Panasonic MINAS-BL GP series Instructions Manual - Automatic Door
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66
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• Coordinate system + direction depends on configuration of gear
head and machine. When setting the rotation direction CCW of
motor shaft to +, set Pr23 at "0", and when setting CW to +, set
Pr23 at "1".
• When setting the Mechanical end offset value to –144, the Home
is the point which has moved 144 pulses to the + direction seen
from the Mechanical end.
Homing direction (–)
Home 0
(–144)
The 1st point
(closed)
The 2nd point
(opened)
Coordinate
system (+)
Mechanical end
144
Automatic door
Example setting of motion pattern
Door opening/closing
• When executing reciprocating
operation between 2 points
• When open/close is chosen and
I
1 is input, open/close operation is executed.
• When the door is stopped in any position on the way of action, opening or closing operation
is enabled from such position. (It is the same when the door is moved by hand with motor disabled.)
• Use of bumping homing enables elimination of home sensor.
• Holding torque when motor is stopped can be changed.
[Signal function setting]
Terminal
symbol
Terminal
number
Terminal
name
Description of function
I
1
1
Signal input 1
Operates when "
I
1" and "GND" are shorted (Homing operation for the
first time after power-on)
I
2
2
Signal input 2
Opening (point 2) operation when "
I
2" and "GND" are shorted, and
closing (point 1) operation when they are open.
I
3
11
Signal input 3
Motor is free when "
I
3" and "GND" are open. (Servo lock released)
I
4
4
Signal input 4
Operation is stopped when "
I
4" and "GND" are open. (Motor is not
activated while they are open.)
O1
6
Signal output 1 Trip output (Normally on, and off in tripping)
O2
12
Signal output 2 In motion signal (including homing operation)
Turns off normally in short-circuiting
(Motor is free when circuit is opened.)
Turns off normally in short-circuiting
(Motor stops instantaneously when circuit is opened.)
Normally ON.
I
1 (Run start)
I
2 (Choose open/close.)
(Choose point.)
I
3 (Motor free)
I
4 (Instantaneous stop)
01 (Trip output)
02 (In motion)
Motor commanded
speed
Output torque
Power-ON
Home is detected when workpiece
bumps to the mechanical end.
When the motor is stopped by stop signal on
the way of operation, positioning is allowed
at any desired position (open or close).
Switch between open and
close, and then turn on
I
1 in
20 ms or longer.
Execute
homing
Pr45
Pr2E
Pr2E Pr35 Pr2E
Execute
opening
Execute
closing
Execute
opening
Execute
closing
Run start
Run start
Run start
Run start Run start
20 ms or longer
Pr35 Pr2EPr35 Pr2E Pr35 Pr2E
Turn on power, and then turn on
I
1 after one second or longer
have passed.
[Operation timing chart]
[Parameter setting]
Indicates only the point changed from default setting.
(Parameter marked with * is effective after power resetting.)
Function
Parameter
No.
(Pr
□□
)
Name of parameter
Setting
Remarks
Selection of signal
function
50*
I
1 function selection
8
Run start
51*
I
2 function selection
6
Point designation 1 input (choosing the 1st/2nd point)
52*
I
3 function selection
15
Motor-free input
53*
I
4 function selection
1
Instantaneous stop input
56*
I
3 input logic selection
1
Changes the polarity of
I
3 to effective when
open (motor-free in this case).
57*
I
4 input logic selection
1
Changes the polarity of
I
4 to effective when
open (instantaneous stop in this case).
5C
01 function selection
0
Trip output
5d
02 function selection
2
In-motion signal
Homing function
40
Homing mode
3
Bumping homing
41
Homing direction
1
Set the homing direction normally to minus
direction (closing direction).
42
Homing speed
200
Set any desired operation speed.
44
Homing acceleration/
deceleration time
200
Set any desired acceleration/deceleration time.
45
Bumping torque detection value
50
Torque limit during bumping homing
46
Bumping torque detection time
100
Home is detected when torque restriction
continues for one second.
47
Home offset
–144 Set the distance from the home desired to
be set to the mechanical end.
48*
Homing function
2
When power is turned on, homing operation is
executed by initial
I
1 input.
49
Homing selection when
motor is free
0
Homing is not required when tripping occurs.
4A
Present position overflow
permission
0
Overflow is not permitted because absolute
travel is set.
23*
Coordinate system setting
0, 1
Set so that homing is in minus direction.
The 1st point
(door closing position)
00
The 1st target position
(rotation number)
0
Set the door closing position coordinate.
(Coordinate is 0 when closing position is the
same as home position.)
01
The 1st target position (pulse)
0
02
The 1st coordinate setting
1
Set absolute travel.
03
The 1st setting speed
2000 Set any desired operation speed.
04, 05 The 1st acceleration time/
The 1st deceleration time
200
Set any desired acceleration time and
deceleration time.
06
The 1st block setting
0
Set normal operation.
The 2nd point
(door opening position)
08
The 2nd target position
(rotation number)
40
Set the door opening position coordinate.
09
The 2nd target position (pulse)
0
0A
The 2nd coordinate setting
1
Set absolute travel.
0b
The 2nd setting speed
2000 Set any desired operation speed.
0C, 0d The 2nd acceleration time/
The 2nd deceleration time
200
Set any desired acceleration time and
deceleration time.
0E
The 2nd block setting
0
Set normal operation.
For automatically changing the retention torque (retention force) when door is stopped
Gain switching
function
2E
Torque limit setting
100
Sets the retention torque when door is stopped.
The smaller the value is, the weaker the
retention force becomes.
35
The 2nd torque limit setting
150
Maximum output torque when door is operating.
36
Gain switching mode selection
2
Set to 0 when executing no switching.
37
Gain switching time
100
Torque is changed in 100 ms after completion
of operation instruction.