Panasonic A4P Series User Manual
127
[Operation Setting]
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).
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.
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.
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.
16.Pr54
(block operation type setting)
0
1
Description
Continuous block operation
Combined block operation
Point specifying input
(P1IN to P32IN)
(P1IN to P32IN)
Speed
Strobe signal input
(STB)
(STB)
In-operation signal output
(BUSY)
(BUSY)
In-deceleration output
(DCLON)
(DCLON)
Positioning completion output
(COIN)
(COIN)
Point output
(P1OUT to P32OUT)
(P1OUT to P32OUT)
Transistor OFF
Transistor OFF
Transistor ON
Open
Open
Transistor ON
Transistor ON
Transistor OFF
MAX 10ms
MAX 10ms
MAX 10ms
Speed = VEL1
1 (01H)
1 (01H)
2 (02H)
3 (03H)
Acceleration
= ACC2
= ACC2
Deceleration = DEC1
Acceleration = ACC1
Speed
= VEL2
= VEL2
Moving to the absolute position “0”
Waiting time
5 seconds
[02]
[01]
[03]
Transistor OFF
Transistor OFF
Transistor ON
Moving to the absolute
position “500000”
position “500000”
Deceleration
= DEC2
= DEC2
Close
MIN10ms
Block 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,
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].