Panasonic MINAS A3 Series manual Connections and Settings Torque Control Mode, CN X5 Connector

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[Connections and Settings

in Torque Control Mode]

	page
Torque control block diagram	132
CN X5 Connector	133
CN X5 Connector	133
Interface Circuit	134
Input signal (common) assignment to CN X5 connector pins ...	136
Input signal assignment to CN X5 connector pins - designation(logic)	138
Output signal assignment to CN X5 connector pins - designation(logic)	138
Trial run at Torque Control Mode	140
Operation with CN X5 Connected	140
Real time auto gain tuning	142
Outline	142
Application range	142
How to use	142
Parameters, which are set up automatically	143
Caution	143
Parameter Setting	144
Parameters for Function Selection	144
Parameters for Time Constants of Gains and Filters: Related to Real Time Auto Tuning	147
Parameters for real time auto gain tuning	148
Parameters for Switching to 2nd Gains	150
Parameters for Position Control	150
Parameters for Speed Control	151
Parameters for Torque Control	152
Parameters for various sequences	152

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Contents CN X5 Connector Connections and Settings Torque Control ModeTorque control block diagram Connections and Settings in Torque Control Mode CN X5 ConnectorCN X5 Connector Circuits Available for Torque control modeInput Circuit Interface CircuitOutput Circuit Connections and Settings in Torque Control ModeInput Signals Common and their Functions Input signal common assignment to CN X5 connector pinsZerospd INHGain CLRInput Signals Speed Control and their Functions ZSP Output Signals Others and their FunctionsTLC Coin +Wiring Diagram Trial run at Torque Control ModeInput Signals Status Operation with CN X5 ConnectedMemo How to use Real time auto gain tuningOutline Application rangeName Parameters, which are set up automaticallyName Set value Parameters for Function Selection Parameter SettingCCWL/CWL Set up IM SignalsIM selection TLC outputIntegration time GainConstant 1st speedParameters for real time auto gain tuning Disturbance Parameter Name Setting Unit Function/DescriptionTorque observer Set value Cutoff Frequency Filter selection 2nd notchParameters for Position Control Parameters for Switching to 2nd GainsParameters for Speed Control Parameters for various sequences Parameters for Torque ControlAt main power-off Error responseMain Power Source Under-voltage Protection Action Setting Driving ConditionsResister set up Delay atMain power-off Motor standstill