Parameters For Velocity/Torque Control - Panasonic minas a4 series Instruction Manual

[Connection and Setup of Torque Control Mode]
Control Block Diagram of Torque Control Mode .... 160
Wiring to the Connector, CN X5 ........................... 161
Wiring Example to the Connector, CN X5 ................................. 161
Interface Circuit ......................................................................... 162
Input Signal and Pin No. of the Connector, CN X5 ................... 164
Output Signal and Pin No. of the Connector, CN X5 ................ 168
Trial Run (JOG Run) at Torque Control Mode..... 171
Inspection Before Trial Run ....................................................... 171
Trial Run by Connecting the Connector, CN X5 ........................ 171
Real-Time Auto-Gain Tuning ................................ 172
Outline ....................................................................................... 172
Applicable Range ...................................................................... 172
How to Operate ......................................................................... 172
Parameters Which are Automatically Set up ............................. 173
Parameter Setup .................................................... 174
Parameters for Functional Selection ......................................... 174
Parameters for Adjustment of Time Constant of Gains and Filters ...... 177
Parameters for Auto-Gain Tuning .............................................. 178
Parameters for Adjustment (2nd Gain Switching Function) ...... 179
Parameters for Position Control ................................................ 181
Parameters for Velocity/Torque Control .................................... 183
Parameters for Sequence ......................................................... 185
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