Panasonic MINAS A3 Series manual Parameters for Speed Control

[Connections and Settings in Torque Control Mode]

Parameters for Speed Control

				Default setting is shown by [ ]
Parameter	Parameter Name	Setting	Unit	Function/Description
No.		range
52	Velocity	–2047 0.3mV		• This parameter adjusts offset of external analog speed command system
	command	– 2047		including the host device.
	offset	[0]		• Offset volume will be approximately 0.3mV per a set value “1”.

•To adjust offset, there are 2 ways of (1) manual adjustment and (2) auto- matic adjustment.

1) Manual adjustment

• When you make offset adjustment with the driver only:

Using this parameter, set a value that prevents the motor from rotat- ing, after you have correctly input 0V in torque command input (SPR/TRQR) (or connected to signal ground).

•When the host device establishes a position loop:

With servo locked, using this parameter, set a value so that deviation pulse will be zero.

2) Automatic Adjustment

•For details on operating instructions in automatic offset adjustment mode, refer to “Details of Execution Display of Auxiliary Function Mode” of Preparations volume on page 66.

•When you execute automatic offset adjustment, result will be reflec- ted in this parameter Pr52.

56	4th internal	–20000	r/min	The parameter directly sets the 1st to 4th speed of internal command
	speed	– 20000		speed of when setting of internal speed has been enabled with the para-
		[0]		meter “speed setting internal/external switching” (Pr05), to Pr53 to Pr56,
				respectively, in the unit of [r/min].
				<Caution>
				Polarity of settings shows that of internal command speed.

+CCW direction viewed from the edge of axis for (+) command

–CW direction viewed from the edge of axis for (-) command

Pr56 is a value of speed limits in torque control mode.

You should set this parameter in a range of rotational speeds of the motor to be used.

57 JOG speed set up 0 – 500 r/min The parameter directly sets JOG speed in JOG run in “motor trial run

[300]mode” in terms of [r/min].

For details on JOG function, refer to “Trial Run (JOG)” of Preparations vol- ume on page 68.

5C	Torque command	10 – 100	0.1V/	The parameter sets a relationship between voltage applied to the torque
	input gain	[30]	100%	command input (TRQR: CN X5 14-pin) in torque control mode and gener-
				ated torque of the motor.

• Setting is in the unit of [0.1V/100%]	Setting of			Torque		CCW
	Shipment			300[%]
and used to set a value of input vol-	Time	Rated			200
tage necessary for calculating rated		Torque
					100
torque.
	-10V -8		-6	-4	-2
• At a factory setting of 30, the relation-						2	4	6	8 10V
						100		Command
ship will be 3V/100%.								Input Voltage
						200
				CW		300[%]

5D	Torque command	0 – 1	–	The parameter inverts polarity of the torque command input signal
	input inversion			(TRQR: CN X5 14-pin).
				In speed/torque switching mode (when Pr02 is 5), torque command input
				under torque control will be 16-pin of the connector CN X5.
				Setting value	Direction of Generation of Motor Torque

[0]CCW direction viewed from the edge of axis for (+) command

1 CW direction viewed from the edge of axis for (+) command

Torque Control Mode

Connections and Settings in

151