Panasonic MINAS A6 Series Operating Instructions Manual page 216

1. Details of parameter
[Class 0] Basic setting
Pr0.12 *
Reversal of pulse output logic
You can set up the B-phase logic and the output source of the pulse output. With this
parameter, you can reverse the phase relation between the A-phase pulse and the B-phase
pulse by reversing the B-phase logic. Encoder or external scale can be selected as the output
source for full-closed control. The encoder is selected as the source if not for full-closed control.
<Reversal of pulse output logic>
Pr0.12
[0]
2
1
3
Caution
Setup value 2 and 3 are valid only for full-closed control. Setting must be 0 or 1 if not for full-
closed control.
The selection of the output source of Z-phase is held concurrently.
Setup value 0 and 1 are Z-phase output of encoder.
Setup value 2 and 3 are Z-phase output of external scale.
Pr0.13
1st torque limit
You can set up the limit value of the motor output torque.
Note
For details of torque limit value, refer to P.2-84.
Pr0.14
Position deviation excess setup
• Set excess range of positional deviation by the command unit (default).
• Setup unit can be changed to encoder unit through Pr5.20 (position setup unit selection).
If the unit is changed, set up with the encoder pulse counts at the position control and with
the external scale pulse counts at the full-closed control.
• Err24.0 (Error detection of position deviation excess) becomes invalid when you set up this to 0.
Note For description of "command unit" and "encoder unit", refer to P.4-58 "Pr5.20".
Pr0.15 *
Absolute encoder setup
You can set up the using method of 23-bit absolute encoder.
Setup value
0
[1]
2
3
4
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4-14
B-phase Output
logic source
A-phase
Encoder
Non-
reversal External
B-phase
scale
A-phase
Encoder
Reversal
External
B-phase
scale
Used as absolute system .
Used as incremental system .
Used as absolute system (absolute mode), but multirotation counter over is ignored.
Used as a single-turn absolute mode.
Used as an absolute system(absolute mode);however,any value can be set for the
upper limit of the multi-turn counter.(continuous rotating absolute encoder mode)
Range
0 to 3
CCW direction
rotation
A-phase
B-phase
A-phase
B-phase
Range
0 to 500
Range
0 to 1073741824
Range
0 to 2
Function
Default: [ ]
Related
Unit Default
control mode
— 0 P S T F
CW direction
rotation
Related
Unit Default
control mode
% 500 P S T F
Related
Unit Default
control mode
Command
100000 P
unit
Related
Unit Default
control mode
— 1 P S T F
F