Panasonic MINAS-BL GP series Instructions Manual page 26

Detail of parameters
When the 1st point (or the 3rd point) is set by absolute travel, if the motor passes the
position designated by parameter, the motor speed changes to the speed set by the 2nd
point (or the 4th point), and the motor runs to the target position. In relative travel, the
motor runs by the speed designated at the 1st point (or the 3rd point) for the distance set
by the 1st point (or the 3rd point) from run start, and then the motor speed changes to
the speed designated at the 2nd point (or the 4th point) and the motor runs to the target
position.
e.g.) When the 1st point and the 2nd point are set to combined block operation (Pr06 = 2)
[1] When the 1st
speed setting
S1
Commanded speed
P1
Run start signal
OFF
ON
(input)
In-motion signal
OFF
ON
(output)
S1: The 1st speed setting set by the 1st point
P1: The 1st position
• When the 1st point position > the 2nd point position (when the target position is closer
than the position to change speed setting (P1)), the motor runs to the 2nd point posi-
tion at the 1st speed setting and positioning operation is completed.
• When the motor run start position has already passed the position of the 1st point
such as when the motor is stopped halfway (or when the operation direction to the 1st
point is different from that to the 2nd point), the motor runs to the position of the 2nd
point at the 2nd speed setting, and positioning operation is completed.
• During combined block operation, data of the 1st point is applied to the setting of ac-
celeration and deceleration time. Setting at the 2nd point is made ineffective, and the
motor operates with acceleration and deceleration time set at the 1st point.
• In combined block operation, acceleration and deceleration pattern is fixed to linearity.
(It is the same when the motor runs to the target position at a constant speed.)
• In combined block operation (status where the 1st block setting is "2"), when the 2nd
point positioning command is executed, command execution error
found.
• When using block setting "2" and "1" together, it is enabled by setting the block setting
parameter at "1" and setting the block timer at the 2nd point. (Operation at the 3rd point
is started after completion of combined block operation at the 1st point + the 2nd point.)
the 2nd speed [2] When the 1st the 2nd speed
setting speed setting setting
S1
S2
P2 P1
OFF OFF OFF
ON
OFF OFF
ON
S2: The 2nd speed setting set by the 2nd point
P2: The 2nd position
－ 50 －
• Jog operation
The motor runs in one direction at a specified speed as long as the signal is on.
Jog operation is allowed even when homing is not completed.
Set Pr50 to 53 as follows, and assign the function of signal input.
Of signal inputs 1 to 4 (I1 to I4), set the input used for forward jog operation instruction at "4",
and the input used for reverse jog operation instruction at "5".
The motor runs in specified direction as long as specified input signal is on.
When the input signal is turned off, the motor reduces its speed and stops.
See Pr4b to 4d for parameters relating to jog operation.
[Timing chart of jog operation]
Commanded speed
S2
P2
Jog signal (input)
OFF
In-motion signal
(output)
(1) Change the jog start signal from contact-off to the status of connection to GND (on).
It activates operation.
(2) When the jog start signal is returned to off, the motor starts speed reduction.
(3) When operation is completed, the transistor of in-motion signal (BUSY) returns to off.
• Operation instruction can be given to the motor only when in-motion signal is off.
• In jog operation, setting of Pr20 is applied to acceleration and deceleration pattern
(linear and S-letter) as for acceleration. In deceleration, the pattern is linear irrespec-
tive of setting of Pr21.
(E-rU) is
OFF ON OFF
OFF ON
MAX 10 ms
－ 51 －
OFF