Panasonic Minas A4 Series - Page 167

165
[Connection and Setup of Torque Control Mode]
Connection and Setup of
Torque Control Mode
Title of signal Pin No. Symbol Function
I/F circuit
Servo-ON input 29
SI
P.162
SRV-ON
• Turns to Servo-ON status by connecting this input to COM–.
• Turns to Servo-OFF status by opening connection to COM–, and current
to the motor will be shut off. 
• You can select the dynamic brake action and the deviation counter
clearing action at Servo-OFF with Pr69 (Sequence at Servo-OFF).
<Caution>
1.Servo-ON input becomes valid approx. 2 sec after power-on.
(see P.42, "Timing Chart" of Preparation.)
2.Never run/stop the motor with Servo-ON/OFF.
3.After shifting to Servo-ON, allow 100ms or longer pause before entering
the pulse command.
Control mode
switching input
32
SI
P.162
C-MODE • You can switch the control mode as below by setting up Pr02 (Control
mode setup) to 3-5.
<Caution>
Depending on how the command is given at each control mode, the action
might change rapidly when switching the control mode with C-MODE. Pay
an extra attention.
Pr02 setup
3
4
5
Open (1st)
Position control
Position control
Velocity control
Connection to COM– (2nd)
Velocity control
Torque control
Torque control
Alarm clear input 31
SI
P.162
A-CLR • You can release the alarm status by connecting this to COM– for more
than 120ms.
• The deviation counter will be cleared at alarm clear.
• There are some alarms which cannot be released with this input.
For details, refer to P.252, "Protective Function " of When in Trouble.