Panasonic MINAS A5-series Operating Instructions Manual page 129

1. Outline of mode
Torque Control Mode
(2) Speed limit function
The speed limit is one of protective functions used during torque control.
This function regulates the motor speed so that it does not exceed the speed limit while
the torque is controlled.
Caution
While the speed limit is used to control the motor, the torque command applied to the
motor is not directly proportional to the analog torque command. Torque command
should have the following result: the motor speed is equal to the speed limit.
• Relevant parameters <Selection of torque command 1, 3>
Parameter
No.
Pr3.21
Pr3.22
Pr3.15
• Relevant parameters <Selection of torque command 2>
Parameter
No.
Pr3.02
Pr4.22
Pr4.23
Pr3.15
Note
For details of these parameters, refer to P.4-25, 27, 29 and 37 "Details of parameter".
Title Range
Speed limit value 1 0 to 20000
Speed limit value 2 0 to 20000
Speed zero-clamp
0 to 3
function selection
Title Range
Input gain of speed
10 to 2000
command
Analog input 1 (AI1) −5578 to
offset setup 5578
Analog input 1 (AI1)
0 to 6400
filter
Speed zero-clamp
0 to 3
function selection
Unit Function
r/min
Set up the speed limit used for torque
controlling.
r/min
You can set up the function of the speed
—
zero clamp input.
Unit Function
Based on the voltage applied to the
(r/min)
analog speed command (SPR), set up the
/V
conversion gain to motor command speed.
Set up the offset correction value applied
0.359mV
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.
You can set up the function of the speed
—
zero clamp input.
1
2
3
4
5
6
7
3-11