Panasonic MINAS E-series - Manual (Page 108)

108
Wiring to Connector CN X5
Signal Name
Gain Switching/
Speed Zero Clamp/
Torque Limit
Switching Input
Command Dividing
Multiplier Switching/
Internal Command
Speed Selection 1
Input
CW Overtravel
Inhibit Input
CCW Overtravel
Inhibit Input
• Settings of Pr06 and control mode can change functions.
The control mode can change functions.
• If you open connection with COM- when a moving part of the
machine exceeds the movable range in CW direction, no
torque will be generated in CW direction.
• If you open connection with COM- when a moving part of the
machine exceeds the movable range in CCW direction, no
torque will be generated in CCW direction.
• If you set 1 to Pr04 (Invalid Overtravel Inhibit Input), CWL/
CCWL inputs will be invalid. A default value is invalid (1).
• Setting of Pr66 (DB inaction during driving prohibition) can activate
the dynamic brake when CWL/CCWL input is valid. According to a
default value, the dynamic brake will run (Pr66 is 0).
5
6
7
8
GAIN
/ZEROSPD
/TC
DIV
/INTSPD1
CWL
CCWL
SI
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SI
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Pin No. Symbol Function I/F Circuit
Pr06
0, 1
2
For details on the 2nd gain switching function, refer to Page 138.
Content Control Mode
Connection with COM-
Open 1st setting value selected. (Pr70,5E,63)
Connected 2nd setting value selected. (Pr71,72,73)
Pr06
0 ZEROSPD input is invalid.
1 [default value] ZEROSPD input is valid.
Setting of Pr30 Content
0
[default value]
Velocity loop: P1 (proportional/integral) operation
Setting of Pr31 Connection
with COM-
–
Open
Connected Velocity loop: P (proportion) operation
1st gain selected (Pr10,11,12,13,14)
1
Open
Connected
2
2nd gain selected (Pr18,19,1A,1B,1C)
When
position
control
Pr02 is
0 or 2
When
internal
velocity
control
Pr02 is 1
The following 2 functions can be used with settings of Pr30.
Gain switching input (GAIN) switches P1/P operation and
first/second gain.
With speed zero clamp input (ZEROSPD), velocity command is
opened when connection with COM- is opened.
You can override this input with Pr06.
A default value of Pr06 is 1, and this input is valid. When
connection with COM- is opened, speed will be zero.
Content
Content
Position
Control/
Internal
Velocity
Control
With torque limit switching input, parameters of acceleration level,
torque limit, excessive position deviation can be switched.
• Input to switch dividing multiply of command pulse
• When this signal is connected to COM-, it will switch a command
dividing multiply numerator from Pr46 (Numerator of 1st command
pulse ratio) to Pr47 (Numerator of 2nd command pulse ratio).
<Caution>
You must not enter any command pulse for 10 ms before or after
switching.
• With internal command speed selection 1 (INTSPD1), four-speed
can be set in combination with INTSPD 2.
• For details on settings of control mode, refer to Page 117.
Position
Control
Internal
Velocity
Control