Panasonic A4P Series User Manual

57

Function selection

Adjustment

Position Control

Input signals

Sequence

Full-Closed Control

Servo 
parameter

01 to 03,

07,08,0B,

0C,0F

 10 to 1E, 

27 to 2E

20 to 26, 

2F        

30 to 35

44 to 46,
4C, 4D

53 to 5D
5E to 5F

60, 64, 65,
67 to 6E

70, 72, 73

78 to 7C

You can select a control mode, 
and set up a baud rate.

You can set up servo gains (1st and 2nd) of position, velocity, 
integration, etc, and time constants of various filters.
Parameters related to Real Time Auto-Gain Tuning. You
can set up a mode and select a mechanical stiffness.
You can set up parameters related to gain
switching(1st        2nd)
You can set up dividing of encoder output pulse.

You can set up the logic of input signals and the number of point input.
You can set up a torque limit of torque command.
You can set up detecting conditions of output signals, such as 
positioning-completion.
You can also set up a deceleration/stop action at
main power-off, at alarm output and at servo-off,
and clear condition of the deviation counter.
You can set up actions of protective functions.
You can set up dividing of external scale.

Operation mode

Position/waiting time

Speed

Acceleration

Deceleration

Block

Step 
parameter

Specifying the positioning procedure.
ABS (absolute position), INC (relative position),
Rotary (rotation coordinates), and Dwell time (standby time)
Inputting the coordinate data for positioning.
When dwell time is selected in operation mode, set the standby time.
Selecting a speed selection number in positioning.
Setting the speed by 16-bit positioning parameter.
Selecting an acceleration speed selecting number in positioning.
Setting the speed by 16-bit positioning parameter.
Selecting a deceleration speed selecting number in positioning.
Setting the speed by 16-bit positioning parameter.
Choosing either single operation or block operation.

32-bit positioning parameter

00 to 03

You can set data for offset or maximum movement.

Motor speed
Acceleration and 
Deceleration
Homing
Jog operation
Others

16-bit 
positioning 
parameter

00 to 0F

10 to 1F

30 to 3B

40 to 45
48 to 54

You can set speed data of step operation.

You can set acceleration and deceleration data of step operation.
You can set data for homing.
You can set data for jog operation.
You can set data for teaching or operation direction and so on.

P

F

0

6

Position control

Full-Closed control