Trial Run (Jog Run) At Torque Control Mode; Inspection Before Trial Run; Trial Run By Connecting The Connector, Cn X5 - Panasonic minas a4 series Instruction Manual

Trial Run (JOG run) at Velocity Control Mode

Inspection Before Trial Run

(1) Wiring inspection
• Miswiring
(Especially power input/motor output)
• Short/Earth
• Loose connection
(2) Check of power/voltage
• Rated voltage
(3) Fixing of the motor
• Unstable fixing
(4) Separation from
mechanical system
(5) Release of the brake

Trial Run by Connecting the Connector, CN X5

1) Connect the CN X5.
2) Enter the power (DC12-24V) to control signal (COM+, COM–)
3) Enter the power to the driver.
4) Confirm the default values of parameters.
5) Set a lower value to Pr56 (4th speed of speed setup).
6) Energize the motor by connecting the Servo-ON input (SRV-ON, CN X5, Pin-29) and COM– (Pin-41 of
CN X5) to turn to Servo-ON status.
7) Confirm that the motor runs as per the setup of Pr56 by applying DC voltage (positive/negative) between
the torque command input (Pin-14 of CN X5) and GND (Pin-41 of CN X5).
8) If you want to change the torque magnitude, direction and velocity limit value against the command
voltage, set up the following parameters.
Pr56 : 4th speed of speed setup
Pr5C : Torque command input gain
Pr5D : Torque command input reversal
9) If the motor does not run correctly, refer to P.68, "Display of factor for No-motor running" of Preparation.
Wiring Diagram
7
29
DC
SRV-ON
12V – 24V
41
14
SPR/TRQR
DC
15
10V
Power
supply
Machine
COM+
COM–
In case of one way running
GND
For bi-directional running
(CW/CCW), provide a bipolar
power supply.
[Connection and Setup of Torque Control Mode]
Motor
ground
Refer to P.183, "Parameter Setup-Parameters
for Velocity and Torque Control".
Parameter
PrNo.
02 Setup of control mode
Invalidation of over-travel inhibit input
04
Selection of ZEROSPD
06
56 4th speed of speed setup
5B Selection of torque command
5C Torque command input gain
5D Torque command input reversal
Input signal status
No.
0
5
Display LED
X3
X4
X5
CN X6
X6
X7
Title
Title of signal Monitor display
Servo-ON
Speed zero clamp
Setup value
2
1
0
lower value
0
Set up
as
required
+A
–
171