Panasonic A4P Series Example of Absolute Operation Setting, Setting of step parameter

[Operation Setting]

• Setting of 16-bit positioning parameter

￿	16.Pr**￿	Parameter name￿
VEL1￿	00￿	Positioning setting first speed￿
ACC1￿	10￿	Positioning acceleration setting 1st￿
DEC1	12	Positioning deceleration setting 1st

1.Set the 16-bit positioning parameter in the table above to any value and specify the step parameter as shown below.￿

2.Perform homing. (Refer to “Homing” on page 114.)￿

3.Specify the point 1 when the servo turns on and connect the strobe signal input (STB: CN X5 Pin 24) to COM–. Then, an operation starts.

• Setting of step parameter

No.	Operation mode	Position/Waiting time	Speed	Acceleration	Deceleration	Block
01	Incremental operation (Incremental)	1000000	VEL1	ACC1	DEC1	Single

Example of Absolute Operation Setting

In the absolute operation, the motor operates regarding a set value as absolute position based on origin = “0”. The chart below shows an example to specify the point 1 to the absolute operation for movement.

Speed

Speed = VEL1

Acceleration = ￿Deceleration = DEC1

ACC1

				Time
	Origin = 0	Start position = X		End position = Point 1 set value￿
				(+1000000)
• Setting of 16-bit positioning parameter
	￿	16.Pr**￿		Parameter name￿
	VEL1￿	00￿	Positioning setting first speed￿
	ACC1￿	10￿	Positioning acceleration setting 1st￿
	DEC1	12	Positioning deceleration setting 1st

1.Set the 16-bit positioning parameter in the table above and specify the step parameter as shown below.￿

2.Perform homing. (Refer to “Homing” on page 114.)￿

3.Specify the point 1 when the servo turns on and connect the strobe signal input (STB: CN X5 Pin 24) to COM–. Then, an operation starts.

Setting Operation

• Setting of step parameter

No.	Operation mode	Position/Waiting time	Speed	Acceleration	Deceleration	Block
01	Absolute operation (Absolute)	1000000	VEL1	ACC1	DEC1	Single

Caution

1)Wrap around

If 16.Pr51 (wrap around accepted) is set to “1”, although an error does not occur when wrap around happens, an absolute position cannot be guaranteed. If you will combine the absolute operation mode and incremental operation mode with each other, take care not to cause the wrap around or do not use the absolute operation.

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