Panasonic MINAS A6 Multi Series Technical Reference page 67

4.2Position control
 Relevant parameters
Class No. Attribute
4 31 A
4 32 A
4 33 A
(To be continued)
4-11
Title Range
Positioning 0 to
2097152
complete
(In-position) range
Positioning 0 to 10
complete
(In-position) output
setup
INP hold time 0 to
30000
Unit Function
Command Set the threshold of positional deviation with respect to the
unit output of positioning complete signal (INP).
The unit of shipment setting is [Command unit], but it can
be changed to [Encoder unit] or [External scale unit] by
Pr5.20(Position setup unit select).In this case, the unit of
Pr0.14 is changed too, please attention.
The positional deviation value can be changed to after or
before position command filter by Pr7.23 bit14.
- Select the condition to output the positioning complete
signal (INP).
Whether or not positional commands are set is judged by
the command after the positional command filter in the case
of settings 1 to 5, and the command before the positional
command filter in the case of 6 to 10.
For the value of the position deviation it is possible to switch
before or after the position command filter by Pr7.23 bit14.
0: The signal will turn on when the positional deviation is
smaller than Pr 4.31 (Positioning complete range)
1, 6: The signal will turn on when there is no position
command and the positional deviation is smaller
than Pr 4.31 (Positioning complete range).
2, 7: The signal will turn on when there is no position
command, the zero-speed detection signal is ON
and the positional deviation is smaller than Pr 4.31
(Positioning complete range).
3, 8: The signal will turn on when there is no position
command and the positional deviations smaller than
Pr 4.31 (Positioning complete range). Subsequently,
ON state is maintained until Pr 4.33 INP hold time
has elapsed. After the hold time, INP output will be
turned ON/OFF according to the coming positional
command or condition of the positional deviation.
4, 9: Positioning completion decision starts in a delay time
specified by Pr4.33 after a change from "With
command" to "Without command". The signal turns
on if position command is not received and position
deviation is not larger than Pr4.31.
5, 10: After "With position command" changes to "Without
position command" and then the positional deviation
enters the positioning complete range, positioning
completion decision is started upon the elapse of the
positioning determination delay time specified for
Pr4.33 "INP hold time". The signal turns on when
there is no position command and the positional
deviation is equal to smaller than Pr 4.31
"Positioning complete range".
 Set up the hold time when Pr 4.32 = 3, 8.
ms
0:
1 to 30000:
 Becomes positioning detection delay time when Pr4.32 =
4, 5, 9, 10.
0:
1 to 30000:
The hold time is maintained definitely,
keeping ON state until the next positional
command is received.
ON state is maintained for setup time (ms)
but switched to OFF state as the positional
command is received during hold time.
Positioning detection delay time becomes
0, and positioning completion decision is
started immediately upon a change from
"With position command" to "Without
position command".
Positioning decision start time is delayed
by a setting value [ms]. If a position
command is received during the delay time,
the delay time is reset. When the position
command becomes 0, the delay time starts
to be measured starting from 0.