Panasonic A4P Series Unit Function/Content PrNo, Range, Setup value Signal of IM

[Setting]

Standard default : < >

Servo￿

Title

Setup￿

Function/Content

PrNo.

range

08

Torque monitor

0 to 12￿

You can set up the content of the analog

torque monitor of the signal output (IM : CN X5, Pin-

(IM) selection

<0>

42), and the relation between the output voltage level and torque or deviation pulse counts.

Setup value￿ Signal of IM￿

Relation between the output voltage level and torque or deviation pulse counts

<0>￿

Torque command￿

3V/rated (100%) torque￿

1￿

￿

3V / 31Pulse￿

2￿

￿

3V / 125Pulse￿

Position￿

3￿

3V / 500Pulse￿

deviation￿

4￿

3V / 2000Pulse￿

￿

5￿

3V / 8000Pulse￿

￿

6￿

3V / 31Pulse￿

￿

7￿

3V / 125Pulse￿

Setting

8￿

Full-closed￿

3V / 500Pulse￿

deviation￿

9￿

3V / 2000Pulse￿

10￿

￿

3V / 8000Pulse￿

11￿

Torque￿

3V / 200% torque

￿

12

command

3V / 400% torque

0B￿

Absolute encoder

0 to 2￿

You can set up the using method of 17-bit absolute encoder.

*

set up

<1>

Setup value￿

Content￿

0￿

Use as an absolute encoder.￿

<1>￿

Use as an incremental encoder.￿

2

Use as an absolute encoder, but ignore the multi-turn counter over.

<Caution>￿

This parameter will be invalidated when 5-wire, 2500P/r incremental encoder is used.

0C￿

Baud rate of

0 to 5￿

You can set up the communication speed of RS232.

• Error of baud rate is ±0.5%.

*

RS232

<2>

Setup value￿

Baud rate￿

Setup value￿

Baud rate￿

0￿

2400bps￿

3￿

19200bps￿

1￿

4800bps￿

4￿

38400bps￿

<2>

9600bps

5

57600bps

<Caution>￿

If the console is used specify the set value 2 (9600 bps).

0F

Node address

–￿

Shows the axis number set by a rotary switch at the front panel of the driver. The

(display only)

axis number cannot be changed.

Parameters for Adjustment of Time Constants of Gains and Filters

Standard default : < >

Servo￿

Title

Setup￿

Unit

Function/Content

PrNo.

range

10

1st position loop

0 to 3000￿

1/s

You can determine the response of the positional control system.￿

gain

A to C-frame:<63>*￿

Higher the gain of position loop you set, faster the positioning time you

D to F-frame:<32>*

can obtain. Note that too high setup may cause oscillation.

11

1st velocity loop

1 to 3500￿

Hz

You can determine the response of the velocity loop.￿

gain

A to C-frame:<35>*￿

In order to increase the response of overall servo system by setting high

D to F-frame:<18>*

position loop gain, you need higher setup of this velocity loop gain as well.

However, too high setup may cause oscillation.￿

<Caution> ￿

When the inertia ratio of SV.Pr20 is set correctly, the setup unit of

SV.Pr11 becomes (Hz).

12

1st velocity loop

1 to 1000￿

ms

You can set up the integration time constant of velocity loop.￿

integration time

A to C-frame:<16>*￿

Smaller the setup, faster you can dog-in deviation at stall to 0.￿

constant

D to F-frame:<31>*

The integration will be maintained by setting to "999".￿

The integration effect will be lost by setting to "1000".

59