For Servo System MINAS

Set-up Support Software (PANATERM ver.7)

Operating Manual
For Windows 10, Windows 11

● Thank you for purchasing a Panasonic product.

● Please use it correctly and safely after reading this document and Operating Instructions
(Overall), Operating Instructions (Tuning), Technical Reference Functional Specification, and
Technical Reference Communication Specification carefully.
● Be sure to read the Safety Precautions before use.
● Carefully store this Operating Manual.
● This product is for industrial use. It cannot be used for any other purpose (e.g., household
use).

Rev.0.3 IMG15
Z1024-3045
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 Table of Contents
1 Introduction .....................................................................................................................8
1.1 Safety Precautions....................................................................................................... 9
1.2 Overview of Set-up Support Software (PANATERM ver.7) ......................................... 10
1.3 Related Documents ..................................................................................................... 11
1.4 Trademarks.................................................................................................................. 13
1.5 Descriptions of Terms .................................................................................................. 13
1.6 Software License Agreement....................................................................................... 14
1.7 Software Version.......................................................................................................... 16

2 System Configuration......................................................................................................17
2.1 Minimum System Requirements .................................................................................. 18
2.2 System Configuration Diagram .................................................................................... 19
2.3 Confirming the Applicable Driver ................................................................................. 19

3 Installation .......................................................................................................................22
3.1 Installation.................................................................................................................... 23
3.1.1 Installer Configuration .................................................................................................23
3.1.2 Installation Method ......................................................................................................23
3.1.2.1 Preparation ........................................................................................................23
3.1.2.2 Starting Installation ............................................................................................23
3.2 Uninstalling .................................................................................................................. 25

4 Files ................................................................................................................................26
4.1 Files That Can Be Created With Set-up Support Software (PANATERM ver.7) ......... 27
4.2 Loading Files Created With PANATERM ver. 6 ........................................................... 28

5 Starting and Exiting Set-up Support Software (PANATERM ver.7) ................................ 29

5.1 Connection Method...................................................................................................... 30
5.1.1 Connecting Via USB Cable (Commercially Available) ................................................30
5.1.2 Ethernet over EtherCAT (EoE) Connection.................................................................30
5.2 Starting Set-up Support Software (PANATERM ver.7) ............................................... 32
5.2.1 Creating a New Project File to Start the Software ......................................................32
5.2.2 Opening a Project File to Start the Software...............................................................33
5.2.3 Reading Parameters from the Driver to Start the Software ........................................35
5.3 Exiting Set-up Support Software (PANATERM ver.7) ................................................. 37
5.3.1 Exiting the Software From the Menu Bar ....................................................................37
5.3.2 Exiting the Software With the Close Button ................................................................37
5.3.3 Exiting the Software From the Tools Icon ...................................................................38

6 Main Screen ....................................................................................................................39

6.1 Configuration of the Main Screen ................................................................................ 40
6.2 Menu Bar ..................................................................................................................... 41
6.2.1 File (F).........................................................................................................................41
6.2.1.1 New Project (N) .................................................................................................41
6.2.1.2 Open (O) ............................................................................................................41
6.2.1.3 Save (S) .............................................................................................................42
6.2.1.4 Save as (A) ........................................................................................................42
6.2.1.5 Connect with driver (R) ......................................................................................43

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 6.2.1.6 Settings (C) ........................................................................................................44
6.2.1.7 Language (L)......................................................................................................50
6.2.1.8 Exit (X) ...............................................................................................................51
6.2.2 Help (H).......................................................................................................................51
6.2.2.1 Manual (M).........................................................................................................52
6.2.2.2 Version Information (A) ......................................................................................52

7 Device tree ......................................................................................................................53

7.1 Configuration of the Device Tree Screen..................................................................... 54
7.1.1 Connection Status.......................................................................................................55
7.1.2 Driver Status ...............................................................................................................55
7.1.3 Waveform Measurement Status..................................................................................56
7.1.4 Context Menu..............................................................................................................56
7.2 Adding Drivers ............................................................................................................. 57
7.2.1 Adding Drivers Offline .................................................................................................57
7.2.2 Adding Drivers Online .................................................................................................58
7.3 Deleting Drivers ........................................................................................................... 61
7.3.1 When Multiple Drivers Are Registered ........................................................................61
7.3.1.1 Deleting Drivers by Reallocating Axis Nos.........................................................61
7.3.1.2 Deleting Drivers Without Allocating Axis Nos. ...................................................62
7.3.2 When Only One Driver Is Registered..........................................................................64
7.3.2.1 Deleting Drivers .................................................................................................64
7.4 Connection Method...................................................................................................... 66
7.5 Setting Nicknames ....................................................................................................... 68
7.6 Lighting Up the Driver Front Panel............................................................................... 69
7.7 Battery refresh ............................................................................................................. 70
7.8 Multi-turn Clear ............................................................................................................ 73
7.9 Alarm Notification Screen ............................................................................................ 74
7.9.1 Configuration of the Alarm Notification Screen ...........................................................75
7.9.2 Alarm Icons .................................................................................................................76
7.9.3 Clearing Alarms ..........................................................................................................76
7.9.4 Clearing Alarms and the Error Log .............................................................................77
7.10 Troubleshooting ......................................................................................................... 79
7.10.1 Configuration of the Troubleshooting Screen............................................................80
7.10.1.1 Factors That Prevent Rotation .........................................................................80
7.10.1.2 Life Diagnosis ..................................................................................................80
7.10.1.3 Communication Errors .....................................................................................81

8 Settings Screen...............................................................................................................82
8.1 Configuration of the Settings Screen ........................................................................... 84
8.1.1 Settings Screen...........................................................................................................84
8.1.2 Category Display.........................................................................................................84
8.1.3 Common Settings .......................................................................................................85
8.2 Open File ..................................................................................................................... 88
8.2.1 Opening Files ..............................................................................................................88
8.3 Saving Files ................................................................................................................. 90
8.3.1 Configuration of the Save File Dialog Box ..................................................................90
8.3.2 Saving Files ................................................................................................................90
8.4 Copying Parameters .................................................................................................... 93
8.4.1 Configuration of the Parameter Copy Dialog Box .......................................................93
8.4.2 Copying Parameters ...................................................................................................93
8.5 Loading Parameter Factory Setting Values ................................................................. 96
8.5.1 Configuration of the Factory Setting Values Loading Dialog Box................................96
8.5.2 Reading Initial Values..................................................................................................96

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 8.6 Reading Parameters .................................................................................................... 99
8.6.1 Configuration of the Parameter Reading Dialog Box ..................................................99
8.6.2 Reading Parameter Values From the Driver ...............................................................99
8.7 Writing Parameters ...................................................................................................... 101
8.7.1 Configuration of the Parameter Writing Dialog Box ....................................................101
8.7.2 Sending Parameters / Writing to EEPROM.................................................................102
8.7.3 Sending Parameters ...................................................................................................106
8.7.4 Writing to EEPROM ....................................................................................................106
8.8 Config........................................................................................................................... 109
8.8.1 Configuration of the Execution of Config Command Dialog Box ................................109
8.8.2 Execution of Config Command ...................................................................................109
8.9 Reset............................................................................................................................ 111
8.9.1 Configuration of the Soft Reset Execution Dialog Box................................................111
8.9.2 Resetting ....................................................................................................................111
8.10 Adding/Deleting Columns .......................................................................................... 113
8.10.1 Configuration of the Add/Delete Column Dialog Box ................................................113
8.10.2 Adding/Deleting Columns ........................................................................................113
8.10.2.1 Adding Columns ..............................................................................................113
8.10.2.2 Deleting Columns.............................................................................................115
8.11 All parameters ............................................................................................................ 118
8.11.1 Configuration of the All Parameters Tab Screen .......................................................118
8.11.2 Searching Parameters...............................................................................................119
8.11.3 Comparing Parameters .............................................................................................119
8.11.4 Reading Parameters After Connecting the Driver .....................................................119
8.12 EtherCAT Objects ...................................................................................................... 120
8.12.1 Configuration of the EtherCAT Objects Tab Screen..................................................120
8.12.2 ESM ..........................................................................................................................121
8.12.3 PDS...........................................................................................................................121
8.12.4 Searching Objects.....................................................................................................121
8.12.5 Comparing Objects ...................................................................................................122
8.13 IO Settings ................................................................................................................. 123
8.13.1 Configuration of the IO Settings Tab Screen.............................................................123
8.13.2 General-purpose Input Signal Pin Assignment .........................................................123
8.13.3 General-purpose output signal pin assignment ........................................................124
8.13.4 Related parameters ..................................................................................................125
8.14 Com setting................................................................................................................ 126
8.14.1 Configuration of the Com setting Tab Screen ...........................................................126
8.14.2 RTEX Communication Status Monitor ......................................................................126
8.14.2.1 Opening the RTEX Communication Status Monitor.........................................127
8.14.2.2 Configuration of the RTEX Communication Status Monitor Screen ................128
8.15 Alarm.......................................................................................................................... 130
8.15.1 Configuration of the Alarm Tab Screen .....................................................................130
8.16 Analog Input............................................................................................................... 132
8.16.1 Configuration of the Analog Input Tab Screen ..........................................................132

9 Monitor ............................................................................................................................133
9.1 Monitor ......................................................................................................................... 134
9.1.1 Opening the Monitor Screen .......................................................................................134
9.1.2 Configuration of the Monitor Screen ...........................................................................135
9.1.3 Mode Selection ...........................................................................................................137
9.1.4 Saving Files ................................................................................................................137
9.1.5 Loading Files...............................................................................................................138
9.1.6 Recording and Playback Functions ............................................................................138
9.1.7 Area for Monitor Details ..............................................................................................140
9.1.8 Pulse Offset.................................................................................................................141

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 9.1.9 Area for Graph Details ................................................................................................142
9.1.10 Area for I/O Signal Details ........................................................................................143
9.1.11 Forced Output ...........................................................................................................144
9.2 RTEX Communication Monitor .................................................................................... 146
9.2.1 Opening the RTEX Communication Monitor Screen...................................................146
9.2.2 Overall Configuration of the RTEX Communication Monitor Screen ..........................147
9.2.3 Display Area for Log Data Details ...............................................................................148
9.2.4 Log Display Area.........................................................................................................149
9.2.5 Measurement Condition Setting Area .........................................................................150
9.2.6 Executing RTEX Communication Measurements .......................................................150
9.2.7 Saving Files ................................................................................................................152
9.2.8 Loading Files...............................................................................................................153

10 Logging .........................................................................................................................154
10.1 Measuring Waveforms ............................................................................................... 155
10.1.1 Opening the Waveform Measurement Screen..........................................................155
10.1.2 Configuration of the Waveform Measurement Screen ..............................................156
10.1.3 Executing Waveform Measurement ..........................................................................159
10.1.3.1 Executing Waveform Measurement Online .....................................................159
10.1.3.2 Executing Waveform Measurement Offline......................................................161
10.1.4 Selecting Drivers to be Measured .............................................................................161
10.1.5 Editing Measurement Items ......................................................................................162
10.1.6 Graph Area Operations .............................................................................................165
10.1.6.1 Zooming In/Out On the Graphs........................................................................165
10.1.6.2 Dragging and Moving the Graphs ....................................................................165
10.1.6.3 Changing the Display Range for Each Measurement Item..............................165
10.1.6.4 Resetting the Display Range and Zoom ..........................................................166
10.1.6.5 Displaying Data at a Specific Position on the Graph .......................................167
10.1.6.6 Aligning the Graph With the Center of Y-Axis ..................................................167
10.1.6.7 Fixing the Display Range .................................................................................167
10.1.7 Deleting and Protecting Measurement Data History .................................................168
10.1.8 Saving Measurement Data to a File..........................................................................171
10.1.9 Reading Waveform Measurement Files....................................................................172
10.1.10 Setting Measurement Condition Presets ................................................................174
10.1.11 Registering Current Measurement Condition in Presets .........................................175
10.1.12 Selecting Data to be Displayed On the Graph ........................................................176
10.1.13 Comparing Measurement Parameters ....................................................................177
10.1.14 Measuring the Settling Time From Measurement Data ..........................................180
10.1.15 Time Stamp Function ..............................................................................................183
10.2 Frequency Characteristics ......................................................................................... 185
10.2.1 Opening the Frequency Characteristic Screen .........................................................185
10.2.2 Configuration of the Frequency Characteristic Screen .............................................187
10.2.3 Measuring Frequency Characteristics ......................................................................192
10.2.4 Graph Area Operations .............................................................................................195
10.2.4.1 Zooming In/Out On the Graphs........................................................................195
10.2.4.2 Dragging and Moving the Graphs ....................................................................196
10.2.4.3 Resetting the Display Range and Zoom ..........................................................196
10.2.4.4 Displaying Data at a Specific Position on the Graph .......................................196
10.2.5 Deleting and Protecting Measurement Data History .................................................197
10.2.6 Saving Measurement Data to a File..........................................................................199
10.2.7 Reading Measurement Data From a File ..................................................................200
10.2.8 Setting Parameters From Presets.............................................................................201
10.2.9 Registering Presets From a File ...............................................................................202
10.2.10 Comparing Measurement Parameters ....................................................................203
10.2.11 Selecting Data to be Displayed On the Graph ........................................................206

11 Tuning ...........................................................................................................................208
11.1 Tuning Menu .............................................................................................................. 209
11.1.1 Opening the Tuning Screen ......................................................................................209

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 11.1.2 Configuration of the Tuning Menu Screen.................................................................210
11.2 One Minute TUNING.................................................................................................. 212
11.2.1 Opening the One Minute TUNING Screen ................................................................212
11.2.2 Configuration of the One Minute TUNING Screen ....................................................213
11.2.3 Reading Tuning Conditions .......................................................................................215
11.2.4 Saving Tuning Results ..............................................................................................216
11.3 precAIse TUNING ...................................................................................................... 218
11.3.1 Opening the precAIse TUNING Screen ....................................................................218
11.3.2 Configuration of the precAIse TUNING Screen.........................................................220
11.3.3 Reading Tuning Conditions .......................................................................................227
11.3.4 Checking Past Results ..............................................................................................228
11.3.5 Tuning Based on Past History ...................................................................................229
11.3.6 Saving Tuning Conditions .........................................................................................229
11.3.7 Performing Additional Tuning ....................................................................................230
11.3.8 Saving Tuning Results ..............................................................................................231
11.4 Manual TUNING......................................................................................................... 233
11.4.1 Opening the Manual TUNING Screen.......................................................................233
11.4.2 Configuration of the Manual TUNING Screen ...........................................................234
11.4.3 Displaying Filter Characteristics ................................................................................242
11.4.3.1 Notch Settings..................................................................................................242
11.4.3.2 Damping Settings.............................................................................................243
11.5 Load Fluctuation Suppression Tuning (Stabilizing Load Fluctuation Applications) .... 245
11.5.1 Opening Load Fluctuation Suppression Tuning (Stabilizing Load Fluctuation
Applications) ................................................................................................................245
11.5.2 Configuration of the Load Fluctuation Suppression Tuning Screen ..........................246

12 Device Information ........................................................................................................251

12.1 Opening the Device Information Screen .................................................................... 252
12.2 Configuration of the Device Information Screen ........................................................ 253
12.3 Setting Nicknames ..................................................................................................... 254
12.4 Updating Maintenance Information ............................................................................ 255

13 Trial Run/Z-phase Search .............................................................................................256

13.1 About Trial Runs ........................................................................................................ 257
13.1.1 Precautions for Trial Runs.........................................................................................257
13.1.2 Command Saturation Display Function for Trial Runs ..............................................257
13.2 Limit Setting ............................................................................................................... 258
13.2.1 Configuration of the Limit Settings Screen................................................................258
13.2.2 Configuring Limit Settings .........................................................................................259
13.3 Trial run...................................................................................................................... 262
13.3.1 JOG...........................................................................................................................262
13.3.2 STEP.........................................................................................................................263
13.3.3 Performing a Trial Run ..............................................................................................266
13.4 Z-phase Search ......................................................................................................... 270
13.4.1 Z-phase Search ........................................................................................................270
13.4.2 Executing a Z-phase Search.....................................................................................271

14 Troubleshooting ............................................................................................................274
14.1 Setup Not Possible .................................................................................................... 275
14.2 Set-up Support Software (PANATERM ver.7) Is Not Working Properly ..................... 275
14.3 Main Screen Is Not Working Properly........................................................................ 275
14.4 Device Tree Is Not Working Properly......................................................................... 275
14.5 Alarm Notification Screen Is Not Working Properly ................................................... 276

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 14.6 Settings Screen Is Not Working Properly................................................................... 277
14.7 Monitor Is Not Working Properly ................................................................................ 277
14.8 Waveform Measurement Is Not Working Properly..................................................... 277
14.9 Frequency Response Is Not Working Properly.......................................................... 278
14.10 Tuning Is Not Working Properly ............................................................................... 279
14.11 Trial Run Is Not Working Properly............................................................................ 279
14.12 What to Do in the Event of a Malfunction ................................................................ 280

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 1 Introduction
1.1 Safety Precautions ................................................................................................................ 9
1.2 Overview of Set-up Support Software (PANATERM ver.7) ................................................... 10
1.3 Related Documents ............................................................................................................... 11
1.4 Trademarks............................................................................................................................ 13
1.5 Descriptions of Terms ............................................................................................................ 13
1.6 Software License Agreement ................................................................................................ 14
1.7 Software Version ................................................................................................................... 16

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 1.1 Safety Precautions

1.1 Safety Precautions

■ Must Be Adhered To
This section explains precautions that must be taken to prevent harm to people and damage to property.

■ The following symbols represent the extent of the harm or damage that may occur through
improper use.

This indicates “a risk of minor injury or damage to property”.

■ The following symbols indicate how to comply with safety precautions.

Must not be done.

Must be done.

Do not disconnect the communication cable when the motor is be- Doing so may cause injury, malfunction, or
ing run by Set-up Support Software (PANATERM ver.7) , such as in damage.
a trial run, Z-phase search and frequency characteristics measure-
ment.
Do not put the computer in sleep, hibernation, or screen saver
mode.
Do not use the ESC key or the servo-off button in Set-up Support Doing so may cause injury, malfunction, or
Software (PANATERM ver.7) for the purpose of emergency stop. damage.
When performing operations that change driver parameters, care- Doing so may cause injury, malfunction, or
fully read the driver operating instructions and technical reference, damage.
and exercise due care.
As they involve motor operation, execute the trial run function, Z- Doing so may cause injury, malfunction, or
phase search, and frequency response measurement only after en- damage.
suring the safety of the surrounding area.
Run this software in an environment where power can be shut off Doing so may cause injury, malfunction, or
immediately in case of unexpected operation of the motor or other damage.
hazards.

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 1.2 Overview of Set-up Support Software (PANATERM ver.7)

1.2 Overview of Set-up Support Software (PANATERM ver.7)

Set-up Support Software (PANATERM ver.7) sets parameters and monitors the control status of the driver connected
to the computer.
For supported drivers, see “2.3 Confirming the Applicable Driver” .
This software runs on Windows and facilitates communication between the computer and MINAS Servo System
driver.
MINAS Servo System drivers are able to communicate with a commercial computer via a USB cable.
MINAS Servo System drivers compatible with Ethernet over EtherCAT (EoE) communication*1 are able to perform
EoE communication via an Ethernet cable.
Please read the operating instructions and technical reference listed in “1.3 Related Documents” before use.
*1 The EoE communication function is currently under development.

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 1.3 Related Documents

1.3 Related Documents

The following types of operating manuals related to Set-up Support Software (PANATERM ver.7) are available. Refer
to the manual that fits your purpose.
The manuals can also be downloaded from our website ( https://industry.panasonic.com/global/en/ ).

Common operating instructions for the series

Document name Document Description

No.
For MINAS Set-up Support Software (PANA- IMG15 This document describes how to use PANATERM ver. 7, the
TERM ver.7) Operating Manual setup support software for the MINAS Servo System.

A7 family

Document name Document Description

No.
A7B Series Operating Instructions
MINAS A7B Series Operating Instructions IMG07 This manual describes the selection, connection, usage, and
(Overall) error handling of servo drivers and servo motors to ensure
EtherCAT Rotary Motor correct and safe use of this product.

MINAS A7B Series Operating Instructions IMG20 This document describes the tuning function of the servo
(Tuning) driver.
EtherCAT Rotary Motor
A7N Series Operating Instructions
MINAS A7N Series Operating Instructions IMG11 This manual describes the selection, connection, usage, and
(Overall) error handling of servo drivers and servo motors to ensure
RTEX Rotary Motor correct and safe use of this product.

MINAS A7N Series Operating Instructions IMG23 This document describes the tuning function of the servo
(Tuning) driver.
RTEX Rotary Motor

A6 family

Document name Document Description

No.
A6B Series Technical Reference
MINAS A6B Series Technical Reference SX- This document describes the basic functions, application
Functional Specification EtherCAT Rotary DSV03241 functions, and tuning function of the servo driver.
Motor
MINAS A6B Series Technical Reference SX- This document describes the communication function of the
Communicationl Specification EtherCAT DSV03242 servo driver.
Rotary Motor
A6N Series Technical Reference
MINAS A6N Series Technical Reference SX- This document describes the basic functions, application
Functional Specification RTEX Rotary Motor DSV03077 functions, and tuning function of the servo driver.

MINAS A6N Series Technical Reference SX- This document describes the communication function of the
Communicationl Specification RTEX Rotary DSV03078 servo driver.
Motor

─ Precautions ─
● Unauthorized reproduction or duplication of the contents of the present text, either in whole or in part,
is strictly prohibited.
● This document is subject to change without notice due to improvements.

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 1.3 Related Documents

● While every effort has been made to ensure the accuracy of this document, in the unlikely event that
you find something questionable or incorrect, please contact our support office.
● Illustrations and screens in this document may differ from actual illustrations and screens.

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 1.4 Trademarks

1.4 Trademarks

● MINAS, TUNE COMPASS, precAIse TUNING, PANATERM, Realtime Express and RTEX are registered
trademarks or trademarks of Panasonic Holdings Corporation in Japan and other countries.
● EtherCAT is a registered trademark and patented technology licensed by Beckhoff Automation GmbH, Germany.
● “Microsoft” and “Windows” are registered trademarks of Microsoft Corporation in the United States and other
countries.
● All other company and product names are registered trademarks or trademarks of their respective companies.

1.5 Descriptions of Terms

Term Description
MINAS A7 family All drivers in the MINAS A7 family lineup
MINAS A7□ Series Series of drivers classified by communication type and motor type
Characters in □ vary from series to series
MINAS A6 family All drivers in the MINAS A6 family lineup
MINAS A6□ Series Series of drivers classified by communication type and motor type
Characters in □ vary from series to series
System Configuration of drivers and servo motors controlled by a single host device
Error Driver protection function
Warning Warning function triggered before the driver protection functions operate
Alarm General term for errors and warnings
Trigger time (error) Time error triggered (displayed as a timestamp)
Recovery time (error) Time taken to recover from error (displayed as power ON total time)
PDS (Power Drive Systems) Driver status in EtherCAT communication
ESM (EtherCAT State Machine) EtherCAT application layer status
Preset Measurement conditions registered as a set
EEPROM Indicates nonvolatile memory
Reset Restarts the driver and enables the attribute C and attribute R parameters
Config Enables the attribute C parameter
Physical input/output Indicates the status of the driver input/output terminals
Logical input/output Indicates the driver internal signal status
Trial run Trial run using Set-up Support Software (PANATERM ver.7)
Online The driver and computer are connected and communication is established
Offline Communication has never been established the driver and computer
CCW direction Counterclockwise direction when viewed from the load side
CW direction Clockwise direction when viewed from the load side
Network type Refers to RTEX communication and EtherCAT communication drivers
Monitor Function for simple checking of driver and motor statuses
Logging Function to obtain expert analysis results (waveform and frequency response) from driv-
er and motor operation records
Measurement data Indicates the entire file including measurement conditions, measurement results, and
parameters at the time of measurement

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 1.6 Software License Agreement

1.6 Software License Agreement

Panasonic Industry Co., Ltd., acting through its Industrial Device Business Division (hereinafter referred to as “us”,
“our(s)” or “we”) grants the Software license on condition that you have accepted this license agreement. Please be
sure to read the Software license agreement (hereinafter referred to as this “Agreement”) before using the Software,
and do not use the Software without first accepting this Agreement.
On starting to use the Software, you will be deemed to have accepted all the terms of this Agreement. Please do not
use the Software unless you accept this Agreement.
The Software may incorporate several open-source software programs in addition to proprietary computer programs
in our possession or licensed to us. If open-source software programs are incorporated, please see the license
statements included in the Software installation package for those programs. If there is any conflict between the
license statements in the open-source software program licenses and those in this Agreement, the wording of the open-
source software program licenses will prevail.
Article 1 License
We grant you a non-exclusive license to use the Software for the purpose of using our products identified in the
Software manual (hereinafter referred to as the “Products”) in accordance with the terms of this Agreement. You may
not use the Software for the purpose of using third-party products that are not ours.
Article 2 Prohibitions
The following acts are prohibited with regard to the Software.
(1) Altering, reverse-engineering, decompiling, or disassembling the Software, or any other act of a similar nature.
(2) Use of the Software other than by the methods prescribed in the manual provided by us or our website, or any
other methods designated by us.
(3) Use of the Software for any purposes other than those prescribed in the manual provided by us or our website,
or any other purposes designated by us.
(4) Distribution, renting out, leasing, loaning, or the assigning of the Software to any third party.
However, subject to the assignee's agreement to be bound by all the conditions of this Agreement, you may assign
the Software license under this Agreement together with the Products. In this case, you will deliver all the copies of
the Software and its annexed documentation to the assignee, and you may not retain any copies of the Software,
including backup copies.
Article 3 Disclaimer
We do not warrant the Software's merchantability, fitness for any particular purpose, or non-infringement of third-
party intellectual property rights, and do not make any other warranties with regard to the Software.
2 We accept no responsibility for damage of any kind (including direct, indirect, incidental, consequential, and
special damage) that results from the use of the Software, loss of its use, or any bugs, security holes,
malfunctions or other glitches, or otherwise resulting from use of the Software.
Article 4 Effective term
This Agreement comes into effect when you accept it and start to use the Software.
2 If you are in breach of any of the provisions of this Agreement, we may immediately terminate this Agreement.
3 Within four weeks after this Agreement is terminated, you will return to us, or erase or destroy all of the
Software and its copies at your expense.
Article 5 Compliance with export law
You must comply with the export control laws, regulations, etc., of all countries that have jurisdiction over the parties
hereto (including the Foreign Exchange and Foreign Trade Act of Japan, and export control regulations based on
United Nations Security Council resolutions). If qualifications or appropriate approval by governmental agencies are
required, it is prohibited to export the Software directly or indirectly to any countries without such approval. It is also
prohibited to use or sell the Software directly or indirectly for military purposes.

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 1.6 Software License Agreement

Article 6 Ownership of copyright, etc.

Except for open-source software programs, all copyrights and other intellectual property rights to the Software are
vested in us or our licensors.
Article 7 Upgrading
It is within our discretion whether or not to offer Software upgrades or updates at any point in the future. If an
upgrade or update is offered, a fee may be charged.
2 If a Software upgrade or update is offered, whether on a chargeable or non-chargeable basis, this Agreement will
apply as part of the Software unless otherwise specified by us when the offer is made.
Article 8 Limitation of liability
In no event will our liability associated with this Agreement or the Software exceed 10,000 yen.
Article 9 Modifications
We may modify this Agreement at any time at our discretion if
(1) the modifications to this Agreement are in conformity with your interest in general; or
(2) the modifications to this Agreement are not incompatible with the purpose of this Agreement, and are rational in
light of the need for and reasonableness of the modifications, and other circumstances related to the modifications.
2 If we modify this Agreement pursuant to the preceding paragraph, we will announce our plan to modify this
Agreement, the content of the modified version of this Agreement, and the date on which the modifications will
come into effect on our website no later than two weeks before the effective date of the modified version of this
Agreement. However, we may effect modifications without notice to you if they are of a minor nature or are not
detrimental to you. This Agreement will be modified on the date that the modifications come into effect.
Article 10 Governing law and jurisdiction
This Agreement is governed by the laws of Japan.
2 If any dispute arises in connection with this Agreement, the Osaka District Court will have exclusive jurisdiction
over such dispute.

[1st Apr. 2024] Version

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 1.7 Software Version

1.7 Software Version

■ Revision History
Supported version Overview Reference
7.0.0.0 First version ─
7.0.1.1 Supported the precAIseTUNINGfunction “11.3”
7.0.2.0 Removed the precAIse TUNING temporary stop function “11.3”
7.0.3.0 Changed UI ─

■ Functions not currently supported

Functions not currently Overview Reference
supported
EoE connection Ethernet over EtherCAT (EoE) connection function “5.1.2”
Certain precAIse TUN- Evaluation time settings “11.3.2”
ING settings Command input mode settings from host device

The functions displayed in the table above are not currently supported by this software version.
Please note that, although the functions above are described in some parts of the text, they are not supported by this
software version.

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 2 System Configuration
2.1 Minimum System Requirements............................................................................................ 18
2.2 System Configuration Diagram.............................................................................................. 19
2.3 Confirming the Applicable Driver ........................................................................................... 19

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 2.1 Minimum System Requirements

2.1 Minimum System Requirements

A device that meets the following conditions is required to use this software. Please refer to the operating instructions
for each device when configuring the system. This software may not operate under operating environments that differ
from the recommended conditions.

■ Personal Computer (PC)

OS Windows 10 64-bit version
Windows 11 64-bit version
CPU Dual-core, 2.0 GHz or higher
Memory 8 GB or more
Storage 5 GB
A minimum of 10 GB of additional free space is required when per-
forming AI tuning.
Monitor 1920×1080 or more
Communication interface USB
Ethernet

* A computer with Windows OS must be used.

─ Precautions ─
● Operation has been confirmed on Windows 10 and Windows 11. Operation is not guaranteed on other
operating systems.
If the system is to be used in a system environment other than those listed above, the customer must
confirm operation.
● If Microsoft discontinues support for a particular OS, Set-up Support Software (PANATERM ver.7) will
also no longer operate on that OS.
● Operation is not guaranteed if more than one Set-up Support Software (PANATERM ver.7) is running.
● When used simultaneously with other applications, Set-up Support Software (PANATERM ver.7)
operation may become unstable. Only run Set-up Support Software (PANATERM ver.7) by itself.
● Multiple displays are not supported.
● Set-up Support Software (PANATERM ver.7) should be used with the latest updates applied to
Windows.
● All users can operate the driver and motor via Set-up Support Software (PANATERM ver.7) . To
prevent dangerous operations, do not leave a computer with Set-up Support Software (PANATERM
ver.7) installed in a state that allows operation by a third party.
● This software uses “.” (dot) as the decimal point. Some OS language settings may use “,” (comma) as
the decimal point. Change the OS language settings.

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 2.2 System Configuration Diagram

2.2 System Configuration Diagram

Typical examples of system configurations are shown below.

■ RTEX communication-type system configuration example

System

Host device

TX RX

Driver Driver
PANATERM ver.7
RX RX
TX TX
USB cable
USB cable

Motor Motor
PC

■ EtherCAT communication-type system configuration example

System

Host device

OUT IN

Driver Driver
PANATERM ver.7
IN IN
OUT OUT
USB cable
USB cable

Motor Motor
PC

2.3 Confirming the Applicable Driver

This software is for MINAS Servo System drivers. It cannot be used with other drivers.
The supported driver series and function types are as follows.
〇: Supported, ✕: Not currently supported, ―: Not supported
Series Communication type Function type Analog input USB EoE
MINAS A7B Series EtherCAT Standard type ─ 〇 ✕ (under devel-
A7BE opment)

Multi-function ─ 〇 ✕ (under devel-

type opment)
A7BF
Application spe- 〇 〇 ✕ (under devel-
cialized type opment)
A7BR

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 2.3 Confirming the Applicable Driver

Series Communication type Function type Analog input USB EoE

MINAS A7N Series RTEX Standard type ─ 〇 ─
A7NE
Multi-function ─ 〇 ─
type
A7NF
Application spe- 〇 〇 ─
cialized type
A7NR
MINAS A6B Series EtherCAT Standard type ─ 〇 ─
A6BE
Multi-function ─ 〇 ─
type
A6BF
MINAS A6N Series RTEX Standard type ─ 〇 ─
A6NE
Multi-function ─ 〇 ─
type
A6NF

■ List of Supported Functions

〇: Supported, ✕: Not currently supported, ―: Not supported

A7BE, A7BF

A7BR

A7NE, A7NF

A7NR

A6BE, A6BF

A6NE, A6NF
Device tree Alarm notification 〇 〇 〇 〇 〇 〇
Battery refresh 〇 〇 〇 〇 〇 〇
Multi-turn clear 〇 〇 〇 〇 〇 〇
Settings screen All parameters 〇 〇 〇 〇 〇 〇
EtherCAT object 〇 〇 ─ ─ 〇 ─
IO settings 〇 〇 〇 〇 〇 〇
Communication settings ✕ ✕ 〇 〇 ✕ 〇
Alarm 〇 〇 〇 〇 〇 〇
Analog input ─ 〇 ─ 〇 ─ ─
Config 〇 〇 〇 〇 〇 〇
Reset 〇 〇 〇 〇 ─ ─
Monitor Monitor 〇 〇 〇 〇 〇 〇
RTEX communications monitor ─ ─ 〇 〇 ─ 〇
Logging Waveform measurement 〇 〇 〇 〇 〇 〇
Frequency characteristics 〇 〇 〇 〇 〇 〇
Tuning One Minute TUNING 〇 〇 〇 〇 ─ ─
precAIse TUNING 〇 〇 〇 〇 ─ ─
Manual TUNING 〇 〇 〇 〇 〇 〇
Load fluctuation suppression tuning 〇 〇 〇 〇 ─ ─
Device Info Device Info 〇 〇 〇 〇 〇 〇
Trial run/Z-phase search Trial run 〇 〇 〇 〇 〇 〇
Z-phase search 〇 〇 〇 〇 〇 〇

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 2.3 Confirming the Applicable Driver

A7BE, A7BF

A7BR

A7NE, A7NF

A7NR

A6BE, A6BF

A6NE, A6NF
Troubleshooting Troubleshooting 〇 〇 〇 〇 〇 〇

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