Panasonic Minas A4 Series - Page 361

359
[Supplement]
Supplement
Function
Position control
Velocity controlTorque controlFull-closed controlCommon
Control input
Control input
Control output
Control input
Control output
Control input
Masking of unnecessary input
Division of encoder feedback pulse
Protective 
function
Traceability of alarm data
Damping control function
Setup range of division/multiplication of 
external scale
Control output
Speed control range
Internal velocity command
Soft-start/down function
Zero-speed clam
Control input
Control output
Speed limit function
Analog
input
Analog
input
Max. command pulse frequency
Input pulse signal format
Type of input pulse
Electronic gear (Division/
Multiplication of command pulse)
Electronic gear (Division/
Multiplication of command pulse)
Smoothing filter
Velocity command input
Torque limit command input
Velocity command input
Max. command pulse frequency
Real-time
Normal mode
Manual
Setup support software
Fit-gain function
Soft error
Hard error
Input pulse signal format
Smoothing filter
Torque limit command input
Speed limit input
Torque limit command input
Pulse 
input
Pulse 
input
Auto-gain 
tuning
Setup
Analog 
input
Analog 
input
as a position command input
x
(1 to 10000) x 2
(0 to 17)
Process the command 
pulse frequency
1 to 10000
as a position command input
x
(1 to 10000) x 2
(0 to 17)
Process the command 
pulse frequency
1 to 10000
Inputs of 1) Servo-ON, 2) Alarm clear, 3) Gain switching, 4) Control mode switching, 
5) CW over-travel inhibition and 7) CCW over-travel inhibition are common, 
and other inputs vary depending on the control mode.
(1) Deviation counter clear, (2) Command pulse inhibition, (3) Damping control switching, 
(4) Gain switching or Torque limit switching 
Positioning complete (In-position)
Exclusive interface for line driver : 2Mpps, Line driver : 500kpps, Open collector : 200kpps
Support (1) RS422 line drive signal and (2) Open collector signal from controller. 
(1) CW/CCW pulse, (2) Pulse signal/rotational direction signal, (3) 90˚C phase difference signal


Primary delay filter is adaptable to the command input
Selectable of (1) Position control for high stiffness machine and 
(2) FIR type filter for position control for low stiffness machine.
Individual torque limit for both CW and CCW direction is enabled. (3V/rated torque)
(1) Speed zero clamp, (2) Selection of internal velocity setup, 
(3) Gain switching or Torque limit switching input
(1) Speed arrival (at-speed)
Setup of scale and rotational direction of the motor against the command voltage is enabled with
parameter, with the permissible max. voltage input = Å} 10V and 6V/rated speed (default setup).

Individual torque limit for both CW and CCW direction is enabled. (3V/rated torque)
1 : 5000
8-speed with parameter setup
Individual setup of acceleration and deceleration is enabled, with 0 to 10s/1000r/min. Sigmoid
acceleration/deceleration is also enabled. 
0-clamp of internal velocity command with speed zero clamp input is enabled.
(1) CW over-travel inhibition, (2) CCW over-travel inhibition, (3) Speed zero clamp
(1) Speed arrival (at-speed)
Setup of scale and CW/CCW torque generating direction of the motor against the command
voltage is enabled with parameter, with the permissible max. voltage input = Å} 10V and
3V/rated speed (default setup).
Speed limit input by analog voltage is enabled. Scale setup with parameter.
Speed limit value with parameter or analog input is enabled. 
(1) CW over-travel inhibition, (2) CCW over-travel inhibition (3) Deviation counter clear, (4)
Command pulse input inhibition, (5) Electronic gear switching, (6) Damping control switching 
(1) Full-closed positioning complete (in-position)
500kpps (photo-coupler input), 2Mpps (Exclusive input for line driver)
Differential input. Selectable with parameter ((1) CCW/CW, (2) A and B-phase, (3) Command
and direction


Primary delay filter is adaptable to the command input.
Individual torque limit for both CW and CCW direction is enabled. (3V/rated torque)
Setting of ratio between encoder pulse (denominator) and external scale pulse (numerator) is
enabled within a range of (1 to 10000) x 2
(0 – 17)
/ (1 to 10000). 
Corresponds to load inertia fluctuation, possible to automatically set up parameters related to
notch filter.
Estimates load inertia and sets up an appropriate servo gain.
Automatically searches and sets up the value which makes the fastest settling time with
external command input.
Masking of the following input signal is enabled.
(1) Over-travel inhibition, (2) Torque limit, (3) Command pulse inhibition, (4) Speed-zero clamp
Set up of any value is enabled (encoder pulses count is the max.).
Over-voltage, under-voltage, over-speed over-load, over-heat, over-current and encoder error etc.
Excess position deviation, command pulse division error, EEPROM error etc.
Traceable up to past 14 alarms including the present one.
Manual setup with parameter 
5push switches on front panel 
PANATERM
®
(Supporting OS : Windows95, Windows98, Windows ME, Windows2000,
Windows.NET and Windows XP)
MODE SET