Full-Closed Control Mode - Panasonic MINAS A5-series Operating Instructions Manual

3
Connection
Full-closed Control Mode
In this full-closed control, you can make a position control by using a external scale
mounted externally which detects the position directly and feeds it back. With this control,
you can control without being affected by the positional variation due to the ball screw
error or temperature and you can expect to achieve a very high precision positioning in
sub-micron order.
We recommend the external scale division ratio of
Cautions on Full-Closed Control
(1) Enter the command pulses making the external scale as a reference.
If the command pulses do not match to the external scale pulses, use the command division/
multiplication function (Pr0.09 to Pr0.10) and setup so that the command pulses after division/
multiplication is based on the external scale reference.
(2) The A5 series supports the external scale of A- and B-phase output type and serial communica-
tion type. Initialize the parameters according to the following procedures and write to EEPROM
and turn on power.
(3) When using a scale of A- and B-phase output type, correctly connect it so that the rotating di-
rection of the motor (CW/CCW) and A-phase and B-phase of the external scale have the follow-
ing relationship.
CCW direction
EXA
t1
EXB
t1 0.25μs t2 1.0μs
<How to make an initial setup of parameters related to external scale >
1) Turn on the power after checking the wiring.
2) Check the values (initial) feedback pulse sum and external scale feedback pulse sum with the
front panel or with the setup support software, PANATERM.
3) Move the work and check the travel from the initial values of the above 2).
4) If the travel of the feedback sum and the external scale feedback pulse sum are reversed in posi-
tive and negative, set up the reversal of external scale direction (Pr3.26) to 1.
5) Set up the external scale division ratio (Pr3.24, Pr3.25) using the formula below,
External scale division ratio =
* If the design value of the external scale division ratio is obtained, set up this value.
Related page
• P.3-17 "Control Block Diagram"
• P.3-30 "Inputs and outputs on connector X4"
3-12
1. Outline of mode
Full-closed Control Mode
Position
command
t1 t1
EXA
t1
EXB
t2
Total variation of feedback pulse sum
Total variation of external scale feedback pulse sum
• P.3-19 "Wiring Diagram to the connector, X4"
(Speed detection)
Position detection
1
≤ External scale division ratio ≤ 160
40
CW direction
t1 t1
t1 t1
t2
t1 0.25μs t2 1.0μs
• P.4-3 "Details of parameter"
External scale
Pr3.24
=
Pr3.25