Panasonic MINAS A3 Series manual Trial run at Torque Control Mode, Operation with CN X5 Connected

See page 144 "Parameter setting" in Torgue control mode.

Parameters

Trial run at Torque Control 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)Turn the main power (driver) ON.

4)Check the defaults of the parameters.

5)Connect between SRV-ON (CN X5 pin 29) and COM- (CN X5 pin 41) to make Servo-On active. The motor will be kept excited.

6)Apply an appropriate DC voltage between Torque command input TRQR (CN X5 pin 14) and GND (CN X5 pin 15) and verify the motor rotating direction (CW/CCW) and then reverse the voltage polarity and then verify reversed motor rotation. Also check the speed set by Pr56.

7)To change torque Pr5C, direction Pr5D and speed limit Pr56 in response to the command voltage, modify the following parameter.

Pr56: 4th speed

Pr5C: torque command input gain

Pr5D: torque command input inversion

Wiring Diagram

DC

12V – 24V

DC 10V

7

COM+

29SRV-ON

26ZEROSPD

41 COM–

14SPR/TRQR

15GND

ZEROSPD switch Close: Run Open: Stop

One way operation

For multi direction (CW and CCW) operation, use a bipolar power source.

PrNo.	Parameter description	Value
Pr02	Control mode set-up	2
Pr04	Overtravel input inhibit	1
Pr06	ZEROSPD input selection	0
Pr56	4th internal speed	Set as
Pr5C	Torque command input gain
		required
Pr5D	Torque command input inversion

• Use the controller to send command pulses.

Input Signals Status

No.	Input signal	Monitor
		display
0	Servo-ON	+ A
2	CW overtravel inhibit	–
3	CCW overtravel inhibit	–
5	Speed zero clamp	–

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