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MSMA152P1G

SERVOMOTOR 3000 RPM 200VAC

器件类别：热门应用    机电/工控/自动化   

厂商名称：Panasonic(松下)

厂商官网：http://www.panasonic.co.jp/semicon/e-index.html

器件标准：

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参数 预览
器件参数
参数名称
属性值
类型
交流电机
功能
伺服电机
电压 - 额定
200VAC
RPM
3000 RPM
扭矩 - 额定值 (oz-in / mNm)
675.49 / 4770
功率 - 额定值
1.5kW
编码器类型
增量式
大小/尺寸
方形 - 3.937" x 3.937"（100.00mm x 100.00mm）
直径 - 轴
0.748"（19.00mm）
长度 - 轴和轴承
2.165"（55.00mm）
安装孔间距
4.528"（115.00mm）
端子类型
连接器
特性
键，油封
扭矩 - 瞬时最大值 (oz-in / mNm)
2025.05 / 14300
工作温度
0°C ~ 40°C
认可
CE，CSA，cULus，TUV，UL
重量
11 磅（5kg）
文档预览
Instruction Manual
AC Servo Motor and Driver
MINAS A4 Series
•Thank you for buying and using Panasonic AC Servo Motor and Driver, MINAS A4 Series.
•Read through this Instruction Manual for proper use, especially read "Precautions for
Safety" ( P.8 to 11) without fail for safety purpose.
•Keep this Manual at an easily accessible place so as to be referred anytime as necessary.
・This
product is for industrial equipment. Don't use this product at general household.
Content
[Before Using the Products]
page
Safety Precautions .................................................................... 8
Maintenance and Inspection ................................................... 12
Introduction.............................................................................. 14
Outline .......................................................................................................................................................... 14
On Opening the Package ............................................................................................................................. 14
Check of the Driver Model ............................................................................................................................ 14
Check of the Motor Model ............................................................................................................................ 15
Check of the Combination of the Driver and the Motor ................................................................................ 16
Parts Description ..................................................................... 18
Driver ............................................................................................................................................................ 18
Motor ............................................................................................................................................................. 20
Console ......................................................................................................................................................... 21
Installation................................................................................ 22
Driver ............................................................................................................................................................ 22
Motor ............................................................................................................................................................. 24
Console ......................................................................................................................................................... 26
[Preparation]
page
System Configuration and Wiring .......................................... 28
Overall Wiring (Connecting Example of C-frame, 3-phase) ......................................................................... 28
Overall Wiring (Connecting Example of E-frame) ........................................................................................ 30
Driver and List of Peripheral Equipments ..................................................................................................... 32
Wiring of the Main Circuit (A to D-frame) ..................................................................................................... 34
Wiring of the Main Circuit (E and F-frame)................................................................................................... 35
Wiring to the Connector, CN X6 (Connection to Encoder) ........................................................................... 38
Wiring to the Connector, CN X3 and 4 (Connection to PC, Host Controller or Console) ............................ 40
Wiring to the Connector, CN X5 (Connection to Host Controller) ................................................................ 41
Timing Chart ............................................................................ 42
Built-in Holding Brake ............................................................. 46
Dynamic Brake......................................................................... 48
Caution on Homing.................................................................. 50
Setup of Parameter and Mode ................................................ 51
Outline of Parameter .................................................................................................................................... 51
How to Set .................................................................................................................................................... 51
How to Connect ............................................................................................................................................ 51
Composition and List of Parameters ............................................................................................................ 52
Setup of Torque Limit .................................................................................................................................... 57
How to Use the Front Panel and Console .............................. 58
Setup with the Front Panel ........................................................................................................................... 58
Setup with the Console ................................................................................................................................ 58
Initial Status of the Front Panel Display (7 Segment LED) .......................................................................... 59
Initial Status of the Console Display (7 Segment LED)................................................................................ 59
Structure of Each Mode ................................................................................................................................ 60
Monitor Mode ................................................................................................................................................ 63
Parameter Setup Mode ................................................................................................................................ 69
2
Before Using
the Products
EEPROM Writing Mode ................................................................................................................................ 70
Auto-Gain Tuning Mode ............................................................................................................................... 71
Auxiliary Function Mode ............................................................................................................................... 73
Copying Function (Console Only) ................................................................................................................ 79
[Connection and Setup of Position Control Mode]
page
Preparation
Connection and Setup of
Position Control Mode
Connection and Setup of
Velocity Control Mode
Connection and Setup of
Torque Control Mode
Full-Closed
Control Mode
Control Block Diagram of Position Control Mode ................. 82
Wiring to the Connector, CN X5 .............................................. 83
Wiring Example to the Connector, CN X5 .................................................................................................... 83
Interface Circuit ............................................................................................................................................ 84
Input Signal and Pin No. of the Connector, CN X5 ...................................................................................... 86
Output Signal and Pin No. of the Connector, CN X5 ................................................................................... 92
Connecting Example to Host Controller ....................................................................................................... 96
Trial Run (JOG Run) at Position Control Mode.................... 104
Inspection Before Trial Run ........................................................................................................................ 104
Trial Run by Connecting the Connector, CN X5 ......................................................................................... 104
Real-Time Auto-Gain Tuning ................................................. 106
Outline ........................................................................................................................................................ 106
Applicable Range ....................................................................................................................................... 106
How to Operate .......................................................................................................................................... 106
Adaptive Filter ............................................................................................................................................. 107
Parameters Which are Automatically Set ................................................................................................... 107
Parameter Setup .................................................................... 108
Parameters for Functional Selection .......................................................................................................... 108
Parameters for Adjustment of Time Constant of Gains and Filters ............................................................ 111
Parameters for Auto-Gain Tuning ............................................................................................................... 112
Parameters for Adjustment (2nd Gain Switching Function) ....................................................................... 115
Parameters for Position Control ................................................................................................................. 116
Parameters for Velocity/Torque Control ..................................................................................................... 120
Parameters for Sequence .......................................................................................................................... 120
[Connection and Setup of Velocity Control Mode]
page
Control Block Diagram of Velocity Control Mode ............... 126
Wiring to the Connector, CN X5 ............................................ 127
Wiring Example to the Connector, CN X5 .................................................................................................. 127
Interface Circuit .......................................................................................................................................... 128
Input Signal and Pin No. of the Connector, CN X5 .................................................................................... 130
Output Signal and Pin No. of the Connector, CN X5 ................................................................................. 135
Adjustment
When in Trouble
Supplement
Trial Run (JOG Run) at Velocity Control Mode .................... 138
Inspection Before Trial Run ........................................................................................................................ 138
Trial Run by Connecting the Connector, CN X5 ......................................................................................... 139
Real-Time Auto-Gain Tuning ................................................. 140
Outline ........................................................................................................................................................ 140
Applicable Range ....................................................................................................................................... 140
How to Operate .......................................................................................................................................... 140
Adaptive Filter ............................................................................................................................................. 141
Parameters Which are Automatically Set up .............................................................................................. 141
3
Parameter Setup .................................................................... 142
Parameters for Functional Selection .......................................................................................................... 142
Parameters for Adjustment of Time Constant of Gains and Filters ............................................................ 146
Parameters for Auto-Gain Tuning ............................................................................................................... 147
Parameters for Adjustment (2nd Gain Switching Function) ....................................................................... 149
Parameters for Position Control ................................................................................................................. 151
Parameters for Velocity/Torque Control ..................................................................................................... 152
Parameters for Sequence .......................................................................................................................... 155
[Connection and Setup of Torque Control Mode]
page
Control Block Diagram of Torque Control Mode ................. 160
Wiring to the Connector, CN X5 ............................................ 161
Wiring Example to the Connector, CN X5 .................................................................................................. 161
Interface Circuit .......................................................................................................................................... 162
Input Signal and Pin No. of the Connector, CN X5 .................................................................................... 164
Output Signal and Pin No. of the Connector, CN X5 ................................................................................. 168
Trial Run (JOG Run) at Torque Control Mode ...................... 171
Inspection Before Trial Run ........................................................................................................................ 171
Trial Run by Connecting the Connector, CN X5 ......................................................................................... 171
Real-Time Auto-Gain Tuning ................................................. 172
Outline ........................................................................................................................................................ 172
Applicable Range ....................................................................................................................................... 172
How to Operate .......................................................................................................................................... 172
Parameters Which are Automatically Set up .............................................................................................. 173
Parameter Setup .................................................................... 174
Parameters for Functional Selection .......................................................................................................... 174
Parameters for Adjustment of Time Constant of Gains and Filters ............................................................ 177
Parameters for Auto-Gain Tuning ............................................................................................................... 178
Parameters for Adjustment (2nd Gain Switching Function) ....................................................................... 179
Parameters for Position Control ................................................................................................................. 181
Parameters for Velocity/Torque Control ..................................................................................................... 183
Parameters for Sequence .......................................................................................................................... 185
[Full-Closed Control Mode]
page
Outline of Full-Closed Control .............................................. 190
What is Full-Closed Control ? ..................................................................................................................... 190
Control Block Diagram of Full-Closed Control Mode.......... 191
Wiring to the Connector, CN X5 ............................................ 192
Wiring Example to the Connector, CN X5 .................................................................................................. 192
Interface Circuit .......................................................................................................................................... 193
Input Signal and Pin No. of the Connector, CN X5 ................................................................................... 195
Output Signal and Pin No. of the Connector, CN X5 ................................................................................. 201
Connection to the Connector, CN X7 .................................. 204
Connector, CN X7 ....................................................................................................................................... 204
Wiring to the External Scale, Connector, CN X7 ........................................................................................ 205
Real-Time Auto-Gain Tuning ................................................. 206
Outline ........................................................................................................................................................ 206
Applicable Range ....................................................................................................................................... 206
4
Before Using
the Products
How to Operate .......................................................................................................................................... 206
Adaptive Filter ............................................................................................................................................. 207
Parameters Which are Automatically Set up .............................................................................................. 207
Parameter Setup .................................................................... 208
Parameters for Functional Selection .......................................................................................................... 208
Parameters for Adjustment of Time Constant of Gains and Filters ............................................................ 211
Parameters for Auto-Gain Tuning ............................................................................................................... 212
Parameters for Adjustment (2nd Gain Switching Function) ....................................................................... 214
Parameters for Position Control ................................................................................................................. 216
Parameters for Velocity/Torque Control ..................................................................................................... 220
Parameters for Sequence .......................................................................................................................... 220
Parameters for Full-Closed ........................................................................................................................ 224
Preparation
Connection and Setup of
Position Control Mode
[Adjustment]
page
Gain Adjustment .................................................................... 226
Real-Time Auto-Gain Tuning ................................................. 228
Fit-Gain Function ........................................................................................................................................ 231
Connection and Setup of
Velocity Control Mode
Connection and Setup of
Torque Control Mode
Full-Closed
Control Mode
Adaptive Filter ........................................................................ 234
Normal Auto-Gain Tuning...................................................... 236
Release of Automatic Gain Adjusting Function .................. 239
Manual Auto-Gain Tuning (Basic) ......................................... 240
Adjustment in Position Control Mode ......................................................................................................... 241
Adjustment in Velocity Control Mode ......................................................................................................... 241
Adjustment in Torque Control Mode ........................................................................................................... 242
Adjustment in Full-Closed Control Mode .................................................................................................... 242
Gain Switching Function ............................................................................................................................. 243
Suppression of Machine Resonance ......................................................................................................... 246
Automatic Gain Setup Function .................................................................................................................. 248
Manual Auto-Gain Tuning (Application) ............................... 249
Instantaneous Speed Observer .................................................................................................................. 249
Damping Control ......................................................................................................................................... 250
[When in Trouble]
Adjustment
When in Trouble
Supplement
page
When in Trouble ..................................................................... 252
What to Check ? ......................................................................................................................................... 252
Protective Function (What is Error Code ?) ............................................................................................... 252
Protective Function (Details of Error Code) ............................................................................................... 253
Troubleshooting .................................................................... 260
Motor Does Not Run ................................................................................................................................... 260
Unstable Rotation (Not Smooth)/Motor Runs Slowly Even with Speed Zero at Velocity Control Mode .... 261
Positioning Accuracy Is Poor ...................................................................................................................... 262
Origin Point Slips ........................................................................................................................................ 263
Abnormal Noise or Vibration ...................................................................................................................... 263
Overshoot/Undershoot, Overheating of the Motor (Motor Burn-Out) ......................................................... 264
Motor Speed Does Not Reach to the Setup/Motor Revolution (Travel) Is Too Large or Small ................. 264
Parameter Returns to Previous Setup ....................................................................................................... 264
Display of "Communication port or driver cannot be detected" Appears on the Screen While using the
PANATERM
®
. ............................................................................................................................................. 264
5
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