A: For debugging steps without using X5: (Drive open-loop mode)
The Panasonic A5 drive is in position control mode in the application, and the parameters that need to be adjusted are:

After setting each parameter, it needs to be saved. Except for Pr0.03, all other parameter modifications need to be powered on again to be effective;
Debugging steps: (default no need to modify)
1. Change the input mode of the driver to pulse+direction mode:
P0.07 is changed to 3;
2. Change the motor resolution based on the ratio of pitch (design value) to grating scale resolution:
The pitch doesn't need to be very precise, just use the designed value, usually 5/10/12/16, etc;
Assuming a pitch of 10mm and a grating ruler resolution of 0.5um,
The pitch divided by the resolution of the grating ruler is
（10/0.5）x 1000 = 20000;
Assuming a pitch of 10mm and a grating ruler resolution of 1um,
The pitch divided by the resolution of the grating ruler is
（10/1）x 1000 = 10000;
   
The calculation result is the motor resolution to be filled in, and the calculation result is written in Pr0.08;
3. Based on the motor resolution, pitch, and grating ruler resolution, the maximum speed of the machine can be calculated for different pulse input methods (photoelectric or long line):
Assuming a motor resolution of 20000 and a pitch of 10mm:
Under the photoelectric interface, if the maximum input is 500K, which is 500000, the maximum motor speed is 25 revolutions per second (RPM);
Converted to machine speed, which is the rotational speed x pitch=25 x 10mm=250mm/S;

In long-term mode, with a maximum input of 4M, which is 4 million, the maximum motor speed is 400 000/20 000=200 revolutions per second;
Converted to a machine speed of 200 x 10=2000mm/S;

Select the pulse input method according to actual needs and write it into driver Pr0.05. The signal line X4 connection is different for different pulse input methods:
Optoelectronic mode (Pr0.05=0, default, usually this mode can be used)

Long term mode (Pr0.05=1)

After setting the pulse input method and motor resolution, the DEMO software can be used to debug the machine.
After the machine moves normally, if the machine response is slow, the set rigidity of the machine can be increased, that is, the value of Pr0.03 can be increased. Note that when the rigidity is too high, the machine will vibrate and the rigidity value needs to be reduced.
6. Select the full closed loop of each axis in the parameter configuration of DEMO as required, and then adjust the PID of the controller;
7. Let the machine run for more than half an hour, change the value of Pr0.02 to 0, and turn off automatic adjustment;
   
B. For debugging steps using X5: (driver closed-loop mode)
(Known as the fully closed-loop mode of the grating ruler, in this mode the controller needs to be set to open-loop, meaning that the fully closed-loop mode is not selected in the DEMO)
Wiring method:
Optoelectronic mode (Pr0.05=0, default, usually this mode can be used)

Long term mode (Pr0.05=1)

Parameters that need to be adjusted:

After setting each parameter, it needs to be saved. Except for Pr0.03, all other parameter modifications need to be powered on again to be effective;

Debugging steps:
1. First, follow the open-loop mode of driver A to make the machine run normally. Note that the controller does not need to select the fully closed-loop axis;
2. Set the count value of the grating ruler when the motor rotates once;
Calculation method: One revolution of the motor is equivalent to the distance of one pitch of the machine, so the value of Pr3.25 can be calculated by dividing the pitch by the resolution of the grating ruler;
The pitch doesn't need to be very precise, just use the designed value, usually 5/10/12/16, etc;

For example, if the pitch is 10mm, the grating ruler is 1um, and the value of Pr3.25 is
(10/1) X 1000 = 10000;
Set the calculated value to Pr3.25, save and power on again.
3. Set the driver to be fully closed-loop:
Set Pr0.01 to 6 and Pr3.27 to 0; Save and power on again;
4. When running the machine at a slow speed during DEMO debugging, due to the possibility of incorrect input direction of the grating ruler, the motor may trigger a runaway alarm. Safety must be taken into account during debugging.
If the input direction of the grating ruler is correct, the motor will operate normally;
If the input direction of the grating ruler is incorrect, the driver will sound an alarm and Pr3.26 needs to be changed from 0 to 1, saved, and powered on again;
After the full closed-loop mode is normal, it is also necessary to adjust the value of the machine's rigidity Pr0.03, let the machine run automatically for more than half an hour, and then change the value of Pr0.02 to 0;
If the positioning effect is not satisfactory after half an hour of automatic operation of the machine, the value of Pr0.02 can be changed to 0 and the position loop gain Pr1.00 can be manually modified. If the positioning is slow, increase Pr1.00, and if it is overshoot, decrease Pr1.00; Save the parameters after debugging.

Regarding the pin arrangement of connector X5:
As shown in the figure below, the one with a protruding small terminal is defined as a convex surface, and the other side is defined as a concave surface;