Panasonic MINAS A6 Series - Torque Control Mode

3-18
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
Main
power
supply
Torque limit
5.21 Selection
0.131st
5.222nd
Torque command
[％]
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
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
2.24 2.25 2.265th
Torque filter
1.041st
1.092nd
Internal/External
switching
Direction
selection
Propor-
tion
Integra-
tion
Function
expansion
Two-stage
torque filter
6.42
Time
constant
6.43
6.11
Response
setup
Damping
term
SE SG SF
○
Related page
• P.3-22 “Wiring example of torque control mode”
• P.3-23 “Connecting example to host controller”
• P.3-33 “Inputs and outputs on connector X4” • P.4-2 “List of Parameters”
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