Parameters For Position Control - Panasonic MINAS A4P Series Instruction Manual

Parameter Setup
Servo
Title
PrNo.
34 1st control
switching
hysteresis
35 Position loop gain
switching time

Parameters for Position Control

Servo
Title
PrNo.
44 Numerator of
*
output pulse ratio
45 Denominator of
*
output pulse ratio
64
Setup
Unit
range
You can set up hysteresis width to be
0 to 20000 –
implemented above/below the judging
<33>*
level which is set up with SV.Pr33. Unit
varies depending on the setup of
SV.Pr31 (1st control switching mode).
Definitions of SV.Pr32 (Delay), SV.Pr33
(Level) and SV.Pr34 (Hysteresis) are
explained in the fig. below.
<Caution>
The setup of SV.Pr33 (Level) and SV.Pr34 (Hysteresis) are valid as
absolute values (positive/negative).
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.
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).
<10000>
• In the case that the encoder pulse is output (When the control mode is
the position control mode and SV.Pr46 = 0, 1).
0 to 32767
• SV.Pr45=0 :
<10000>
You can set up the output pulse counts per one motor revolution for each OA
and OB with the SV.Pr44 setup. Therefore the pulse output resolution after
quadruple can be obtained from the formula below.
The pulse output resolution per one revolution =
SV.Pr44 (Numerator of output pulse ratio) X 4
• SV.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
encoder resolution.
(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.
Function/Content
e.g.)
Kp1
(SV.Pr10)
Pr35=
SV.
Kp2
the 2nd gain
(SV.Pr18)
1st gain
Function/Content
(Numerator of output pulse ratio)
(Denominator of output pulse ratio)
Standard default : < >
SV.Pr33
0
1st gain 2nd gain
Kp1(SV.Pr10)>Kp2(SV.Pr18)
166 166µs
166 166
bold line
0
3
1
0
2
2
1
3 thin line
2nd gain 1st gain
Standard default : < >
SV.Pr44
x Encoder resolution
SV.Pr45
(Continue to the next page.)
SV.Pr34
1st gain
SV.Pr32