Block Operation; Overview Of Block Operation; Continuous Block Operation - Panasonic MINAS A4P Series Instruction Manual

Block Operation

Overview of Block Operation

This servo driver can perform the two types of block operations, i.e., continuous block operation and com-
bined block operation. These operations can be switched by 16.Pr54 (block operation type setting).
Continuous block operation : Several step operations can be performed continuously. Once an operation
Combined block operation : A step operation is performed according to combined several point numbers.
16.Pr54
(block operation type setting)
0
1

Continuous Block Operation

If 16.Pr54 (block operation type setting) is "0" (continuous block operation) and the block setting of the point
number specified by point specifying input (P1IN to P32IN: CN X5 Pin 3, 4, 5, 6, 7 and 8) is "Block", the step
operation is performed continuously in order from the specified point number to the block number of "Single"
block setting.
Speed
Point specifying input
(P1IN to P32IN)
Strobe signal input
(STB)
In-operation signal output
(BUSY)
In-deceleration output
(DCLON)
Positioning completion output
(COIN)
Point output
(P1OUT to P32OUT)
Continuous block operation procedure (example)
1. Set a 16-bit positioning parameter and step parameter. (Refer to "Parameters Used in this Operation
Example" on page 128.)
2. Execute the homing. (Refer to "Homing Operation" on page 114.)
3. Specify the point 1 when the servo turns on and input the strobe signal input (STB: CN X5 Pin 24). Then,
an operation is performed continuously, e.g., [01] – > [02] –
starts, the operation continues to a specified point number.
This is useful when you want to change the speed during a step operation.
Description
Continuous block operation
Combined block operation
Speed = VEL1
[01]
Moving to the absolute
position "500000"
1 (01H)
MIN10ms
Open Close Open
Transistor ON
Transistor OFF
Transistor ON Transistor OFF
Acceleration = ACC1
Deceleration = DEC1
[02]
Waiting time
5 seconds
Transistor OFF
Transistor ON
MAX 10ms
1 (01H)
> [03].
[Operation Setting]
Moving to the absolute position "0"
[03]
Acceleration
= ACC2
Transistor OFF
Transistor OFF
MAX 10ms
2 (02H)
Deceleration
= DEC2
Speed
= VEL2
Transistor ON
MAX 10ms
3 (03H)
127