Panasonic MINAS A6N Series, Руководство по эксплуатации

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5-35 Rev.2.00
1
Before Using the Products
2
Preparation
3
Setup
4
Trial Run
5
Adjustment
6
When in T
rouble
7
Supplement
Velocity control of MINAS-A6N series is described in Block Diagram of P.3-13 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 gain (Pr1.00).
Torque control of MINAS-A6N series is described in P.3-14, “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] 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 SL_SW = 0 …speed limit value 1 (Pr3.21)
SL_SW = 1…Set up by using speed limit value 2 (Pr3.22)
RTEX Communication command SL_SW
（
speed limit switch command
）
•
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 Con-
trol 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.
Related page •
P.2-47 “Wiring to the Connector,X4”
5
4. Manual Gain Tuning (Basic)
Adjustment
Adjustment in Velocity Control Mode
5
4. Manual Gain Tuning (Basic)
Adjustment
Adjustment in Torque Control Mode
Torque control of MINAS-A6 series is described in P.3-18, "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] 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.
• When not using the speed limit but using only torque command, disable the torque
filter and notch filter, and set speed limit value to the maximum speed and set veloc -
ity loop gain to a value as high as possible.