Panasonic MINAS A6 Series - Page 239

4-37
1
Before Using the Products
2
Preparation
3
Connection
4
Setup
5
Adjustment
6
When in Trouble
7
Supplement
Pr3.23
*
Externalscaleselection
Range Unit Default
Related
control mode
0 to 6 — 0 P S T F
Selectthetypeofexternalscale.
Setup
value
Externalscaletype Compatible scale
Compatible
speed
[0] A,Bphaseoutputtype
*
1
ExternalscaleofA,Bphaseoutputtype
to 4 Mpps
(afterquadrupled)
1
Serial communication type
(incrementalversion)
*
1
MagnescaleCo.,Ltd.
NIDECSankyoCorporation
to 4 Gpulse/s
2
Serial communication type
(absoluteversion)
*
1
Mitsutoyo Corporation
MagnescaleCo.,Ltd.
Heidenhein
RenishawPLC
FagorAutomationS.Coop
to 4 Gpulse/s
3 to 6 For manufacturer use —
—
*
1 Connecttheexternalscalesothatitincrementsthecountasthemotorshaftturns
positivedirection,anddecrementsastheshaftturnsnegativedirection.Ifthis
connectionarrangementisimpossibleduetoinstallationcondition,etc.,usethecount
reversefunctionofPr3.26Reversalofdirectionofexternalscale.
Whenthesetupvalueis1or2whiletheA,Bphaseoutputtypeisconnected,Err50.0
Externalscalewiringerrorprotectionoccurs,andifthesetupvalueis0whiletheserial
communicationtypeisconnected,Err55.0,1or2Aphase,BphaseorZphasewiringerror
protectionwilloccur.
Pr3.24
*
Numeratorofexternalscaledivision
Range Unit Default
Related
control mode
0 to 8388608 — 0 F
Setupthenumeratoroftheexternalscaledividingsetup.
Whensetupvalue=0,encoderresolutionisusedasnumeratorofthedivision.
Pr3.25
*
Denominatorofexternalscaledivision
Range Unit Default
Related
control mode
1 to 8388608 — 10000 F
Caution
•Checkthenumberofencoderfeedbackplusesperonemotorrevolutionandthenumberof
externalscalepulsesperonemotorrevolution,andthensetupthenumeratorofexternal
scaledivision(Pr3.24)andthedenominatorofexternalscaledivision(Pr3.25)toestablish
theexpressionshownbelow.
•WithPr3.24setat0,theencoderresolutionisautomaticallyusedasnumerator.
Example:Whenballscrewpitchis10mm,scale0.1μm/pulse,encoderresolution23bits
(8388608pulses);
Encoder resolution per one motor revolution [pulse]
External scale resolution per one motor revolution [pulse]
=
Pr3.24 8388608
Pr3.25 100000
Ifthisratioiswrong,thedifferencebetweenthepositioncalculatedbasedontheencoder
pulsesandthepositioncalculatedbasedontheexternalscalepulsesbecomeslargeovera
longtraveldistanceandwillactivatetheexcesshybriddeviationerrorprotection.
1. Details of parameter
[Class 3] Velocity/ Torque/ Full-closed control
Default:[]
Caution
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