Panasonic MINAS A5-series Operating Instructions Manual page 198

1. Details of parameter
[Class 3] Verocity/ Torque/ Full-closed control
Title
Pr3.24 *
Range
Set up the numerator of the feedback scale dividing setup.
When setup value = 0, encoder resolution is used as numerator of the division.
Title
Pr3.25 *
Range
• Check the number of encoder pluses per one motor revolution and the number of feedback
scale pulses per one motor revolution, and then set up the numerator of external scale
division (Pr3.24) and the denominator of external scale division (Pr3.25) to establish the
expression shown below.
• With Pr3.24 set at 0, the encoder resolution is automatically used as numerator.
Example: When ball screw pitch is 10 mm, scale 0.1 _m/pulse, encoder resolution 20 bits
Pr3.24 1048576
Pr3.25 100000
Caution
If this ratio is wrong, the difference between the position calculated based on the encoder
pulses and the position calculated based on the feedback scale pulses becomes large over
a long travel distance and will activate the excess hybrid deviation error protection.
Title
Pr3.26 *
Range
Reverse the direction of feedback scale, feedback counter.
Setup value
0
1
Note
For setting method of this parameter, refer to P.3-12 Full closed control mode.
Title
Pr3.27 *
Range
Enable/disable Z-phase disconnection detection when A, B phase output type feedback
scale is used.
Setup value
0
1
4-30
Numerator of external scale division
0 to 2
20
Denominator of external scale division
1 to 2
20
(1048.576 pulses);
Encoder resolution per one motor revolution [pulse]
=
Feedback scale resolution per one motor revolution [pulse]
Reversal of direction of external scale
0 to 1
Count value of external scale can be used as it is.
Sign (positive/negative) of count value of external scale should be inverted.
External scale Z phase disconnection
detection disable
0 to 1
Content
Valid
Invalid
Related
control mode
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Unit Default
Related
control mode
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Unit Default
Related
control mode
—
Unit Default
Content
Related
control mode
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Unit Default
P S T F
0
P S T F
10000
P S T F
0
P S T F
0