Panasonic MINAS A4P Series Instruction Manual

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Panasonic MINAS A4P Series Instruction Manual Manual pdf 108 page image

108Caution1) If a set value of speed, acceleration or deceleration at a specified point is “0”, an operation trips due to unde-fined data error protection (error code No. 69) and stops according to an operation at alarm occurrence.2) If the current position (–2147483647 to 2147483647) overflows when absolute movement is performedcontinuously in the same direction, an operation trips due to current position overflow error protection(error code No. 70) and stops according to an operation at alarm occurrence. This error can be disabledby 16.Pr51 (Wrap around permission). In this case, however, an absolute position cannot be guaranteed.If you disable the wrap around, use the incremental operation only.3) If the over-travel inhibit input is enabled in an operating direction during a step operation, an operationtrips due to over-travel inhibit detection error protection (error code No. 71) and stops according to anoperation at alarm occurrence. In SV.Pr55 (Over-travel inhibit input operation setting), you can specifywhether or not to trip an operation.4) When the motor has exceeded a maximum travel specified by 32.Pr01 (Setting of maximum movement inplus direction) and 32.Pr02 (Setting of maximum movement in minus direction) during a step operation,an operation stops due to maximum travel limit error protection (error code No. 72) and stops according toan operation at alarm occurrence.5) When the servo driver has tripped, a step operation cannot be executed again unless you input an AlarmClear command once and then execute the homing. However, the absolute mode and homing are dis-abled, the step operation can be executed without performing the homing operation.6) If a motor operation completes although the strobe signal input (STB: CN X5 Pin 24) does not return to theOPEN state after the in-operation signal output (BUSY: CN X5 Pin 28) turns OFF, the in-operation signaloutput (BUSY) is still in the OFF state. When the in-operation signal output (BUSY) has turned OFF, besure to return the strobe signal input (STB) to the OPEN state.7) Any step operation is unacceptable when the in-operation signal output (BUSY) turns OFF (a previouscommand is being executed).Step Operation ModeFor a positioning operation in this servo driver, you can select any of the four types of operation modes. Forthe details of each operation mode, refer to the relevant page.* A step data can be set in the point numbers 1 (01h) to 60 (3Ch). For details, refer to the table in “Overviewof Point specifying Input” on page 45.* Do not use the rotary axis operation (Rotary) mode together with the incremental operation (Incremental)or absolute operation (Absolute). Wrap around according to the command position and the number ofpulses per rotation at the current position cannot be performed appropriately.Example of Incremental Operation SettingIn the incremental operation, the motor operates regarding a set value as relative travel from a currentposition.Step OperationSpeed = VEL1Origin = 0SpeedDeceleration = DEC1TimeTravel = Point 1 set value(1000000)End position = X + 1000000Start position = XAcceleration = ACC1Operation modeIncremental operation (Incremental)Absolute operation (Absolute)Rotary axis operation (Rotary)Dwell timer operation (Dwell time)DescriptionOperates regarding a set value as relative travel from a current position.Operates regarding a set value as an absolute position of a target.Operates regarding a set value as an absolute position per rotation.Operates regarding a set value as a waiting time.Relevant pageP.108P.109P.110P.111