Panasonic Minas A4 Series, Инструкция по эксплуатации

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Absolute System
Outline of Absolute System
When you compose an absolute system using an absolute encoder, you are not required to carry out homing
operation at the power-on, and this function suits very well to such an application as a robot.
Connect the host controller with the Minas A4 with absolute specifications. (motor with absolute encoder and
driver with absolute spec) and set up the parameter, Pr0B to 0, then connect the battery for absolute en-
coder to compose an absolute system with which you can capture the exact present position information
after the power-ON.
Shift the system to origin once after installing the battery and clear the multi-turn data by clearing the abso-
lute encoder, then you can detect the absolute position without carrying out homing operation.
Via RS232 or RS485 communication, the host controller can connect up to 16 MINAS-A4 and capture the
present position information as serial data to obtain the absolute position of each axis by processing. each
data.
Applicable Mode
You can use all of MINAS A4 series driver in absolute specifications by setting up parameter. Use the motor
which 8th place (designated for rotary encoder specifications) is “S” (7-wire type).
Absolute Specifications
There are 3 connecting methods of the host controller and MINAS-A4 driver as described below, and select
a method depending on the interface of the host controller specs or number of axis to be connected. Desig-
nate a module ID to RSW of each MINAS-A4 driver when you connect multiple MINAS-A4 in communication
to one host controller as shown below.
Module ID (RSW)
• When you connect each MINAS-A4 to the host separately with RS232 and switch the communication
individually, designate 0 to F to each MINAS-A4. (Max. 16 axis are connectable.)
• When you connect one MINAS-A4 to the host with RS232 and connect each MINAS-A4 with RS485,
designate 0 to the MINAS-A4 connected with the host, and designate 1 to F to other MINAS-A4.
• When you connect MINAS-A4 to the host with RS485, the host is given module ID of 0, and designate 1 to
F to MINAS-A4. (Max 15 axis are connectable.)
M M S
8th place
Rotary encoder specifications
0
F
E
D
C
B
A
9 8
7
6
5
4
3
2
1
RSW
M * DD driver