Panasonic MINAS A4P Series - Manual (Page 110)

110
Step Operation
Example of Rotary Axis Operation Setting
If the rotary axis operation is specified, the shaft moves in a direction nearest from the current position to a
target position of a step parameter that the rotary axis operation (rotary) has been specified regarding
32.Pr03 (Movement per rotation in rotation coordinates) as 360 degrees.
A current position of running motor is automatically limited in a range between 0 and [travel per rotation at a
rotary coordinate –1] as shown below.
Origin = 0
... , 2, 1 9999, 9998, ...
Point 1 = 1250
Point 4 = 5000
Point 7 = 8750
Point 3 = 3750 Point 5 = 6250
Point 6 = 7500 Point 2 = 2500
• If travel per rotation at a rotary
coordinate is set to “10000”
32.Pr**
03
Input value
10000
Parameter name
Movement per rotation in rotation coordinates
• Setting of 32-bit positioning parameter
Rotary axis operation (Rotary)
Rotary axis operation (Rotary)
Rotary axis operation (Rotary)
Rotary axis operation (Rotary)
Rotary axis operation (Rotary)
Rotary axis operation (Rotary)
Rotary axis operation (Rotary)
1250
2500
3750
5000
6250
7500
8750
VEL1
VEL1
VEL1
VEL1
VEL1
VEL1
VEL1
ACC1
ACC1
ACC1
ACC1
ACC1
ACC1
ACC1
DEC1
DEC1
DEC1
DEC1
DEC1
DEC1
DEC1
Single
Single
Single
Single
Single
Single
Single
01
02
03
04
05
06
07
• Setting of step parameter
Operation mode Position/Waiting time Speed Acceleration Deceleration Block No.
Caution
1) Control mode
The rotary axis operation is enabled only for the position control (SV.Pr02 = 0). If the rotary axis operation
is specified for the full-closed control (SV.Pr02 = 6), an error code No. 69 (undefined data error protection)
is shown.
2) Restrictions on parameter
If the rotary axis operation is used, the restrictions below are imposed to the parameters not to exceed the
limitation of the current position.
Name
Absolute encoder set up
Home complete type
Homing skip
Block operation type
Home offset
Setting of maximum movement in plus
direction
Setting of maximum movement in minus direction
Movement per rotation in rotation coordinates
Set value
1
1
0
0
2 to
1073741824
0
Description
The rotary axis operation requires homing. If “0” or “2” is
set, an error code No. 69 (undefined data error protection)
is shown when the rotary shaft operation starts.
Be sure to set “1” if you use the home offset function.
The rotary axis operation requires homing.
The combined block operation cannot be used.
For 16.Pr37 = 0, set “0”. For 16.Pr37 = 0, set a value in a
range between 0 and [movement per rotation at a rotary
coordinate - 1].
For any invalid value out of specified range, an error code
No. 69 (undefined data error protection) is shown when
the positioning operation starts.
A maximum travel limitation error protection cannot be
used for the rotary axis operation.
PrNo.
SV.Pr0B
16.Pr37
16.Pr38
16.Pr54
32.Pr00
32.Pr03
32.Pr01
32.Pr02