Panasonic MINAS A6 Series - Torque Control Mode

3-9
1
Before Using the Products
2
Preparation
3
Connection
4
Setup
5
Adjustment
6
When in Trouble
7
Supplement
3
1. Outline of mode
Connection
Torque Control Mode
Outline
Note
The torque control is performed according to the torque command specied in the form of
analog voltage. For controlling the torque, the speed limit input is required in addition to
the torque command to maintain the motor speed within the speed limit.
With the A5 series, 3 torque control modes are available, each requires different torque
command and speed limit as shown in the table below.
• Pr3.17 (Selection of torque command)
Setup
value
Torque command input Velocity limit input
0
Selection of torque
command 1
Analog input 1
*
1
(AI1, 16-bit resolution)
Parameter value
(Pr3.21)
1
Selection of torque
command 2
Analog input 2
(AI2, 12-bit resolution)
Analog input 1
(AI1, 16-bit resolution)
2
Selection of torque
command 3
Analog input 1
*
1
(AI1, 16-bit resolution)
Parameter value
(Pr3.21, Pr3.22)
*
1
For Pr0.01 Control mode setup = 5 (velocity/torque control), the torque command
input is the analog input 2 (AI2, 12-bit resolution).
For details of these parameters, refer to P.4-35 “Details of parameter”.
<Selection of torque command 1, 3>
<Selection of torque command2>
Servo dr ver
Host
contro er
Torque
contro
sect on
Ana og
torque command
(AI1, ±10 V)
ZEROSPD nput
AT-SPEED output
V-COIN output
Process of ana og
torque command nput
Speed zero c amp (ZEROSPD) funct on
Atta ned speed output
Speed co nc dence output
Speed m t va ue
(Parameter)
Servo dr ver
Host
contro er
Torque
contro
sect on
Process of ana og
torque command nput
Ana og
torque command
(AI2, ±10 V)
Process of
speed m t nput
Speed m t nput
(AI1, ±10 V)
ZEROSPD nput
AT-SPEED output
V-COIN output
Speed zero c amp (ZEROSPD) funct on
Atta ned speed output
Speed co nc dence output
Note
Only for standard type and communication type are not provided with analog input and
V-COIN output.
• P.3-18 “Control Block Diagram” • P.3-22 “Wiring Diagram to the connector, X4”
SE SG SF
○
Related page
Buy: www.ValinOnline.com | Phone 844-385-3099 | Email: CustomerService@valin.com