Panasonic A4P Series User Manual
4
Timing Chart .......................................................................... 132
Operation Timing after Power-ON .............................................................................................................. 132
When an Error (Alarm) Has Occurred (at Servo-ON Command) .............................................................. 133
When an Alarm Has Been Cleared (at Servo-ON Command) ................................................................... 134
Servo-ON/OFF Action While the Motor Is at Stall (Servo-Lock) ................................................................ 135
Servo-ON/OFF Action While the Motor Is in Motion .................................................................................. 135
When an Error (Alarm) Has Occurred (at Servo-ON Command) .............................................................. 133
When an Alarm Has Been Cleared (at Servo-ON Command) ................................................................... 134
Servo-ON/OFF Action While the Motor Is at Stall (Servo-Lock) ................................................................ 135
Servo-ON/OFF Action While the Motor Is in Motion .................................................................................. 135
Absolute System ................................................................... 136
Overview of Absolute System ..................................................................................................................... 136
Configuration of Absolute System .............................................................................................................. 136
Battery (for Backup) Installation ................................................................................................................. 136
Setup (Initialization) of Absolute Encoder .................................................................................................. 136
Configuration of Absolute System .............................................................................................................. 136
Battery (for Backup) Installation ................................................................................................................. 136
Setup (Initialization) of Absolute Encoder .................................................................................................. 136
Outline of Full-Closed Control .............................................. 140
What Is Full-Closed Control ? .................................................................................................................... 140
[Adjustment]
page
Gain Adjustment .................................................................... 142
Real-Time Auto-Gain Tuning Mode ....................................... 144
Real-Time Auto-Gain Tuning Mode ....................................... 144
Adaptive Filter ............................................................................................................................................. 147
Normal Mode Auto-Gain Tuning ........................................... 148
Release of Automatic Gain Adjusting Function .................. 151
Manual Gain Tuning (Basic) .................................................. 152
Release of Automatic Gain Adjusting Function .................. 151
Manual Gain Tuning (Basic) .................................................. 152
Adjustment in Position Control Mode ......................................................................................................... 153
Adjustment in Full-Closed Control Mode .................................................................................................... 154
Gain Switching Function ............................................................................................................................. 155
Suppression of Machine Resonance ......................................................................................................... 158
Adjustment in Full-Closed Control Mode .................................................................................................... 154
Gain Switching Function ............................................................................................................................. 155
Suppression of Machine Resonance ......................................................................................................... 158
Manual Gain Tuning (Application) ........................................ 160
Instantaneous Speed Observer .................................................................................................................. 160
Damping Control ......................................................................................................................................... 161
Damping Control ......................................................................................................................................... 161
[When in Trouble]
page
When in Trouble ..................................................................... 164
What to Check ? ......................................................................................................................................... 164
Protective Function (What is Error Code ?) ............................................................................................... 164
Protective Function (Detail of Error Code) ................................................................................................. 165
Protective Function (What is Error Code ?) ............................................................................................... 164
Protective Function (Detail of Error Code) ................................................................................................. 165
Troubleshooting .................................................................... 172
Motor Does Not Run / Motor Stops During an Operation .......................................................................... 172
Point Deviates / Positioning Accuracy is Poor ........................................................................................... 173
Home position Slips .................................................................................................................................... 173
Abnormal Motor Noise or Vibration ............................................................................................................ 173
Overshoot/Undershoot / Overheating of the Motor (Motor Burn-Out)........................................................ 174
Parameter Returns to Previous Setup ....................................................................................................... 174
Display of "Communication port or driver cannot be detected" Appears on the Screen While Using the
PANATERM
Point Deviates / Positioning Accuracy is Poor ........................................................................................... 173
Home position Slips .................................................................................................................................... 173
Abnormal Motor Noise or Vibration ............................................................................................................ 173
Overshoot/Undershoot / Overheating of the Motor (Motor Burn-Out)........................................................ 174
Parameter Returns to Previous Setup ....................................................................................................... 174
Display of "Communication port or driver cannot be detected" Appears on the Screen While Using the
PANATERM
®
. .............................................................................................................................................. 174