Panasonic A4P Series User Manual

111

 • 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.

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.

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.

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.

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).

Speed = VEL2

Speed = VEL1

ACC1

DEC1

Origin = 0

Speed

Time

Waiting time = Point 1 set value

(500 x 10[ms] = 5[s])

End position = X + 1500000

End position = Point 2 set value (+1000000)

Travel = Point 3 set value
              (+500000)

Start position = X

DEC2

ACC2

VEL1, VEL2

ACC1, ACC2

DEC1, DEC2

00, 01

10, 14

12, 16

Positioning setting first speed, second speed

Positioning acceleration setting 1st, 2nd

Positioning deceleration setting 1st, 2nd

Dwell timer operation (Dwell time)

Absolute operation (Absolute)

Incremental operation (Incremental)

500

1000000

500000

VEL1

VEL1

VEL2

ACC1

ACC1

ACC2

DEC1

DEC1

DEC2

Single

Single

Single

01

02

03

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.