[Class 3] Velocity/ Torque/ Full-Closed Control - Panasonic MINAS A6 Series Operating Instructions Manual

1. Details of parameter

[Class 3] Velocity/ Torque/ Full-closed control

Pr3.02
Input gain of speed command
Based on the voltage applied to the analog speed command (SPR), set up the conversion
gain to motor command speed.
• You can set up a "slope" of the relation between the command input voltage and the
motor speed, with Pr3.02.
• Default is set to Pr3.02=500 [r/min],
hence input of 6V becomes 3000 r/min.
Caution
Pr3.03
Reversal of speed command input
Specify the polarity of the voltage applied to the analog speed command (SPR).
Setup value
0
[1]
Note Default of this parameter is 1, and the motor turns to CW with (+) signal, this has
compatibility to existing MINAS series driver.
Caution
When you compose the servo drive system with this driver set to velocity control mode
and external positioning unit, the motor might perform an abnormal action if the polarity of
the speed command signal from the unit and the polarity of this parameter setup does not
match.
Note
• A parameter is designated as follows:
• For parameters which No. have a suffix of " * ", changed contents will be validated when
you turn on the control power.
Related page
• P.3-32... "Inputs and outputs on connector X4"
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4-32
1. Do not apply more than ±10 V to the speed command input (SPR).
2. When you compose a position loop outside of the driver while you use the
driver in velocity control mode, the setup of Pr3.02 gives larger variance
to the overall servo system.
Pay an extra attention to oscillation caused by larger setup of Pr3.02.
Positive direction
–10
Slope at ex-factory
Non-reversal "+Voltage" "Positive direction", "–Voltage" "Negative direction"
Reversal "+Voltage" "Negative direction", "–Voltage" "Positive direction"
Range
10 to 2000 (r/min)/V
Speed (r/min)
3000
–6
2 4 6
Command input voltage (V)
–3000
Negative direction
Range
0 to 1
Motor rotating direction
Pr0.00 Parameter No.
Class
Default: [ ]
Related
Unit Default
control mode
500 S T
8 10
Related
Unit Default
control mode
— 1 S