Panasonic MINAS A6 Series - Page 238

4-36
Pr3.20
Input reversal of torque command
Range Unit Default
Related
control mode
0 to 1 — 0 T
Setupthepolarityofthevoltageappliedtotheanalogtorquecommand(TRQR).
Setup value Direction of motor output torque
[0] Non-reversal “+Voltage”
“Positivedirection”,“–Voltage” “Negativedirection”
1 Reversal “+Voltage”
“Negativedirection”,“–Voltage” “Positivedirection”
Pr3.21
Speed limit value 1
Range Unit Default
Related
control mode
0 to 20000 r/min 0 T
Set up the speed limit used for torque controlling.
Duringthetorquecontrolling,thespeedsetbythespeedlimitvaluecannotbeexceeded.
WhenPr3.17=2,thespeedlimitisapplieduponreceivingpositivedirectioncommand.
Pr3.22
Speed limit value 2
Range Unit Default
Related
control mode
0 to 20000 r/min 0 T
Pr3.17 Pr3.21 Pr3.22 Pr3.15
Speed zero clamp
(ZEROSPD)
Analog torque
command direction
Speed limit value
0 0 to 20000 Noeffect
0 Noeffect
Noeffect
Pr3.21setupvalue
1 to 3
OFF Pr3.21setupvalue
ON 0
2
0 to 20000 0 to 20000 0 Noeffect
Positivedirection Pr3.21setupvalue
Negativedirection Pr3.22setupvalue
0 to 20000 0 to 20000 1 to 3 OFF
Positivedirection Pr3.21setupvalue
Negativedirection Pr3.22setupvalue
0 to 20000 0 to 20000 1 to 3 ON Noeffect 0
SpeedlimitvalueofnegativedirectioncommandwhenPr3.17=2.
Note
•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”•P.6-2“ProtectiveFunction”
1. Details of parameter
[Class 3] Velocity/ Torque/ Full-closed control
Default:[]
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