Servo Drive MINAS A5N with Realtime Express (RTEX)

Transcription

1 NEW Servo Drive MINAS A5N with Realtime Express (RTEX) Motor Business Unit 2011/6/14 Rev. 1 Page 1

2 Dimensions: W40 x H150 x D135 mm 200W 200V Frame Size A 2011/6/14 Rev. 1 Page 2

3 Appearance Power Supply Voltage Model No. Front Cover 7segments LED (2digits) Indicator Analog Monitor Connector (X7) Velocity, Torque etc. Power Input Connector (XA) Charge Lamp of Main Circuit Regenerative-R and Motor Connector (XB) LINK LED RTEX wiring trouble COM LED RTEX status Node-Address Setting RSW (2digits) Range: USB Connector (X1) For PANATERM, MINI-B 5pin RTEX RX Connector (X2A) From a front node TX RTEX TX Connector (X2B) To a rear node RX I/O Connector (X4) Sensor inputs, Alarm output etc. Half pitch 26pin Linear Encoder Connector (X5) Panasonic Serial or A/B/Z-pulse Earth Terminals Encoder Connector (X6) Panasonic Serial Red: Changes from A4N 2011/6/14 Rev. 1 Page 3

4 Compatibility with A4N Item Compatibility Descriptions Installing The Size of Drive Yes The same screw pitch Wiring Encoder Power Input Connector Motor Connector Encoder Connector (X6) Linear Encoder Connector (X5) Almost Yes Yes No For frame-size A and B, the number of pins changed from 4 to 5 Connector type changed I/O Connector (X4) No From 36pin to 26pin Incremental No Resolution changed from 10,000 to 1,048,576p/r Absolute Yes Tool PANATERM No From RS232 to USB, Freeware Position Command Yes RTEX Parameter Command No Changed to a combination of Category and No. Alarm Command No Changed to a combination of Main and Sub-code 2011/6/14 Rev. 1 Page 4

5 Front Panel Inside of Front Cover LINK LED (Green) LINK Network State 7segments LED OFF Solid Green Wiring Not Link Link COM LED (Green / Red) COM Network State OFF Blinking Green Solid Green Initial In Configuration Established pin 6 X7: Analog Monitor Connector Molex (Note) Pin # Symbol Description 1 AM1 Analog Monitor 1 2 AM2 Analog Monitor 2 3 GND Signal Ground pin 1 4, 5, 6 For Manufacturer use Blinking Red Solid Red Error Serious Error (Reset needed) Address Setting RSW Range: 00 to 31 Value depends on the controller specification. Note: Cable side connector Housing: Terminal: /6/14 Rev. 1 Page 5

6 7segments LED Display < 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 Warning Cleared < Alarm > < Warning > Main Code Sub Code Warning Code (2s) Normal (4s) All blinking Right dot blinking 2011/6/14 Rev. 1 Page 6

7 Structure of Model No. The same as A5 Servo Drive A5 family MADHT1507NA1 Specification A1: Standard L1: Linear Specific Interface type N: RTEX Frame Size Power Input 1: 1-Phase AC100V 3: 3-Phase AC200V 4: 3-Phase AC400V 5: 1 or 3-Phase AC200V Specifying Max. Current 2011/6/14 Rev. 1 Page 7

8 Lineup Power Input of Drive 1 Phase AC V 1 or 3 Phase AC V 3 Phase AC V 3 Phase AC V A A B C MADH T1105 NA1 MADH T1107 NA1 MBDH T2110 NA1 MCDH T3120 NA1 1k- 1.5k A A B C D MADH T1505 NA1 MADH T1507 NA1 Rated Output of Motor (W) MBDH T2510 NA1 MCDH T3520 NA1 MDDH T5540 NA1 2k 3k 4k-5k 7.5k 11k- 15k E F F G H MEDH T7364 NA1 MFDH TA390 NA1 MFDH TB3A2 NA1 MGDH TC3B4 NA1 MHDH TC3B4 NA1 D D E F F G H MDDH T2412 NA1 MDDH T3420 NA1 MEDH T4430 NA1 MFDH T5440 NA1 MFDH TA464 NA1 MGDH TB4A2 NA1 MHDH TB4A2 NA1 Upper: Frame size Lower: Typical model No. Depending on combination with motor, see the A5 series brochure. 2011/6/14 Rev. 1 Page 8

9 Overview of Realtime Express 2011/6/14 Rev. 1 Page 9

10 Realtime Express (RTEX) Advanced Network to realize high-precise real-time performance for Servo Control Concept High Performance & Low Cost Simple High Reliability Easy Development 2011/6/14 Rev. 1 Page 10

11 Features of RTEX Real-time communication based on on 100BASE-TX 100Mbps Full duplex Com. period min ms(*1) Up to to32 (*1) Max. 100m length inter-node cable All All axes fully synchronization (*2) for for interpolation Parameter setting and monitoring Less wiring Low-cost using Ethernet cable High noise immunity (IEC compliant) *1: Depends on a controller specification. *2: This sync algorithm is a patent. 2011/6/14 Rev. 1 Page 11

12 System Structure Upper Network (almost Ethernet) Host Controller Low system cost NC CAT5e STP High-efficiency Ring topology A5N Servos Up to 32slaves Stepper Drive IN OUT Parameter Setting & Monitoring (*) *: Depends on a controller specification Max. 100m inter-node cable Partners provide devices except servo. 2011/6/14 Rev. 1 Page 12

13 Less Wiring at Multi-Axes Pulse RTEX NC Servo Servo Servo Servo NC Servo Servo Servo Servo Reduced trouble with wiring Simple! Bundle of Many Wires Higher benefit in distributed placing 2011/6/14 Rev. 1 Page 13

14 Less Wiring at Single-Axis Pulse Many wires NC S-ON PULS SIGN CLR OZ ALM Servo M NOT Slider Home POT RTEX Drive should be placed near the motor. communication M Slider Simple! NC Servo NOT Home POT Sensors are connected to Servo 2011/6/14 Rev. 1 Page 14

15 Ultra High-Speed Ten Times Fast! 100Mbps 10Mbps Conventional RTEX 2011/6/14 Rev. 1 Page 15

16 Using Low-Cost Cable 1 Cost Ratio Mass Distributed on the Market 1 10 Conventional (e.g. RS485) RTEX Ethernet STP Note: An example of 1m length. 2011/6/14 Rev. 1 Page 16

17 Simple Ring Topology LINE RTEX (RING) NC Servos NC Servos Bi-directional Simple One-way (*) Going via many nodes causes low efficiency. High Efficiency & Reliability by by Simple Data Flow *: No cross-talk. 2011/6/14 Rev. 1 Page 17

18 Global Collaboration Partners provide various devices. 2011/6/14 Rev. 1 Page 18

19 Partners Products Partner Name PCI USB Master Stand Alone PLC Digital I/O Analog I/O Slave Pulse Out Asahi Engineering X X Anywire Cosmo Techs X X X X Soft Servo Systems X Tietech X X HPtec X X X X X PEW SUNX DELTA TAU Prime Motion X X AJINEXTEK X X X X AUROTEK X X BITPASS X X COMIZOA X X X X TRIO X X Stepper Drive Gateway X 2011/6/14 Rev. 1 Page 19

20 Sales Quantity of RTEX Servos 1100% 1000% 900% 800% 700% 600% 500% FY2006 を 100% とした指数 Ratio of FY2006:100% Rapid Increasing 984% 400% 352% 300% 200% 100% 100% 160% 256% 0% FY2006 FY2007 FY2008 FY2009 FY /6/14 Rev. 1 Page 20

21 Features of A5N 2011/6/14 Rev. 1 Page 21

22 Evolution from A4N to A5N High Performance MINAS A5 + Extended RTEX protocol Note: RTEX hardware is not changed. Basically, A5N is upper compatible with A4N. 2011/6/14 Rev. 1 Page 22

23 Enhanced Performance Velocity Response Communication Period (Min.) 2300Hz 0.500ms x 2.3 x 1/6 1000Hz 0.083ms A4N A5N A4N A5N 2011/6/14 Rev. 1 Page 23

24 Max. Pulse Frequency For More High-Resolution and High-Speed Applications 400Mpps x 10 40Mpps A4N A5N Note: If using A/B phase linear encoder, it is limited to maximum 4Mpps. 2011/6/14 Rev. 1 Page 24

25 New Functions TPos./Pos./Vel./Torq. All Modes Shorter Communication Period 32bytes/axis Mode for Monitoring Precise Position Latch Feed-Forwards from Controller Internal Torque Feed-Forward A/B-pulse Linear Encoder I/F 20bit/r Encoder Reduced Vibration by New Current Sensing Three-Phase Power Input Safety* I/F (Specific model) By the Expansion of RTEX spec. By A5 Base Note *: IEC STO (Safe Torque Off), IEC61508 SIL2 (Safety Integrity Level 2) 2011/6/14 Rev. 1 Page 25

26 All-in-One Motion I/F Profile Profile Cyclic Cyclic Cyclic Cyclic Cyclic Cyclic Position Position (PP) (PP) Position Position (CP) (CP) Velocity Velocity (CV) (CV) Torque Torque (CT) (CT) 1xh 2xh 3xh 4xh Target Pos. Cmd. Pos. Cmd. Vel. Cmd. Trq. Cmd. A5N Motion Profile Generator Pos. Ctrl. Vel. Ctrl. Trq. Ctrl. M Enc. Target Vel. Acc. Dec. Linear Enc. Note: Profile Position is applicable to only PTP control. 2011/6/14 Rev. 1 Page 26

27 Period, Axes and Modes Update Period Com. Period Max. # of Axes 16byte mode 32byte mode Available Mode Full- Closed Control 1.000ms 1.000ms PP, CP, CV, CT Available 1.000ms 0.500ms PP, CP, CV, CT Available 0.500ms 0.500ms PP, CP, CV, CT Available 0.166ms 0.166ms 10 - CP, CV, CT ms 0.083ms 5 - CP, CV, CT - Com. Period: Frame transmitting period Update Period: Data updating period on frame 2011/6/14 Rev. 1 Page 27

28 Update and Com. Period 1:1 Controller Calculation Shorter communication period makes quick response. Data Exchange Update Period n n+1 n+2 time Com. Frame n n+1 n+2 Com. Period Servo Data Exchange 1:1/2 Controller Calculation Com. Frame Command Flow n n+1 n+2 Update Period Response Flow n n+1 n+2 Data Exchange: Data reading and writing to com. ASIC n Com. n n+1 n+1 n+2 n+2 Period Servo Data Exchange n n n+1 n+1 n+2 n+2 Note: The command is transmitted two times. If previous data is communication error, later data is used in servo. 2011/6/14 Rev. 1 Page 28

29 Monitoring Item Examples - Drive Model No. - Drive Serial No. - Firmware Version - Motor Model No. - Motor Serial No. - Alarm Code (History) - Warning Code - Parameter More Increased than A4N - Actual Position - Actual Velocity - Torque - Position Error - Encoder Resolution - Command Position - Latch Position - Command Velocity - Re-Generative Ratio - Over-Load Ratio - Inertia Ratio - Rotor Mechanical Angle - Rotor Electrical Angle - Absolute Multi-turn Data - P-N Voltage - Com Err. Count - Encoder Com. Err. Count - X4 Connector Inputs - Power-ON time - Drive Temperature - Encoder Temperature - Relay Switch Times - Fan ON Time - Fan Life Time - Capacitor Life Time 2011/6/14 Rev. 1 Page 29

30 Precise Position Latch After the encoder position is latched at trigger timing, it is sent to the controller with RTEX. Controller Latched Position RTEX More detail timing than update period Latch Trigger Encoder At the trigger timing, the encoder position is latched with precision. 2ch available for trigger input 2011/6/14 Rev. 1 Page 30

31 Feed-Forwards from Controller High-resolution feed-forward by controller is effective for both high-response and low-vibration. Controller Motion Motion Profile Profile Generator Generator Trq. FF Vel. FF A5N Drive Pos. CMD Pos. Ctrl. Vel. Ctrl Trq. Ctrl. M Enc Note: - In 16byte mode, either velocity or torque FF. - Torque FF is also useful for torque compensation in circular interpolation. 2011/6/14 Rev. 1 Page 31

32 Encoder I/F Full-Closed Full-Closed Control Control A5N Drive Rotary Encoder Motor X5: Serial or A/B/Z Linear Encoder Linear Linear Motor Motor Drive Drive (Specific (Specific Model) Model) A5N Drive X6: Serial A/B/Z-pulse supported Max. 4Mpps X5: Serial or A/B/Z Linear Motor Linear Encoder X6: CS1 to 3 (Unnecessary in auto-detect mode) Note: Panasonic does not provide linear motor. 2011/6/14 Rev. 1 Page 32

33 Serial Linear Encoder Incremental Absolute Manufacturer Model Resolution [um] Max Speed [m/s] GSI Group M II SL700+PL101RP/RHP Magnescale SL710+PL101RP/RHP SR to SR to Magnescale SR to SR to Mitutoyo AT573A ST778A(L) Renishaw RESOLUTE FAGOR SAP / SVAP / GAP LAP Note: Due to max. pulse frequency of servo drive, the resolution and max. speed may be different from linear encoder specifications. 2011/6/14 Rev. 1 Page 33

34 Compact Previous Model 170 Volume 1/ A5N Without Fan! For 750W or less Note: Comparison with B series (200W, 200V) Unit: mm 2011/6/14 Rev. 1 Page 34

35 Compliance EMC Directive EN55011 Terminal Disturbance Voltage group 1, class A Radiated Electric Field Strength group 1, class A IEC Electrostatic Discharge 8kV IEC Radiated Susceptibility 10V/m IEC EFT/Burst 2kV IEC Surge 2kV IEC Conductive Susceptibility 150kHz-80MHz, 10V IEC Voltage Dips RoHS 2011/6/14 Rev. 1 Page 35

36 Features of RTEX 2011/6/14 Rev. 1 Page 36

37 Difference from Ethernet Upper layer optimized for servo control Ethernet RTEX e.g. HTTP SMTP FTP TCP IP e.g. DNS UDP Too large over-head Real-time Control Application Real-time Using ASIC IEEE802.3 or Ethernet Frame 100BASE-TX The same about Physical Layer Unique Real-time Frame 100BASE-TX Note: Ethernet is a registered trademark of Xerox corporation. 2011/6/14 Rev. 1 Page 37

38 Efficient Frame Simplified frame to realize high-speed real-time control 62byte 8byte 14byte 20byte 20byte Ethernet Preamble, SFD Ethernet Header IP Header TCP Header Data Too long header, inefficiency RTEX Data RTEX Header Short header suitable for real-time control 2011/6/14 Rev. 1 Page 38

39 Real-time Communication Fast and High Resolution Motion Command Parameter Setting and Monitoring In conventional pulse-interface, command resolution cannot be increased due to frequency limitation. -- Command Command position position -- Servo Servo on/off on/off -- Parameter Parameter setting setting High-density information links between controller and servos. Host Controller Command Real-time Response Servo Drive -- Actual Actual position position -- Sensor Sensor signals signals -- Details Details of of alarm alarm -- Various Various monitors monitors Visualization 2011/6/14 Rev. 1 Page 39

40 Isochronous among Axes PTP Point To Point Isochronous enables CP. CP Continuous Path Y B Y Circular interpolation B Linear interpolation A A X and Y are the same speed. X X - Separately positioning - Not corresponding Start/Stop timing between X and Y - Synchronized positioning - Corresponding Start/Stop timing Note: CP control depends on a controller specification, and does not perform with only servo drive. 2011/6/14 Rev. 1 Page 40

41 Isochronous transmission At the same time, commands are reflected in all servo drives. Master Slave Servo Control Receiving Reflection Timing Timing TX Host Controller RX RX TX Command Servo Drive Axis 1 RX TX Command Servo Drive Axis 2 Although receiving timings are different among axes, the command reflection timings are controlled to be same. RX TX RX TX Command Command Servo Drive Axis 3 Servo Drive Axis /6/14 Rev. 1 Page 41

42 Isochronous Accuracy Signals to start servo calculation inside each drive Axis 1 Axis 2 Axis 3 Jitter: +/- 70ns Axis 4 Note: Generally, jitter less than 1us is ideal. The number of axes: 4 Cable length inter-node: 0.3m 2011/6/14 Rev. 1 Page 42

43 Fully Synchronization NC is synchronized with all servo controls (position, velocity, current, PWM) with a unique patented algorithm. Improvement of sync precision among axes! Pulse I/F RTEX Servo Control Async. All Axes Sync X2 X1 Suitable for for precise synchronizing such as as a gantry as as well well as as CP CP control. 2011/6/14 Rev. 1 Page 43

44 Pulse and RTEX Controller (an example) Servo Pulse Motion Profile Gen. CPU Position Data Pulse IC Pulse Counter Position Data CPU INT Latch INT Timer Async. Timer As each servo makes sampling independently, data reflected timings are different among axes. Controller (an example) Servo RTEX Motion Profile Gen. CPU Position Data Com. ASIC Position Data Com. ASIC Position Data 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. 2011/6/14 Rev. 1 Page 44

45 Cyclic Position Command Velocity Pulse (Conventional) Time Integrate Differentiate RTEX position cmd. [pulse] Cmd. Update Period 1 / 0.5 / 0.166ms (Selectable with parameter) Time Absolute (not incremental) value must be used. 2011/6/14 Rev. 1 Page 45

46 Shorter Update Period More Precisely on High-speed CP control Micro circular interpolation such as dispenser Y Ideal trace Y Command Position Conventional T = 2ms RTEX T = 0.5ms (*) X X *: Data update period depends on controller specification. 2011/6/14 Rev. 1 Page 46

47 Shorter Transmission-Time Conventional System RTEX Proportion to # of axes 4axes 38us 8axes 75us Com. Period Com. Period 16axes 150us 32axes 300us Command Generation in NC Communication Command Reflection in Servo Calculation Constant TA TB Short at few axes TA > TB Note: The above shows a case when the data update is done with the same period as the communication. Commnad is applied to the servo control as soon as after all axes receiving. 2011/6/14 Rev. 1 Page 47

48 Error Correction Error corrected at going through nodes. Strong Noise Immunity Master TX Data Broken RX Slave Error Correcting RX TX Restored RX TX Effective in many nodes system Data Broken Restored RX TX RX Error Correcting TX Note: Because of limitations of the error correct ability, there is a case where it cannot restore broken data. 2011/6/14 Rev. 1 Page 48

49 Specifications of RTEX Item Specifications Speed 100Mbps Physical Layer 100BASE-TX full duplex (by IEEE 802.3u) Cable Shielded Twisted Pair (TIA/EIA-568B CAT5e) Topology Ring Isolation Pulse Transformer with common-mode choke Connector RJ45 Cable Length Inter-node: Max. 100m, Total: Max. 200m Noise Immunity 2.5kV over, IEC compliant Com. Period (*) 1ms, 0.5ms, 0.166ms, 0.083ms Update Period (*) 1ms, 0.5ms, 0.166ms Number of Axes (*) Up to 32 Motion Interface (*) Profile Position, Cyclic Position / Velocity / Torque *: Depending on controller specification 2011/6/14 Rev. 1 Page 49

50 Test Operation 2011/6/14 Rev. 1 Page 50

51 System Example AC Set the node address according to the controller specification. PANATERM for A5 FREE Controller A5N USB Use MINI-B 5pin USB cable on the market. RTEX Positive Direction (Note) L1 Motor L3 L1C L2C DC24V NOT HOME POT Note: With Pr0.00, the positive direction is defined. 2011/6/14 Rev. 1 Page 51

52 Servo Settings Parameter settings are depend on controller specification. At least the followings must be set. Part Front Panel Pr0.00 Pr0.01 Pr Pr Pr5.04 Pr Pr7.23 Item Node Address Positive Direction Control Mode Electronic Gear I/O Assignment (If necessary) Limit Inputs Com. and Update Period Response Byte3 Structure Notes: 1. In some controller, parameters are set automatically over RTEX. 2. After setting parameters, write them to EEPROM and turn power off and on. 2011/6/14 Rev. 1 Page 52

53 Operation After making sure of correct wiring, power ON. (Turning-on order depends on controller spec.) When both LINK and COM LED indicate green, RTEX communication is established. According to controller specification, Servo-ON and Start Gain tuning with PANATERM 2011/6/14 Rev. 1 Page 53

54 Parameter Setting Download PANATERM from the following web site: FREE When showing all parameters, select Parameter list. 2011/6/14 Rev. 1 Page 54

55 Positive Direction With Pr0.00, define positive direction. 2011/6/14 Rev. 1 Page 55

56 Control Mode In Full-Closed, set Pr0.01 to 6. Semi-Closed Full-Closed Pr A5N Drive Full-Closed Full-Closed Control Control Rotary Encoder Motor X5: Serial or A/B/Z Linear Encoder X6: Serial Note: In Full-Closed, position control (PP or CP) only enabled. 2011/6/14 Rev. 1 Page 56

57 Electronic Gear e.g.) When commanding as 10000pulse/r (A4N incremental equivalent), then set the followings: Pr0.08 = 0, Pr 0.09 = 0, Pr 0.10 = Pr Pr is If necessary, with adjusting position command filters (Pr2.22, Pr2.23), smooth out the position command after the electronic gear through. 2011/6/14 Rev. 1 Page 57

58 IN-signals Assignment Default settings: X4 Name X4 Pin # Setting Value (hex) Setting Signal Setting Logic Pr4.00 SI h SI-MON5 Normally Open Pr4.01 SI h POT Normally Closed Pr4.02 SI h NOT Normally Closed Pr4.03 SI E2E2Eh SI-MON1 Normally Open Pr4.04 SI h HOME Normally Open Pr4.05 SI h EXT2 Normally Open Pr4.06 SI B2B2Bh EXT3 Normally Open Pr4.07 SI h 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. 2011/6/14 Rev. 1 Page 58

59 OUT-signals Assignment Default settings: X4 Name X4 Pin # Setting Value (hex) Setting Signal Remark Pr4.10 SO1+ SO h BRK-OFF If changing to EX-OUT2, set to h. Pr4.11 SO2+ SO h EX-OUT1 Pr4.12 SO3+ SO h ALM Normally Closed For EX-OUT1 and EX-OUT2 bit layout in RTEX command block, it is the same as A4N. 2011/6/14 Rev. 1 Page 59

60 Limit Operation With setting Pr5.04 to 1, limit input operation by servo should be disabled because such a operation is normally done by controller. Even if disabled, limit inputs status can be monitored via RTEX with Pr7.23 setting. 2011/6/14 Rev. 1 Page 60

61 Command Update Period According to controller specification, both command update period and communication period must be set properly. Update Period Com. Period Pr7.20 Setting Name Range Description Pr ms 1.000ms ms 0.500ms ms 0.500ms ms 0.166ms ms 0.083ms 0 2 Pr7.20 Communication Period 0 to 12 Pr7.21 Ratio of Command Update Period 1 to 2 0: 0.083ms 1: 0.166ms 3: 0.5ms 6: 1.0ms Else: Do not set. (Reserved) Command Update / Communication Period 1: 1 Select 2: 2 (Com.=0.5ms case only) 2011/6/14 Rev. 1 Page 61

62 Response byte3 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 to bit3: Arrangement of POT/NOT status. 0: POT is bit1, NOT is bit0 1: NOT is bit1, POT is bit0 bit6: Logic of POT/NOT status. 0: Positive logic, Active is 1 1: Negative logic, Active is 0 Select according to the controller specification. 2011/6/14 Rev. 1 Page 62

63 Limit Sensors Wiring A4N Regardless of parameter setting, physical layout decides wiring. CW direction PANATERM for A5 X5 Connector CCWL CWL A5N According to parameter setting, wiring is changed. Positive direction (Note) X4 Connector NOT POT Note: Positive direction is set with Pr /6/14 Rev. 1 Page 63

64 Bit Layout of Limit Flags Even if A4N is used in default setting for bit layout of limit flags, the default parameter must be changed in A5N when using CW is plus. A4N Default bit1 bit0 byte3 CCWL CWL A5N byte3 Pr7.23 bit3=0 (Default) bit1 bit0 POT NOT CCW is plus (Pr0.00=1) Pr7.23 bit3=1 NOT POT CW is plus (Pr0.00=0) Parameters: A4N A5N Positive Direction Pr43 Pr0.00 Bit layout of Limit Flags Pr43 Pr7.23, bit3 2011/6/14 Rev. 1 Page 64

65 Wiring 2011/6/14 Rev. 1 Page 65

66 Power Supply and Motor AC MCCB If single phase, connect to L1 and L3. Put the circuit that makes main power turn off at alarm. Noise Filter MC Servo Drive A5N L1 L2 L3 L1C L2C XA Main Power Control Power XB B1 B3 B2 U V W Connect regenerative resistor, if necessary. Red White Black Green / Yellow Motor Put AC reactor if necessary. X4 14 BTP-I *2 15 BTN-I Notes: *1) The above figure shows an example of the frame size A or B. For the other size, refer to the specifications. *2) The Battery is for absolute encoder. It is normally installed on encoder cable, or alternatively can be also connected to X4 connector. X6 E5V E0V BTP-O BTN-O PS PS Shell Shield *2 Encoder 2011/6/14 Rev. 1 Page 66

67 Counter-measures for Noise Reducing PWM Noise Radiated from Drive Install a ferrite core on motor cable U, V and W. Ferrite Core: ZCAT by TDK (DV0P1460) Stable Frame Ground Motor Cable U V W E Do not install it on E. Make the back of chassis tightly contact earthed metal frame. The surface of the metal frame must be kept conductive. 2011/6/14 Rev. 1 Page 67

68 I/O Connector Difference Functions of SI1 to 8, and SO1 to 3 are changeable with parameters. 2011/6/14 Rev. 1 Page 68

69 Sensor Inputs X4 (): Default Setting Servo Drive A5N DC12 to 24V Positive Limit Normally Closed 6 7 I-COM SI2 (POT) 4.7k 1k 4.7k Negative Limit Normally Closed 8 SI3 (NOT) 1k 4.7k HOME Normally Open 10 SI5 (HOME) 1k 4.7k Latch Input 11 SI6 (EXT2) Normally Open 4.7k 1k Latch Input Normally Open 12 SI7 (EXT3) 2011/6/14 Rev. 1 Page 69 1k

70 General Purpose Inputs X4 (): Default Setting Servo Drive A5N 4.7k Normally Open 9 SI4 (SI-MON1) 4.7k 1k Normally Open 13 SI8 (SI-MON4) 4.7k 1k 5 SI1 (SI-MON5) 1k Normally Open Note: Host controller can monitor a state of SI-MONs via RTEX. These inputs do not influence servo control in the drive. 2011/6/14 Rev. 1 Page 70

71 Sensor Input Example 1 Panasonic Electric Works SUNX Photo-sensor PM-64 (NPN transistor output) X4 Servo Drive A5N 6 I-COM 4.7k 1k Out1: Normally Closed Out2: Normally Open Proximity-sensor GX-F12 (NPN transistor output) Brown 4.7k Main Circuit Output Black DC24V 1k Blue GX-F12A: Normally Open GX-F12B: Normally Closed 2011/6/14 Rev. 1 Page 71

72 Sensor Input Example 2 Servo Drive A5N Photo-Sensor by OMRON EE-SX672A (NPN transistor output) X4 Note DC24V 6 I-COM 4.7k 1k Main Circuit Note: If L pin is open, ON during shade. If L pin is tied to + pin, ON during light. 2011/6/14 Rev. 1 Page 72

73 Relay Control Outputs DC12 to 24V For turning main power off Servo Drive A5N During alarm, transistor OFF 3 SO3+ 10 (ALM) 4 X4 SO3- (ALM-) (): Default Setting Note: Vce (sat) = approx. 1.2V Max 50mA For releasing motor brake During release, transistor ON 1 SO1+ 10 (BRK-OFF+) 2 SO1- (BRK-OFF-) Max 50mA For generic 25 SO2+ (EX-OUT1+) SO2- (EX-OUT1-) Max 50mA 2011/6/14 Rev. 1 Page 73

74 Encoder Emulation Output Servo Drive A5N RS422 Line Receiver X4 RS422 Line Driver AM26C31 equivalent OA+ OA OB+ OB- 16 GND GND FG Shield Shell FG Note: A termination resistor (typ. 330 Ohm) must be put between line-receiver inputs. 2011/6/14 Rev. 1 Page 74

75 Encoder Connector X5: MUF-RS10DK-GKXR by JST No. Name Function 1 E5V 2 E0V 3 PS 4 /PS Power Supply Out Panasonic Style Serial Data X6: by Molex No. Name Function 1 E5V 2 E0V Power Supply Out 3 BTP Battery Out 4 BTN for Abs. 5 EXA A-phase 6 /EXA In 5 PS 6 /PS Panasonic Style Serial Data 7 EXB 8 /EXB 9 EXZ 10 /EXZ B-phase In Z-phase In Shell FG Frame Ground Shell FG Frame Ground Note: - In Out are based on a servo drive. - In the specific model for linear motor, commutation signals can be connected to X6. Signals of pin #3 to 6 are replaced with #3: NC, #4: CS3, #5: CS2, #6: CS1. - Cable side connectors X5: MUF-PK10K-X (JST) X6: (Molex) 2011/6/14 Rev. 1 Page 75

76 Linear Encoder Serial Signal Linear Encoder GND X5 MUF-PK10K-X (JST) 1 E5V 2 E0V Servo Drive A5N 5.2V +/-5% max. 300mA GND 3 4 PS PS Shield Shell FG GND FG Note: If using an external power supply, E5V(pin#1) must be left unconnected. E0V(pin#2) always must be connected to GND of a linear encoder. 2011/6/14 Rev. 1 Page 76

77 Linear Encoder A/B/Z signals Linear Encoder X5 MUF-PK10K-X (JST) 1 E5V 2 E0V GND Servo Drive A5N 5.2V +/-5% max. 300mA GND A 5 6 EXA EXA 120 AM26C32 equivalent B 7 EXB EXB Z 9 EXZ EXZ GND FG Shield Shell FG GND Note: If using an external power supply, E5V(pin#1) must be left unconnected. E0V(pin#2) always must be connected to GND of a linear encoder. 2011/6/14 Rev. 1 Page 77

78 CS Signals (Linear Specific) Magnetic Pole Detector GND X (Molex) 1 E5V 2 E0V Servo Drive A5N 5.2V +/-5% max. 300mA GND Do not over this in a total of X5 and X6. CS1 5V C-MOS 6 CS1 10k 5V TC74VHC14 equivalent CS2 5 CS2 CS3 4 CS3 GND FG Shield Shell FG GND Note: If using an external power supply, E5V(pin#1) must be left unconnected. E0V(pin#2) always must be connected to GND of a pole detector. 2011/6/14 Rev. 1 Page 78

79 Wiring of Com. Cable (4pairs) Straight Wiring Max 60m RJ45 plug 1 White-Orange 1 RJ45 plug 2 Orange 2 3 White-Green 3 4 Green 4 5 Blue 5 6 White-Blue White-Brown Brown 7 8 Shell Shield Shell 1 8 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. 2011/6/14 Rev. 1 Page 79

80 Wiring of Com. Cable (2pairs) Straight Wiring Max 60m RJ45 plug 1 White-Orange 1 RJ45 plug 2 Orange 2 3 White-Green 3 4 Green Shell Shield Shell 1 8 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. 2011/6/14 Rev. 1 Page 80

81 Trouble of Com. Cable When LINK LED is disappear against power ON of all servos, make sure whether there is the trouble such as breaking down with a cable connected to RX of the disappearing servo. LINK LED TX Host Controller RX RX TX Servo Drive Green RX TX Servo Drive Green Trouble RX TX Servo Drive Disappear RX TX Servo Drive Green 2011/6/14 Rev. 1 Page 81

82 Safety I/F (Specific Model Only) 2011/6/14 Rev. 1 Page 82

83 STO Overview Connector X3: Connector pinning: Viewed from cable side 2011/6/14 Rev. 1 Page 83

84 Connector X3 2011/6/14 Rev. 1 Page 84

85 Delay Time Max. Delay from input off to function activated: 5ms 2011/6/14 Rev. 1 Page 85

86 Safety Controller Wiring 2011/6/14 Rev. 1 Page 86

87 Safety Controller Wiring (Cont.) Image of Safety Controller X3 Servo Drive A5N 4 SF1+ 4.7k DC24V SF1- SF2+ SF2-1k 4.7k 1k 8 EDM EDM- Max 50mA Vce (sat) = approx. 1.2V Do not connect to pin 1 and /6/14 Rev. 1 Page 87

88 Dimensions in mm 2011/6/14 Rev. 1 Page 88

89 Frame Size A 2011/6/14 Rev. 1 Page 89

90 Frame Size B 2011/6/14 Rev. 1 Page 90

91 Frame Size C 2011/6/14 Rev. 1 Page 91

92 Frame Size D (200V) 2011/6/14 Rev. 1 Page 92

93 Frame Size D (400V) 2011/6/14 Rev. 1 Page 93

94 Frame Size E (200V) 2011/6/14 Rev. 1 Page 94

95 Frame Size E (400V) 2011/6/14 Rev. 1 Page 95

96 Frame Size F 2011/6/14 Rev. 1 Page 96

97 Frame Size G 2011/6/14 Rev. 1 Page 97

98 Frame Size H 2011/6/14 Rev. 1 Page 98

99 Appendix 2011/6/14 Rev. 1 Page 99

100 Optional Cable and Connector Except for X4 connector, the options are in common with A5 series. For X4, the followings for E series should be used. X4 Cable X4 Connector 2011/6/14 Rev. 1 Page 100

101 X4 Pin Configurations No. Name (Default) 1 SO1+ (BRK-OFF+) 2 SO1- (BRK-OFF-) 3 SO3+ (ALM+) 4 SO3- (ALM-) 5 SI1 (SI-MON5) 6 I-COM 7 SI2 (POT) 8 SI3 (NOT) 9 SI4 (SI-MON1) 10 SI5 (HOME) 11 SI6 (EXT2) 12 SI7 (EXT3) 13 SI8 (SI-MON4) No. Name (Default) 14 BTP-I 15 BTN-I 16 GND 17 OA+ 18 OA- 19 OB- 20 OB+ 21 Reserved Output 22 Reserved Output 23 AIN 24 GND 25 SO2+ (EX-OUT1+) 26 SO2- (EX-OUT1-) Specific model only Note: Shield of cable should be connected to shell of the connector. 2011/6/14 Rev. 1 Page 101

102 Com. ASIC MNM1221 If you develop RTEX products, this ASIC is needed. Simple Protocol & Easy Development Ref. Schematics, Example Codes, etc. Available Ordering No. Packing Quantities DV0P444-9 Specifications 2011/6/14 Rev. 1 Page pcs Power Supply Voltage 3.3V Consumption Operating Ambient Temp Package RoHS Operating Mode Max. 100mA (For reference) -40 to +85 degree C LQFP100pin 14 x 14mm Lead Pitch 0.5mm Compliant Master / Slave Note: - You are subject to limitation that you must not compete with Panasonic products. - To provide the technical documents, NDA is needed. - For further information, please contact us.

103 Implement Example 90mm CPU RJ45 70mm Pulse Transformer 25MHz Clock PHY ASIC MNM /6/14 Rev. 1 Page 103

104 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. Controller A5N Drive USB Log Reader FREE RTEX Note: Other axis data cannot be readout. 2011/6/14 Rev. 1 Page 104

105 2011/6/14 Rev. 1 Page 105