Panasonic MINAS-BL GP series Instructions Manual page 34

Example setting of motion pattern
Door opening/closing
• When executing reciprocating
operation between 2 points
Automatic door
<Example of setting>
• When open/close is chosen and I1 is input, open/close operation is executed.
• When the door is stopped in any position on the way of action, opening or closing operation
is enabled from such position. (It is the same when the door is moved by hand with motor disabled.)
• Use of bumping homing enables elimination of home sensor.
• Holding torque when motor is stopped can be changed.
[Signal function setting]
Terminal Terminal Terminal
symbol number name
Operates when "I1" and "GND" are shorted (Homing operation for the
I1
1 Signal input 1
first time after power-on)
Opening (point 2) operation when "I2" and "GND" are shorted, and
I2
2 Signal input 2
closing (point 1) operation when they are open.
I3
11 Signal input 3 Motor is free when "I3" and "GND" are open. (Servo lock released)
Operation is stopped when "I4" and "GND" are open. (Motor is not
I4
4 Signal input 4
activated while they are open.)
O1 6 Signal output 1 Trip output (Normally on, and off in tripping)
O2 12 Signal output 2 In motion signal (including homing operation)
[Operation timing chart]
Run start
I1 (Run start)
I2 (Choose open/close.)
20 ms or longer
(Choose point.)
Turns off normally in short-circuiting
I3 (Motor free)
(Motor is free when circuit is opened.)
Turns off normally in short-circuiting
I4 (Instantaneous stop)
(Motor stops instantaneously when circuit is opened.)
01 (Trip output)
02 (In motion)
Power-ON
Execute
Turn on power, and then turn on homing
I1 after one second or longer
have passed.
Motor commanded
speed
Pr2E Pr45
Output torque
Home is detected when workpiece
bumps to the mechanical end.
• Coordinate system + direction depends on configuration of gear
head and machine. When setting the rotation direction CCW of
motor shaft to +, set Pr23 at "0", and when setting CW to +, set
Pr23 at "1".
• When setting the Mechanical end offset value to –144, the Home
is the point which has moved 144 pulses to the + direction seen
from the Mechanical end.
Mechanical end
Homing direction (–)
The 1st point The 2nd point
(closed) (opened)
144
(–144) Home 0
Description of function
Run start Run start Run start Run start
Switch between open and
close, and then turn on I1 in
20 ms or longer.
Normally ON.
Execute Execute Execute Execute
opening closing opening closing
Pr2E Pr35 Pr2E Pr35 Pr2E Pr35 Pr2E Pr35 Pr2E
When the motor is stopped by stop signal on
the way of operation, positioning is allowed
at any desired position (open or close).
－ 66 －
[Parameter setting]
Parameter
Function No.
(Pr
□□
50*
51*
52*
53*
56*
57*
Coordinate
system (+)
5C
5d
40
41
42
44
45
46
47
48*
49
4A
23*
00
01
02
03
04, 05
06
08
09
0A
0b
0C, 0d
0E
For automatically changing the retention torque (retention force) when door is stopped
2E
35
36
37
Indicates only the point changed from default setting.
(Parameter marked with * is effective after power resetting.)
Name of parameter Setting
)
I1 function selection
8 Run start
I2 function selection
6 Point designation 1 input (choosing the 1st/2nd point)
I3 function selection
15 Motor-free input
I4 function selection
1 Instantaneous stop input
Changes the polarity of I3 to effective when
I3 input logic selection
1
open (motor-free in this case).
Changes the polarity of I4 to effective when
I4 input logic selection
1
open (instantaneous stop in this case).
01 function selection 0 Trip output
02 function selection 2 In-motion signal
Homing mode 3 Bumping homing
Set the homing direction normally to minus
Homing direction 1
direction (closing direction).
Homing speed 200 Set any desired operation speed.
Homing acceleration/
200 Set any desired acceleration/deceleration time.
deceleration time
Bumping torque detection value 50 Torque limit during bumping homing
Home is detected when torque restriction
Bumping torque detection time 100
continues for one second.
Set the distance from the home desired to
Home offset –144
be set to the mechanical end.
When power is turned on, homing operation is
Homing function 2
executed by initial I1 input.
Homing selection when
0 Homing is not required when tripping occurs.
motor is free
Present position overflow Overflow is not permitted because absolute
0
permission travel is set.
Coordinate system setting 0, 1 Set so that homing is in minus direction.
The 1st target position
Set the door closing position coordinate.
0
(rotation number)
(Coordinate is 0 when closing position is the
same as home position.)
The 1st target position (pulse) 0
The 1st coordinate setting 1 Set absolute travel.
The 1st setting speed 2000 Set any desired operation speed.
The 1st acceleration time/ Set any desired acceleration time and
200
The 1st deceleration time deceleration time.
The 1st block setting 0 Set normal operation.
The 2nd target position
40
(rotation number)
Set the door opening position coordinate.
The 2nd target position (pulse) 0
The 2nd coordinate setting 1 Set absolute travel.
The 2nd setting speed 2000 Set any desired operation speed.
The 2nd acceleration time/ Set any desired acceleration time and
200
The 2nd deceleration time deceleration time.
The 2nd block setting 0 Set normal operation.
Sets the retention torque when door is stopped.
Torque limit setting 100 The smaller the value is, the weaker the
retention force becomes.
The 2nd torque limit setting 150 Maximum output torque when door is operating.
Gain switching mode selection 2 Set to 0 when executing no switching.
Torque is changed in 100 ms after completion
Gain switching time 100
of operation instruction.
－ 67 －
Remarks