Panasonic MINAS A6 Series - Page 156

3-10
1. Outline of mode
Torque Control Mode
Function
Note
(1) Process of analog torque command input
This process converts the analog torque command input (voltage) to the equivalent
digital torque command having the same effect. You can set the lter or adjust the off-
set to eliminate noise.
• Relevant parameters <Selection of torque command 1, 3>
Parameter
No.
Title Range Unit Function
Pr3.18
Torque command
direction selection
0 to 1 —
Select the direction positive/negative
direction of torque command.
Pr3.19
Input gain of torque
command
10 to 100
0.1 V
/100 %
Based on the voltage (V) applied to the
analog torque command (TRQ R), set up
the conversion gain to torque command
(%).
Pr3.20
Input reversal of torque
command
0 to 1 —
Set up the polarity of the voltage applied
to the analog torque command (TRQR).
Pr4.22
Analog input 1 (AI1)
offset setup
−5578 to
5578
0.359 mV
Set up the offset correction value applied
to the voltage fed to the analog input 1.
Pr4.23
Analog input 1 (AI1)
lter
0 to 6400
0.01 ms
Set up the time constant of 1st delay lter
that determines the lag time behind the
voltage applied to the analog input 1.
• Relevant parameters <Selection of torque command 2>
Parameter
No.
Title Range Unit Function
Pr3.18
Torque command
direction selection
0 to 1 —
Select the direction positive/negative
direction of torque command.
Pr3.19
Input gain of torque
command
10 to 100
0.1 V
/100 %
Based on the voltage (V) applied to the
analog torque command (TRQ R), set up
the conversion gain to torque command
(%).
Pr3.20
Input reversal of torque
command
0 to 1 —
Set up the polarity of the voltage applied
to the analog torque command (TRQR).
Pr4.25
Analog input 2 (AI2)
offset setup
−342 to 342
5.86 mV
Set up the offset correction value applied
to the voltage fed to the analog input 2.
Pr4.26
Analog input 2 (AI2)
lter
0 to 6400
0.01 ms
Set up the time constant of 1st delay lter
that determines the lag time behind the
voltage applied to the analog input 2.
For details of these parameters, refer to P.4-6 to P.4-85 “Details of parameter”.
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