5-15
1
Before
Using
the
Products
2
Preparation
3
Connection
4
Setup
5
Adjustment
6
When
in
Trouble
7
Supplement
5
4. Manual Gain Tuning (Basic)
Adjustment
Adjustment in Velocity Control Mode
Velocity control of MINAS-A5 series is described in Block Diagram of P.3-15 of Velocity
Control Mode.
Adjustment in velocity control is almost same as that in position control described in "Ad
-
justment in Position Control Mode", and make adjustments of parameters per the proce
-
dures except the gain setup of position loop and the setup of velocity feed forward.
Torque control of MINAS-A5 series is described in P.3-16, "Block Diagram" of Torque
Control Mode.
This torque control is based on velocity control while making Pr3.21 [Speed limit value 1],
Pr3.22 [Speed limit value 2] or SPR input as a speed limit. Here we explain the setup of
speed limiting value.
• Setup of speed limiting value
The torque command selection (Pr3.17) specifies the setup method.
Pr3.17 = 0 Set up by using speed limit value 1 (Pr3.21)
Pr3.17 = 1 Set up by using analog input (SPL)
Pr3.17 = 2 For positive direction, set up by using the speed limit value 1
(Pr3.21)
For negative direction, set up by using the speed limit value 2
(Pr3.22)
• When the motor speed approaches to the speed limiting value, torque control follow
-
ing the analog torque command shifts to velocity control based on the speed limiting
value.
• In order to stabilize the movement under the speed limiting, you are required to set
up the parameters according to the above-mentioned "Adjustment in Velocity Control
Mode".
• When the speed limiting value is too low or the velocity loop gain is too low, or when
the time constant of the velocity loop integration is 10000 (invalid), the input to the
torque limiting portion of the above fig. becomes small and the output torque may not
be generated as the analog torque command.
5
4. Manual Gain Tuning (Basic)
Adjustment
Adjustment in Torque Control Mode
Related page
• P.3-43 “Inputs and outputs on connector X4”
Summary of Contents for MINAS A5-series
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