Panasonic A4P Series Overview of Block Operation, Continuous Block Operation

Block Operation [Operation Setting]

Overview of Block Operation

This servo driver can perform the two types of block operations, i.e., continuous block operation and com- bined block operation. These operations can be switched by 16.Pr54 (block operation type setting).

Continuous block operation :Several step operations can be performed continuously. Once an operation starts, the operation continues to a specified point number.

Combined block operation : A step operation is performed according to combined several point numbers. This is useful when you want to change the speed during a step operation.

16.Pr54￿	Description￿
(block operation type setting)￿
	￿
0￿
	Continuous block operation￿
1	Combined block operation

Continuous Block Operation

If 16.Pr54 (block operation type setting) is “0” (continuous block operation) and the block setting of the point number specified by point specifying input (P1IN to P32IN: CN X5 Pin 3, 4, 5, 6, 7 and 8) is “Block”, the step operation is performed continuously in order from the specified point number to the block number of “Single” block setting.

Acceleration = ACC1

Speed

Speed = VEL1

Deceleration = DEC1

[01]

Moving to the absolute position “0”￿

[02]

Moving to the abs

o

lute￿

[03]

Deceleration

Waiting time￿

position “500000”￿

5 seconds

Acceleration ￿

=

DEC2

= ACC2

Speed ￿

= VEL2

Point specifying input￿

1 (01H)

(P1IN to P32IN)

Strobe signal input￿

M

IN10ms

Open

Clo

s

e

Open

(STB)

Transistor OFF

In-operation signal output￿ Transistor ON

Transistor ON

(BUSY)

In-deceleration output￿

Transistor OFF

Transistor ON

Transistor OFF

(DCLON)

Positioning completion output￿Transistor ON

Transistor OFF

Transistor OFF

(COIN)

MAX 10ms

MAX 10ms

MAX 10ms

Point output￿

1 (01H)

2 (02H)

(P1OUT to P32OUT)

3 (03H)

Setting Operation

Continuous block operation procedure (example)

1.Set a 16-bit positioning parameter and step parameter. (Refer to “Parameters Used in this Operation Example” on page 128.)

2.Execute the homing. (Refer to “Homing Operation” on page 114.)

3.Specify the point 1 when the servo turns on and input the strobe signal input (STB: CN X5 Pin 24). Then, an operation is performed continuously, e.g., [01] –> [02]>[03]– .

127