Parameters For Position Control - Panasonic minas a4 series Instruction Manual

Parameters for Position Control

PrNo. Title
44 Numerator of pulse
*
output division
45 Denominator of
*
pulse output
division
<Notes>
• For parameters which No. have a suffix of "*", changed contents will be validated when you turn on the
control power.
• Parameters which default values have a suffix of "*" will be automatically set up during real time auto-gain
tuning. When you change manually, invalidate the real-time auto-gain tuning first then set, referring to
P.239, "Release of Automatic Gain Adjusting Function" of Adjustment.
[Connection and Setup of Torque Control Mode]
Setup
range
You can set up the pulse counts to be fed out from the pulse output (X5 0A+ : Pin-
1 to 32767
21, 0A- : Pin-22, 0B+ : Pin-48, 0B- : Pin-49).
<2500>
• Pr45=<0> (Default)
You can set up the output pulse counts per one motor revolution for each OA
and OB with the Pr44 setup. Therefore the pulse output resolution after
quadruple can be obtained from the formula below.
The pulse output resolution per one revolution
= Pr44 (Numerator of pulse output division) X4
• Pr45≠0 :
The pulse output resolution per one revolution can be divided by any ration
according to the formula below.
Pulse output resolution per one revolution
<Cautions>
• The encoder resolution is 131072 [P/r] for the 17-bit absolute encoder, and
10000 [P/r] for the 5-wire 2500P/r incremental encoder.
• The pulse output resolution per one revolution cannot be greater than the
0 to 32767
encoder resolution.
<0>
(In the above setup, the pulse output resolution equals to the encoder resolution.)
• Z-phase is fed out once per one revolution of the motor.
When the pulse output resolution obtained from the above formula is multiple of 4,
Z-phase synchronizes with A-phase. In other case, the Z-phase width equals to
output with the encoder resolution, and becomes narrower than A-phase, hence
does not synchronize with A-phase.
when encoder resolution x
A
B
Z
Function/Content
Pr44 (Numerator of pulse output division)
Pr45 (Denominator of pulse output division)
Pr44
is multiple of 4 when encoder resolution x
Pr45
Synchronized
Standard default : < >
x Encoder resolution
Pr44
is not multiple of 4
Pr45
A
B
Z
Not-synchronized
181