Overview AC SERVO DRIVES & MOTION CONTROL MINAS A6
02 COMPREHENSIVE MOTION CONTROL SOLUTIONS BY PANASONIC D GT and HM500 series touch panels Page 50 A MINAS A6 series servo drives Page 4 B Motion control libraries, configuration and programming software Page 43 C FP series PLCs Page 36 A MINAS A6 series servo drives B Motion control libraries, configuration and programming software Highly dynamic servo drives with state-of-the-art technolo- PLC programming software Control FPWIN Pro (compliant gy.
CONTENTS Comprehensive motion control solutions by Panasonic . . . . . . . . . . . . . . 2 Servo drive applications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4 MINAS A6 series – new products & features . . . . . . . . . . . . . . . . . . . . . 6 MINAS A6 – network series . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11 MINAS A6 – Overview. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12 Servo drivers . . . . . . . . . . . . . . . . . . .
04 SERVO DRIVE APPLICATIONS › Machine tools › Semiconductor production equipment › Machines for LCD production › Packaging machinery › Conveyors › Automated machines › Printing machines › Robots Robots A robot is required to operate stably independent of the constantly changing position, workload, or other condition affecting the robot arm. The MINAS A6 servo drive family guarantees stable operation by reducing the effects of loads to a minimum with the help of "adaptive load control".
05 CNC milling machine Equipped with servo motors of the MINAS LIQI series for controlling 3 axes (X, Y, Z) and safety light curtains from Panasonic. Packaging machine for hamburger and minced meat Equipped with MINAS A5 servo motors, FP7 programmable controllers, inverters, touch panels and sensors from Panasonic. Press brake for metal sheet Machine system equipped with MINAS A5 motors with EtherCAT for moving back gauges.
06 MINAS A6 SERIES – NEW PRODUCTS & FEATURES Panasonic’s new MINAS A6 series follows in the footsteps of the highly successful predecessor, the MINAS A5 series. The A6 series has been improved further. At the same time, compatibility with the A5 series has been maintained.
07 Compatible with MINAS A5 series Identical interfaces The same A5 series connector cables and connectors can also be used for the A6 series (except for MHMF motors 50W-1000W). MINAS A5 Same accessories EMC filter and braking resistor can be used for both the MINAS A5 series and the MINAS A6 series. MINAS A6 Same flange The motor in the machine is 1:1 interchangeable.
MINAS A6 SERIES – NEW PRODUCTS & FEATURES Improvements and new features of the MINAS A6 series Advanced controller settings 3.2kHz frequency response Gain (dB) A6 A5 Frequency (Hz) A5 A6 Numerous interference bands Available with two different seals Hardly any interference bands Type 1: Single lip Type 2: Triple lip (single/triple-lip) An oil seal with triple lip has just been developed. It is ideally suited for protection against ingress of dust and oil in poor ambient environments.
09 Max. torque Torque Up to 350% of the nominal torque (MHMF model) 350% Max. speed Raised to max. 6500rpm (MHMF model) Speed 6500rpm Semi/fully enclosed position control loop The A6 series enables a setting value of 8Mpps and a response with 4Mpps. This allows for high resolution as well as high-speed operation. A5 A6 Setting value 4Mpps Setting value 8Mpps General features External encoders for full-closed control Using an external encoder ensures high-precision position control.
MINAS A6 SERIES – NEW PRODUCTS & FEATURES General features Manual and automatic damping controls Damping filters that can be set automatically suppress the equipment's resonance and the natural vibration frequency component of the command input, which greatly reduces axis vibration at machine stoppage. Integrated safety function STO (Safe Torque Off) Safety functions based on safety standards: ISO13849-1(PL e, CAT3), EN61508(SIL3), EN62061(SILCL3), EN61800-5-2(SIL3, STO), IEC61326-3-1, IEC60240-1.
MINAS A6 – NETWORK SERIES MINAS A6N with RTEX protocol RTEX (Realtime Express) Thanks to its high transmission speed and sampling rate, this fast, real-time Ethernet bus for automation is particularly well suited for highly dynamic single and multiple axes position control tasks. The communication between master and slaves happens in real time.
MINAS A6 – OVERVIEW Servo drivers Model Standard RS485 communication Multifunction RTEX A6SE A6SG A6SF A6N RTEX - - - x Safety Connector (BBH) - - x x External encoder - - x x Safety STO - - x x RS232/485 (Modbus) - x x - Velocity control, torque control - - x x Position control with digital I/O (like MINAS A4P) x x x - Position control x x x x Motors Model Rated power W 50 MDMF MHMF Low inertia Medium inertia High inertia Flange Ø mm Rated rotat
Servo driver model codes MAD L N 1 5 S E Frame: Type: MAD: A Pulse/analog type: MBD: B SE: Standard (pulse) MCD: C SF: Multifunction (pulse, analog) MDD: D SG: RS485 (pulse) MED: E MFD: F Network type: L: A6 series NE: Without safety NF: With safety Safety function: Supply voltage N: Without safety 1: 1-phase, 100V T: With safety 3: 3-phase, 200V 5: 1-/3-phase 200V Maximum rated current: 0: 6A 5: 40A 1: 8A 8: 60A 2: 12A A: 100A 3: 22A B: 120A 4: 24A Motor model codes
MINAS A6 – OVERVIEW Connections and interfaces Connector type (200V: frame A – F) Front Panel Wiring of Main Connector Connection to input power Indicates parameters and errors Mains Residual current device Display LED Mode switching button Data setting button Circuit Breaker (MCCB) SET Button Connection to PC Noise Filter (NF) (optional) USB mini-B cable (To be supplied by customer) Magnetic Contactor (MC) Setup support software “PANATERM” Please download from our web site.
MINAS A6 SERIES: Compact, light and powerful As fast as our large motors! Motors Smaller than a business card Illustration true to scale
MINAS A6 – OVERVIEW Overview of MINAS A6 motors, servo drivers and accessories Motor Rated power W Flange Ø mm Max. torque Nm Rated rotation speed (max.) rpm Motor 50 38 0.16 (0.48) 3000 (6000) MSMF5AZL1U1 100 Low inertia 200 60 400 750 80 1000 100 1500 Medium inertia 130 1500 MSMF012L1U1 0.64 (1.91) MSMF022L1U1 1.27 (3.82) MSMF042L1U1 2.39 (7.16) MSMF082L1U1 3.18 (9.55) MSMF092L1U1 MSMF012L1V1 MSMF022L1V1 MSMF042L1V1 MSMF082L1V1 MSMF092L1V1 3.18 (9.
Driver Model Cable Frame Motor cable Encoder cable For motors without holding brake For motors with holding brake 23 bit incremental 23 bit absolute MFMCA0□□0WJD -- MFECA0□□0WJD MFECA0□□0GJE -- MFMCA0□□0WJD* Filter Braking resistor EMC filter Model Low inertia 200V AC class MADL□05□□ A MADL□15□□ MBDL□25□□ MCDL□35□□ MDDL□45□□ B C D MDDL□55□□ MFMCA0□□0WJD -- -- MFMCA0□□0WJD* MFMCA0□□0WJD -- -- MFMCA0□□0WJD* MFMCA0□□0WJD -- -- MFMCA0□□0WJD* MFMCA0□□0WJD -- -- MFMC
SERVO DRIVERS Specifications Frame Drive output Main circuit Control circuit Operating conditions 200V MINAS A6SE, A6SG, A6SF MINAS A6N A, B, C, D, E, F 1-phase, 3-phase, 200–240V (+10%, -15%), 50/60Hz A, B, C, D, E, F 1-phase, 200–240V (+10%, -15%), 50/60Hz Temperature 0–55°C, storage temperature: -20 to +65°C (max. temperature 80°C for 72 h) Ambient humidity Operation and storage: 20–85% RH (non-condensing) Altitude Max. 1000m above sea level Vibration Max. 5.
Functions MINAS A6SE, A6SG, A6SF MINAS A6N Control input Clear deviation counter, pulse enable, electronic gear switching, damping control switching, etc. Controller enable, reference signal, measurement value signal, etc. Control output Position control complete, torque reached, controller status, etc. Position control complete, torque reached, controller status, etc.
SERVO DRIVER – DIMENSIONS XA: 1. Main circuit 2. Control circuit XB: X1 X2 X3 XA: ① ② 1. Braking resistor 2. Motor X1: X2: X3: X4: X5: USB RS232/485 Safety function connector I/O signals External encoder (encoder, linear scale, etc.) X6: Encoder X4 XB: ① ② X5 X6 All dimensions are in mm Frame A, B 5. ø 5 140 2.5 41 5.2 N2 14 N2 Mounting bracket for front mounting (optional) (90) L1 5 C A B 5 Mounting bracket for front mounting (optional) 2 P2 P1 (49) N2 14 N2 .2 ø5 5 B2 5.
All dimensions are in mm Frame E N2 50 N2 (53) 2-5.2 P2 42.5 ø5 .2 Mounting bracket for front mounting Brackets for wall mounting C A B 5 3.5 P1 Mounting bracket for front mounting 2.5 52 42.5 2-5.2 50 L1 .2 N2 ø5 5 (18) N2 (105) 160 Frame F N2 100 2-5.2 65 N2 2 5 Brackets for wall mounting C A B 5 3.5 Mounting bracket for front mounting 65 2-5.2 100 L1 Voltage 2.5 47 .2 Frame P2 P1 .
MOTOR Specifications MSMF (low inertia ) 50–1500W, 200V AC Motor MSMF5AZL1□□ MSMF012L1□□ MSMF022L1□□ MSMF042L1□□ 50 100 200 400 Rated power W 0.5 Required power kVA 0.9 Rated current A 1.1 1.5 2.4 Max. current A o-p 4.7 6.5 10.2 Rotational speed r/min Rated rotational speed 3000 Max. rotational speed Weight kg Torque Nm 6000 Without holding brake 0.32 0.47 0.82 With holding brake 0.53 0.68 1.3 1.7 Nominal 0.16 0.32 0.64 1.27 0.48 0.95 1.91 3.82 Maximal 1.
MSMF082L1□□ MSMF092L1□□ 750 MSMF102L1□□ MSMF152L1□□ 1000 1.3 1500 1.8 2.3 4.1 5.7 6.6 8.2 17.4 24.2 28 35 2.3 2.8 3.6 3.1 3.6 4.7 5.6 2.39 3.18 3.18 4.77 7.16 9.55 9.55 14.3 0.96 1.26 2.15 3.1 1.06 1.36 2.47 3.45 5000 Max. 20:1 4.6 Max. 15:1 t use the holding brake when the motor is in motion.) Min. 2.45 3.8 min. 8 min. Max. 70 Max. 50 Max. 20 Max. 15 0.42 0.81 ±10% Min. 1 24 ±1.2% Min. 2 24 ±2.
MOTOR Specifications MDMF (medium inertia) 1000–1500W, 200V AC Motor MDMF102L1□□ MDMF152L1□□ 1000 1500 Required power kVA 1.8 2.3 Rated current A 5.2 8 Max. current A o-p 22 32 Rated power Rated rotational speed Rotational speed r/min 2000 Max. rotational speed 3000 Without holding brake Weight kg Torque Nm 4.6 With holding brake 6.1 7.2 Nominal 4.77 7.16 Maximal 14.3 21.
MHMF (high inertia) 50–1500W, 200V AC MHMF 5AZL1□□ Motor MHMF 012L1□□ MHMF 022L1□□ MHMF 042L1□□ MHMF 082L1□□ 100 200 400 750 Required power kVA 50 0.5 0.5 0.9 1.3 Rated current A 1.1 1.4 2.1 Max. current A o-p 5.5 6.9 10.4 Rated power W MHMF 092L1□□ MHMF 102L1□□ MHMF 152L1□□ 1000 1500 2.3 1.8 2.3 3.8 5.7 5.2 8 18.8 28.2 22 34 Rotational speed r/ min Rated rotational speed Weight kg Without holding brake 0.31 0.42 0.78 1.2 2.3 2.8 6.1 7.
MOTOR – TORQUE CHARACTERISTICS Example of a motor with low moment of inertia: With oil seal MSMF5AZL1□□ Rated torque [%] Couple [Nm] 0.6 70 60 50 Peak run range 0.3 (0.08) without brake 100 with brake Continuous run range 0 1000 2000 3000 4000 5000 6000 0 Rotational speed [r/min] 10 20 30 40 Ambient temperature [˚C] Example of a motor with medium moment of inertia: With oil seal MDMF102L1□□ Torque [Nm] Rated torque [%] 15 10 100 Peak run range (7.7) (6.0) 50 5 (3.
MOTOR – DIMENSIONS MSMF – low inertia (50–1500W, 200V AC) 50–100W Side Front Key way dimensions □LC LL LM Lg ① LR LF ② LR LE LW LK 4x øLZ ③ S KW KH øLA LH TP RH LN LB 1) Encoder connector (JN2) 2) Brake connector 3) Motor connector 200–1000W Side Front LG ① ② LL LM LN LQ ③ Key way dimensions LR LT LF 4x øLZ S □LC LR LW LK LE LH KW KH øLA LB RH TP 1) Encoder connector (JN2) 2) Brake connector 3) Motor connector 1000–1500W Side Front LL LG Key way dimensions LM
MOTOR – DIMENSIONS MSMF (low inertia ) 50–1500W, 200V AC Rated power Motor Encoder LL LN LQ 50 100 200 400 750 200V AC MSMF 5AZL1□□ MSMF 012L1□□ MSMF 022L1□□ MSMF 042L1□□ MSMF 082L1□□ ppr 1000 1500 MSMF 092L1□□ MSMF 102L1□□ MSMF 152L1□□ 23 bit absolute, 8388608 mm 72 92 79.5 99 112.2 127.2 136 154.5 With holding brake mm 102 122 116 135.5 148.2 163.2 163 181.
MDMF – medium inertia (1000–1500W, 200V AC) Side Front LR LL LG ② Key way dimensions LM LN LQ □LC 4 x øLZ LF LR LW LK LE ① S LH TP øLA KH 1000–1500W KW S LB LB RH øLD 1) Encoder connector (JN2) 2) Motor/brake connector Note: Illustration shows motor with holding brake MDMF (medium moment of inertia) 1000–1500W, 200V AC Rated power Motor 1000 1500 200V AC MDMF102L1□□ MDMF152L1□□ ppr Encoder LL W 23 bit absolute, 8388608 Without holding brake mm 121 135 With holding b
MOTOR – DIMENSIONS MHMF – high inertia (50–1500W, 200V AC) 50–100W Side Front LL LM LG ① LR 4xqLZ LF ② Key way dimensions □LC LR LW S LE LK KW KH LH LB 200–1000W TP qLA Side RH Front LL LM LG ① ② LR □LC S LF Key way dimensions LR LW LK LE LH LB 1000–1500W qLD Side ① LH LL LM LN LQ ② LF TP RH Front LG KW KH 4xøLZ Key way dimensions LR 4xLZ＊ LC LR LW LK LE S TP KH qLA KW LB LB S qLD RH 1) Encoder connector (JN2) 2) Motor/brake connector Note: All
MHMF (high inertia) 50–1500W, 200V AC Rated power Motor 50 100 200 400 750 200V AC MHMF 5AZL1□□ MHMF 012L1□□ MHMF 022L1□□ MHMF 042L1□□ MHMF 082L1□□ ppr Encoder LL W 1000 1500 MHMF 092L1□□ MHMF 102L1□□ MHMF 152L1□□ 23 bit absolute, 8388608 Without holding brake* mm 57.5 71.5 71 88 95.4 108.2 - - Without holding brake mm 53.5 67.5 67.5 84.5 91.9 104.7 149 163 With holding brake* mm 91.4 105.4 100.3 117.3 129 141.8 - - With holding brake mm 87.4 101.
ACCESSORIES – CABLES All dimensions are in mm Cables (motor – servo driver) MFMCA0□□0WJD MHMF motors 50/100W MFMCA0□□7WFD (28,8) L (60) (ø6) MSMF motors 50W–1kW L (50) (ø 5.4) (25.9) For motors without holding brake (20) Identification label MFMCA0□□0WFD (26.6) L (50) (ø 6.
All dimensions are in mm MFECA0□□0WJD MSMF, MDMF, MHMF motors 1kW–5kW MFECA0□□0GTD MSMF, MHMF motors 50W–1kW MFECA0□□0GJE MSMF, MDMF, MHMF motors 1kW–5kW MFECA0□□0GTE L (ø5) MSMF, MHMF motors 50W–1kW (ø6) L L L 110 Control cable (PLC – MINAS A6 driver) For direct connections with FP series programmable controllers 300 (ø6) 110 300 (ø6) For motors with 23-bit absolute encoder (battery box) For motors with 23-bit incremental encoder Encoder cables (motor – servo driver) FPΣ (Sigma)
ACCESSORIES – OTHER Product no.
EMC filter FN2080-6-06 for servo driver MINAS A6 50–750W, 1-phase / FN2080-10-06 for servo driver MINAS A6 1–1.5kW, 1-phase FS21238607 for servo driver MINAS A6 50–750W, 1-phase Dimensions (mm) FN2080-6-06 FN2080-10-06 A B C D E F G H I J K L M N 113.5 57.5 45.4 94 56 103 25 12.4 32.4 15.5 4.4 6 0.9 6.3 x 0.8 156 57.5 45.4 130.5 56 143 25 12.4 32.4 15.5 5.3 6 1 6.3 x 0.8 DV0P1460 with ferrite core 39±1 Braking resistor 30±1 Weight: 62.
PROGRAMMABLE LOGIC CONTROLLERS – OVERVIEW I/O The compact high-performance PLC. With its extensive range of expansion units, it offers optimized modularity. FP7 FP 00.011μs 2000 The smart controller of the next generation. Compact, state-of-theart PLC. F (Sigma) FP∑ 0 0.32μs 384 Besides its narrow design (width just 25mm), this controller boasts a processing speed of 0.08μs per basic instruction for a range of up to 3000 steps.
FP∑ (Sigma) The latest generation of compact machine controllers › Max. number of digital I/Os: 192 inputs / 192 transistor outputs or 56 relay outputs › Max. number of analog I/Os: 40 inputs / 28 outputs › 3 x RS232C or 2 x RS232 + 1 x RS485 › Program memory: 32000 steps › Data memory: 32k to 1056k words › PROFIBUS, Ethernet TCP/IP, Modbus, CC-Link, S-Link, CANopen, DeviceNet USB port for direct connection to a PC. Also Ethernetcompatible.
PROGRAMMABLE CONTROLLERS AND UNITS FOR MOTION CONTROL FP0R – position control Equipped with 2 independent pulse outputs for position control and fast counter for PWM output support. Integrated 4-axis feedback outputs (transistor output type) No expansion units are required for multi-axis position control with e.g. FP0R Y0 4 axes. M Y2 50kHz max.
FPΣ (Sigma) – position control Up to 16 axes can be controlled and extensive applications are possible Reliable and precise control of high-speed drives › Integrated linear and circular interpolation control › Simple and intuitive programming › Clockwise/counter-clockwise output method › Smooth acceleration/deceleration › Home position return › Pulse outputs up to 100kHz A high output frequency and a rapid 0.
PROGRAMMABLE CONTROLLERS AND UNITS FOR MOTION CONTROL FP-X – position control Low cost and space-saving for multi-axis position control tasks Built-in 3 or 4-axis pulse output (transistor types) › Max.
FP7 – position control For complex position control tasks Features › Linear, circular, and spiral interpolation › Integrated configurator software PM7 for parameter setting, JOG operation, home return, creation of data tables, etc. › Max. speed 4Mpps (line driver), 500Kpps (transistor) › Up to 600 points for each axis › Electronic cam control and electronic gear. Interpolation Electronic cam table and gearbox Linear Circle Spiral z y PLC Positioning unit Product no.
PROGRAMMABLE CONTROLLERS AND UNITS FOR MOTION CONTROL RTEX unit – positioning RTEX – the multiaxis Ethernet servo system The RTEX positioning units support MINAS A6N network servo drives. A mutually optimized system consisting of PLC and servo driver 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 position control › and for home returns with linear axes. Panasonic offers libraries for all motion control tasks.
SOFTWARE Modbus RTU protocol Field Bus Advantages Improved performance Improved functions Reduced cost › High-resolution control (minor vibrations, high stopping accuracy) › Editing parameters (moment of inertia, damping frequency) › No position deviation caused by › Servo data logging (collection of data related to the utilization factor and torque for remote monitoring) › Axes are easy to add and remove (simplified wiring by using a bus system) noise (improved reliability) › Less time requi
Direct access to servo drive parameters from the PLC Libraries The libraries enable serial communication (RS232, RS485) between the FP series PLCs and servo drivers of the MINAS A6 series. › The communication protocols for the drivers are also › The RS232 interface (optional RS485) is already included included in the libraries. with the FP series. › The libraries allow full read and write access to the param- › With RS232 connections, the first driver can be used as eters.
SOFTWARE Software Configurator PM for RTEX User-friendly, time-saving commissioning The Configurator PM offers numerous configuration options › Axis and parameter settings › Home return › Data table creation › Data monitor settings › JOG operations › and other settings for easy test operation Parameter settings The details of the settings can be displayed in a table. Details on how to create settings for each category are explained in the box below. Parameters can be copied between axes.
Configuring servo drivers PANATERM configuration software For MINAS AC servo motors & drive amplifiers 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. Basic functions › Parameter setup › After a parameter has been defined on the screen, it will immediately be sent to the driver.
SOFTWARE PANATERM configuration software Setup › Auto-tuning › Gain adjustment and inertia ratio measurement › Line graph display › The line graph diagram shows command and current velocity, torque, and the tracking error.
Software for designing drives M-SELECT software M-SELECT is a software program to help you select the correct motor capacity and servo driver 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 series in all sizes.
OTHER PANASONIC PRODUCTS Panasonic Electric Works offers a wide product range from one source, from individual components to complete systems. Panasonic's service profile also includes consulting, design-in, installation and commissioning by qualified application engineers. Human machine interfaces Our compact, bright and easy-to-read human machine interfaces are ideally suited for visualizing inspection results. The usual keypads can be replaced by touch panels on request.
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