G1¨ Torque [Nm] Rated torque [%] 15 20 50 10 1000 (2200) 2000 3000 Rotation speed [rpm] 0 10 20 30 40 Ambient temperature [˚C] MHME204G1¨ With oil seal Continuous run range 0 100 50 (6.0) (4.
MINAS A5 motor dimensions 50W–100W 200W–750W 50W–750W LC LA (26,6) ) (19 ,6) (26 LL LD LL LD LG LR (b) (b) (c) (a) LZ LH (1,6) (8,4) (19) (15,8) (21) (32) (1) (2 ° 30 30° ) 1 LG (28,8) (32) (21,5) , .
1kW–5kW LL LL LD LR LR LC Key way dimensions (b) LF LF LE 4ØLZ LH LW LK ‟LBh7 LB S LG LG KH Sh6 (a) LE KW LA LD RH a) Encoder connector b) Motor connector Rated power Motor LL kW 200V AC 400V AC Without holding brake With holding brake LR S LA LB LC LD LE LF LG LH LZ LW LK Key way KW KH RH Without holding brake Weight With holding brake Encoder cables Motor cable Motor cable 200V AC with holding 400V AC brake Connector set Connector set with holding brake = Length Type MSME (l
MINAS A5 motor dimensions 1kW–5kW Stecker Motor LL LG LR LD LL LR LC Stecker Encoder Key way dimensions (b) LF 4ØLZ LH LE LW LK LB S ‟LBh7 LG LG KH Sh6 (a) LE LF KW LA LD RH a) Encoder connector b) Motor connector Rated power Motor LL kW 200V AC 400V AC Without holding brake With holding brake LR S LA LB LC LD LE LF LG LH LZ LW LK Key way KW KH RH Without holding brake Weight With holding brake Encoder cables Motor cable Motor cable with 200V AC holding brake 400V AC Connect
7.5kW–15kW LL LR □LC (b) Ring nut (M10) (c) LF LE 4-φLZ LH S 48 Key way dimensions LW LK LD LA KW RH LB LG KH (a) a) Encoder connector b) Brake connector c) Motor connector MDME (middle inertia) 7.5kW–15kW 400V AC kW 7.5 11 15 400V AC Type MDME754G1¨ MDMEC14G1¨ MDMEC54G1¨ Without mm 312 316 384 holding brake LL With mm 337 364 432 holding brake LR mm 113 116 S mm ∅ 42 h6 ∅ 55 h6 LA mm ∅ 233 ∅ 268 LB mm ∅ 114.3 h7 ∅ 200 h7 LC mm 176 220 LD mm ∅ 200 ∅ 235 LE mm 3.
MINAS A5 motor dimensions 1kW–7.5kW LL Stecker Motor LR LL LR LC Stecker Encoder Key way dimensions LB LG S LG 4ØLZ LH LW LK KH (a) LE Sh6 LF LF LE ‟LBh7 (b) KW LA LD RH a) Encoder connector b) Motor connector MHME (medium inertia) 1kW–7.5kW 400V AC 1.5 2.0 3.
MINAS LIQI series MINAS LIQI MINAS LIQI, the simple and cost-effective servo drive solution from Panasonic. Especially for dynamic applications MINAS LIQI offers many advantages as far as reliability, speed, and precision is concerned compared to stepping motors, asynchronous motors or pneumatic solutions. As for the MINAS A5 series, the PANATERM software and the MINAS SELECTION TOOL assist users in setting up and configuring the MINAS LIQI series.
MINAS LIQI driver functions Main circuit Supply voltage 200V Control circuit Frame MINAS LIQI B 1-phase, 220–240V +5%, -10%, 50/60Hz C 1-phase, 220-240V (+5%, -10%), 50/60Hz B 1-phase, 220-240V (+5%, -10%), 50/60Hz C Temperature Operation and storage: 20–85% RH (non-condensing) Ambient humidity Basic specifications Operating conditions Altitude Max. 1000m above sea level Max. 5.
MINAS LIQI torque characteristics MSMD5AZJ1¨ MSMD012J1¨ Torque [Nm] Torque [Nm] Continuous run range 1000 2000 3000 4000 5000 0 Rotation speed [rpm] 10 20 30 40 Ambient temperature [˚C] MSMD022J1¨ 100 Continuous run range Rotation speed [rpm] 1000 2000 3000 4000 5000 Peak run range 2.0 (1.
MINAS LIQI motor dimensions MINAS LIQI motors (low inertia) Motor Encoder Type Resolution MSMD012J1¨ MSMD5AZJ1¨ p/r MSMD022J1¨ MSMD042J1¨ MSMD082J1¨ MSMD102J1¨ 10,000 (2500 p/r incremental) Motor with/without holding brake Without With Without With Without With Without With Without With Without With 72 102 92 122 79.5 116 99 135.5 112 149.2 127.2 164.2 LL mm LR mm 25 S mm ∅ 8 h6 30 35 ∅ 11 h6 ∅ 14 h6 ∅ 19 h6 LA mm ∅ 45 ± 0.2 ∅ 70 ± 0.2 ∅ 90 ± 0.
Cables Motor cables (motor–driver) All dimensions are in mm MFMCA00WJD MSME motors 1–2kW MDME motors 1–2kW MHME motors 1–11.
Cables Brake cable (motor–driver) All dimensions are in mm MSME motors 50–750W MFMCB00PJT MSMD motors 50–750W MHMD motors 200–750W MINAS LIQI motors 50W–1kW MFMCB0GET L Encoder cable (motor–driver) MFECA0WJD MSME, MDME, MHME motors 900W–15kW with 17/20-bit incremental encoder MFECA0GTD MINAS LIQI motors 50W–1kW MHMD motors 200W–750W MFECA0EAM L (ø5) MSME motors 50–750W with 17/20-bit incremental encoder (ø6) L L MFECA0GJE MSME, MDME, MHME motors 900W–15kW with 17-bit absolute
Control cable (PLC–MINAS A5 driver) All dimensions are in mm Direct connection to FP series PLCs FPΣ (Sigma) For 1 axis DV0P0980W-1 (NPN types) DV0P0982W-1 (PNP types) FPΣ (Sigma), FP0R For 1 axis DV0P0988W-1 (PNP types) DV0P0989W-1 (NPN types) PLC input PLC output FPΣ (Sigma) For 2 axes DV0P0981W-1 (NPN types) DV0P0983W-1 (PNP types) FPΣ (Sigma) Positioning unit For 2 axes FP2SH Positioning units DV0P0985W1 (transistor) DV0P0986W1 (line driver) FP7 Positioning unit DV0P0976W-1 DV0P0975W-1 3
Accessories Product no.
EMC filter FN2080-6-06 and FS21238-6-07 for MINAS A5 50–750W and MINAS LIQI 50–1000W 1-phase drivers Dimensions (mm) A B C D E F G H I J K L M N FN2080-6-06 All dimensions FN2080-6-06 113.5 57.5 45.4 94 56 103 25 12.4 32.4 15.5 4.4 6 0.9 6.3 x 0.8 are in mm. FS21238-6-07 DV0P4220 for 1–1.5kW 1-phase driver 145 135 95 M4 Ø5.
Programmable controllers Type FP7 FP2SH Features Modular high-performance PLC Modular high-performance PLC • Scan time of 11ns/step • Scan time of 1ms for 20k steps • Program capacity of 196k steps • Additional program capacity with SDHC memory card • As a high-performance PLC with fast scan times ideally suited for electronic device manufacturing • Batteryless data backup • High program capacity of 120k steps • Ethernet 100BASE-TX/10BASE-TX • 32k, 60k step type also available • Expandable wit
FP0R positioning Jog positioning control (F171 instruction) Motion can be started without a preset target value. When a stop signal is input, the target value is set, and the motion is slowed to a stop. Individual settings for acceleration and deceleration (F171, F172, F174, and F175 instructions) Acceleration time Deceleration time The speed can be changed during the jog operation.
Pass position P (X 9396, Y -3420) Target position E FPS (Sigma) positioning Integrated linear and circular interpolation control Interpolation functions enable simultaneous control of two axes. Applications that a compact PLC couldn't previously cope with are no longer a challenge. With linear interpolation, the PLC achieves a coordinated, linear movement of the two axes and controls the speed of each axis.
FP-X positioning For low cost multi-axis position control Built-in 4-axis pulse output (transistor output type) The transistor output type C14 comes with 3-axis while C30/C38 and C60 come with 4-axis pulse output inside the control unit. The multiaxis control, which previously required a higher-level PLC or additional positioning unit, or two or more PLC units, can now be achieved with only one FP-X transistor output type unit in a small space at a low cost.
FP7 and FP2SH positioning FP7 Features • • • • Linear, circular, and spiral interpolation Max. speed 4Mpps (line driver), 500Kpps (transistor) Up to 600 points for each axis Integrated configurator software PM7 for parameter setting, JOG operation, home return, creation of data tables, etc. • Electronic cam control and electronic gear Product no.
RTEX positioning RTEX - the multiaxis Ethernet servo system The RTEX positioning units support MINAS A5N network servo drives. A mutually optimized system consisting of PLC and motion controller greatly simplifies installation.
Software Motion control libraries for Control FPWIN Pro (PLC) The motion control library contains the most important function blocks, e.g. for relative or absolute positioning and for home returns with linear axes. Panasonic offers libraries for all motion control tasks. 1. CPU Motion Control Library: Position control with FP series control units (FP0R, FPS (Sigma), FP-X, FP7) 2.
Direct access to servo drive parameters from the PLC The libraries enable serial communication (RS232, RS485) between the FP series PLCs and the drivers of the MINAS A5 series. The communication protocols for the drivers are also included in the libraries. The libraries allow full read and write access to the parameters. They also record the status and position data of the axes. All FP series PLCs come with an RS232 port (RS485 optional).
Software Software Configurator PM for RTEX The Configurator PM offers multiple support from configuration (axis and parameter settings, data table creation, JOG operation, home return, data monitor settings, etc.) to startup and operation. This saves time and makes commissioning considerably easier. Axis settings Grouping of axes for interpolation operations is carried out simply by dragging and dropping the relevant axes. Check the axes to be used. Select the number of axes to be used.
Software Configurator PM for RTEX Tool operations • E ach axis can be operated by test sequences independently of the operation modes (PROG and RUN) of the RTEX or FP control unit. • JOG operation and teaching can be carried out easily to index positioning points. Test operation is possible without having to create a rudder program. Data monitor • • • • Data table no.
Software Configuring motion controllers onfiguration software PANATERM C for MINAS AC servo motors & drivers PANATERM assists users in making parameter and control settings as well as creating and analyzing data tables during operation. The software can be installed on any commercially available personal computer. The connection to the MINAS series is established via the USB port.
Motor capacity selection software Mselect software Figure 1 Mselect is a software to help you select the correct motor capacity and motion controller from Panasonic's MINAS series. Find the optimal type of motor with regards to the mechanical layout and the dynamic requirements. It is a very valuable tool for mechanical engineering as it also provides CAD data in 2D and 3D. The software offers a complete analysis and detailed usage instructions for the MINAS A5 series in all sizes.
Other Panasonic products Memo 50
Other Panasonic products Panasonic Electric Works offers a wide product range from one source, from individual components to complete systems. Technology support for advice, design-in, installation and commissioning by our qualified application engineers round off the Panasonic service profile. Human machine interfaces Our compact size, bright and easy-to-read human machine interfaces can be used to visualize inspection results. Touch panels can even replace the standard keypad if you so desire.
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