Panasonic MINAS A5-series, Operating Instructions Manual

Page: 127 / 394

3-9
1
Before
Using
the
Products
2
Preparation
3
Connection
4
Setup
5
Adjustment
6
When
in
Trouble
7
Supplement
3
1. Outline of mode
Connection
Torque Control Mode
Outline
Note
The torque control is performed according to the torque command specified in the form of
analog voltage. For controlling the torque, the speed limit input is required in addition to
the torque command to maintain the motor speed within the speed limit.
With the A5 series, 3 torque control modes are available, each requires different torque
command and speed limit as shown in the table below.
• Pr3.17 (Selection of torque command)
Setup
value
Torque command input Velocity limit input
0
Selection of torque
command 1
Analog input 1
* 1
(AI1, 16-bit resolution)
Parameter value
(Pr3.25)
1
Selection of torque
command 2
Analog input 2
(AI2, 12-bit resolution)
Analog input 1
(AI1, 16-bit resolution)
2
Selection of torque
command 3
Analog input 1
* 1
(AI1, 16-bit resolution)
Parameter value
(Pr3.25, Pr3.26)
*
1 For Pr0.01 Control mode setup = 5 (velocity/torque control), the torque command
input is the analog input 2 (AI2, 12-bit resolution).
For details of these parameters, refer to P.4-28 “Details of parameter”.
<Selection of torque command 1, 3>
<Selection of torque command2>
Servo driver
Host
controller
Torque
control
section
Analog
torque command
( AI1, ±10V)
ZEROSPD input
AT-SPEED output
V-COIN output
Process of analog
torque command input
Speed zero clamp (ZEROSPD) function
Attained speed output
Speed coincidence output
Speed limit value
(Parameter)
Servo driver
Host
controller
Torque
control
section
Process of analog
torque command input
Analog
torque command
( AI2, ±10V)
Process of
speed limit input
Speed limit input
( AI1, ±10V)
ZEROSPD input
AT-SPEED output
V-COIN output
Speed zero clamp (ZEROSPD) function
Attained speed output
Speed coincidence output
Related page
• P.3-16 “Control Block Diagram”
• P.3-19 “Wiring Diagram to the connector, X4”