Panasonic MINAS A5-series, Operating Instructions Manual

Page: 204 / 394

4-36
Pr4.16/Pr4.18 Type of monitor Unit
Output gain for setting
Pr4.17/Pr4.19 = 0
0 Motor speed r/min 500
1 Positional command speed
* 3
r/min 500
2 Internal positional command speed
* 3
r/min 500
3 Velocity control command r/min 500
4 Torque command % 33
5 Command positional deviation
* 4
pulse (Command unit) 3000
6 Encoder positional deviation *
4
pulse (Encoder unit) 3000
7 Full-closed deviation
* 4
pulse (External scale unit) 3000
8 Hybrid deviation pulse (Command unit) 3000
9 Voltage across PN V 80
10 Regenerative load factor % 33
11 Overload factor % 33
12 Positive direction torque limit % 33
13 Negative direction torque limit % 33
14 Speed limit value r/min 500
15 Inertia ratio % 500
16 Analog input 1 *
2
V 1
17 Analog input 2
* 2
V 1
18 Analog input 3
* 2
V 1
19 Encoder temperature *
5
℃ 10
20 Driver temperature ℃ 10
21 Encoder single-turn data
* 1
pulse (Encoder unit) 110000
*
1 The encoder rotation data CCW is always positive value regardless of Pr0.00 Rotational direction setup.
The direction of other monitor data basically follows Pr0.00 Rotational direction setup.
* 2 Analog inputs 1, 2 and 3 always output terminal voltage regardless of usage of analog input function.
* 3 For the command pulse input, the speed before the command filter (smoothing, FIR filter) is defined as positional
command speed and speed after filter is defined as internal command speed.
Command
division/
multiplication
process
Positional
command
filter
Position
control
Positional command
speed [r/min]
Command
pulse input
Internal position
command speed [r/min]
+
–
Encoder feedback/feedback
scale feedback
* 4 Command positional deviation is the deviation with respect to the command pulse input and the encoder positional
deviation/ full-closed positional deviation is the deviation at the input section of the positional control, as described in
the figure below.
Command
division/
multiplication
Command
pulse input
+
+
–
–
Encoder feedback/
feedback scale feedback
Positional command deviation (command unit)
Encoder positional deviation (encoder unit)
/ Full-closed deviation (feedback unit)
Command
division/multiplication
reverse conversion
Positional
command
filter
Positional
control
* 5 Temperature information from the encoder includes value only when it is a 20-bit incremental encoder. Otherwise,
the value is always 0.
1. Details of parameter
[Class 4] I/F monitor setting