Panasonic Minas A4 Series, Инструкция по эксплуатации

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119
[Connection and Setup of Position Control Mode]
Connection and Setup of
Position Control Mode
48
49
4A
4B
1st numerator of
electronic gear
2nd numerator of
electronic gear
Multiplier of
electronic gear
numerator
Denominator of
electronic gear
<Setup example when numerator ≠ 0>
• When division/multiplication ratio=1, it is essential to keep the relationship in which
the motor turns one revolution with the command input (f) of the encoder
resolution.
Therefore, when the encoder resolution is 10000P/r, it is required to enter the input
of f=5000Pulses in case of duplicate, f=40000Pulse in case of division of 1/4, in
order to turn the motor by one revolution.
• Set up Pr48, 4A and 4B so that the internal command (F) after division /
multiplication may equal to the encoder resolution (10000 or 2 17 ).
Electronic gear function-related (Pr48-4B) (continued from the previous page)
2 17 (131072) 10000 (2500P/r x 4)
F =
f x Pr48 x 2 Pr4A
= 10000 or 2
17
Pr4B
F : Internal command pulse counts per motor one revolution
f : Command pulse counts per one motor revolution.
Encoder resolution
Example 1
when making the command
input (f) as 5000 per one
motor revolution
Example 2
when making the command
input (f) as 40000 per one
motor revolution Pr4A
17
Pr48 1 x 2
Pr4B 5000
Pr4A
0
Pr48 10000 x 2
Pr4B 5000
Pr4A
0
Pr4A
15
Pr48 1 x 2
Pr4B 10000
Pr48 2500 x 2
Pr4B 10000
4D
*
0 to 31
<0>
Setup of FIR
smoothing
You can set up the moving average times of the FIR filter covering the command
pulse. (Setup value + 1) become average travel times.
4C 0 to 7
<1>
Setup of primary
delay smoothing
Smoothing filter is the filter for primary delay which is inserted after the electronic
gear.
You can set the time constant of the smoothing filter in 8 steps with Pr4C.
Setup value
0
<1>
7
Time constant
No filter function
Time constant small
Time constant large
Purpose of smoothing filter
• Reduce the step motion of the motor while the command pulse is rough.
• Actual examples which cause rough command pulse are;
(1) when you set up a high multiplier ratio (10 times or more).
(2) when the command pulse frequency is low.
4E 0 to 2
<1>
Counter clear
input mode
You can set up the clearing conditions of the counter clear input signal which clears
the deviation counter.
*1 : Min. time width of CL signal
Setup value
0
<1>
2
Clearing condition
Clears the deviation counter at level (shorting for longer than 100 µ s)*1
Clears the deviation counter at falling edge (open-shorting for longer than 100 µ s)*1
Invalid
CL(Pin-30)
100 µ s or longer
PrNo.
Setup
range
Title Function/Content
Standard default : < >
<Notes>
• For parameters which No. have a suffix of "*", changed contents will be validated when you turn on the
control power.