Panasonic MINAS A5-series, Operating Instructions Manual

Page: 19 / 394

1-7
1
Before
Using
the
Products
2
Preparation
3
Connection
4
Setup
5
Adjustment
6
When
in
Trouble
7
Supplement
Function
Position control
Control input
(1) Deviation counter clear (2) Command pulse inhibition
(3) Command dividing gradual increase switching (4) Damping control switching etc.
Control output Positioning complete (In-position) etc.
Pulse
input
Max. command
pulse frequency
Exclusive interface for Photo-coupler: 500kpps
Exclusive interface for line driver : 4Mpps
Input pulse
signal format
Differential input. Selectable with parameter. ((1) Positive and Negative direction,
(2) A and B-phase, (3) Command and direction)
Electronic gear
(Division/
Multiplication of
command pulse)
Process command pulse frequency × electronic gear ratio
(
1 to 2
30
1 to 2
30
)
as positional
command input. Use electronic gear ratio in the range 1/1000 to 1000 times.
Smoothing filter Primary delay filter or FIR type filter is adaptable to the command input
Analog
input
Torque limit
command input
Individual torque limit for both positive and negative direction is enabled.
Instantaneous Speed
Observer
Available
Damping Control Available
Velocity control
Control input
(1) Selection of internal velocity setup 1 (2) Selection of internal velocity setup 2
(3) Selection of internal velocity setup 3 (4) Speed zero clamp etc.
Control output Speed arrival etc.
Analog
input
Velocity
command input
Speed command input can be provided by means of analog voltage.
Parameters are used for scale setting and command polarity. (6V/Rated rotational
speed Default)
Torque limit
command input
Individual torque limit for both positive and negative direction is enabled.
Internal velocity command Switching the internal 8speed is enabled by command input.
Soft-start/down function
Individual setup of acceleration and deceleration is enabled, with 0 to 10s/1000r/min.
Sigmoid acceleration/deceleration is also enabled.
Zero-speed clamp 0-clamp of internal velocity command with speed zero clamp input is enabled.
Instantaneous Speed
Observer
Available
Velocity Control filter Available
Torque control Control input
Speed zero clamp, Torque command sign input etc.
Control output Speed arrival etc.
Analog
input
Torque command
input
Speed command input can be provided by means of analog voltage.
Parameters are used for scale setting and command polarity. (3V/rated torque Default)
Speed limit function Speed limit value with parameter t is enabled.
Full-closed control
Control input
(1) Deviation counter clear (2) Command pulse inhibition
(3) Command dividing gradual increase switching (4) Damping control switching etc.
Control output Full-closed positioning complete etc.
Pulse
input
Max. command
pulse frequency
Exclusive interface for Photo-coupler: 500kpps
Exclusive interface for line driver : 4Mpps
Input pulse
signal format
Differential input. Selectable with parameter. ((1) Positive and Negative direction, (2) A
and B-phase, (3) Command and direction)
Electronic gear
(Division/
Multiplication of
command pulse)
Process command pulse frequency × electronic gear ratio
(
1 to 2
30
1 to 2
30
)
as positional
command input. Use electronic gear ratio in the range 1/1000 to 1000 times.
Smoothing filter Primary delay filter or FIR type filter is adaptable to the command input
Analog
input
Torque limit
command input
Individual torque limit for both positive and negative direction is enabled.
Setup range of division/
multiplication of
feedback scale
1/40 to 160 times
The ratio of encoder pulse (numerator) to external scale pulse (denominator) can be set
to 1 to 2
20
(numerator) to 1 to 2
20
(denominator), but should be set to a ratio within the
range shown above.
Common
Auto tuning
The load inertia is identified in real time by the driving state of the motor operating
according to the command given by the controlling device and set up support software
“PANATERM”.
The gain is set automatically in accordance with the rigidity setting.
Division of encoder
feedback pulse
Set up of any value is enabled (encoder pulses count is the max.).
Protective
function
Hard error
Over-voltage, under-voltage, over-speed, over-load,
over-heat, over-current and encoder error etc.
Soft error Excess position deviation, command pulse division error, EEPROM error etc.
Traceability of alarm data The alarm data history can be referred to.
2. Driver
Specifications