Example Of Rotary Axis Operation Setting - Panasonic MINAS A4P Series Instruction Manual

Step Operation

Example of Rotary Axis Operation Setting

If the rotary axis operation is specified, the shaft moves in a direction nearest from the current position to a
target position of a step parameter that the rotary axis operation (rotary) has been specified regarding
32.Pr03 (Movement per rotation in rotation coordinates) as 360 degrees.
A current position of running motor is automatically limited in a range between 0 and [travel per rotation at a
rotary coordinate –1] as shown below.
• If travel per rotation at a rotary
coordinate is set to "10000"
• Setting of 32-bit positioning parameter
32.Pr**
03 Movement per rotation in rotation coordinates
• Setting of step parameter
No. Operation mode
01 Rotary axis operation (Rotary)
02 Rotary axis operation (Rotary)
03 Rotary axis operation (Rotary)
04 Rotary axis operation (Rotary)
05 Rotary axis operation (Rotary)
06 Rotary axis operation (Rotary)
07 Rotary axis operation (Rotary)
Caution
1) Control mode
The rotary axis operation is enabled only for the position control (SV.Pr02 = 0). If the rotary axis operation
is specified for the full-closed control (SV.Pr02 = 6), an error code No. 69 (undefined data error protection)
is shown.
2) Restrictions on parameter
If the rotary axis operation is used, the restrictions below are imposed to the parameters not to exceed the
limitation of the current position.
PrNo.
SV.Pr0B Absolute encoder set up
16.Pr37 Home complete type
16.Pr38 Homing skip
16.Pr54 Block operation type
32.Pr00 Home offset
Setting of maximum movement in plus
32.Pr03
direction
32.Pr01 Setting of maximum movement in minus direction
32.Pr02 Movement per rotation in rotation coordinates
110
Point 1 = 1250
Point 2 = 2500
Point 3 = 3750
Parameter name
Position/Waiting time
1250
2500
3750
5000
6250
7500
8750
Name Set value
1073741824
Origin = 0
... , 2, 1
9999, 9998, ...
Point 7 = 8750
Point 6 = 7500
Point 5 = 6250
Point 4 = 5000
Input value
10000
Speed Acceleration Deceleration
VEL1
VEL1
VEL1
VEL1
VEL1
VEL1
VEL1
The rotary axis operation requires homing. If "0" or "2" is
1 set, an error code No. 69 (undefined data error protection)
is shown when the rotary shaft operation starts.
1 Be sure to set "1" if you use the home offset function.
0 The rotary axis operation requires homing.
0 The combined block operation cannot be used.
For 16.Pr37 = 0, set "0". For 16.Pr37 = 0, set a value in a
range between 0 and [movement per rotation at a rotary
coordinate - 1].
For any invalid value out of specified range, an error code
2 to
No. 69 (undefined data error protection) is shown when
the positioning operation starts.
0 A maximum travel limitation error protection cannot be
used for the rotary axis operation.
ACC1 DEC1
ACC1 DEC1
ACC1 DEC1
ACC1 DEC1
ACC1 DEC1
ACC1 DEC1
ACC1 DEC1
Description
Block
Single
Single
Single
Single
Single
Single
Single