Panasonic MINAS A5-series Operating Instructions Manual page 131

1. Outline of mode
Full-closed Control Mode
6) Set up appropriate value of hybrid deviation excess (Pr3.25) in 16 pulse unit of the external scale
resolution, in order to avoid the damage to the machine.
* A5-series driver calculates the difference between the encoder position and the external scale
position as hybrid deviation, and is used to prevent the machine runaway or damage in case of
the external scale breakdown or when the motor and the load is disconnected.
If the hybrid deviation excess range is too wide, detection of the breakdown or the disconnection
will be delayed and error detection effect will be lost. If this is too narrow, it may detect the normal
distortion between the motor and the machine under normal operation as an error.
* When the external scale division ration is not correct, hybrid deviation excess error (Err25) may
occur especially when the work travels long distance, even though the external scale and the
motor position matches.
In this case, widen the hybrid deviation excess range by matching the external scale division ra-
tio to the closest value.
Function
(1) Selection of external scale type
Select the type of external scale to be used.
• Relevant parameters
Parameter
No.
Pr3.23
Pr3.26
Note
For details of these parameters, refer to P.4-29 and 30 "Details of parameter".
(2) Setup of external scale division ratio
Set up the division ratio of encoder resolution and external scale resolution.
• Relevant parameters
Parameter
No.
Pr3.24
Pr3.25
Note
For details of these parameters, refer to P.4-30 "Details of parameter".
(3) Setup of hybrid excessive deviation
This function detects the positional difference between the motor (encoder) and load
(external scale) and enables the hybrid excessive deviation protection if the difference
exceeds Pr3.28 "Hybrid excessive deviation setup".
Hybrid excessive deviation is mainly caused by feedback scale error, wrong connection
and loose connection between the motor and load.
• Relevant parameters
Parameter
No.
Pr3.28
Pr3.29
Note
For details of these parameters, refer to P.4-31 "Details of parameter".
Title Range
External scale
0 to 2
selection
Reversal of direction of
0 to 1
external scale
Title Range
Numerator of external
0 to 2
scale division
Denominator of
1 to 2
external scale division
Title Range
Hybrid deviation
1 to 2
excess setup
Hybrid deviation clear
0 to 100
setup
Function
Select the type of external scale.
Reverse the direction of external scale, feedback
counter.
Function
Set up the numerator of the external scale dividing
20
setup.
Set up the Denominator of the external scale
20
dividing setup.
Function
You can setup the permissible gap (hybrid deviation)
between the present motor position and the present
27
external scale position.
As the motor turns the number of revolutions set by
this parameter, the hybrid deviation is cleared to 0.
1
2
3
4
5
6
7
3-13