Panasonic MINAS A6N Series, Руководство по эксплуатации

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3-5
1
Before Using the Products
2
Preparation
3
Setup
4
Trial Run
5
Adjustment
6
When In T
roubie
7
Supplement
Rev.2.00
(2)32 byte mode
○
:Compatible
、
−:Not compatible
Commu-
nication
cycle
[ms]
Command update cycle [ms]
0.125 0.25 0.5 1.0 2.0 4.0
PP CP CV CT PP CP CV CT PP CP CV CT PP CP CV CT PP CP CV CT PP CP CV CT
0.0625 — — — — — — — — — — — — — — — — — — — — — — — —
0.125 — — — — — — — — — — — — — — — — — — — — — — — —
0.25 — — — — — — — — — — — — — — — — — — — —
0.5
○ ○ ○ ○ ○ ○ ○ ○
— — — — — — — —
1.0
○ ○ ○ ○ ○ ○ ○ ○
— — — —
2.0
○ ○ ○ ○ ○ ○ ○ ○
●
Related Parameters
Panameter
No.
Title Range Function
Pr0.01 Control mode setup 0 to 6
You can set up the control mode to be used.
0
：
semi-closed control
Pr7.20
RTEX
communication
cycle setup
−1 to 12
Set up the RTEX communication cycle.
ー
1
：
Enable the setup by Pr7.91,
3
：
0.5 ms, 6
：
1.0 ms
Pr7.21
RTEX command
updating cycle setup
1 to 2
Set up the ratio of RTEX communication cycle to command
updating cycle.
Setting = command updating cycle/communication cycle
Pr7.22
RTEX function
extended setup 1
−32768 to
32767
・
bit 0
：
specifies the data size of RTEX communication.
0
：
16-byte mode, 1
：
32-byte mode
・
bit 1
：
specifies the inter-axis sync mode when 2 or more
axes are used with TMG_CNT. Set this parameter to
0 when not using TMG_CNT.
Pr7.91
RTEX
communication cycle
expansion setting
0
〜
2000000
Set the communication cycle of RTEX communication in a
unit of ns.Do not set other value than 62500(0.0625 ms)
、
125000(0.125 ms)
、
250000(0.25 ms)
、
500000(0.5 ms)
、
1000000( 1.0 ms)
、
2000000( 2.0 ms).
Set to other value, Err93.5 “Parameter setting error protection 4”
is generated.
Example of Mode Setup
Communication cycle of 0.5 ms, command updating cycle 1.0 ms, semi-closed control, 16-
byte mode and interaxis semi-synchronous mode.
・
Pr0.01 = 0
（
Semi-closed control
） ・
Pr7.20 = 3
（
Communication cycle 0.5 ms
）
・
Pr7.21 = 2
（
Command updating cycle 1.0 ms = 0.5 ms ×2
）
・
Pr7.22 = 0
（
(16-byte mode and interaxis semi-synchronous mode
）
In this example setting, PP/CP/CV/CT control mode switch can be used.
PP/CP/CV/CT control mode selection is necessary by specifying command code.
If the combination of Pr7.20 “RTEX communication cycle setup”, Pr7.91 “RTEX
communication cycle expansion setting”, Pr7.21 “RTEX command updating cycle setup”
and electronic gear ratio is are not suitable, Err93.5 “Parameter setting error protection 4”
is generated.
Make sure to set the same cycle as the upper equipment for the RTEX communication cycle
(Pr7.20, Pr7.91) and RTEX command updating cycle (Pr7.21).
Also, make sure to set the same setting as the upper equipment for the extended RTEX
function (Pr7.22).
Otherwise, the operation cannot be guaranteed.
Caution
1.Outline of Command Input and Network
Command Input
、
Network Setup