Panasonic Minas E Series Instruction Manual

Also see for Minas E Series: Technical reference

Contents

108Wiring to Connector CN X5Signal NameGain Switching/Speed Zero Clamp/Torque LimitSwitching InputCommand DividingMultiplier Switching/Internal CommandSpeed Selection 1InputCW OvertravelInhibit InputCCW OvertravelInhibit Input• Settings of Pr06 and control mode can change functions.The control mode can change functions.• If you open connection with COM- when a moving part of themachine exceeds the movable range in CW direction, notorque will be generated in CW direction.• If you open connection with COM- when a moving part of themachine exceeds the movable range in CCW direction, notorque will be generated in CCW direction.• If you set 1 to Pr04 (Invalid Overtravel Inhibit Input), CWL/CCWL inputs will be invalid. A default value is invalid (1).• Setting of Pr66 (DB inaction during driving prohibition) can activatethe dynamic brake when CWL/CCWL input is valid. According to adefault value, the dynamic brake will run (Pr66 is 0).5678GAIN/ZEROSPD/TCDIV/INTSPD1CWLCCWLSIPage 106SIPage 106SIPage 106SIPage 106Pin No. Symbol Function I/F CircuitPr060, 12For details on the 2nd gain switching function, refer to Page 138.ContentControl ModeConnection with COM-Open 1st setting value selected. (Pr70,5E,63)Connected 2nd setting value selected. (Pr71,72,73)Pr060 ZEROSPD input is invalid.1 [default value] ZEROSPD input is valid.Setting of Pr30 Content0[default value]Velocity loop: P1 (proportional/integral) operationSetting of Pr31 Connectionwith COM-– OpenConnected Velocity loop: P (proportion) operation1st gain selected (Pr10,11,12,13,14)1 OpenConnected2 2nd gain selected (Pr18,19,1A,1B,1C)WhenpositioncontrolPr02 is0 or 2WheninternalvelocitycontrolPr02 is 1The following 2 functions can be used with settings of Pr30.Gain switching input (GAIN) switches P1/P operation andfirst/second gain.With speed zero clamp input (ZEROSPD), velocity command isopened when connection with COM- is opened.You can override this input with Pr06.A default value of Pr06 is 1, and this input is valid. Whenconnection with COM- is opened, speed will be zero.ContentContentPositionControl/InternalVelocityControlWith torque limit switching input, parameters of acceleration level,torque limit, excessive position deviation can be switched.• Input to switch dividing multiply of command pulse• When this signal is connected to COM-, it will switch a commanddividing multiply numerator from Pr46 (Numerator of 1st commandpulse ratio) to Pr47 (Numerator of 2nd command pulse ratio).You must not enter any command pulse for 10 ms before or afterswitching.• With internal command speed selection 1 (INTSPD1), four-speedcan be set in combination with INTSPD 2.• For details on settings of control mode, refer to Page 117.PositionControlInternalVelocityControlBuy: www.ValinOnline.com | Phone 844-385-3099 | Email: CustomerService@valin.com