Panasonic MINAS-A5BL Series Manual page 38

*3 The calculation methods (standard) of a position deviation differ by EtherCAT communication and analog monitor,
PANATERM.
EtherCAT communication serves as a deviation to the instruction input before a position instruction filter.
On the analog monitor and PANATERM, switchover is accomplished as follows according to the setting for the
command position deviation output switching (bit 14) of Pr7.23 "Communication function Extended setup 2".
Pr7.23 bit14=0: Deviation with respect to command input after positional command filter
Pr7.23 bit14=1: Deviation with respect to command input before positional command filter
The figure below shows details.
Command
input
Position deviation of
analog monitor and PANATERM
(For Pr7.23 bit14=1)
+
–
The position deviation of EtherCAT communication
60F4h(Following error actual value)
*4 For the monitor types No.23 and 24, digital signals are monitored using an analog monitor. So, set the Pr4.17 "Analog
monitor 1 output gain" and the Pr4.19 "Analog monitor 2 output gain" to 0 or 1, and set the Pr4.21 "Analog monitor
output setting" to 1. In this case, the output gain is as follows:
<Analog output setting>
• Pr4.17, Pr4.19 = 0 or 1
• Pr4.21 = 1
Pr4.16
/Pr4.18
Travel
23 command
status
24 Gain selection status
R1.00
Electronic gear
and Polarity
reverse
conversion
Electronic gear
and Polarity
conversion
＋
－
Electronic gear
and Polarity
reverse
conversion
Monitor type
Position control
Velocity control
Torque control
Position deviation of analog monitor and PANATERM
(For Pr7.23 bit14=0)
Feedback scale positional deviation (Feedback scale unit)
Positional
+
command
filter
–
Output voltage
0 [V]
250us interval
Travel command ≠ 0
Velocity command ≠ 0
Torque command ≠ 0
2nd gain
(Including 3rd gain)
Motor Business Unit, Panasonic Corporation
No. SX-DSV02829 -
Position control
Feedback scale data
+5 [V]
250us interval
Travel command = 0
Velocity command = 0
Torque command = 0
1st gain
32-