Parameters For Speed Control - Panasonic MINAS A3 Series How To Use Manual

Parameters for Speed Control

Parameter
Parameter Name
No.
52 Velocity
command
offset
4th internal
56
speed
57 JOG speed set up
5C Torque command
input gain
5D Torque command
input inversion
[Connections and Settings in Torque Control Mode]
Setting
Unit
range
• This parameter adjusts offset of external analog speed command system
–2047 0.3mV
including the host device.
– 2047
• Offset volume will be approximately 0.3mV per a set value "1".
[0]
• To adjust offset, there are 2 ways of (1) manual adjustment and (2) auto-
matic adjustment.
1) Manual adjustment
• When you make offset adjustment with the driver only:
Using this parameter, set a value that prevents the motor from rotat-
ing, after you have correctly input 0V in torque command input
(SPR/TRQR) (or connected to signal ground).
• When the host device establishes a position loop:
With servo locked, using this parameter, set a value so that deviation
pulse will be zero.
2) Automatic Adjustment
• For details on operating instructions in automatic offset adjustment
mode, refer to "Details of Execution Display of Auxiliary Function
Mode" of Preparations volume on page 66.
• When you execute automatic offset adjustment, result will be reflec-
ted in this parameter Pr52.
–20000 r/min The parameter directly sets the 1st to 4th speed of internal command
– 20000 speed of when setting of internal speed has been enabled with the para-
[0] meter "speed setting internal/external switching" (Pr05), to Pr53 to Pr56,
respectively, in the unit of [r/min].
<Caution>
Polarity of settings shows that of internal command speed.
+
–
Pr56 is a value of speed limits in torque control mode.
You should set this parameter in a range of rotational speeds of the
motor to be used.
0 – 500 r/min The parameter directly sets JOG speed in JOG run in "motor trial run
mode" in terms of [r/min].
[300]
For details on JOG function, refer to "Trial Run (JOG)" of Preparations vol-
ume on page 68.
The parameter sets a relationship between voltage applied to the torque
10 – 100 0.1V/
command input (TRQR: CN X5 14-pin) in torque control mode and gener-
[30] 100%
ated torque of the motor.
• Setting is in the unit of [0.1V/100%]
and used to set a value of input vol-
tage necessary for calculating rated
torque.
• At a factory setting of 30, the relation-
ship will be 3V/100%.
The parameter inverts polarity of the torque command input signal
0 – 1 –
(TRQR: CN X5 14-pin).
In speed/torque switching mode (when Pr02 is 5), torque command input
under torque control will be 16-pin of the connector CN X5.
Setting value
[0]
1
Function/Description
CCW direction viewed from the edge of axis for (+) command
CW direction viewed from the edge of axis for (-) command
Direction of Generation of Motor Torque
CCW direction viewed from the edge of axis for (+) command
CW direction viewed from the edge of axis for (+) command
Default setting is shown by [
Torque
Setting of
CCW
300[%]
Shipment
Time
Rated
200
Torque
100
-10V -8 -6 -4 -2
2 4 6 8 10V
Command
100
Input Voltage
200
300[%]
CW
151
]