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MINAS A6SF servo driver (multifunction type)

  • MINAS A6SF servo driver (multifunction type)

Overview

50W to 1500W, 1-phase, 200V

50W to 5000W, 3-phase, 200V

Response frequency: 2kHz bandwidth (velocity response)

Fast response allows precise processing of metal surfaces

Figure: Numerous interference bands

Ultrafast response frequency: 3.2kHz bandwidth (velocity response)

Smooth surface, like a mirror!

Figure: Hardly any interference bands

Real-time auto-gain tuning

Automatic tuning after completion of multiple operations.

The automatic vibration suppression function minimizes damage to the equipment. Additional mode and stiffness parameters enable easy response frequency-optimization for specific machine types such as high-friction, belt-driven machines or machines with low-friction ball screw drives.

Figure: Drive types

  1. Ball screw drive
  2. Belt drive

Improved vibration suppression

Vibrations when braking to a standstill have now been significantly reduced. This has shortened the transient recovery time considerably.

Comparison of transient recovery curves: 1.	Ball screw drive 2.	Belt drive

Figure: Comparison of transient recovery curves

  1. Ball screw drive
  2. Belt drive

Manual and automatic notch filters

Highly sensitive notch filters log vibration frequencies and adapt them automatically.

 

Reduced noise & vibration

Manual and automatic damping filters

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.

without damping filter vs. with damping filter

Improved suppression of load variations

  • Reduction of  transient recovery time during positioning
  • Stable movement for multiple-joint robot With / without load or with variable load

Improved suppression of load variations

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.

Figure

A5: Setting value 4Mpps
A6: Setting value 8Mpps

Integrated safety function STO (Safe Torque Off)

Safety functions based on safety standards:

ISO13849-1 (PLe, CAT3), EN61508 (SIL3), EN62061 (SILCL3), EN61800-5-2 (SIL3, STO), IEC61326-3-1, IEC60240-1.

Figure:

  1. Safety equipment
  2. Electromechanical safety shutdown

External encoders for full-closed control

Using an external encoder ensures high-precision position control.

Figure:

  1. Feedback
  2. External encoder
  3. Motor
  4. Linear scale

Modbus RTU: Simple complete motion control solution with one Panasonic compact PLC

  • Modbus RTU is an open, serial (RS232 or RS485) protocol based on a master/slave or client/server architecture.
  • Widely used protocol due to its ease of operation and reliability.
  • Cost-effective solution for programmable controllers based on RS485.
  • Servo drives can be controlled based on a CANopen CiA drive profile

Modbus RTU: Simple complete motion control solution with one Panasonic compact PLC

Block operation with digital I/Os (like MINAS A4P)

Up to 256 block can be controlled via I/O terminal units, PLCs, switches, etc.

Up to 256 block can be controlled via I/O terminal units, PLCs, switches, etc.

Functions

Type Basic
A6SE
RS485 communication
A6SG
Multifunction
A6SF
Network
A6N A6B
RTEX - - - x -
EtherCAT - - - - 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 dig. I/O (like MINAS A4P) x x x -
Position control x x x x

Specifications

MINAS A6 series A6SE A6SG A6SF A6N A6B
Rated power 50-5000W
Supply voltage 1-/3-phase 200V AC
Bandwidth (velocity response) 3200Hz
Rated rotational speed 2000-3000 (rpm)
Max. rotational speed 3000-6500 (rpm)
Rated torque 0.16-26.3Nm
Peak torque 0.48-71.6Nm
Control functions Position control Position, velocity, and torque control
IP degree of protection (motor) IP67
Control input Pulse Pulse, analog Network

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