Panasonic MINAS A6N Series, Руководство по эксплуатации

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3-2 Rev.2.00
3
1.Outline of Command Input and Network
Setup
Sutup of Command Input and Network
Control Mode and Command Input Mode
MINAS-A6N has 4 command input modes, can be selected based on RTEX communication
command controllor.
Pr0.01 Control mode Command input mode
0
Position Control Mode
（
Semi - close
）
①
Profile position control (PP) mode
②
Cyclic position control (CP) mode
Velocity Control Mode
（
Semi - close
） ③
Cyclic velocity control (CV) mode
Torque Control Mode
（
Semi - close
） ④
Cyclic torque control (CT) mode
・
Because the actual command input mode depends on the controller, please confirm the
controller data.
Outline of Command Input Mode
①
Profile position control (PP) mode
In this Position Control Mode, the target position, target speed and acceleration/decelera-
tion speed are specified and the servo driver internally generates the position command.
Position command
Generation
& process
Target position
Target speed
Acceleration (parameter)
Deceleration (parameter)
RTEX
communication
Command position
Position
control
section
Velocity
control
section
Torque
control
section
Semi - close
Motor
Encoder
②
Cyclic position control (CP) mode
In this Position Control Mode, the host controller generates the position command and up-
dates it (or transmits updated command) at the command updating cycle.
Target speed
Target position
Command position
RTEX
communication
Acceleration (parameter)
Deceleration (parameter)
Position
control
section
Velocity
control
section
Torque
control
section
Position command
Generation
& process
Semi - close
Motor
Encoder
Note