Panasonic MINAS-BL GP series Instructions Manual page 22

Parameter
Effective
Parameter
after Setting
No. Name of parameter
power range
(Pr□□)
resetting
37 Gain switching time 0 to 10000 50
38 In-position range 0 to 16383 20
39 Position error set-up 0 to 16383 144
Position error
3A 0, 1
invalidation
Run-command
○
3E 0, 1
selection
40 Homing mode 0 to 5
41 Homing direction 0, 1
42 Homing speed 0 to 4000 200
43 Homing limit 0 to 16383
Homing acceleration/
44 1 to 30000 200
deceleration time
Bumping torque
45 50 to 150
detection value
Default Description
When the gain switching mode is set to auto-
matic switching, after the output of instruc-
tion, the 2nd gain (in running) changes to the
1st gain (in standstill) when time setting has
elapsed. Setting unit [ms]
In-position signal is turned on when position
error (difference between command position
and actual position) is below setting.
Setting unit [pulse]
Position error occurs when the value of
position error (difference between command
position and actual position) is larger than
this parameter × 8 as well as parameter 3A
is effective. Setting unit [pulse]
0: Effective
0 1: Ineffective (Motor does not trip but keeps
on operating.)
You can select the run-command method
with this parameter.
0: Command through I/O
0
1: Command through RS485 (Command
through I/O will be disabled except trip
and sensor input)
Select homing method.
0: Home sensor homing 1
1: Home sensor homing 2
0 2: Limit sensor homing
3: Bumping homing
4: Home resetting
5: Home sensor homing 3
You can set the detection direction of home.
0: Detecting in + direction
0
1: Detecting in − direction
You can set the speed in homing action.
Setting unit [r/min]
When the home cannot be detected although
the motor travel distance has exceeded set-
0
ting, homing error is found. (Ineffective at 0)
Setting unit [rotation number]
You can set time taken for reaching the hom-
ing speed. Setting unit [ms]
You can limit the output torque of motor when
50 returning to bumping home. You can set it in
[%] with reference to the rated torque.
－ 42 －
Effective
Parameter
after Setting
No. Name of parameter
power range
(Pr□□)
resetting
Bumping detection
46 0 to 15000 100
time
–16384 to
47 Home offset
16383
48 Homing function ○ 0 to 2
Homing selection
49 0, 1
when motor is free
Present position
4A 0, 1
overflow permission
4b Jog speed 0 to 4000 100
4C Jog acceleration time 1 to 30000 200
4d Jog deceleration time 1 to 30000 200
4E Teaching speed 0 to 4000
Default Description
You can set the detection time of bumping
toque in returning to bumping home.
Setting unit [ms]
You can set the offset from home detection
position. When the home has been detected,
set a value of plus and minus opposite to the
desired travel direction as an offset. (When
0
you set –100, the position traveling 100 puls-
es in +direction on the coordinate system is
set as an home.)
Setting unit [pulse]
0: Required
1: Not required (Position when power is
turned on is the home.)
1
2: When homing is not completed yet, hom-
ing operation is executed by positioning
start signal.
0: When homing is unavailable after motor-
free state is reset (when trip occurs, after
trip is reset), positioning operation is
enabled.
0
1: When motor is free (trip occurs), homing
is required again.
Note) When Pr48 is 1, setting of this param-
eter is ineffective.
You can set operation when the present
position counter of motor has overflowed
(exceeded ±32767 rotations).
0: Prohibited (motor trip)
0
1: Permitted (no motor trip)
Set it to 1 for operation to allow the motor to
rotate in one direction without change.
You can set the operation speed in jog op-
eration. Setting unit [r/min]
You can set time taken for reaching jog
speed. Setting unit [ms]
You can set time taken from jog speed until
stopping. Setting unit [ms]
You can set speed used in applying teaching
function of Digital key pad. Acceleration and
50
deceleration time is the same as jog opera-
tion. Setting unit [r/min]
－ 43 －