Panasonic MINAS A5-series Operating Instructions Manual page 195

1. Details of parameter
[Class 3] Verocity/ Torque/ Full-closed control
Title
Pr3.14
Range
Set S-curve time for acceleration/deceleration process when the speed command is applied.
According to Pr3.12 Acceleration time setup and Pr3.13 Deceleration time setup, set up
sigmoid time with time width centering the inflection point of acceleration/deceleration.
Speed
[r/min]
Target speed (Vc)
Title
Pr3.15
Range
You can set up the function of the speed zero clamp input.
Setup value
0
1
2
3
Title
Pr3.16
Range
Select the timing at which the position control is activated as the Pr3.15 Speed zero-clamp
function selection is set to 2 or 3.
If Pr3.15 = 3, then hysteresis of 10 r/min is provided for detection.
Note • For parameters which No. have a suffix of " * ", changed contents will be validated when
you turn on the control power.
Related page
• P.3-30... "Inputs and outputs on connector X4"
Sigmoid acceleration/ deceleration time setup
0 to 1000
ts
ta = Vc/1000 × Pr3.12 × 1ms
td = Vc/1000 × Pr3.13 × 1ms
ts
ts = Pr3.14 × 1ms
* Use with the setup of
ta/2 > ts, td/2 > ts
ta
Speed zero-clamp function selection
0 to 3
Function of ZEROSPD (Pin-26)
Invalid: Speed zero-clamp input is ignored.
Speed command is forced to 0 when the speed zero clamp (ZEROSPD) input signal
is turned ON.
Speed command is forced to 0 when the speed zero clamp (ZEROSPD) input signal
is turned ON. And when the actual motor speed drops to Pr3.16 Speed zero clamp
level or below, the position control is selected and servo lock is activated at this point.
The fundamental operations except for this function (switching to the position control)
are identical to those when setup value is 1.
When the speed zero clamp (ZEROSPD) input signal is ON and speed command is
below Pr3.16
Speed zero clamp level - 10 r/min, then the position control is selected and servo lock
is activated at that point.
Speed zero clamp level
10 to 20000
Related
control mode
ms
Unit Default
ts
Speed command after
acceleration/deceleration
process
td
Related
control mode
—
Unit Default
Related
control mode
r/min
Unit Default
1
P S T F
0
2
3
ts
Time
P S T F
0
4
5
6
P S T F
30
7
4-27