[Setting]

Composition of Parameters

• Servo parameter

 

Group

Servo￿

 

 

Outline

 

parameter No.

 

 

 

 

 

Servo

Function selection￿

01 to 03,￿

You can select a control mode, ￿

parameter

￿

07,08,0B,￿and set up a baud rate.￿

 

￿

0C,0F￿

￿

 

 

Adjustment￿

10 to 1E, ￿You can set up servo gains (1st and 2nd) of position, velocity,

 

￿

27 to 2E￿ integration, etc, and time constants of various filters.￿

 

￿

20 to 26,

Parameters related to Real Time Auto-Gain Tuning. You￿

 

￿

2F

￿ can set up a mode and select a mechanical stiffness.￿

 

￿

30 to 35￿ You can set up parameters related to gain￿

 

￿

￿

 

switching(1st

2nd)￿

 

Position Control￿

44 to 46,￿ You can set up dividing of encoder output pulse.￿

 

￿

4C, 4D￿

￿

 

 

Input signals￿

53 to 5D￿ You can set up the logic of input signals and the number of point input.￿

 

￿

5E to 5F￿ You can set up a torque limit of torque command.￿

 

Sequence￿

60, 64, 65,￿You can set up detecting conditions of output signals, such as

 

￿

67 to 6E￿

positioning-completion.￿

 

￿

￿

 

You can also set up a deceleration/stop action at￿

 

￿

￿

 

main power-off, at alarm output and at servo-off,￿

 

￿

￿

 

and clear condition of the deviation counter.￿

 

￿

70, 72, 73￿You can set up actions of protective functions.￿

 

Full-Closed Control￿

78 to 7C￿ You can set up dividing of external scale.

16-bit positioning parameter

 

Group

16-bit positioning

￿

Outline

 

parameter No.

 

 

 

 

 

16-bit

Motor speed￿

00 to 0F￿

You can set speed data of step operation.￿

positioning

Acceleration and

￿

￿

 

parameter

Deceleration￿

10 to 1F￿

You can set acceleration and deceleration data of step operation.￿

 

Homing￿

30 to 3B￿

You can set data for homing.￿

 

 

Jog operation￿

40 to 45￿

You can set data for jog operation.￿

 

Others

48 to 54

You can set data for teaching or operation direction and so on.￿

32-bit positioning parameter

Group

32-bit positioning

￿

Outline

parameter No.

 

 

 

 

32-bit positioning parameter

00 to 03

You can set data for offset or maximum movement.

• Step parameter

 

Group

Outline

 

 

 

Step

Operation mode￿

Specifying the positioning procedure.￿

parameter

￿

ABS (absolute position), INC (relative position),￿

 

￿

Rotary (rotation coordinates), and Dwell time (standby time)￿

 

Position/waiting time￿

Inputting the coordinate data for positioning.￿

 

￿

When dwell time is selected in operation mode, set the standby time.￿

 

Speed￿

Selecting a speed selection number in positioning.￿

 

￿

Setting the speed by 16-bit positioning parameter.￿

 

Acceleration￿

Selecting an acceleration speed selecting number in positioning.￿

 

￿

Setting the speed by 16-bit positioning parameter.￿

 

Deceleration￿

Selecting a deceleration speed selecting number in positioning.￿

 

￿

Setting the speed by 16-bit positioning parameter.￿

 

Block

Choosing either single operation or block operation.

• In this document, following symbols represent each mode.

Symbol

Control mode

Setup value of￿

servo parameter No.02

 

 

P￿

Position control￿

0￿

F

Full-Closed control

6

Setting

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Panasonic A4P Series Composition of Parameters, Servo parameter, Bit positioning parameter, Step parameter