Panasonic Minas-LIQI Series Technical Reference

Product number: Minas-LIQI series Issued on March 26, 2012 （REVISION . . ） Received by Date: Motor Business Unit, Appliances Company Panasonic Corporation 7-1-1 Morofuku, Daito-City, Osaka 574-0044, Japan CHECKED CHECKED CHECKED DESIGNED No. SR-ZSV00039

REVISIONS Date Page Sym REVISION Signed Mar. 26, 2012 - - NEWLY ISSUED Kang,Wu

Contents 1． Specification Overview.........................................................................................................................1 2． Specifications of Interface.....................................................................................................................2 2-1 Specifications of Input Signal of I/F Connector.................................................................................2 2-2 Specifications of Output Signal of I/F Connector..............................................................................4 2-3 Input/Output Signal Allocation..........................................................................................................5 2-3-1 Allocation of Input Signal ..........................................................................................................5 2-3-2 Allocation of Output Signal .......................................................................................................8 3． Specifications of Front Panel ..............................................................................................................10 3-1 Rotary switch(RSW)........................................................................................................................10 3-2 7 segment LED.................................................................................................................................11 4． Basic function .....................................................................................................................................12 4-1 Setting Rotational Direction.............................................................................................................12 4-2 Position control ................................................................................................................................13 4-2-1 Command Pulse Input ..............................................................................................................13 4-2-2 Command Scaling (Electronic Gear)........................................................................................15 4-2-3 Position Command Filter..........................................................................................................16 4-2-4 Pulse Regeneration...................................................................................................................18 4-2-5 Counter Clear (CL)...................................................................................................................21 4-2-6 In-position Output (INP) ..........................................................................................................22 4-2-7 Command Pulse Inhibition (INH) ............................................................................................23 4-3 Setting of Regenerative Resistor......................................................................................................24 5． Gain Adjustment / Damping Control Functions .................................................................................25 5-1 Automatic Adjusting Function.........................................................................................................25 5-1-1 Real-time Auto Tuning.............................................................................................................26 5-1-2 Adaptive Filter..........................................................................................................................31 5-2 Manual Adjustment..........................................................................................................................33 5-2-1 Block Diagram of Position Control Mode................................................................................34 5-2-2 Gain Switching Function..........................................................................................................35 5-2-3 Notch Filter ..............................................................................................................................39 5-2-4 Damping Control......................................................................................................................41 5-2-5 Feed Forward Function ............................................................................................................44 5-2-6 3rd Gain Switching...................................................................................................................46 5-2-7 Friction Torque Compensation.................................................................................................47 6． Applied Functions...............................................................................................................................49 6-1 Torque Limit Switching ...................................................................................................................49 6-2 Motor Movement Range Setting......................................................................................................50 6-3 Electronic Gear Switching ...............................................................................................................52 6-4 Setting of Sequence Movements......................................................................................................53 6-4-1 Drive prohibition input (POT , NOT ) sequence......................................................................53 6-4-2 Sequence at Servo Off..............................................................................................................54 6-4-3 Emergency Stop at Alarm ........................................................................................................55 6-4-4 Emergency Stop at Alarm ........................................................................................................56 7． Protective/Warning Functions.............................................................................................................57 7-1 List of Protective Functions .............................................................................................................57 7-2 Details of Protective Functions ........................................................................................................59 7-3 Warning Functions...........................................................................................................................64 7-4 Protection Function Setting before Gain Adjustment ......................................................................65 8． Others..................................................................................................................................................67 8-1 List of parameters.............................................................................................................................67 8-2 Timing Chart....................................................................................................................................73 8-2-1 Timing Chart of Operations After Turning Power On .............................................................73

8-2-2 Timing Chart of Servo On/Off When Monitor is Turned Off..................................................74 8-2-3 Timing Chart of Servo On/Off When Motor is Operating .......................................................74 8-2-4 Timing Chart of Operations When Alarm is Issued (Servo-On Command Status)..................75 8-2-5 Timing Chart of Operations When Alarm is Cleared (Servo-On Command Status) ...............76

Motor Business Unit, Appliances Company, Panasonic Corporation 1．Specification Overview Control method IGBT PWM method sine wave drive Control mode Position Control Encoder feedback 2500p/r(resolution: 10,000) 5-wire serial incremental encoder Input 6 multi-function inputs Functions of multi-function inputs: parameter-selectable Control signal output 3 multi-function outputs Functions of multi-function outputs: parameter-selectable Input 1 inputs each Both line driver interface and open collector interface supported using optocouple r input Pulse signal output 4 outputs each Encoder pulses (phase A, B and Z signals) or external scale pulses (phase EXA, EXB and EXZ signals) output by line driver. Open collector output is also available for phase Z and EXZ signals. Communication function(USB) Personal computer, etc. can be connected for parameter setting configuration and status monitoring. Front panel ①7 seg LED 2pcs ②RSW 1pcs Regeneration External resistor Basic Specification Dynamic brake Provided Control input Deviation counter clear, command pulse input inhibition, electronic gear switching, damping control switching, etc. Control output In-position, etc. Maximum command pulse frequency 500 kpps Input pulse train Differential input; parameter-selectable (1) Positive/Negative 2) Phase A/Phase B 3) Command/Direction) Command scaling (electric gear ratio setting) 1/1000 - thousandfold Encoder resolution (numerator) and command pulse count per motor revolution (de- nominator) can be arbitrarily specified between 1-220 for numerator and 1-220 for de- nominator but use within the range above. Input pulse Smoothing filter Selectable between first order filter and FIR filter for command input. Position control Damping control Available Auto tuning Identifying load inertia real-time and automatically setting gain that meets set stiffness when the motor is driving by a operation command from the host or drive Dividing encoder pulse Pulse count can be arbitrarily specified (up to encoder pulse count). Protective function Overvoltage, undervoltage, overspeed, overload, overheat, overcurrent, encoder abnormalities Position deviation fault, Command pulse division, EEPROM error, etc. Function Common Alarm data trace back function Alarm data history can be viewed.