Panasonic MINAS A4P Series Instruction Manual

Contents

Panasonic MINAS A4P Series Instruction Manual Manual pdf 111 page image

111[Operation Setting]OperationSetting3) Setting of step data• Do not use the rotary axis operation (Rotary) mode together with the incremental operation (Incremen-tal) or absolute operation (Absolute).• If a step data set value specified for the rotary axis operation is out of a range between 0 and [movement perrotation at a rotary coordinate –1], an error code No. 69 (undefined data error protection) is shown.4) Jog operationIf you use the motor in the rotary axis operation, do not perform the jog operation after homing completes.The motor may exceed limitation of the current position. If you perform the jog operation by mistake,execute the homing again.5) Servo offAlso if the servo has turned off when the motor is used in the rotary axis operation, the motor may exceedlimitation of the current position. Be sure to execute the homing again after the servo turns on.Example of Dwell Timer Operation SettingIn the dwell timer operation, the motor operates regarding a set value as waiting time. The dwell time operation isnot used independently. This operation is used as waiting time between the points in the block operation.The chart below shows an example to set the point 1 in the dwell timer after the absolute operation at thepoint 2 and perform the relative travel at the point 3 after a specified time has passed.Caution1) If a waiting time set value (unit: 10 ms) is larger than 214748364, the waiting time is a maximum of214748364 x 10 ms.2) To interrupt the dwell timer operation, input emergency stop or deceleration-and-stop signal assigned bythe multi function input (EX-IN1 and EX-IN2: CN X5 Pin 22 and 25).Speed = VEL2Speed = VEL1ACC1DEC1Origin = 0SpeedTimeWaiting time = Point 1 set value(500 x 10[ms] = 5[s])End position = X + 1500000End position = Point 2 set value (+1000000)Travel = Point 3 set value(+500000)Start position = XDEC2ACC2VEL1, VEL2ACC1, ACC2DEC1, DEC216.Pr**00, 0110, 1412, 16Parameter namePositioning setting first speed, second speedPositioning acceleration setting 1st, 2ndPositioning deceleration setting 1st, 2nd• Setting of 16-bit positioning parameterDwell timer operation (Dwell time)Absolute operation (Absolute)Incremental operation (Incremental)5001000000500000VEL1VEL1VEL2ACC1ACC1ACC2DEC1DEC1DEC2SingleSingleSingle010203• Setting of step parameter1. Set the 16-bit positioning parameter in the table above to any value and specify the step parameteras shown below.2. Perform homing. (Refer to “Homing Operation” on page 114.)3. Specify the point 1 after the point 2 operation has completed and connect the strobe signal input(STB: CN X5 Pin 24) to COM–. Then, a waiting time operation starts. When a waiting time haspassed, the in-operation signal output (BUSY: CN X5 Pin 28) turns on and the next point 3 operationcan be specified.Operation mode Position/Waiting time Speed Acceleration Deceleration BlockNo.