Panasonic MINAS A6 Series Operating Instructions Manual page 237

1. Details of parameter
[Class 3] Velocity/ Torque/ Full-closed control
Pr3.17
Selection of torque command
You can select the input of the torque command and the speed limit.
Setup value
[0]
1
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).
Pr3.18
Torque command direction selection
Select the direction positive/negative direction of torque command.
Setup value
[0]
1
Pr3.19
Input gain of torque command
Based on the voltage (V) applied to the analog torque command (TRQR), set up the
conversion gain to torque command (%).
• Unit of the setup value is [0.1 V/100 %]
and set up input voltage necessary to
produce the rated torque.
• Default setup of 30 represents 3 V/100 %.
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Torque command input
*1
Analog input 1
(AI1, 16-bit resolution)
Analog input 2
(AI2, 12-bit resolution)
*1
Analog input 1
(AI1, 16-bit resolution)
Specify the direction with the sign of torque command.
Example: Torque command input (+) for positive direction, (–) for negative direction
Specify the direction with torque command sign (TC-SIGN).
OFF: Positive direction, ON: Negative direction
Range Unit
0 to 2 —
Velocity limit input
Parameter value
(Pr3.25)
Analog input 1
(AI1, 16-bit resolution)
Parameter value
(Pr3.21, Pr3.22)
Range Unit
0 to 1 —
Designation
Range Unit
10 to 100 0.1 V/100 %
torque
300[%]
Defau t
200
Rated
torque
100
10 V 8 6 4 2
100
200
300[%]
Negative direction
Default: [ ]
Related
Default
control mode
0 T
Related
Default
control mode
0 T
Related
Default
control mode
30 T
Positive direction
2 4 6 8 10 V
command nput
vo tage (V)
4-35
1
2
3
4
5
6
7