Panasonic MINAS A5-series Operating Instructions Manual page 128

1. Outline of mode
Torque Control Mode
Function
(1) Process of analog torque command input
This process converts the analog torque command input (voltage) to the equivalent
digital torque command having the same effect. You can set the filter or adjust the off-
set to eliminate noise.
• Relevant parameters <Selection of torque command 1, 3>
Parameter
No.
Pr3.18
Pr3.19
Pr3.20
Pr4.22
Pr4.23
• Relevant parameters <Selection of torque command 2>
Parameter
No.
Pr3.18
Pr3.19
Pr3.20
Pr4.25
Pr4.26
Note
For details of these parameters, refer to P.4-28 and 37 "Details of parameter".
3-10
Title Range
Torque command
direction selection
Input gain of torque
10 to 100
command
Input reversal of torque
command
Analog input 1 (AI1) −5578 to
offset setup
Analog input 1 (AI1)
0 to 6400
filter
Title Range
Torque command
direction selection
Input gain of torque
10 to 100
command
Input reversal of torque
command
Analog input 2 (AI2)
−342 to 342 5.86mV
offset setup
Analog input 2 (AI2)
0 to 6400
filter
Unit
Select the direction positive/negative
0 to 1 —
direction of torque command.
Based on the voltage (V) applied to the
0.1V analog torque command (TRQ R), set up
/100% the conversion gain to torque command
(%).
Set up the polarity of the voltage applied
0 to 1 —
to the analog torque command (TRQR).
Set up the offset correction value applied
0.359mV
5578 to the voltage fed to the analog input 1.
Set up the time constant of 1st delay filter
0.01ms that determines the lag time behind the
voltage applied to the analog input 1.
Unit
Select the direction positive/negative
0 to 1 —
direction of torque command.
Based on the voltage (V) applied to the
0.1V analog torque command (TRQ R), set up
/100% the conversion gain to torque command
(%).
Set up the polarity of the voltage applied
0 to 1 —
to the analog torque command (TRQR).
Set up the offset correction value applied
to the voltage fed to the analog input 2.
Set up the time constant of 1st delay filter
0.01ms that determines the lag time behind the
voltage applied to the analog input 2.
Function
Function