Instruction/ maintenance manual of the product MINAS A3 Series Panasonic
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[Connections and Settings in T or que Contr ol Mode] page To r que control b loc k diagram .............................. 132 CN X5 Connector ................................................... 133 CN X5 Connector .....................................
132 Pr 1 1 Pr 1 2 Pr 1 3 Pr 14 Pr 1 9 Pr 1 A Pr 1 B Pr 1 C Pr 1 D Pr 1 E Pr 2 0 Pr 2 8 Pr 2 9 Pr 2 A Pr 5 C Pr 5 D Pr 5 2 Pr 4 4 Pr 4 5 Inverse Offset Gain Inverse Gain 1st ratio 1st differential 2nd .
133 [Connections and Settings in T or que Control Mode] Connections and Settings in T orque Control Mode Battery for absolute encoder 7 4.7k Ω COM+ PULS2 SIGN1 SIGN2 GND OA+ OA - OB+ OB - OZ+ OZ - G.
134 AI Analogue Command Input • There are three analogue command inputs of SPR/RTQR (14 pins), CCWTL (16 pins) and CWTL (18 pins). • The maximum permissible input v oltage is ± 10V .
135 [Connections and Settings in T or que Control Mode] Connections and Settings in T orque Control Mode Sequence output circuit • This compr ises a Darlington driver with an open collector . This is connected to a rela y or photo coupler . • There exists a collector-to-emitter v oltage V CE (SA T) of approx.
136 Input signal (common) assignment to CN X5 connector pins Input Signals (Common) and their Functions CN X5 Connector Signal Pin No. Symbol Function I/F circu it Control signal power (+) Control sig.
137 [Connections and Settings in T or que Control Mode] Connections and Settings in T orque Control Mode Signal Pin No. Symbol Function I/F circu it Command pulse input inhibit Speed zero clamp Gain s.
138 CN X5 Connector Input signal assignment to CN X5 connector pins - designation(logic) Input Signals (Speed Control) and their Functions Output signal assignment to CN X5 connector pins - designatio.
139 [Connections and Settings in T or que Control Mode] Connections and Settings in T orque Control Mode Output Signals (Others) and their Functions Signal Pin No.
140 T rial run at T or que Contr ol 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) T ur n the main power (driver) ON. 4) Check the defaults of the parameters. 5) Connect between SR V -ON (CN X5 pin 29) and COM- (CN X5 pin 41) to mak e Ser v o-On activ e .
141 [Connections and Settings in T or que Control Mode] Connections and Settings in T orque Control Mode MEMO.
142 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 .
143 [Connections and Settings in T or que Control Mode] Connections and Settings in T orque Control Mode Parameter No. 11 12 13 14 19 1A 1B 1C 20 Name 1st speed loop gain 1st speed loop integration ti.
144 Parameter Setting Parameters for Function Selection Parameter No. Setting range Parameter Name Function/Description Default setting is shown by [ ] 01 0 – 15 LED display at power up In the initial condition after turning ON the control power , the following data displayed on the 7-segment LED can be selected.
145 [Connections and Settings in T or que Control Mode] Connections and Settings in T orque Control Mode ZEROSPD input being ignored, it is determined that it is not speed zero clamp state at all times. ZEROSPD input has been enabled. If connection with COM- is opened, speed command will be regarded as zero.
146 Parameter Setting 08 0 – 12 T orque monitor (IM) selection The parameter selects/sets a relationship between voltage output to the torque monitor signal output (IM: CN X5 42-pin) and generated torque of the motor o r number of deviation pulses. Setting value [0] 1 2 3 4 5 6 – 10 11 12 IM Signals Torque No.
147 [Connections and Settings in T or que Control Mode] Connections and Settings in T orque Control Mode P arameters f or Time Constants of Gains and Filters: Related to Real Time Auto T uning 11 1 – 3500 [35]* Hz 1st V elocity loop gain • The parameter defines responsiveness of the speed loop.
148 Parameter Setting Parameters for real time auto gain tuning 20 0 – 10000 [100]* % Inertia ratio • Defines the ratio of load iner tia to the motor's rotor inertia. • When y ou ex ecute auto gain tuning, load iner tia will be estimated and the result will be reflected in this parameter .
149 [Connections and Settings in T or que Control Mode] Connections and Settings in T orque Control Mode Note) Standard default setting in [ ] under "Setting range" and marked with * is automatically set during the real time auto gain tuning.
150 Parameter Setting Parameters for Switching to 2nd Gains 30 0 – 1 – 2nd gain action set up • The parameter selects switching of PI/P oper ation and the 1st/2nd gain s witching. *1 Switching of 1 PI/P operation is done through gain s witching inpu t (GAIN CN X5 27-pin).
151 [Connections and Settings in T or que Control Mode] Connections and Settings in T orque Control Mode Parameters for Speed Control 52 –2047 – 2047 [0] 0.3mV V elocity command offset • This parameter adjusts of fset of external analog speed command system including the host device.
152 Parameter Setting P arameters for T or que Control 5E 0 – 500 % T orque limit • This function limits maximum torque of the motor through setting o f parameters within the driver . • In normal specifications, torque about 3 times higher than the rated is al - lowed for an instant.
153 [Connections and Settings in T or que Control Mode] Connections and Settings in T orque Control Mode T he motor decelerates and stops as the dynamic brake (DB) is operated. The motor will be in free condition after it stops. Free running, the motor decelerates and stops.
154 Parameter Setting Parameter No. Setting range Parameter Name Unit Function/Description Default setting is shown by [ ] 6A 0 – 100 [0] 2ms Mechanical brake delay at motor standstill The parameter.
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