Panasonic A4P Series Example of Dwell Timer Operation Setting, Setting of step data, Servo off

[Operation Setting]

3)Setting of step data

•Do not use the rotary axis operation (Rotary) mode together with the incremental operation (Incremen- tal) or absolute operation (Absolute).

•If a step data set value specified for the rotary axis operation is out of a range between 0 and [movement per rotation at a rotary coordinate –1], an error code No. 69 (undefined data error protection) is shown.

4)Jog operation

If you use the motor in the rotary axis operation, do not perform the jog operation after homing completes. The motor may exceed limitation of the current position. If you perform the jog operation by mistake, execute the homing again.

5)Servo off

Also if the servo has turned off when the motor is used in the rotary axis operation, the motor may exceed limitation of the current position. Be sure to execute the homing again after the servo turns on.

Example of Dwell Timer Operation Setting

In the dwell timer operation, the motor operates regarding a set value as waiting time.The dwell time operation is not used independently. This operation is used as waiting time between the points in the block operation.

The chart below shows an example to set the point 1 in the dwell timer after the absolute operation at the point 2 and perform the relative travel at the point 3 after a specified time has passed.

			Speed	DEC1	ACC2	DEC2
Speed = VEL1
Speed = VEL2						Travel = Point 3 set value￿
				Waiting time = Point 1 set value￿		(+500000)
				(500 x 10[ms] = 5[s])
			ACC1
						Time
		Origin = 0	Start position = X			End position = X + 1500000
				End position = Point 2 set value (+1000000)
	• Setting of 16-bit positioning parameter
		￿	16.Pr**￿		Parameter name￿
		VEL1, VEL2￿	00, 01￿	Positioning setting first speed, second speed￿
	ACC1, ACC2￿		10, 14￿	Positioning acceleration setting 1st, 2nd￿
	DEC1, DEC2		12, 16	Positioning deceleration setting 1st, 2nd

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 Operation” on page 114.)￿

3.Specify the point 1 after the point 2 operation has completed and connect the strobe signal input (STB: CN X5 Pin 24) to COM–. Then, a waiting time operation starts. When a waiting time has passed, the in-operation signal output (BUSY: CN X5 Pin 28) turns on and the next point 3 operation can be specified.

• Setting of step parameter

No.	Operation mode	Position/Waiting time	Speed	Acceleration	Deceleration	Block
01￿	Dwell timer operation (Dwell time)￿	500￿	VEL1￿	ACC1￿	DEC1￿	Single￿
02￿	Absolute operation (Absolute)￿	1000000￿	VEL1￿	ACC1￿	DEC1￿	Single￿
03	Incremental operation (Incremental)	500000	VEL2	ACC2	DEC2	Single

Setting Operation

Caution

1)If a waiting time set value (unit: 10 ms) is larger than 214748364, the waiting time is a maximum of 214748364 x 10 ms.

2)To interrupt the dwell timer operation, input emergency stop or deceleration-and-stop signal assigned by the multi function input (EX-IN1 and EX-IN2: CN X5 Pin 22 and 25).

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