Panasonic MINAS A6 Series - [Class 3] Velocity; Torque; Full-Closed Control

4-32
Note
Related page
•Aparameterisdesignatedasfollows:
Pr0.00
Parameter No.Class
•ForparameterswhichNo.haveasuffixof“
*
”,changedcontentswillbevalidatedwhen
youturnonthecontrolpower.
•P.3-32...“InputsandoutputsonconnectorX4”
Default: [ ]
Pr3.02
Input gain of speed command
Range Unit Default
Related
control mode
10 to 2000 (r/min)/V 500 S T
Basedonthevoltageappliedtotheanalogspeedcommand(SPR),setuptheconversion
gain to motor command speed.
•Youcansetupa"slope"oftherelationbetweenthecommandinputvoltageandthe
motorspeed,withPr3.02.
•DefaultissettoPr3.02=500[r/min],
hence input of 6V becomes 3000 r/min.
Caution
1. Donotapplymorethan±10Vtothespeedcommandinput(SPR).
2. Whenyoucomposeapositionloopoutsideofthedriverwhileyouusethe
driverinvelocitycontrolmode,thesetupofPr3.02giveslargervariance
totheoverallservosystem.
 PayanextraattentiontooscillationcausedbylargersetupofPr3.02.
3000
Speed (r/min)
–3000
Slope at ex-factory
–10 –6
2 4 6 8 10
Positive direction
Negative direction
Command input voltage (V)
Pr3.03
Reversal of speed command input
Range Unit Default
Related
control mode
0 to 1 — 1 S
Note
Caution
Specifythepolarityofthevoltageappliedtotheanalogspeedcommand(SPR).
Setup value Motor rotating direction
0 Non-reversal “+Voltage”
“Positivedirection”,“–Voltage” “Negativedirection”
[1] Reversal “+Voltage”
“Negativedirection”,“–Voltage” “Positivedirection”
Defaultofthisparameteris1,andthemotorturnstoCWwith(+)signal,thishas
compatibilitytoexistingMINASseriesdriver.
Whenyoucomposetheservodrivesystemwiththisdriversettovelocitycontrolmode
andexternalpositioningunit,themotormightperformanabnormalactionifthepolarityof
the speed command signal from the unit and the polarity of this parameter setup does not
match.
1. Details of parameter
[Class 3] Velocity/ Torque/ Full-closed control
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