Torque Control Mode - Panasonic MINAS A5-series Operating Instructions Manual

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.4-28 "Details of parameter".
<Selection of torque command 1, 3>
Host
controller
<Selection of torque command2>
Host
controller
Related page
• P.3-16 "Control Block Diagram"
• P.3-19 "Wiring Diagram to the connector, X4"
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)
Analog
torque command Process of analog
torque
(AI1, ±10V)
ZEROSPD input
AT-SPEED output
V-COIN output
Analog
torque command Process of analog
torque
(AI2, ±10V)
Speed limit input
Process of
speed limit input
(AI1, ±10V)
ZEROSPD input
AT-SPEED output
V-COIN output
*1
(AI1, 16-bit resolution)
*1
Servo driver
command input
Speed limit value
(Parameter)
Speed zero clamp (ZEROSPD) function
Attained speed output
Speed coincidence output
Servo driver
command input
Speed zero clamp (ZEROSPD) function
Attained speed output
Speed coincidence output
Velocity limit input
Parameter value
(Pr3.25)
Analog input 1
Parameter value
(Pr3.25, Pr3.26)
Torque
control
section
Torque
control
section
1
2
3
4
5
6
7
3-9