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

CN X5 Connector

[Connections and Settings in Torque Control Mode]

CN X5 Connector

Circuits Available for Torque control mode

A-phase output	B-phase output	ZZ-phase output
Ω330	Ω330	Ω330	output(Opencollector)
			Z-phase

Torque command (0 to ±10V)

Wiring when Pr02 (Control Mode) = 5

Speed command (0 to ±10V)

14	15
SPR/TRQR	GND
	Speedmonitor

Torque

16

CCWTL/TRQR

Torque monitor

command (0 to ±10V)

17 GND

1	2	3	4	5	6	13	21	22	48	49	23	24	46	47
		PULS1	PULS2	SIGN1	SIGN2	GND	OA+	OA-	OB+	OB-	OZ+	OZ-
			Ω220		Ω220
									Scaler

25	19	20	14	15	16	17	18	43	42
GND	CZ		SPR/TRQR	GND	CCWTL/TRQR	GND	CWTL	SP	IM
			Ω20k		Ω10k		Ω10k	Ω1k	Ω1k
					Ω10k		Ω10k

X5

Torque Control Mode

Connections and Settings

Ω4.7k

COM+

INH

CL

SRV-ON

GAIN

DIV

ZEROSPD

C-MODE

A-CLR

CCWL

CWL

S-RDY+

S-RDY-

ALM+

7

33

30

29

27

28

26

32

31

9

8

35

34

37

Servo-ON

P-operation/2ndgain

switching

Zerospeedclamp(Pr06)

Controlmodeswitching

Alarmclear

CCWovertravelinhibit

CWovertravelinhibit

ready

alarm

Servo

Servo

-ALM 36

COIN+	COIN-	BRKOFF+	BRKOFF-		TLC
39	38	11	10	40
At-speed		Mechanicalbrakerelease		Torquelimited	(Pr09)

V	12-24V
DC

ZSP		COM-
12	41
Zerospeeddetected	(Pr0A)

to X4CN pin)(5th

44 BATT+

forBattery encoderabsolute

to X4CN pin)(6th

-BATT 45

Incasethebatteryforabsoluteencoder	isinstalledatthecontrollerside
·

50 FG

usingparameter.

-set speedup valuelimit(Pr56)

4th theSpecifyspeed

<Note>

CN

in

133