Panasonic minas a4 series Instruction Manual page 121

PrNo. Title
48 1st numerator of
electronic gear
49 2nd numerator of
electronic gear
4A Multiplier of
electronic gear
numerator
4B Denominator of
electronic gear
4C Setup of primary
delay smoothing
4D Setup of FIR
*
smoothing
4E Counter clear
input mode
<Notes>
• For parameters which No. have a suffix of "*", changed contents will be validated when you turn on the
control power.
[Connection and Setup of Position Control Mode]
Setup
range
Electronic gear function-related (Pr48-4B) (continued from the previous page)
<Setup example when numerator ≠0>
• When division/multiplication ratio=1, it is essential to keep the relationship in which
the motor turns one revolution with the command input (f) of the encoder
resolution.
Therefore, when the encoder resolution is 10000P/r, it is required to enter the input
of f=5000Pulses in case of duplicate, f=40000Pulse in case of division of 1/4, in
order to turn the motor by one revolution.
• Set up Pr48, 4A and 4B so that the internal command (F) after division /
multiplication may equal to the encoder resolution (10000 or 2
f x Pr48 x 2
F =
Pr4B
F : Internal command pulse counts per motor one revolution
f : Command pulse counts per one motor revolution.
Encoder resolution
Example 1
when making the command
input (f) as 5000 per one
motor revolution
Example 2
when making the command
input (f) as 40000 per one
motor revolution
0 to 7 Smoothing filter is the filter for primary delay which is inserted after the electronic
<1> gear.
Purpose of smoothing filter
• Reduce the step motion of the motor while the command pulse is rough.
• Actual examples which cause rough command pulse are;
(1) when you set up a high multiplier ratio (10 times or more).
(2) when the command pulse frequency is low.
You can set the time constant of the smoothing filter in 8 steps with Pr4C.
Setup value
0
<1>
7
0 to 31 You can set up the moving average times of the FIR filter covering the command
<0> pulse. (Setup value + 1) become average travel times.
0 to 2 You can set up the clearing conditions of the counter clear input signal which clears
<1> the deviation counter.
Setup value
0 Clears the deviation counter at level (shorting for longer than 100µs)*1
<1> Clears the deviation counter at falling edge (open-shorting for longer than 100µs)*1
2 Invalid
*1 : Min. time width of CL signal
CL(Pin-30)
Function/Content
Pr4A
17
= 10000 or 2
2 17 (131072)
Pr48 1 x 2
Pr4B 5000
Pr48 1 x 2
Pr4B 10000
Time constant
No filter function
Time constant small
Time constant large
Clearing condition
100µs or longer
Standard default : < >
17
).
10000 (2500P/r x 4)
Pr4A
17
Pr48 10000 x 2
Pr4B 5000
Pr4A
15
Pr48 2500 x 2
Pr4B 10000
Pr4A
0
Pr4A
0
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