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

3
Connection
Al2 input voltage
[ ]
Analog
input 2
Analog input
12bit A/D
AI2
Offset
Filter
Analog
input 1
Analog input
16bit A/D
AI1
Offset
Filter
Al1 input voltage
[ ]
Pulse
regeneration
One
revolution
Reversal
Pulses
output
Numerator/
Denominator
OA
Denomi-
OB
nator
OZ
Related page
• P.3-19 "Wiring example of torque control mode"
3-16
2. Control Block Diagram
Torque Control Mode
Scaling
Gain
Torque command
Reversal
selection
Internal/External
switching
Direction
Scaling selection
Torque command
Gain
Reversal
Scaling
Speed limit
Gain
Reversal
Speed limit
selection
Command
selection
Internal
speed limit
Limit
value 1
Limit
value 2
Sum of
Motor speed
feedback pulses
[r/min]
[Encoder pulse]
Motor
Encoder
Load
Absolute value
Sign
Speed limit
[r/min]
Velocity control
Propor-
1st
2nd
Inertia ratio
Function
expansion
2nd inertia ratio
Velocity
detection filter
1st
2nd
Instantaneous
speed
Speed detection
Current control
Response
setup
Torque command
Main
power
supply
Gain switching
2nd
setup
Mode
Delay
time
Level
Hysteresis
Notch filter
Frequency Depth
Integra-
1st
tion tion
2nd
3rd
4th
Torque filter
1st
2nd
Torque limit
Selection
1st
2nd
Width