Panasonic A6 Motor & Driver Instruction 3.1 Outline of mode — Position Control Mode

Abstract

You can perform position control based on the positional command (pulse train) from the host controller. This section describes the fundamental setup to be used for the position control.

(1) Process of command pulse input

The positional commands of the following 3 types (pulse train) are available.

• 2-phase pulse
• Positive direction pulse/negative direction pulse
• Pulse train + sign

Set the pulse configuration and pulse counting method based on the specification and configuration of installation of the host controller.
The input terminals can accommodate the following 2 systems.

• Input 1 "PULSH1, PULSH2, SIGNH1, SIGNH2" line receiver input (8 Mpulse/s)
• Input 2 "PULS1, PULS2, SIGN1, SIGN2" photocoupler input (500 kpulse/s)

For line driver output, "Input 2" can also be used without changing the allowable input frequency.

• Relevant parameters

Note → For details of these parameters, refer to P.4-6 to P.4-85 "Details of parameter".

Related page → •P.3-14 and 15 "Control Block Diagram" •P.3-21 "Writing Diagram to the connector, X4"

(2) Electronic gear function

This function multiplies the input pulse command from the host controller by the pre-determined driving or multiplying factor and applies the result to the position control section as the positional command. By using this function, desired motor rotations or movement distance per unit input command pulse can be set; or the command pulse frequency can be increased if the desired motor speed cannot be obtained due to limited pulse output capacity of the host controller.

• Relevant parameters

Note → For details of these parameters, refer to P.4-6 to P.4-85 "Details of parameter".

• Relevant parameters

Note → For details of these parameters, refer to P.4-6 to P.4-85 "Details of parameter".

(3)Positional command filtering function

To make the positional command divided or multiplied by the electronic gear smooth, set the command filter.

• Relevant parameters

Note → For details of these parameters, refer to P.4-6 to P.4-85 "Details of parameter".

(4) Pulse regeneration function

The information on the amount of movement can be sent to the host controller in the form A- and B-phase pulses from the servo driver. When the output source is the encoder, Z-phase signal is output once per motor revolution; or if the feedback scale, the signal is output at absoute zero position. The output resolution, B-phase logic and output source (encoder or external scale) can be set with parameters.

• Relevant parameters

Note → For details of these parameters, refer to P.4-6 to P.4-85 "Details of parameter".

(5) Deviation counter clear function

The deviation counter clear input (CL) clears the counts of positional deviation counter at the position control to 0.

• Relevant parameters

Note → For details of these parameters, refer to P.4-6 to P.4-85 "Details of parameter".

(6) Positioning complete output (INP) function

The completion of positioning can be verified by the positioning complete output (INP). When the absolute value of the positional deviation counter at the position control is equal to or below the positioning complete range by the parameter, the output is ON. Presence and absence of positional command can be specified as one of judgment conditions.

• Relevant parameters

Note → For details of these parameters, refer to P.4-6 to P.4-85 "Details of parameters".

(7) Command pulse inhibition (INH) function

The command pulse input counting process can be forcibly terminated by using the command pulse inhibit input signal (INH). When INH input is ON, the servo driver ignorses the command pulse, disabling pulse counting function. At then, A large number of pulses of the positional command filter function and the command frequency mulitiplication function is cleared.
The default setting of this inhibition function is disable. To use INH function, change the setting of Pr5.18 "Invalidation of command pulse prohibition input".

• Relevant parameters