Parameters for Position Control

Parameter Setup

Standard default : < >

Servo

Title

Setup

Unit

Function/Content

PrNo.

range

1st control

0 to 20000

–

You can set up hysteresis width to be

switching

<33>*

implemented above/below the judging

SV.Pr33

hysteresis

level which is set up with SV.Pr33. Unit

varies depending on the setup of

SV.Pr34

SV.Pr31 (1st control switching mode).

1st gain

2nd gain

1st gain

Definitions of SV.Pr32 (Delay), SV.Pr33

(Level) and SV.Pr34 (Hysteresis) are

SV.Pr32

explained in the fig. below.

The setup of SV.Pr33 (Level) and SV.Pr34 (Hysteresis) are valid as

absolute values (positive/negative).

Position loop gain

0 – 10000 (setup

You

can

setup

the

e.g.)

166∝s Kp1(SV.Pr10)>Kp2(SV.Pr18)

switching time

<20>* value +1) step-by-step switching

166

Kp1

166

x 166∝s

time

to the position

bold line

(SV.Pr10)

loop gain only at gain

SV.Pr35= 0

switching while the 1st

thin line

and

the

2nd

gain

Kp2

switching is valid.

(SV.Pr18)

1st gain

2nd gain

1st gain

The

switching time is

only valid when switching from small position gain to large position gain.

Standard default : < >

Servo

Title

Setup

Function/Content

PrNo.

range

Numerator of

1 to 32767

You can set up the pulse counts to be fed out from the pulse output (X5 0A+ : Pin-

output pulse ratio

<10000>

21, 0A- : Pin-22, 0B+ : Pin-48, 0B- : Pin-49).

• In the case that the encoder pulse is output (When the control mode is

the position control mode and SV.Pr46 = 0, 1).

Denominator of

0 to 32767

• SV.Pr45=0 :

output pulse ratio

<10000>

You can set up the output pulse counts per one motor revolution for each OA

and OB with the SV.Pr44 setup. Therefore the pulse output resolution after

quadruple can be obtained from the formula below.

The pulse output resolution per one revolution =

SV.Pr44 (Numerator of output pulse ratio) X 4

• SV.Pr45≠0 :

The pulse output resolution per one revolution can be divided by any ration

according to the formula below.

SV.Pr44

(Numerator of output pulse ratio)

Pulse output resolution per one revolution

x Encoder resolution

SV.Pr45

(Denominator of output pulse ratio)

• The encoder resolution is 131072 [P/r] for the 17-bit absolute encoder, and

10000 [P/r] for the 5-wire 2500P/r incremental encoder.

• The pulse output resolution per one revolution cannot be greater than the

encoder resolution.

(In the above setup, the pulse output resolution equals to the encoder resolution.)

• Z-phase is fed out once per one revolution of the motor.

When the pulse output resolution obtained from the above formula is multiple of 4,

Z-phase synchronizes with A-phase. In other case, the Z-phase width equals to

output with the encoder resolution, and becomes narrower than A-phase, hence

does not synchronize with A-phase.

(Continue to the next page.)

Panasonic A4P Series Parameters for Position Control, Servo Title Setup Function/Content PrNo

Models: A4P Series

Parameter Setup

Title

range