Torque Control Mode - Panasonic MINAS A6 Series Operating Instructions Manual

Ac servo motor & driver
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3
Connection
Outline
The torque control is performed according to the torque command specified in the form of
analog voltage. For controlling the torque, the speed limit input is required in addition to
the torque command to maintain the motor speed within the speed limit.
With the A5 series, 3 torque control modes are available, each requires different torque
command and speed limit as shown in the table below.
• Pr3.17 (Selection of torque command)
Setup
value
Selection of torque
0
Selection of torque
1
Selection of torque
2
*1 For Pr0.01 Control mode setup = 5 (velocity/torque control), the torque command
input is the analog input 2 (AI2, 12-bit resolution).
Note
For details of these parameters, refer to P.4-35 "Details of parameter".
<Selection of torque command 1, 3>
Host
contro er
<Selection of torque command2>
Host
contro er
Note
Only for standard type and communication type are not provided with analog input and
V-COIN output.
Related page
• P.3-18 "Control Block Diagram" • P.3-22 "Wiring Diagram to the connector, X4"
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1. Outline of mode

Torque Control Mode

Torque command input
Analog input 1
command 1
(AI1, 16-bit resolution)
Analog input 2
command 2
(AI2, 12-bit resolution)
Analog input 1
command 3
(AI1, 16-bit resolution)
Ana og
torque command
Process of ana og
torque
(AI1,
±10 V)
ZEROSPD
nput
AT-SPEED
output
V-COIN
output
Ana og
torque command
Process of ana og
torque
(AI2,
±10 V)
Speed m t nput
Process of
speed m t nput
(AI1,
±10 V)
ZEROSPD
nput
AT-SPEED
output
V-COIN
output
*1
(AI1, 16-bit resolution)
*1
Servo dr ver
command nput
Speed m t va ue
(Parameter)
Speed zero c amp (ZEROSPD) funct on
Atta ned speed output
Speed co nc dence output
Servo dr ver
command nput
Speed zero c amp (ZEROSPD) funct on
Atta ned speed output
Speed co nc dence output
SE
SG
SF
Velocity limit input
Parameter value
(Pr3.21)
Analog input 1
Parameter value
(Pr3.21, Pr3.22)
Torque
contro
sect on
Torque
contro
sect on
1
2
3
4
5
6
7
3-9

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