Panasonic minas a4 series Instruction Manual

Also see for Minas A4 Series: Features Connection guide Technical reference

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Panasonic minas a4 series Instruction Manual Manual pdf 197 page image

195[Connection and Setup of Full-closed Control]Full-ClosedControl ModeInput Signal and Pin No. of the Connector, CN X5Input Signals (common) and Their FunctionsTitle of signal Pin No. Symbol Function I/F circuitPower supply for control signal (+)7 –COM+ • Connect + of the external DC power supply (12 to 24V).• Use the power supply voltage of 12V ± 5% – 24V ± 5%Power supply for control signal (- )41 –COM– • Connect – of the external DC power supply (12 to 24V).• The power capacity varies depending on a composition of I/O circuit. 0.5Aor more is recommended.CW over-travel inhibit input8 SIP.193CWL • Use this input to inhibit a CW over-travel (CWL).• Connect this so as to make the connection to COM– open when themoving portion of the machine over-travels the movable range toward CW.• CWL input will be invalidated when you set up Pr04 (Setup of over-travelinhibit input) to 1.Default is "Invalid (1)".• You can select the action when the CWL input is validated with the setupof up Pr66 (Sequence at over-travel inhibit). Default is "Emergency stopwith dynamic brake".(Pr66=0)CCW over-travel inhibit input9 SIP.193CCWL • Use this input to inhibit a CCW over-travel (CCWL).• Connect this so as to make the connection to COM – open when the movingportion of the machine over-travels the movable range toward CCW. • CWL input will be invalidated when you set up Pr04 (Setup of over-travelinhibit input) to 1.Default is "Invalid (1)".• You can select the action when the CCWL input is validated with the setupof Pr66 (Sequence at over-travel inhibit). Default is "Emergency stop withdynamic brake".(Pr66=0)damping controlswitching input26 SIP.193VS-SEL • Function varies depending on the control mode.• Becomes to a speed-zero clamp input (ZEROSPD).• In case Pr06 is 2 at torque control, ZERPSPD is invalid.• Becomes to an input of damping control switching (VS-SEL).• While Pr24 (Damping filter switching selection) is 1, the1st damping filter (Pr2B, Pr2C) will be validated when youopen this input, and the 2nd damping filter (Pr2D, Pr2E)will be validated when you connect this input to COM–.Pr06012Connection to COM––opencloseopencloseContentZEROSPD input is invalid.Speed command is 0Normal actionSpeed command is to CCWSpeed command is to CW.Velocity/Torque controlPosition/Full-closedcontrolGain switching input or Torque limitswitching input27 SIP.193GAINTL-SEL• Function varies depending on the setups of Pr30 (2nd gain setup) andPr03 (Selection of torque limit).• For details of 2nd gain switching function, refer to P.243 "Gain SwitchingFunction" of Adjustment.invalid• Input of torque limit switching (TL-SEL)• Pr5E (Setup of 1st torque limit) will be validated when youopen this input, and Pr5F (Setup of 2nd torque limit) willbe validated when you connect this input to COM–.Pr3001–Pr030 – 23Connection to COM–opencloseopencloseContentVelocity loop : PI (Proportion/Integration) action Velocity loop : P (Proportion) action1st gain selection (Pr10,11,12,13 and 14)2nd gain selection (Pr18,19,1A,1B and 1C)when the setups of Pr31 and Pr36 are 2when the setups of Pr31 and Pr36 are other than 2