MHMD042P1U,MHMD042P1U pdf中文资料,MHMD042P1U引脚图,MHMD042P1U电路-Datasheet-电子工程世界

MHMD042P1U: 产品描述SERVOMOTOR 3000 RPM 200VAC; 产品类别热门应用机电/工控/自动化; 文件大小7MB，共364页; 制造商Panasonic(松下); 官网地址http://www.panasonic.co.jp/semicon/e-index.html; 标准

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MHMD042P1U概述

SERVOMOTOR 3000 RPM 200VAC

MHMD042P1U规格参数

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)	184.1 / 1300
功率 - 额定值	400W
编码器类型	增量式
大小/尺寸	方形 - 2.362" x 2.362"（60.00mm x 60.00mm）
直径 - 轴	0.551"（14.00mm）
长度 - 轴和轴承	1.181"（30.00mm）
安装孔间距	2.756"（70.00mm）
端子类型	导线引线
特性	键，油封
扭矩 - 瞬时最大值 (oz-in / mNm)	538.13 / 3800
工作温度	0°C ~ 40°C
认可	CE，CSA，cULus，TUV，UL
重量	3.1 磅（1.4kg）

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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

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

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

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

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