Guide Position control by pulse and direction signal (MINAS A5/A5E/A6SG/A6SF) HOANLK

This article is intended to help you set up the MINAS servo drive system. It is based on information from the MINAS series manual and our practical experience. The step-by-step guide will teach you how to connect the PLC to the MINAS servo driver and set up the most important parameters.

Functional overview

Position control is a control mode in which the motor moves the load to a position-defined target. The servo driver can be controlled by a pulse train in the frequency range 1Hz to 8MHz from a host controller such as a PLC or CNC controller, or by block operation. This guide explains how to wire and configure the servo driver to receive pulses from a PLC.

MINAS Servo driver connector

– 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.

– 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.

– X6 connector (encoder connector)

Connect the encoder cable to the X6 connector.

– X4 connector (I/O connector)

Connect the connection cable to the X4 connector and to the PLC S7-1200 SIEMENS.

– X1 connector (USB connector for PC connection)

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

– 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 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.

– PNP wiring of the X4 connector

– NPN wiring of the X4 connector

Basic parameters overview

There are basic parameters which are associated to position control.
The following table shows the setting range and description of the basic parameters.

– 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).

– Pr0.01 (Control mode)

PANATERM parameter: “Control mode setting”
Setting range: 0 to 6
The default value is 0: Position control
Select 0: Position control

– 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, SIGN input, logical high
signal.

– 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 (4 MHz) is primarily intended for host controllers (CNC or PLC)
with line driver outputs. The setting allows the 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.

Above is a tutorial article about Servo Panasonic MINAS A5/A5E/A6SG/A6SF. Hope the article will be useful to you. Thank you!

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