Panasonic MINAS A6 Series - Page 260

4-58
Pr5.20
*
Position setup unit select
Range Unit Default
Related
control mode
0 to 1 — 0 P F
Note
Specifytheunittodeterminetherangeofpositioningcompleteandexcessivepositional
deviation.
Setup value Unit
[0] Command unit
1 Encoder unit
Thecommandunitdenes1commandpulsefromthehigherleveldeviceassettingvalue1,
whiletheencoderunitdenes1encoderpulseassettingvalue1.
Whentheelectronicgearratiosetbyusingthecommanddivisionandmultiplicationfunction
(electronicgear)isR,thefollowingrelationshipisobtained.
Command unit × R = encoder unit
Forexample,if23-bitencoderisusedwiththedefaultsetting,
R =
2
23
10000
,then,commandunit×
2
23
10000
= encoder unit.
Pr5.21
Selection of torque limit
Range Unit Default
Related
control mode
0 to 6 — 1 P S F
You can set up the torque limiting method.
Setup value Positive direction Negative direction
0 P-ATL(0Vto10V) N-ATL(−10Vto0V)
[1] 1sttorquelimit(Pr0.13)
2 1sttorquelimit(Pr0.13) 2ndtorquelimit(Pr5.22)
3
TL-SEL OFF
1sttorquelimit(Pr0.13)
TL-SELON
2ndtorquelimit(Pr5.22)
4 P-ATL(0Vto10V) N-ATL(0Vto10V)
5 P-ATL(0Vto10V)
6
TL-SEL OFF
1sttorquelimit(Pr0.13) 2ndtorquelimit(Pr5.22)
TL-SELON
Externalinputpositivedirectiontorque
limit(Pr5.25)
Externalinputnegativedirectiontorque
limit(Pr5.26)
Pr5.22
2nd torque limit
Range Unit Default
Related
control mode
0 to 500 % 500 P S F
Note
Youcansetupthe2ndlimitvalueofthemotoroutputtorque.
Thevalueofparameterislimitedtothemaximumtorqueoftheapplicablemotor.
Fordetailsoftorquelimitvalue,refertoP.2-84.
Pr5.23
Torquelimitswitchingsetup1
Range Unit Default
Related
control mode
0 to 4000 ms/100 % 0 P S F
Specifytherateofchange(slope)from1stto2ndduringtorquelimitswitching.
1. Details of parameter
[Class 5] Enhancing setting
Default:[]
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