Panasonic MINAS-A4P Technical Reference page 59

* Note in rotation axis operation
Note 1) About control mode
Rotation axis operation is valid only in position control mode (servo parameter No.02 = 0).
When rotation axis operation is specified in full-closed control mode (servo parameter No.02 =
6), error code No.69 (undefined data error protection) occurs.
Note 2) About restriction on parameter
When rotation axis operation is used, in order to avoid exceeding the limit of present position
range, parameters are restricted as follows:
- Set the servo parameter No.0B (absolute encoder setting) at 1 (using the absolute encoder as
an incremental encoder). Rotation axis operation always requires homing. If this parameter is
set to 0 or 2, error code No.69 (undefined data error protection) occurs when rotation axis
operation is started.
- Set the 16-bit positioning parameter No.38 (homing operation disable setting) to 0 (homing
required). Rotation axis operation always requires homing.
- Set the 16-bit positioning parameter No.54 (block operation procedure setting) at 0
(continuous block operation). Combined block operation cannot be used.
- Set the 32-bit positioning parameter No.00 (home offset) in the range 0 - (movement per
rotation in rotation coordinates - 1) when 16-bit positioning parameter No.37 (operation
setting in homing completion) is 0, and in the range 0 - (movement pre rotation in rotation
coordinates - 1) when 1.
- Be sure to set the 32-bit position parameter No.03 (movement per rotation in rotation
coordinates) in the range 2 - 1073741824. When it is out of the range, error code No.69
(undefined data error protection) occurs when starting positioning operation.
- Set the 32-bit positioning parameter No.01 (plus direction maximum movement setting) and
No.02 (minus direction maximum movement setting) at 0. Maximum movement limit error
protection cannot be used in rotation axis operation.
Note 3) About setting of step data
- When using rotation axis operation (rotary), do not mix relative operation (Incremental) with
absolute operation (Absolute) in use.
- When the step data setting specifying rotation axis operation is out of the range from 0 to
(movement per rotation in rotation coordinates - 1), error code No.69 (undefined data error
protection) occurs when starting positioning operation.
Note 4) About jog operation
When using in rotation axis operation, do not perform jog operation after completion of
homing. Limit of present position range may be exceeded. If jog operation is performed, try
homing again.
Note 5) Servo-off
When servo is turned off during use in rotation axis operation, limit of present position range
may be exceeded. Be sure to try homing again after the servo has turned on.
A4P MOTOR COMPANY, MATSUSHITA ELECTRIC INDUSTRIAL CO.,LTD
No. SR-DSV09485 - 55 -