Panasonic MINAS E-series - Manual (Page 108)

108
Wiring to Connector CN X5
Signal Name
Gain Switching/
Speed Zero Clamp/
Torque Limit
Switching Input
Command Dividing
Multiplier Switching/
Internal Command
Speed Selection 1
Input
CW Overtravel
Inhibit Input
CCW Overtravel
Inhibit Input
• Settings of Pr06 and control mode can change functions.
The control mode can change functions.
• If you open connection with COM- when a moving part of the
machine exceeds the movable range in CW direction, no
torque will be generated in CW direction.
• If you open connection with COM- when a moving part of the
machine exceeds the movable range in CCW direction, no
torque will be generated in CCW direction.
• If you set 1 to Pr04 (Invalid Overtravel Inhibit Input), CWL/
CCWL inputs will be invalid. A default value is invalid (1).
• Setting of Pr66 (DB inaction during driving prohibition) can activate
the dynamic brake when CWL/CCWL input is valid. According to a
default value, the dynamic brake will run (Pr66 is 0).
5
6
7
8
GAIN
/ZEROSPD
/TC
DIV
/INTSPD1
CWL
CCWL
SI
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SI
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Pin No. Symbol Function I/F Circuit
Pr06
0, 1
2
For details on the 2nd gain switching function, refer to Page 138.
Content Control Mode
Connection with COM-
Open 1st setting value selected. (Pr70,5E,63)
Connected 2nd setting value selected. (Pr71,72,73)
Pr06
0 ZEROSPD input is invalid.
1 [default value] ZEROSPD input is valid.
Setting of Pr30 Content
0
[default value]
Velocity loop: P1 (proportional/integral) operation
Setting of Pr31 Connection
with COM-
–
Open
Connected Velocity loop: P (proportion) operation
1st gain selected (Pr10,11,12,13,14)
1
Open
Connected
2
2nd gain selected (Pr18,19,1A,1B,1C)
When
position
control
Pr02 is
0 or 2
When
internal
velocity
control
Pr02 is 1
The following 2 functions can be used with settings of Pr30.
Gain switching input (GAIN) switches P1/P operation and
first/second gain.
With speed zero clamp input (ZEROSPD), velocity command is
opened when connection with COM- is opened.
You can override this input with Pr06.
A default value of Pr06 is 1, and this input is valid. When
connection with COM- is opened, speed will be zero.
Content
Content
Position
Control/
Internal
Velocity
Control
With torque limit switching input, parameters of acceleration level,
torque limit, excessive position deviation can be switched.
• Input to switch dividing multiply of command pulse
• When this signal is connected to COM-, it will switch a command
dividing multiply numerator from Pr46 (Numerator of 1st command
pulse ratio) to Pr47 (Numerator of 2nd command pulse ratio).
You must not enter any command pulse for 10 ms before or after
switching.
• With internal command speed selection 1 (INTSPD1), four-speed
can be set in combination with INTSPD 2.
• For details on settings of control mode, refer to Page 117.
Position
Control
Internal
Velocity
Control