Panasonic MINAS E-series - Manual (Page 95)

95
[Connections and Settings in Position Control Mode]
Connections and
Settings in Position
Control Mode
PrNo. Parameter Name Unit Function/Content
• With the 2nd gain switching function enabled, you can provide
phased switching time only for position loop gain when gain is
switched.
• Switching time is only provided when a small position loop gain is
switched to a large position loop gain (Kp1 → Kp2) (in order to
alleviate impact to the machine due to abrupt change in gain).
• Set a value that is smaller than a difference between Kp2 and Kp1.
35 Position loop gain
switching time 0 - 10000
[20]*
(Setting value+1)
x 166 ms
Pr35=
Kp2(Pr10)
166
166 166
166 µs
Kp1(Pr18)
1st gain
(Example)
2nd gain
Thick solid line
Thin solid line
1st gain
0
0
1
1
2 2
3
3
Kp1(Pr10)
Parameters for Position Control
Standard Default Setup: [ ]
PrNo. Parameter Name Function/Content
The parameter sets a multiplier number with Pr42 (Command pulse input mode
set-up) when “2 phase pulse input” is selected as a form of command pulse.
The parameter sets direction of rotation of the motor to the command pulse input.
The parameter sets input form of command pulse to be given to the driver from
the host. Three input forms illustrated in the following table can be set. Select
any of them according to specifications of the host.
40
41
42
Command pulse
multiplier set-up
Command pulse
direction of rotation
set-up
Command pulse
input mode set-up
1 - 4
0 - 3
0 - 3
Range of
Settings
Range of
Settings
Settings
1 or 2
3 or [4]
Multiplier number at 2 phase pulse input
x 2
x 4
Settings
[0] or 3
1 or 2
Direction of Rotation
The motor rotates in a direction given by the command
pulse.
The motor rotates in a direction opposite to the
command pulse.
Settings
0
or
2
[1]
3
Signal Name
PULS
SIGN
PULS
SIGN
PULS
SIGN
Command pulse form
90˚ phase
difference
2 phase pulse
(Phase A +
Phase B)
CW pulse row
+
CCW pulse row
Pulse row
+
Sign
CCW Command CW Command
t1 t1 t1 t1
t1 t1 t1 t1
t4
“H” “L”
t5 t4
t6 t6 t6 t6
t5
Phase A
Phase B
Phase B delays from
Phase A by 90˚.
Phase B goes ahead
of Phase A by 90˚.
t2 t2
t2
t3
t2