Parameters For Position Control - Panasonic minas a4 series Instruction Manual

Parameter Setup
PrNo. Title
Switching time of
35
position gain
JOG speed setup
3D

Parameters for Position Control

PrNo. Title
40 Selection of com-
*
mand pulse input
Setup value
<0> Photo-coupler input (X5 PULS1:Pin-3, PULS2:Pin-4, SIGN1:Pin-5, SIGN2:Pin-6)
Exclusive input for line driver (X5 PULSH1:Pin-44, PULSH2:Pin-45, SIGNH1:Pin-46, SIGNH2:Pin-47)
1
41 Command pulse
*
rotational direction
setup
42 Setup of command
*
pulse input mode
• Permissible max. input frequency, and min. necessary time width of command pulse input signal.
Input I/F of PULS/SIGN signal
Pulse train interface exclusive to line driver
Pulse train interface
Make the rising/falling time of the command pulse input signal to 0.1µs or smaller.
116
Setup
Unit
range
0 – 10000 (setup You can setup the
<20>* value +1) step-by-step switching
x 166µs time to the position
loop gain only at gain
switching while the 1st
and
switching is valid.
<Caution>
The switching time is
only valid when switching from small position gain to large position gain.
0 – 500 r/min You can setup the JOG speed.
<300> Refer to P.75, "Trial Run"of Preparation.
Setup
range
0 to 1 You can select either the photo-coupler input or the exclusive input for line driver as
<0> the command pulse input.
0 to 1 You can set up the rotational direction against the command pulse input, and the
command pulse input format.
<0>
Pr41 setup value Pr42 setup value
(Command pulse (Command pulse
0 to 3
rotational input mode
direction setup) setup)
<1>
0 or 2
<0>
<1>
0 or 2
1
Line driver interface
Open collector interface
Function/Content
e.g.)
Kp1(Pr10)
Pr35=
the 2nd gain
Kp2(Pr18)
1st gain
Function/Content
Content
Command
Signal
pulse
title
format
90˚ phase
A-phase
PULS
difference
B-phase
2-phase pulse
SIGN
(A + B-phase)
B-phase advances to A by 90˚. B-phase delays from A by 90˚.
CW pulse train
PULS
+
SIGN
CCW pulse train
pulse train
PULS
+
3
SIGN
Signal
90˚ phase
A-phase
PULS
difference
B-phase
2-phase pulse
SIGN
(A + B-phase)
B-phase delays from A by 90˚.
CW pulse train
PULS
1
+
SIGN
CCW pulse train
pulse train
PULS
3
+
SIGN
Signal
Permissible max.
input frequency t
1
2Mpps 500ns
500kpps 2µs
5µs
200kpps
Standard default : < >
166 166µs
Kp1(Pr10)>Kp2(Pr18)
166 166
0
3
0 1
2
2
1
3
2nd gain 1st gain
Standard default : < >
CCW command CW command
t1 t1 t1 t1
t1 t1 t1 t1
t3
t2 t2
t2 t2
t4 t5 t4 t5
"L"
"H"
t6 t6 t6
t1 t1 t1
t1 t1 t1 t1
B-phase advances to A by 90˚.
t3
t2 t2
t2 t2
t4 t5 t4 t5
"L" "H"
t6 t6 t6
Min. necessary time width
t t t t
2 3 4 5
250ns 250ns 250ns 250ns
1µs 1µs 1µs 1µs
2.5µs 2.5µs 2.5µs 2.5µs
bold line
thin line
t6
t1
t6
t
6
250ns
1µs
2.5µs