Panasonic A4P Series Parameters for Velocity and Torque Limit, Parameters for Sequence

deviation￿ pulses

Pr60

Parameter Setup

Parameters for Velocity and Torque Limit

					Standard default : < >
Servo￿	Title	Setup￿	Unit		Function/Content
PrNo.		range
5E￿	1st torque limit ￿	0 to 500￿	%￿	You can set up the limit value of the motor output torque (SV.Pr5E : 1st
￿	￿	<500>￿	￿	torque, SV.Pr5F : 2nd torque). For the torque limit selection, refer to
				SV.Pr03 (Torque limit selection).
￿	￿	*2 ￿	￿
￿	￿	￿	￿		This torque limit function limits the max. motor torque inside of the
					driver with parameter setup.￿
5F	2nd torque limit	0 to 500￿	%
					In normal operation, this driver permits approx. 3 times larger torque
		<500>￿
					than the rated torque instantaneously. If this 3 times bigger torque
		*2
					causes any trouble to the load (machine) strength, you can use this
					function to limit the max. torque.

	torque [%] CCW
• Setup value is to be given in	300(Max.)
% against the rated torque.￿	when￿	200
	SV.Pr5E=150
• Right fig. shows example of		100￿
150% setup with SV.Pr03=1.￿	(Rated)		speed
• SV.Pr5E limits the max.
		100	(Rating) (Max.)
torque for both CCW and CW
		200
directions.
		300
	CW

<Caution>￿

You cannot set up a larger value to this parameter than the default setup value of "Max. output torque setup" of System parameter (which you cannot change through operation with PANATERM® or panel). Default value varies depending on the combination of the motor and the driver. For details, refer to P.78, "Setup of Torque Limit " of Preparation.

<Note>

•For parameters which default. has a suffix of "*2", value varies depending on the combination of the driver and the motor.

Parameters for Sequence

				Standard default : < >
Servo￿	Title	Setup￿	Unit	Function/Content
PrNo.		range
60	In-position range	0 to ￿	Pulse	You can set up the timing to feed out the positioning complete signal
		32767￿		(COIN : CN X5, Pin-27). ￿
		<131>		The positioning complete signal (COIN) will be fed out when the deviation
				counter pulse counts fall within ± (the setup value), after the position
				command entry is completed.￿
				The setup unit should be the encoder pulse counts at the position control
				and the external scale pulse counts at the full-closed control.

•Basic unit of deviation pulse is encoder "resolution", and varies per the encoder as below.￿

(1) 17-bit encoder : 217 = 131072￿

￿(2) 2500P/r encoder : 4 X 2500 = 10000￿

<Cautions>￿

1. If you set up too small value to SV.Pr60, the time until the COIN signal is fed might become longer, or cause chattering at output.￿

2. The setup of "Positioning
complete range" does not		ON	Pr60
	COIN
give any effect to the final
positioning accuracy.

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