Panasonic MINAS A6 Series - Page 237

4-35
1
Before Using the Products
2
Preparation
3
Connection
4
Setup
5
Adjustment
6
When in Trouble
7
Supplement
Pr3.17
Selection of torque command
Range Unit Default
Related
control mode
0 to 2 — 0 T
You can select the input of the torque command and the speed limit.
Setup value Torque command input Velocity limit input
[0]
Analoginput1
*
1
(AI1,16-bitresolution)
Parametervalue
(Pr3.25)
1
Analoginput2
(AI2,12-bitresolution)
Analoginput1
(AI1,16-bitresolution)
2
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).
Pr3.18
Torque command direction selection
Range Unit Default
Related
control mode
0 to 1 — 0 T
Selectthedirectionpositive/negativedirectionoftorquecommand.
Setup value Designation
[0]
Specifythedirectionwiththesignoftorquecommand.
Example:Torquecommandinput(+)forpositivedirection,(–)fornegativedirection
1
Specifythedirectionwithtorquecommandsign(TC-SIGN).
OFF:Positivedirection,ON:Negativedirection
Pr3.19
Input gain of torque command
Range Unit Default
Related
control mode
10 to 100 0.1 V/100 % 30 T
Basedonthevoltage(V)appliedtotheanalogtorquecommand(TRQR),setupthe
conversiongaintotorquecommand(%).
• Unitofthesetupvalueis[0.1V/100%]
andsetupinputvoltagenecessaryto
produce the rated torque.
• Defaultsetupof30represents3V/100%.
Rated
torque
torque
Defau t
command nput
vo tage (V)
2
246810 V
100
100
200
300[%]
200
300[%]
4 6 8 10 V
Negative direction
Positive direction
1. Details of parameter
[Class 3] Velocity/ Torque/ Full-closed control
Default:[]
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