Panasonic MINAS A5-series, Operating Instructions Manual

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3-12
Cautions on Full-Closed Control
(1) Enter the command pulses making the external scale as a reference.
If the command pulses do not match to the external scale pulses, use the command division/
multiplication function (Pr0.09 to Pr0.10) and setup so that the command pulses after division/
multiplication is based on the external scale reference.
(2) The A5 series supports the external scale of A- and B-phase output type and serial communica-
tion type. Initialize the parameters according to the following procedures and write to EEPROM
and turn on power.
(3) When using a scale of A- and B-phase output type, correctly connect it so that the rotating di -
rection of the motor (CW/CCW) and A-phase and B-phase of the external scale have the follow -
ing relationship.
CCW direction
t1 t1
t2
t1 t1
EXA
t1 ＞ 0.25μs t2 ＞ 1.0μs
EXB
t1 ＞ 0.25μs t2 ＞ 1.0μs
t1 t1
t2
t1 t1
EXA
EXB
CW direction
Full-closed Control Mode
In this full-closed control, you can make a position control by using a external scale
mounted externally which detects the position directly and feeds it back. With this control,
you can control without being affected by the positional variation due to the ball screw
error or temperature and you can expect to achieve a very high precision positioning in
sub-micron order.
Controller
Position
command
(Speed detection)
Position detection
External scale
We recommend the external scale division ratio of ≤ External scale division ratio ≤ 160
1
40
3
1. Outline of mode
Connection
Full-closed Control Mode
Related page
• P.3-17 “Control Block Diagram” • P.3-19 “Wiring Diagram to the connector, X4”
• P.3-30 “Inputs and outputs on connector X4” • P.4-3 “Details of parameter”
<How to make an initial setup of parameters related to external scale >
1) Turn on the power after checking the wiring.
2) Check the values (initial) feedback pulse sum and external scale feedback pulse sum with the
front panel or with the setup support software, PANATERM.
3) Move the work and check the travel from the initial values of the above 2).
4) If the travel of the feedback sum and the external scale feedback pulse sum are reversed in posi -
tive and negative, set up the reversal of external scale direction (Pr3.26) to 1.
5) Set up the external scale division ratio (Pr3.24, Pr3.25) using the formula below,
* If the design value of the external scale division ratio is obtained, set up this value.
External scale division ratio =
Total variation of feedback pulse sum =
Pr3.24
Total variation of external scale feedback pulse sum
Pr3.25