WEIHONG Ncstudio V15 - 3.4.1.1.4 Panasonic MINAS A4

上海维宏电子科技股份有限公司
SHANGHAI WEIHONG ELECTRONIC TECHNOLOGY CO., LTD.
16 / 116
o Unit: -
o Range: None of the four digits can be set to 3 in case that CN1-29 and CN1-
30 are used for other functions, causing braking failure.
o Value: 0211
 Pn506 Brake command: Servo OFF delay
o Description: Applicable when the servo motor has a brake.
o Unit: ms
o Range: -
o Value: Subject to actual situation.
 Pn20E Electronic gear ratio numerator, Pn210 Electronic gear ratio
denominator
o Description: Relation between Pn20E and Pn210
o Unit: -
o Equation: Pn20E/Pn210 = (Encoder resolution × pulse equivalent ×
mechanical reduction ratio)/screw pitch
o Range: -
o Value: Manual calculation
 Pn212 Encoder allocated pulse number
o Description: Encoder allocated pulse number
o Unit: -
o Range:2
4
–2
30
o Value: When pulse equivalent = 0.001, there is no reducer, and screw pitch =
10 mm, Pn212 = 2500; when screw pitch = 5 mm, Pn212 = 1250
3.4.1.1.4 Panasonic MINAS A4
The parameters and descriptions are shown below:
 Pr01 LED initial state
o Description: Pulse detection is used in WEIHONG control systems to check
to see if correct pulses are sent and determine if there is electric interference.
o Unit: -
o Range: -
o Value: 15
 Pr02 Control mode selection
o Description: Control mode selection
o Unit: -
o Range
 0: Position control
 1: Velocity control
 2: Torque control
o Value: 0
 Pr40 Command pulse input selection
o Description: Command pulse input selection
o Unit: -
o Range: 1: input via dedicated differential circuit.
o Value: 1
 Pr42 Command pulse input format selection
o Description: Command pulse input format selection
o Unit: -
o Range: 3: The command pulse input format is pulse + direction, negative
logic