Panasonic A4P Series Example of Rotary Axis Operation Setting, Coordinate is set to, Control mode

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.

• If travel per rotation at a rotary ￿				Origin = 0
coordinate is set to “10000”￿			... , 2, 1		9999, 9998, ...
			Point 1 = 1250			Point 7 = 8750
		Point 2 = 2500					Point 6 = 7500
			Point 3 = 3750			Point 5 = 6250
				Point 4 = 5000
• Setting of 32-bit positioning parameter
32.Pr**￿		Parameter name￿		Input value￿
03		Movement per rotation in rotation coordinates			10000
• Setting of step parameter
No.		Operation mode	Position/Waiting time			Speed	Acceleration	Deceleration	Block
01￿	Rotary axis operation (Rotary)￿		1250￿			VEL1￿	ACC1￿	DEC1￿	Single￿
02￿	Rotary axis operation (Rotary)￿		2500￿			VEL1￿	ACC1￿	DEC1￿	Single￿
03￿	Rotary axis operation (Rotary)￿		3750￿			VEL1￿	ACC1￿	DEC1￿	Single￿
04￿	Rotary axis operation (Rotary)￿		5000￿			VEL1￿	ACC1￿	DEC1￿	Single￿
05￿	Rotary axis operation (Rotary)￿		6250￿			VEL1￿	ACC1￿	DEC1￿	Single￿
06￿	Rotary axis operation (Rotary)￿		7500￿			VEL1￿	ACC1￿	DEC1￿	Single￿
07	Rotary axis operation (Rotary)		8750			VEL1	ACC1	DEC1	Single

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.

PrNo.￿	Name￿	Set value￿	Description￿
￿	￿	￿	The rotary axis operation requires homing. If “0” or “2” is
SV.Pr0B￿	Absolute encoder set up￿	1￿	set, an error code No. 69 (undefined data error protection)
￿	￿	￿	is shown when the rotary shaft operation starts.￿
16.Pr37￿	Home complete type￿	1￿	Be sure to set “1” if you use the home offset function.￿
16.Pr38￿	Homing skip￿	0￿	The rotary axis operation requires homing.￿
16.Pr54￿	Block operation type￿	0￿	The combined block operation cannot be used.￿
￿	￿	￿	For 16.Pr37 = 0, set “0”. For 16.Pr37 = 0, set a value in a
32.Pr00￿	Home offset￿	￿	range between 0 and [movement per rotation at a rotary
￿	￿	￿	coordinate - 1].￿
￿	￿		For any invalid value out of specified range, an error code
32.Pr03￿	Setting of maximum movement in plus	2 to￿	No. 69 (undefined data error protection) is shown when
￿	direction￿	1073741824 ￿	the positioning operation starts.￿
		￿
32.Pr01￿	Setting of maximum movement in minus direction￿	0	A maximum travel limitation error protection cannot be
32.Pr02	Movement per rotation in rotation coordinates		used for the rotary axis operation.

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