Panasonic MINAS A6N Series, Руководство по эксплуатации

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3-6 Rev.2.00
3
2.Outline of Con
trol Mode
Setup
Position Control Mode
Outline
Control the position based on the positional command of RTEX communication command
from the host controller. Below describes the Basic Settings necessary for position control.
As Position Control Modes, profile position control (PP) and Cyclic position control (CP) are
available. In the former, target position, a target velocity, and acceleration/deceleration are
specified and a position command is generated in a servo driver; and in the latter, a position
command is generated in an upper controller and a command position is updated at specified
intervals, Positional command is input based on the command of RTEX communication.
Position command
(RTEX
communication)
Servo Driver
controller
Position
control
section
INP/In_Position
INP2
output function
Position
command
generation &
process
section
Electronic
gear rotating
direction
function
Positional
command
filtering
function
Feedback position
In_Position
(RTEX
communication)
RTEX
communication
processing
section
Electronic gear
(reverse conversion)
function
INP/INP2
(External output
signal)
Position command generation
& process section
PANATERM(Trial Run
、
FFT)
Function
①
Electronic gear function
The electronic gear is a function to receive a position command from an upper controller,
and multiplies it by an electronic gear ratio specified by a parameter to produce a position
command to a position control section. By using this function, the number of revolutions
and travel of the motor per command can be set to the desired value.
Setup by the number of pulses per motor revolution of reproduced pulse
（
Pr0.08
）
or elec-
tronic gear setting for conmmand
（
Pr0.09, Pr0.10
）
.
●
Relevant parameters
Panameter
No.
Title Range Function
Pr0.08
Command pulse counts
per one motor revolution
0 to
8388608
Specifies the number of command pulses equivalent
to one revolution of a motor. If this value is 0, Pn0.09
“Numerator of electronic gear ratio” and Pn0.10
“Denominator of electronic gear ratio” are valid.
Pr0.09
Numerator of electronic
gear
0 to
1073741824
Set the numerator of electronic gear ratio.
Pr0.10
Denominator of
electronic gear 1 to
1073741824
Set the denominator of electronic gear ratio.
For Details of Parameter,refer to P.3-42 “Details of Parameter”.
In case that communication cycle is 250us or less, please fix the value as 1/1. When
electronic gear ratio is not 1/1 in case that communication cycle is 250us or less,
Err93.5
（
Parameter setup error protection 4
）
can be occur.
Related page
・
P.3-12 “ Block Diagram of Control Mode ”
・
P.2-48 “ Wiring to the Connector ， X4 ”
Caution
Note