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

Parameters for Velocity and Torque Control
PrNo. Title
50 Input gain of
speed command
52 Speed command
offset
56 4th speed of
speed setup
57 Setup of speed
command filter
5B Selection of
torque command
[Connection and Setup of Torque Control Mode]
Setup
Unit
range
10 to 2000 (r/min)/V You can set up the relation between the voltage applied to the speed
<500> command input (SPR : CN X5, Pin-14) and the motor speed.
• You can set up a "slope" of the relation
between the command input voltage
and the motor speed, with Pr50.
• Default is set to Pr50=500 [r/min],
hence input of 6V becomes 3000r/min.
<Cautions>
1. Do not apply more than ±10V to the
speed command input (SPR).
2. When you compose a position loop
outside of the driver while you use the
driver in velocity control mode, the
setup of Pr50 gives larger variance to
the overall servo system.
Pay an extra attention to oscillation caused by larger setup of Pr50.
–2047 to 0.3mV • You can make an offset adjustment of analog speed command (SPR :
CN X5, Pin-14) with this parameter.
2047
• The offset volume is 0.3mV per setup value of "1".
<0>
• There are 2 offset methods, (1) Manual adjustment and (2) Automatic
adjustment.
1) Manual adjustment
• When you make an offset adjustment with the driver alone,
• when you compose a position loop with the host,
• Set this parameter up so that the deviation pulse may be reduced
2) Automatic adjustment
• For the details of operation method at automatic offset adjustment
• Result after the execution of the automatic offset function will be
–20000 to r/min
You can set up the speed limit value in unit of [r/min].
<Caution>
20000
The absolute value of the parameter setup is limited by Pr73 (Set up of
<0>
over-speed level).
0 to 6400 10µs
You can set up the time constant of the primary delay filter to the analog
speed command/analog torque command/analog velocity control (SPR :
<0>
CN X5, Pin-14)
0 to 1 – You can select the input of the torque command and the speed limit.
<0>
Pr5B
<0>
Function/Content
Enter 0 V exactly to the speed command input (SPR/TRQR), (or
connect to the signal ground), then set this parameter up so that
the motor may not turn.
to 0 at the Servo-Lock status.
mode, refer to P.73, "Auxiliary Function Mode" of Preparation.
reflected in this parameter, Pr52.
Torque command
SPR/TRQR/SPL
1 CCWTL/TRQR
Standard default : < >
CCW
Speed (r/min)
3000
Slope at
ex-factory
–10 –6
2 4 6 8 10
Command input
voltage (V)
–3000
CW
Velocity limit
Pr56
SPR/TRQR/SPL
183