Panasonic MINAS A6 Series - Full-Closed Control Mode

3-12
Cautions on Full-Closed Control
(1) Enter the command pulses making the external scale as a reference.
If the command pulses do not match to the external scale pulses, use the command division/
multiplication function (Pr0.09 to Pr0.10) and setup so that the command pulses after division/
multiplication is based on the external scale reference.
(2) The A5 series supports the external scale of A- and B-phase output type and serial communica-
tion type. Initialize the parameters according to the following procedures and write to EEPROM
and turn on power.
(3) When using a scale of
A- and B-phase output
type, correctly connect
it so that the rotating di-
rection of the motor (CW/
CCW) and A-phase and
B-phase of the external
scale have the following relationship.
※
4 Mpulse/s is to comply with the time limit of input frequency. When using the A/B phase
external
scale which output is more than 4 Mpulse/s, please contact our company.
Outline
In this full-closed control, you can make a position control by using a external scale
mounted externally which detects the position directly and feeds it back. With this control,
you can control without being affected by the positional variation due to the ball screw
error or temperature and you can expect to achieve a very high precision positioning in
sub-micron order.
Controller
Position
command
(Speed detection)
Position detection
External scale
We recommend the external scale division ratio of ≤ External scale division ratio ≤ 1280
1
40
3
1. Outline of mode
Connection
Full-closed Control Mode
<How to make an initial setup of parameters related to external scale >
1) Turn on the power after checking the wiring.
2) Check the values (initial) feedback pulse sum and external scale feedback pulse sum with the
front panel.
3) Move the work and check the travel from the initial values of the above 2).
4) If the travel of the feedback pulse sum and the external scale feedback pulse sum are reversed in
positive and negative, set up the reversal of external scale direction (Pr3.26) to 1.
5) Set up the external scale division ratio Pr3.24/Pr3.25 based on the design values.
If a wrong scale is applied, difference between the position calculated by using encoder feedback
pulses and the position calculated by using external scale pulses as moving distance increases:
larger difference will cause excessive deviation error protect.
External scale division ratio =
Encoder resolution per motor revolution [pulse]
=
Pr3.24
External scale’s resolution per motor revolution [pulse]
Pr3.25
• P.3-19 “Control Block Diagram” • P.3-22 “Wiring Diagram to the connector, X4”
• P.3-35 “Inputs and outputs on connector X4” • P.4-6 to P.4-85 “Details of parameter”
CCW direction
t1 t1
t2
t1 t1
EXA
t1
＞
0.25 μs t2
＞
1.0 μs
EXB
t1
＞
0.25 μs t2
＞
1.0 μs
t1 t1
t2
t1 t1
EXA
EXB
CW direction
SE SG SF
○
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