Position control by pulse and direction signals

Before you start

Before operating this product, read the safety instructions in the related Operating Instructions.

This product is for industrial use only.

Electrical connections must be made by qualified electrical personnel.

About this document

Step-by-step instructions will guide you through connecting a PLC to a MINAS servo driver and setting the most important parameters in the PANATERM configuration software.

Available software

The following software is available free of charge:

PANATERM 6

This link will take you to the Panasonic Industry Co., Ltd. Web site.
Control FPWIN Pro7 programming software (basic version)

This link will take you to the Control FPWIN Pro7 InfoHub.

Functional overview

Position control is a control mode in which the motor moves the load to a specified target position.

The servo driver can be controlled by a pulse train in the frequency range between 1Hz and 8MHz from a host controller such as a PLC or a CNC controller or by block operation. This Quick Start Guide explains how to wire and configure the servo driver to receive pulses from a PLC.

Example

An FP0H PLC and a MINAS A6SF servo driver are connected to control the driver by I/O signals. If needed, additional signals, such as servo-ready, alarm, or positioning complete, can also be transmitted.

Data transmission between PLC and servo driver via connection cable

(1) Connect to external power supply.
(2) Connect to limit switches.

Wiring

Recommendations for wiring

It is the customer's responsibility to apply the countermeasures that they consider necessary to comply with current regulations on wiring, safety and reducing EMI.

Do not forget to meet the specifications indicated in the hardware manual for each of the devices being wired. If any specifications in the manual conflict with the information in this document, the manufacturer's manual takes preference.

For detailed information on reducing EMI, please refer to Recommendations for EMC-compliant wiring of servo drivers and motors.

Connectors of the servo driver

XA connector (main power connector)

Connect the power supply cable to the XA connector. For a 1-phase power supply of 230V, connect a 2-wire cable to the servo driver as illustrated. The L2 pin is not used in 1-phase mode.

Wiring of the XA connector for a power supply of 230V

XB connector (motor connector)

Connect the motor cable to the XB connector. The wires are labeled with the letters U, V, and W. Do not change the sequence of the motor phases, e.g. by connecting V to W.

Wiring of the XB connector for the motor power supply

X6 connector (encoder connector)

Connect the encoder cable to the X6 connector.

Wiring of the X6 connector for the encoder connection

X4 connector (I/O connector)

Connect the connection cable to the X4 connector and to the FP0H PLC. For PNP connections the preassembled connection cable DV0P0988WP-1 is available.

Panasonic provides different preassembled connection cables for connecting other PLC types.

Wiring of the X4 connector for the host controller connection

(1) Connect to external power supply.
(2) Connect to limit switches.

X1 connector (USB connector for PC connection)

The servo driver is configured using the PANATERM configuration software . Use a commercially available USB A to mini-B cable to connect the PC to the servo driver.

Connector X1 for PC connection

Signal inputs and outputs of the X4 connector

For position control, the X4 connector of the MINAS A5/A6 servo driver is equipped with signal inputs and outputs. For pulse input, you can either use the line driver inputs (44, 45, 46, 47) if high speeds or high resolutions are required, or you can use the open collector inputs (1, 2, 4, 6 or 3, 4, 5, 6). The pulse inputs are highlighted in the wiring diagram.

In our example, we will use the following signal inputs and outputs:

OPC1 (pin 1), OPC2 (pin 2), PULS2 (pin 4), SIGN2 (pin 6)

Open collector inputs to receive command pulses from a PLC.
SRV-ON (pin 29)

Servo-on input to energize the servo motor.
COM+ (pin 7)

Common input for the power supply of the control signals.
S-RDY (pins 34–35)

Servo-ready output to indicate the ready state of the servo driver.
ALM (pins 36–37)

Servo-alarm output
A-CLR (pin 31)

Input for clearing alarms.
INP (pins 38–39)

Positioning complete output which turns on when the target position is reached.

Please refer to the Operating Instructions of your MINAS A5/A6 servo driver to learn more about the signal inputs and outputs which might be useful for your application.

Signal inputs and outputs available on the X4 connector of the servo driver

PNP wiring of the X4 connector

NPN wiring of the X4 connector

Make parameter settings in PANATERM

Use the PANATERM configuration software to configure the MINAS servo driver.

Connect your PC to the X1 connector and turn on the servo driver.
Start the PANATERM configuration software .
The software automatically detects the type of servo driver connected.
Select OK and confirm the connected series by selecting your type of servo driver.
Select the Parameter tab.
In the Selection of parameter to be read dialog, select Read the default. There is a message if the parameter values in the servo driver are not the default values. To overwrite the parameters in the servo driver, select the Trans icon.
Select the parameter list for your type of servo driver.
To change a parameter setting, select the desired parameter class and enter a value. For parameter descriptions, please refer to the Operating Instructions. You can find each parameter by its unique parameter number. The parameter number is written in the format PrX.YY (X: Class, YY: No.).
Depending on the parameter, select the Trans or the EEP icon to transfer a setting to the servo driver. For yellow parameters, select the EEP icon. These parameters will be saved in the EEPROM of the servo driver. To activate the settings, you need to restart the servo driver.
All other parameters are transferred simply by selecting the Trans icon.

Basic parameters overview

The following table shows the setting range and description of the basic parameters.

Parameter	Range	Description
Pr0.00	0 or 1	Motor rotation direction
Pr0.06	0 or 1	Counting direction of the command pulses
Pr0.07	0 to 3	Input mode of the command pulses
Pr0.08	0 to 1048576 [pulse] (MINAS A5) 0 to 8388608 [pulse] (MINAS A6)	Number of pulse signals per motor revolution
Pr0.09	0 to 1073741824	Gear ratio numerator
Pr0.10	1 to 1073741824	Gear ratio denominator
Pr5.32	250 to 4000 [kHz] (MINAS A5) 250 to 8000 [kHz] (MINAS A6)	Maximum pulse input frequency

Pr0.00 (Motor rotation direction)

PANATERM parameter: Rotational direction setting

Setting range: 0 or 1

The default value is 1: Rotation in CCW direction (counterclockwise direction).

Pr0.06 (Counting direction of the command pulses)

PANATERM parameter: Command pulse rotational direction setup

Setting range: 0 or 1

The default value is 0: Positive counting direction = B leads A, direction input SIGN, logical high signal.

In combination with Pr0.07, you can select up to 6 command pulse input types. Please refer to the parameter description in the MINAS A5 Series Operating Instructions (Overall) or MINAS A6 Operating Instructions (Overall) for details.

Pr0.07 (Input mode of the command pulses)

PANATERM parameter: Command pulse input mode setup

Setting range: 0 to 3

Select one of the following pulse input modes depending on the configuration of the host controller.

1: Positive/negative counting direction (incremental/decremental counting)

This is the default setting.

0 or 2: 2-phase pulse input

Select this pulse input mode if an encoder or encoder output is used.

3: Pulse train and direction signal

The rotation direction can be changed by reversing the logical levels of the direction input.

Pr0.08 (Number of pulse signals per motor revolution)

PANATERM parameter: Command pulse number per one motor revolution

Setting range: 0 to 1048576 [pulse] (MINAS A5), 0 to 8388608 [pulse] (MINAS A6)

The default value is 10000 pulses per motor revolution.

Pr0.09 (Gear ratio numerator) and Pr0.10 (Gear ratio denominator)

PANATERM parameter: First command division/multiplication numerator (Pr0.09) and Command division/multiplication denominator (Pr0.10)

Setting range: 0 to 1073741824 (Pr0.09) and 1 to 1073741824 (Pr0.10)

The default value is 0 for Pr0.09 and 10000 for Pr0.10.

If Pr0.09 is unequal 0, Pr0.08 will have no effect.

Pr5.32 (Maximum pulse input frequency)

PANATERM parameter: Command pulse input maximum setup/digital filter setup

Setting range: 250 to 4000 [kHz] (MINAS A5), 250 to 8000 [kHz] (MINAS A6)

The default value of 4000kHz (4MHz) is primarily intended for host controllers (CNC or PLC) with line driver outputs. The setting allows the servo driver to prepare itself for the pulse output frequency of the host controller to be detected.

If the maximum pulse input frequency is below the minimum configurable value, for example if a PLC has a maximum pulse output frequency of 100kHz, enter 250 in PANATERM to minimize EMC issues.

Make pin assignments in PANATERM

For some applications, the software function of physical pins of the servo driver must be changed. Use the PANATERM configuration software to make the pin assignment.

Connect your PC to the servo driver.
Start the PANATERM configuration software.
Select Other > Pin Assign.

The current pin assignment is uploaded from the servo driver.
Select an arbitrary input which is not required by your application and double-click.
Select the desired function.
Select Apply to transfer the pin assignment to the servo driver.