Panasonic MINAS A5-series Operating Instructions Manual page 204

1. Details of parameter
[Class 4] I/F monitor setting
Pr4.16/Pr4.18
0
1 Positional command speed
2 Internal positional command speed
3 Velocity control command
4
5 Command positional deviation
6 Encoder positional deviation
7
8
9
10
11
12 Positive direction torque limit
13 Negative direction torque limit
14
15
16
17
18
19
20
21 Encoder single-turn data
*1 The encoder rotation data CCW is always positive value regardless of Pr0.00 Rotational direction setup.
The direction of other monitor data basically follows Pr0.00 Rotational direction setup.
*2 Analog inputs 1, 2 and 3 always output terminal voltage regardless of usage of analog input function.
*3 For the command pulse input, the speed before the command filter (smoothing, FIR filter) is defined as positional
command speed and speed after filter is defined as internal command speed.
Command
pulse input
*4 Command positional deviation is the deviation with respect to the command pulse input and the encoder positional
deviation/ full-closed positional deviation is the deviation at the input section of the positional control, as described in
the figure below.
Command
pulse input
Positional command deviation (command unit)
*5 Temperature information from the encoder includes value only when it is a 20-bit incremental encoder. Otherwise,
the value is always 0.
4-36
Type of monitor
Motor speed
*3
Torque command
*4
*4
Full-closed deviation *4
Hybrid deviation
Voltage across PN
Regenerative load factor
Overload factor
Speed limit value
Inertia ratio
Analog input 1 *2
Analog input 2 *2
Analog input 3 *2
Encoder temperature *5
Driver temperature
*1
Positional command
speed [r/min]
Command
Positional
division/
command
multiplication
process
Command
division/
multiplication
+
Command
–
division/multiplication
reverse conversion
Unit
r/min
r/min
*3 r/min
r/min
%
pulse (Command unit)
pulse (Encoder unit)
pulse (External scale unit)
pulse (Command unit)
V
%
%
%
%
r/min
%
V
V
V
℃
℃
pulse (Encoder unit)
Internal position
command speed [r/min]
+
filter
–
Encoder feedback/feedback
scale feedback
Encoder positional deviation (encoder unit)
/ Full-closed deviation (feedback unit)
Positional
+
command
filter
–
Encoder feedback/
feedback scale feedback
Output gain for setting
Pr4.17/Pr4.19 = 0
500
500
500
500
33
3000
3000
3000
3000
80
33
33
33
33
500
500
1
1
1
10
10
110000
Position
control
Positional
control