Panasonic MINAS A5 Series - Torque Control Mode

3-16
3
2. Control Block Diagram
Connection
Torque Control Mode
Gain switching
2nd
setup
Mode
Delay
time
Level
Hysteresis
Analog input
Analog
input 2
12bit A/D
AI2
Analog
input 1
16bit A/D
AI1
Al2 input voltage
[Ｖ]
4.25
4.26
Analog input
4.22Offset
4.23Filter
Scaling
3.19
3.20
1.14
1.24
1.25
1.26
1.27
Motor
Load
Encoder
Scaling
（Torque command）
3.19Gain
3.20Reversal
Scaling
（Speed limit）
3.02Gain
3.03Reversal
Speed detection
Torque command
selection
3.17
3.18
Speed limit
[r/min]
Al1 input voltage
[Ｖ]
＋
−
Sum of
feedback pulses
[Encoder pulse]
Motor speed
[r/min]
Internal
speed limit
3.21
Limit
value 1
3.22
Limit
value 2
Speed limit
selection
3.17
Command
selection
Sign
Absolute value
Offset
Filter
Gain
Reversal
Current control
6.11
Main
power
supply
Torque limit
5.21 Selection
0.131st
5.222nd
Torque command
[％]
Response
setup
Pulse
regeneration
Pulses
output
OA
OB
OZ
Numerator/
Denominator
0.11
One
revolution
0.12Reversal
5.03
Denomi-
nator
Velocity
detection filter
1.031st
1.082nd
6.10
Instantaneous
speed
Velocity control
1.011st
1.06
1.02
1.072nd
0.04
6.10
Inertia ratio
6.132nd inertia ratio
Notch filter
2.011st
Frequency Width
2.04
2.02
2.052nd
2.10 2.11
Depth
2.03
2.06
2.07 2.083rd 2.09
2.124th
Torque filter
1.041st
1.092nd
Internal/External
switching
Direction
selection
Propor-
tion
Integra-
tion
Function
expansion
Note
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