Torque Control Mode - Panasonic MINAS A6 Series Operating Instructions Manual

3
Connection
Al2 input voltage
[Ｖ]
Analog
input 2
Analog input
12bit A/D
AI2
4.25
Offset
4.26
Filter
Analog
input 1
Analog input
16bit A/D
AI1
4.22
Offset
4.23
Filter
Al1 input voltage
[Ｖ]
Pulse
regeneration
One
0.11
revolution
0.12
Reversal
Pulses
output
Numerator/
Denominator
OA
Denomi-
OB
5.03
nator
OZ
Related page
• P.3-22 "Wiring example of torque control mode"
• P.3-23 "Connecting example to host controller"
• P.3-33 "Inputs and outputs on connector X4" • P.4-2 "List of Parameters"
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3-18
2. Control Block Diagram

Torque Control Mode

Scaling
3.19
Gain
Torque command
3.20
Reversal
selection
Internal/External
3.17
switching
Direction
3.18
Scaling selection
（ ）
Torque command
3.19
Gain
3.20
Reversal
Scaling
（ ）
Speed limit
3.02
Gain
3.03
Reversal
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]
Encoder Motor
Load
Absolute value
Sign
Speed limit
[r/min]
Velocity control
Propor-
tion
1.01
1st
＋
1.06
2nd
－
Inertia ratio
Function
expansion
2nd inertia ratio
Velocity
detection filter
1.03
1st
1.08
2nd
Speed detection
Current control
Response
6.11
setup
Torque command
[％]
Main
power
supply
SE SG
Gain switching
2nd
1.14
setup
1.24
Mode
Delay
1.25
time
1.26
Level
1.27
Hysteresis
Integra-
Torque filter
tion
1.02
1.04
1st
1.07
1.09
2nd
0.04
6.10
Two-stage
torque filter
6.13
Time
6.42
constant
Damping
6.43
term
Notch filter
Frequency Width
2.01 2.02
1st
2.04 2.05
2nd
2.07 2.08
3rd
2.10 2.11
4th
2.24 2.25
5th
Torque limit
5.21
Selection
0.13
1st
5.22
2nd
SF
○
Depth
2.03
2.06
2.09
2.12
2.26