Torque Control Mode - Panasonic MINAS A5 Series Operating Instructions Manual

3
Connection
Al2 input voltage
[Ｖ]
Analog
input 2
Analog input
12bit A/D
AI2
Offset
4.25
Filter
4.26
（
Analog
input 1
Analog input
16bit A/D
AI1
Offset
4.22
Filter
4.23
Al1 input voltage
[Ｖ]
Pulse
regeneration
One
0.11
revolution
Reversal
0.12
Pulses
output
Numerator/
Denominator
OA
Denomi-
OB
5.03
nator
OZ
Note
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3-16
2. Control Block Diagram

Torque Control Mode

Scaling
Gain
3.19
Torque command
Reversal
3.20
selection
Internal/External
3.17
switching
Direction
3.18
Scaling selection
Torque command
）
Gain
3.19
Reversal
3.20
Scaling
Speed limit
（ ）
Gain
3.02
Reversal
3.03
Speed limit
selection
Command
3.17
selection
Internal
speed limit
Limit
3.21
value 1
Limit
3.22
value 2
Sum of
Motor speed
feedback pulses
[r/min]
[Encoder pulse]
Motor
Encoder
Load
Absolute value
Sign
Speed limit
[r/min]
Velocity control
Propor-
1st
1.01
＋
2nd
1.06
−
Inertia ratio
Function
expansion
2nd inertia ratio
Velocity
detection filter
1st
1.03
2nd
1.08
Instantaneous
6.10
speed
Speed detection
Current control
Response
6.11
setup
Torque command
Main
[％]
power
supply
Gain switching
2nd
1.14
setup
Mode
1.24
Delay
1.25
time
Level
1.26
Hysteresis
1.27
Notch filter
Frequency Width
Integra-
1st
tion tion
2.01 2.02
1.02
2nd
2.04 2.05
1.07
3rd
2.07 2.08
0.04
4th
2.10 2.11
6.10
6.13
Torque filter
1st
2nd
Torque limit
Selection
5.21
1st
0.13
2nd
5.22
Depth
2.03
2.06
2.09
2.12
1.04
1.09