No. SX-DSV02472 -
26-
*3 The calculation methods (standard) of a position deviation differ by EtherCAT communication and analog monitor,
PANATERM.
EtherCAT communication serves as a deviation to the instruction input before a position instruction filter.
On the analog monitor and PANATERM, switchover is accomplished as follows according to the setting for the
command position deviation output switching (bit 14) of Pr7.23 "Communication function Extended setup 2".
Pr7.23 bit14=0: Deviation with respect to command input after positional command filter
Pr7.23 bit14=1: Deviation with respect to command input before positional command filter
The figure below shows details.
*4 Temperature information from the encoder will include value only when 20-bit incremental encoder is used.
Otherwise, the value is always 0.
*5 For the monitor types No.23 and 24, digital signals are monitored using an analog monitor. So, set the Pr4.17 “Analog
monitor 1 output gain” and the Pr4.19 “Analog monitor 2 output gain” to 0 or 1, and set the Pr4.21 “Analog monitor
output setting” to 1. In this case, the output gain is as follows:
<Analog output setting>
•
Pr4.17, Pr4.19 = 0 or 1
•
Pr4.21 = 1
Pr4.16
/Pr4.18
Monitor type
Output voltage
0 [V]
+5 [V]
23
Travel
command
status
Position control
250us interval
Travel command
≠
0
250us interval
Travel command = 0
Velocity control
Velocity command
≠
0
Velocity command = 0
Torque control
Torque command
≠
0
Torque command = 0
24
Gain selection status
2nd gain
(Including 3rd gain)
1st gain
*6 When the incremental encoder is used, normal value will be output after passing 1st Z phase.
Positional
command
filter
Position control
Encoder feedback/external scale
feedback
+
–
Command
input
Position deviation of analog monitor and PANATERM
(For Pr7.23 bit14=0)
Encoder positional deviation (Encoder unit)
/Full-closed deviation (External scale unit) (Not supported)
+
–
The position deviation of EtherCAT communication
60F4h(Following error actual value)
Position deviation of
analog monitor and PANATERM
(For Pr7.23 bit14=1)
Electronic gear
and Polarity
reverse
conversion
Electronic gear
and Polarity
reverse
conversion
Electronic gear
and Polarity
conversion
＋
－
R1.05
Motor Business Division, Appliances Company, Panasonic Corporation
