Panasonic MINAS A3 Series How To Use Manual Download Page 3

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133

[Connections and Settings in Torque Control Mode]

Connections and Settings in

Torque Control Mode

Battery for absolute encoder

4.7k

Ω

COM+

PULS2

SIGN1

SIGN2

GND

OA+

OB+

OZ+

GND

SPR/TRQR

GND

CCWTL/TRQR

GND

CWTL

10k

Ω

10k

Ω

20k

Ω

220

Ω

220

Ω

10k

Ω

10k

Ω

PULS1

INH

-ON

GAIN

DIV

ZEROSPD

C-MODE

A-CLR

CCWL

CWL

S-RDY+

S-RDY

ALM+

COIN+

BRKOFF

TLC

24V

ZSP

COM

TT+

to CN X4 (5th pin)

to CN X4 (6th pin)

CN X5

COIN

ALM

Servo-ON

P-operation/2nd gain

switching

Control mode switching

Scaler

Alarm clear

CCW overtravel inhibit

A-phase

output

B-phase

output

Z-phase

output

Speed monitor

orque monitor

Z-phase output (Open collector)

CW overtravel inhibit

Servo ready

Servo alarm

At-speed

Mechanical brake release

· In case the battery for absolute encoder

is installed at the controller side

orque limited

(Pr09)

Zero speed detected

(Pr0A)

<Note> Specify the speed limit value using

4th speed set-up (Pr56) parameter

SPR/TRQR

GND

CCWTL/TRQR

GND

330

Ω

330

Ω

330

Ω

Zero speed clamp (Pr06)

orque command

(0 to

10V)

Wiring when Pr02

(Control Mode) = 5

Speed

command

(0 to

10V)

orque

command

(0 to

10V)

CN X5 Connector

Circuits Available for Torque control mode

CN X5 Connector

Summary of Contents for MINAS A3 Series

Page 1: ...ue Control Mode 140 Operation with CN X5 Connected 140 Real time auto gain tuning 142 Outline 142 Application range 142 How to use 142 Parameters which are set up automatically 143 Caution 143 Parameter Setting 144 Parameters for Function Selection 144 Parameters for Time Constants of Gains and Filters Related to Real Time Auto Tuning 147 Parameters for real time auto gain tuning 148 Parameters fo...

Page 2: ... Pr 5E Pr 27 Pr 56 16bitA D Pr 5C Pr 5D 10bitA D Sign Analog torque command Analog torque command SPR TRQR When pr 02 2 or 4 Input setting Input setting When pr 02 5 Absolute magnitude Command speed monitor Multiplication Internal speed limit 4th speed Speed control Notch filter Torque f ilter Torque limit Disturbance observer Filter Actual speed monitor Speed detection filter Speed detection Enco...

Page 3: ...9 38 11 10 40 12 41 44 45 50 Servo ON P operation 2nd gain switching Control mode switching Scaler Alarm clear CCW overtravel inhibit A phase output B phase output Z Z phase output Speed monitor Torque monitor Z phase output Open collector CW overtravel inhibit Servo ready Servo alarm At speed Mechanical brake release In case the battery for absolute encoder is installed at the controller side Tor...

Page 4: ...ing resolution AI 12V SPR TRQR CCWTL CWTL R 14 20kΩ 10kΩ GND GND 10kΩ 10kΩ 10kΩ ADC 1 ADC 2 15 16 17 18 R VR 12V Interface Circuit Input Circuit CN X5 Connector SI Connecting to sequence input signals Connect to a contact of switch and relay or a transistor of an open collector output Use a switch or relay for micro current so that insufficient contact can be avoided Lower limit of the power suppl...

Page 5: ...etween the inputs These outputs are non insulated signals PO1 Output Circuit VDC 12 24V SO1 ALM or other signal ALM or other signal COM 41 ZSP TLC SO2 Install as per the fig Shows without fail Maximum rating 30V 50mA VDC V 2 5 V 10 R kΩ AM26LS32 or equivalent AM26LS31 or equivalent A B Z 22 21 OA OA OZ OZ OB OB 48 23 25 GND 24 49 Connect the signal grounds between the controller and driver Open Co...

Page 6: ...be disabled A factory setting is Disable 1 With Pr66 DB deactivate when driving is inhibited you can activate dynamic brake when CWL CCWL input is enabled According to a factory setting dynamic brake operates Pr66 is set to 0 The function differs depending on the control mode Notes 1 This signal becomes effective about two seconds after power on see the Timing Chart 2 Don t use this Servo ON or Se...

Page 7: ...be cleared For details about not cleared alarm see page 216 Protective Functions Position control Speed control Torque control Enter command pulse input inhibit You can disable this input with Pr43 disable command pulse input inhibit With speed setting of the 1st selection input you can set 4 speeds in combination with CL input For details see Pr05 Speed Set Up Switching description Invalid Pr30 v...

Page 8: ...d limit in torque control Note SPR TRQR are invalid in position control mode At speed and position control You can limit the motor torque in the CCW direction by entering positive voltage 0 to 10V to CCWTL You can limit the motor torque in the CW direction by entering negative voltage 10 to 0V to CWTL The torque limit value is proportional to the voltage with a factor of 100 3V CCWTL and CWTL are ...

Page 9: ...larity Fgenerating CCW torque Fgenerating CW torque Use Pr08 Torque Monitor Selection to switch between torque and positional error and to define the relation between torque positional error and output voltage Pr0A value 0 1 Factory setting 2 3 4 5 Function Output transistor turns ON during the In toque limiting Output transistor turns ON when the motor speed becomes lower than that of the preset ...

Page 10: ...speed limit Pr56 in response to the command voltage modify the following parameter Pr56 4th speed Pr5C torque command input gain Pr5D torque command input inversion See page 144 Parameter setting in Torgue control mode COM SRV ON SPR TRQR GND ZEROSPD COM 7 29 14 15 26 41 DC 12V 24V ZEROSPD switch Close Run Open Stop One way operation For multi direction CW and CCW operation use a bipolar power sou...

Page 11: ...141 Connections and Settings in Torque Control Mode Connections and Settings in Torque Control Mode MEMO ...

Page 12: ...se the Pr22 to a lower value soon 6 To store the result write the data into the EEPROM Conditions under which the real time auto gain tuning is prevented from functioning When the load inertia is smaller larger than the rotor inertia 3 times or less or 20 times or more When the load inertia fluctuates When the machine stiffness is extremely low When any unsecured part resides in such as backlash e...

Page 13: ...r22 machine stiffness at real time auto tuning is increased abnormal noise or oscillation may be generated before load inertia is determined This is not anomaly if it is stabilized shortly However when such problems as oscillation or noise that continues for 3 reciprocal operations or longer is encountered frequently take the following measures 1 Write the parameter of normal operation into the EE...

Page 14: ...nfirm axis address in terms of numerals At power on settings of the rotary switch ID on the front panel 0 F will be programmed into parameters of the driver Settings of Pr00 can be changed only by means of the rotary switch ID 02 0 14 Control mode Select the control mode of the servo driver 0 1 2 3 4 5 6 7 8 9 10 11 12 13 14 Control mode The 1st Mode The 2nd Mode 1 Position control Speed control T...

Page 15: ...on CCW direction CCWL CWL Work Servo Motor Limit Switch Limit Switch Driver Setting value 0 1 Action CCWL CWL Input Enable Disable Input CCWL CN X5 9 pin CWL CN X5 8 pin Connection with COM Connected Open Connected Open Normal condition in which the limit switch on CCW side is not operating CCW direction inhibited CW direction allowed Normal condition in which the limit switch on CW side is not op...

Page 16: ...attery Output of over regeneration alarm Output of overload alarm Output of absolute battery alarm 0A 0 5 ZSP output selection The parameter allocates functions of zero speed detection output ZSP CN X5 12 pin Setting value 0 1 2 3 4 5 Remarks For functional de tails of respective outputs listed left refer to Wiring to Connector CN X5 on page 78 Functions Output in torque limit Output of zero speed...

Page 17: ...sted software PANATERMR Setting this parameter 1500 would disable the function of notch filter 19 1A 1B 1C 1 3500 35 1 1000 1000 0 6 0 0 2500 65 Hz ms 0 01ms 2nd Velocity loop gain 2nd Velocity loop inte gration time constant 2nd speed detection filter 2nd torque filter time constant A position loop speed loop speed detection filter and torque command filter respectively has 2 pairs of gains or ti...

Page 18: ...ing Increasing the set value 3 6 provides higher response to the inertia change during operation However operation may become unstable depending on the operation pattern Normally set this parameter to 1 or 4 If you set this parameter to any value other than 0 Pr27 disturbance observer filter selection will be disabled 0 In addition if you set the adaptive filter to disabled Pr2F adaptive filter fr...

Page 19: ... Parameter No Setting range Parameter Name Unit Function Description Default setting is shown by A larger value provides stronger disturbance suppression but a larger operation noise is emitted When using this function it is necessary to set Pr20 inertia ratio correctly When Pr 21 real time auto tuning mode setting is altered Pr27 changes to 0 disabled Also while the real time auto tuning is enabl...

Page 20: ...s selected 3B 3C 3D 0 10000 0 0 20000 0 0 20000 0 x 166µs Torque control switching delay time Torque control switching level Torque control switching hysteresis This is same as content of Pr32 Switching delay time Pr33 Switching level Pr34 Hysteresis at switching in position control mode Parameter No Setting range Parameter Name Unit Function Description Default setting is shown by 1 Parameters fo...

Page 21: ...para meter speed setting internal external switching Pr05 to Pr53 to Pr56 respectively in the unit of r min Caution Polarity of settings shows that of internal command speed Pr56 is a value of speed limits in torque control mode You should set this parameter in a range of rotational speeds of the motor to be used CCW direction viewed from the edge of axis for command CW direction viewed from the e...

Page 22: ...CW and CCW directions simultaneously Speed 200 100 Rated Rated 100 200 300 Torque 300 Max Max CW CCW When Pr5E 150 Parameter No Setting range Parameter Name Unit Function Description Default setting is shown by Parameters for various sequences 61 0 20000 50 r min Zero speed The parameter directly sets timing to an output zero speed detection out put signal ZSP CN X5 12 pin in terms of r min A zero...

Page 23: ...tion Description Default setting is shown by 67 0 7 Error response at main power off The parameter sets 1 Driving conditions during deceleration and after stopping and 2 Processing to clear content of the deviation counter after the main power source is shut off DB Activation of dynamic brake Setting value 0 1 2 3 4 5 6 7 During Deceleration DB Free Run DB Free Run DB Free Run DB Free Run After St...

Page 24: ...rve On Off Operation When the Motor is Rotating of the timing chart of on page 43 tb ON SRV ON BRK OFF Motor Speed Release OFF Retention Motor Energized Energization Non energization 30 r min 6D 0 32767 35 2ms Main power off detection time The parameter sets time to detect shut off when shut off of main power supply continues 6C 0 3 External regenerative resister set up This parameter is set depen...

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