Table of Contents
Advertisement
[Connections and Settings
in Torque Control Mode]
Torque control block diagram .............................. 132
CN X5 Connector ................................................... 133
CN X5 Connector ...................................................................... 133
Interface Circuit ......................................................................... 134
Input signal (common) assignment to CN X5 connector pins ... 136
Input signal assignment to CN X5 connector pins - designation(logic) .......... 138
Output signal assignment to CN X5 connector pins - designation(logic) ....... 138
Trial run at Torque Control Mode ......................... 140
Operation with CN X5 Connected ............................................. 140
Real time auto gain tuning ................................... 142
Outline ....................................................................................... 142
Application range ....................................................................... 142
How to use ................................................................................ 142
Parameters, which are set up automatically ............................. 143
Caution ...................................................................................... 143
Parameter Setting ................................................. 144
Parameters for Function Selection ............................................ 144
Parameters for Time Constants of Gains and Filters: Related to Real Time Auto Tuning ..... 147
Parameters for real time auto gain tuning ................................. 148
Parameters for Switching to 2nd Gains ..................................... 150
Parameters for Position Control ................................................ 150
Parameters for Speed Control .................................................. 151
Parameters for Torque Control .................................................. 152
Parameters for various sequences ........................................... 152
page
Advertisement
Table of Contents
Related Manuals for Panasonic MINAS A3 Series
Summary of Contents for Panasonic MINAS A3 Series
- Page 1 [Connections and Settings in Torque Control Mode] Torque control block diagram ... 132 CN X5 Connector ... 133 CN X5 Connector ... 133 Interface Circuit ... 134 Input signal (common) assignment to CN X5 connector pins ... 136 Input signal assignment to CN X5 connector pins - designation(logic) ... 138 Output signal assignment to CN X5 connector pins - designation(logic) ...
-
Page 2: Torque Control Block Diagram
Torque control block diagram... -
Page 3: Cn X5 Connector
CN X5 Connector [Connections and Settings in Torque Control Mode] CN X5 Connector Circuits Available for Torque control mode... -
Page 4: Interface Circuit
• Use a switch or relay for micro current so that insufficient contact can be avoided. • Lower limit of the power supply (12 to 24V) should not be less than 11.4V in order to secure the appropriate level of primary current of the photo coupler. -
Page 5: Output Circuit
Output Circuit SO1 SO2 Sequence output circuit • This comprises a Darlington driver with an open collector. This is connected to a relay or photo coupler. • There exists a collector-to-emitter voltage V approx. 1V at transistor ON, because of Darlington con- nection of the out put transistor. -
Page 6: Input Signal (Common) Assignment To Cn X5 Connector Pins
Speed control Torque control Symbol COM + • Connect to (+) of an external power supply (12VDC to 24VDC). • Use source voltage of 12V 10% – 24V 10%. COM – • Connect to (–) of an external power supply (12VDC to 24VDC). - Page 7 Signal Pin No. Symbol Command pulse input inhibit Position control Speed control Torque control Speed zero clamp ZEROSPD Gain switching GAIN Pr30 value (Factory-setting) Alarm clear A-CLR [Connections and Settings in Torque Control Mode] Function The function differs depending on the control mode. •...
-
Page 8: Input Signal Assignment To Cn X5 Connector Pins - Designation(Logic)
CN X5 Connector Input signal assignment to CN X5 connector pins - designation(logic) Input Signals (Speed Control) and their Functions Signal Pin No. Speed (torque) command (15) CCW torque limit (17) CW torque limit (17) Battery + Battery - * When the torque control mode is selected at the speed/torque switching mode (Pr02 = 5), the No.16 pin (CCWTL/TRQR) becomes the torque command input (analogue). - Page 9 Signal Pin No. Zero speed detection Pr0A value (Factory-setting) * When the setting is a value between 2 and 5, the output transistor will be turned on for at least 1 second upon detecting an alarm condition. Torque in-limit In-position/ At-speed Position Speed and...
-
Page 10: Trial Run At Torque Control Mode
Trial run at Torque Control Mode Operation with CN X5 Connected 1) Connect CN X5. 2) Connect the control signal (COM+/COM–) to the power supply (12 to 24 VDC) . 3) Turn the main power (driver) ON. 4) Check the defaults of the parameters. - Page 11 [Connections and Settings in Torque Control Mode] MEMO...
-
Page 12: Real Time Auto Gain Tuning
Real time auto gain tuning Outline Load inertia of the machine is estimated at real time, and the optimum gain is set up automatically based on the estimated result. A load, which has a resonance, also can be handled owing to the adaptive fil- ter. -
Page 13: Parameters, Which Are Set Up Automatically
Parameters, which are set up automatically The following parameters are tuned automatically. Parameter No. Name 1st speed loop gain 1st speed loop integration time constant 1st speed detection filter 1st torque filter time constant 2nd speed loop gain 2nd speed loop integration time constant 2nd speed detection filter 2nd torque filter time constant Inertia ratio... -
Page 14: Parameter Setting
Parameter Setting Parameters for Function Selection Parameter Setting Parameter Name range Axis address 0 – 15 • At power on, settings of the rotary switch ID on the front panel (0 – F) will be programmed into parameters of the driver. •... - Page 15 Parameter Setting Parameter Name range Overtravel input 0 – 1 inhibit Setting CCWL/CWL value Input Enable Disable ZEROSPD input 0 – 1 selection Speed monitor 0 – 9 (SP) selection [Connections and Settings in Torque Control Mode] Function/Description In the case of linear driving, in particular, to prevent mechanical damage due to overtraveling of work, you should provide limit switches on both ends of the axis, as shown below, whereby driving in a direction of switch action is required to be inhibited.
- Page 16 Parameter Setting Parameter Setting Parameter Name range Torque monitor 0 – 12 (IM) selection TLC output 0 – 5 selection ZSP output 0 – 5 selection Absolute encoder 0 – 2 set up Baud rate of 0 – 2 RS232C Baud rate of 0 –...
-
Page 17: Parameters For Time Constants Of Gains And Filters: Related To Real Time Auto Tuning
Parameters for Time Constants of Gains and Filters: Related to Real Time Auto Tuning Parameter Setting Parameter Name range 1st Velocity loop 1 – 3500 gain [35]* 1st Velocity loop 1 – 1000 integration time [16]* constant 1st speed 0 – 6 detection [0]* filter... -
Page 18: Parameters For Real Time Auto Gain Tuning
Parameter Setting Parameters for real time auto gain tuning Parameter Setting Parameter Name range Inertia ratio 0 – 10000 [100]* Real time auto 0 – 7 tuning set up Machine stiffness 0 – 15 at auto tuning Normal auto 0 – 7 tuning motion set up Unit... - Page 19 Parameter Setting Parameter Name range Disturbance 0 –255 torque observer filter selection A larger value provides stronger disturbance suppression; but a larger operation noise is emitted. When using this function, it is necessary to set Pr20 inertia ratio correctly. When Pr.21 real time auto tuning mode setting is altered, Pr27 changes to 0(disabled).
-
Page 20: Parameters For Position Control
Parameter Setting Parameters for Switching to 2nd Gains Parameter Setting Parameter Name range 2nd gain action 0 – 1 set up Torque control 0 – 3 switching mode Torque control 0 – 10000 switching delay time Torque control 0 – 20000 switching level Torque control 0 –... -
Page 21: Parameters For Speed Control
Parameters for Speed Control Parameter Setting Parameter Name range Velocity –2047 command – 2047 offset 4th internal –20000 speed – 20000 JOG speed set up 0 – 500 [300] Torque command 10 – 100 input gain [30] Torque command 0 – 1 input inversion [Connections and Settings in Torque Control Mode] Unit... -
Page 22: Parameters For Torque Control
Parameter Setting Parameters for Torque Control Parameter Setting Parameter Name range Torque limit 0 – 500 Parameters for various sequences Parameter Setting Parameter Name range Zero speed 0 – 20000 [50] At-speed 0 – 20000 [1000] Unit Function/Description • This function limits maximum torque of the motor through setting of parameters within the driver. - Page 23 ON again, it will be recovered to Servo ON. Shutting off main power during Servo ON will activate ab- normal main power supply under-voltage (alarm code No.13) and cause a trip. Refer to the timing chart “At Power ON” of Preparations volume on page 40.
- Page 24 Parameter Setting Parameter Setting Parameter Name range Mechanical brake 0 – 100 delay at motor standstill Mechanical brake 0 – 100 delay at motor in motion External 0 – 3 regenerative resister set up Main power-off 0 – 32767 detection time [35] Unit Function/Description...