Panasonic MINAS A5-series, Руководство по эксплуатации

Страница: 306 / 394

7-10
7
2. Absolute system
Supplement
Outline
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 A5 with absolute specifications. (motor with
absolute encoder and driver with absolute spec) and set up the parameter, Pr0.15 to 0 or 2,
then connect the battery for absolute encoder 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 absolute 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 32 MINAS-A5
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 A5 series driver in absolute specifications by setting up param -
eter. 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-A5 driver as described
below, and select a method depending on the interface of the host controller specs or
number of axis to be connected. Designate a module ID to Pr5.31 of each MINAS-A5
driver when you connect multiple MINAS-A5 in communication to one host controller as
shown below.
[Parameter Pr5.31]
• When you connect each MINAS-A5 to the host separately with RS232 and switch the
communication individually, designate 0 to 31 to each MINAS-A5. (Max. 31 axis are
connectable.)
• When you connect one MINAS-A5 to the host with RS232 and connect each MINAS-A5
with RS485, designate 0 to the MINAS-A5 connected with the host, and designate 1 to
31 to other MINAS-A5. (Max 32 axis are connectable.)
• When you connect MINAS-A5 to the host with RS485, the host is given module ID of 0,
and designate 1 to 31 to MINAS-A5. (Max 31 axis are connectable.)
M M S
8th place
Rotary encoder specifications