№
SR-ZSV00039
Motor Business Unit, Appliances Company, Panasonic Corporation
Contents
1
．
Specification Overview.........................................................................................................................1
2
．
Specifications of Interface.....................................................................................................................2
2-1 Specifications of Input Signal of I/F Connector.................................................................................2
2-2 Specifications of Output Signal of I/F Connector ..............................................................................4
2-3 Input/Output Signal Allocation ..........................................................................................................5
2-3-1 Allocation of Input Signal ..........................................................................................................5
2-3-2 Allocation of Output Signal .......................................................................................................8
3
．
Specifications of Front Panel ..............................................................................................................10
3-1 Rotary switch(RSW) ........................................................................................................................10
3-2 7 segment LED.................................................................................................................................11
4
．
Basic function .....................................................................................................................................12
4-1 Setting Rotational Direction.............................................................................................................12
4-2 Position control ................................................................................................................................13
4-2-1 Command Pulse Input ..............................................................................................................13
4-2-2 Command Scaling (Electronic Gear)........................................................................................15
4-2-3 Position Command Filter..........................................................................................................16
4-2-4 Pulse Regeneration...................................................................................................................18
4-2-5 Counter Clear (CL)...................................................................................................................21
4-2-6 In-position Output (INP) ..........................................................................................................22
4-2-7 Command Pulse Inhibition (INH) ............................................................................................23
4-3 Setting of Regenerative Resistor ......................................................................................................24
5
．
Gain Adjustment / Damping Control Functions .................................................................................25
5-1 Automatic Adjusting Function .........................................................................................................25
5-1-1 Real-time Auto Tuning.............................................................................................................26
5-1-2 Adaptive Filter..........................................................................................................................31
5-2 Manual Adjustment ..........................................................................................................................33
5-2-1 Block Diagram of Position Control Mode................................................................................34
5-2-2 Gain Switching Function..........................................................................................................35
5-2-3 Notch Filter ..............................................................................................................................39
5-2-4 Damping Control......................................................................................................................41
5-2-5 Feed Forward Function ............................................................................................................44
5-2-6 3rd Gain Switching...................................................................................................................46
5-2-7 Friction Torque Compensation.................................................................................................47
6
．
Applied Functions ...............................................................................................................................49
6-1 Torque Limit Switching ...................................................................................................................49
6-2 Motor Movement Range Setting ......................................................................................................50
6-3 Electronic Gear Switching ...............................................................................................................52
6-4 Setting of Sequence Movements ......................................................................................................53
6-4-1 Drive prohibition input (POT , NOT ) sequence ......................................................................53
6-4-2 Sequence at Servo Off ..............................................................................................................54
6-4-3 Emergency Stop at Alarm ........................................................................................................55
6-4-4 Emergency Stop at Alarm ........................................................................................................56
7
．
Protective/Warning Functions.............................................................................................................57
7-1 List of Protective Functions .............................................................................................................57
7-2 Details of Protective Functions ........................................................................................................59
7-3 Warning Functions ...........................................................................................................................64
7-4 Protection Function Setting before Gain Adjustment ......................................................................65
8
．
Others..................................................................................................................................................67
8-1 List of parameters.............................................................................................................................67
8-2 Timing Chart ....................................................................................................................................73
8-2-1 Timing Chart of Operations After Turning Power On .............................................................73
