Panasonic MINAS A6 Series Operating Instructions Manual page 260

1. Details of parameter
[Class 5] Enhancing setting
Pr5.20 *
Position setup unit select
Specify the unit to determine the range of positioning complete and excessive positional
deviation.
Setup value
[0]
1
Note
The command unit defines 1 command pulse from the higher level device as setting value 1,
while the encoder unit defines 1 encoder pulse as setting value 1.
When the electronic gear ratio set by using the command division and multiplication function
(electronic gear) is R, the following relationship is obtained.
Command unit × R = encoder unit
For example, if 23-bit encoder is used with the default setting,
R =
10000
Pr5.21
Selection of torque limit
You can set up the torque limiting method.
Setup value
0
[1]
2
3
4
5
6
Pr5.22
2nd torque limit
You can set up the 2nd limit value of the motor output torque.
The value of parameter is limited to the maximum torque of the applicable motor.
Note
For details of torque limit value, refer to P.2-84.
Pr5.23
Torque limit switching setup 1
Specify the rate of change (slope) from 1st to 2nd during torque limit switching.
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Unit
Command unit
Encoder unit
2 23
, then, command unit ×
Positive direction
P-ATL (0 V to 10 V)
1st torque limit (Pr0.13)
TL-SEL OFF
TL-SEL ON 2nd torque limit (Pr5.22)
P-ATL (0 V to 10 V)
1st torque limit (Pr0.13)
External input positive direction torque
limit (Pr5.25)
Range
0 to 1
2 23
= encoder unit.
10000
Range
0 to 6
N-ATL (−10 V to 0 V)
1st torque limit (Pr0.13)
2nd torque limit (Pr5.22)
1st torque limit (Pr0.13)
P-ATL (0 V to 10 V)
TL-SEL OFF
2nd torque limit (Pr5.22)
TL-SEL ON
External input negative direction torque
Range
0 to 500
Range
0 to 4000 ms/100 %
Default: [ ]
Related
Unit Default
control mode
— 0 P
Related
Unit Default
control mode
— 1 P S
Negative direction
N-ATL (0 V to 10 V)
limit (Pr5.26)
Related
Unit Default
control mode
% 500 P S
Related
Unit Default
control mode
0 P S
F
F
F
F