Panasonic MINAS A3 Series manual

[Connections and Settings in T or que Contr ol Mode] page To r que control b loc k diagram .............................. 132 CN X5 Connector ................................................... 133 CN X5 Connector ...................................................................... 133 Interface Circuit ...........................................[...]

132 Pr 1 1 Pr 1 2 Pr 1 3 Pr 14 Pr 1 9 Pr 1 A Pr 1 B Pr 1 C Pr 1 D Pr 1 E Pr 2 0 Pr 2 8 Pr 2 9 Pr 2 A Pr 5 C Pr 5 D Pr 5 2 Pr 4 4 Pr 4 5 Inverse Offset Gain Inverse Gain 1st ratio 1st differential 2nd differential 2nd ratio Inertia ratio 1st frequency 1st width 2nd frequency 2nd width 2nd depth 1st time constant 2nd time constant 2nd 1st Inverse Div[...]

133 [Connections and Settings in T or que Control Mode] Connections and Settings in T orque Control Mode Battery for absolute encoder 7 4.7k Ω COM+ PULS2 SIGN1 SIGN2 GND OA+ OA - OB+ OB - OZ+ OZ - GND CZ SPR/TRQR GND CCWTL/TRQR GND CWTL SP IM 1 2 3 4 5 6 13 21 22 48 24 46 47 25 19 20 14 15 16 17 43 18 42 49 23 10k Ω 10k Ω 20k Ω 220 Ω 220 [...]

134 AI Analogue Command Input • There are three analogue command inputs of SPR/RTQR (14 pins), CCWTL (16 pins) and CWTL (18 pins). • The maximum permissible input v oltage is ± 10V . For the input impedance of these inputs, see the right figure. • If you make a simplified circuit comprising a variable re- sistor (VR) and resistor (R), refer [...]

135 [Connections and Settings in T or que Control Mode] Connections and Settings in T orque Control Mode Sequence output circuit • This compr ises a Darlington driver with an open collector . This is connected to a rela y or photo coupler . • There exists a collector-to-emitter v oltage V CE (SA T) of approx. 1V at transistor ON, because of Dar[...]

136 Input signal (common) assignment to CN X5 connector pins Input Signals (Common) and their Functions CN X5 Connector Signal Pin No. Symbol Function I/F circu it Control signal power (+) Control signal power (–) Servo-ON Control mode switching CW overtravel inhibit CCW overtravel inhibit Counter clear 7 41 29 32 8 9 30 COM + COM – SRV-ON C-MO[...]

137 [Connections and Settings in T or que Control Mode] Connections and Settings in T orque Control Mode Signal Pin No. Symbol Function I/F circu it Command pulse input inhibit Speed zero clamp Gain switching Alarm clear 33 26 27 31 INH ZEROSPD GAIN A-CLR SI page 13 4 SI page 13 4 SI page 13 4 SI page 13 4 The function differs depending on the cont[...]

138 CN X5 Connector Input signal assignment to CN X5 connector pins - designation(logic) Input Signals (Speed Control) and their Functions Output signal assignment to CN X5 connector pins - designation(logic) Output Signals (Common) and their Functions * When the torque control mode is selected at the speed/torque switching mode (Pr02 = 5), the No [...]

139 [Connections and Settings in T or que Control Mode] Connections and Settings in T orque Control Mode Output Signals (Others) and their Functions Signal Pin No. Symbol Function I/F circu it Zero speed detection Torque in-limit In-position/ At-speed A-phase output B-phase output Z-phase output Z-phase output Speed monitor output Torque monitor ou[...]

140 T rial run at T or que Contr ol 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) T ur n the main power (driver) ON. 4) Check the defaults of the parameters. 5) Connect between SR V -ON (CN X5 pin 29) and COM- (CN X5 pin 41) to mak e Ser v o-On activ e . The[...]

141 [Connections and Settings in T or que Control Mode] Connections and Settings in T orque Control Mode MEMO[...]

142 Real time auto gain tuning Outline Load inertia of the machine is estimated at real time, and the optimum gain is set up automatically based on the estimated result. A load, which has a resonance , also can be handled owing to the adaptive fil- ter . Application range Under the f ollo wing conditions, the real time auto gain tuning ma y not fun[...]

143 [Connections and Settings in T or que Control Mode] Connections and Settings in T orque Control Mode Parameter No. 11 12 13 14 19 1A 1B 1C 20 Name 1st speed loop gain 1st speed loop integration time constant 1st speed detection filter 1st torque filter time constant 2nd speed loop gain 2nd speed loop integration time constant 2nd speed detectio[...]

144 Parameter Setting Parameters for Function Selection Parameter No. Setting range Parameter Name Function/Description Default setting is shown by [ ] 01 0 – 15 LED display at power up In the initial condition after turning ON the control power , the following data displayed on the 7-segment LED can be selected. Power ON Setting of Pr01 Flashing[...]

145 [Connections and Settings in T or que Control Mode] Connections and Settings in T orque Control Mode ZEROSPD input being ignored, it is determined that it is not speed zero clamp state at all times. ZEROSPD input has been enabled. If connection with COM- is opened, speed command will be regarded as zero. 04 0 – 1 Overtravel input inhibit In t[...]

146 Parameter Setting 08 0 – 12 T orque monitor (IM) selection The parameter selects/sets a relationship between voltage output to the torque monitor signal output (IM: CN X5 42-pin) and generated torque of the motor o r number of deviation pulses. Setting value [0] 1 2 3 4 5 6 – 10 11 12 IM Signals Torque No. of Deviation Pulses Torque Relatio[...]

147 [Connections and Settings in T or que Control Mode] Connections and Settings in T orque Control Mode P arameters f or Time Constants of Gains and Filters: Related to Real Time Auto T uning 11 1 – 3500 [35]* Hz 1st V elocity loop gain • The parameter defines responsiveness of the speed loop. You need to set this speed loop gain high so as to[...]

148 Parameter Setting Parameters for real time auto gain tuning 20 0 – 10000 [100]* % Inertia ratio • Defines the ratio of load iner tia to the motor's rotor inertia. • When y ou ex ecute auto gain tuning, load iner tia will be estimated and the result will be reflected in this parameter . Pr11 and Pr19 will be set in terms of (Hz) when [...]

149 [Connections and Settings in T or que Control Mode] Connections and Settings in T orque Control Mode Note) Standard default setting in [ ] under "Setting range" and marked with * is automatically set during the real time auto gain tuning. T o manually change the value , first disable the auto gain tuning f eature be seeing page 196 &q[...]

150 Parameter Setting Parameters for Switching to 2nd Gains 30 0 – 1 – 2nd gain action set up • The parameter selects switching of PI/P oper ation and the 1st/2nd gain s witching. *1 Switching of 1 PI/P operation is done through gain s witching inpu t (GAIN CN X5 27-pin). *2 F or conditions of switching betw een the 1st and 2nd gains, ref er [...]

151 [Connections and Settings in T or que Control Mode] Connections and Settings in T orque Control Mode Parameters for Speed Control 52 –2047 – 2047 [0] 0.3mV V elocity command offset • This parameter adjusts of fset of external analog speed command system including the host device. • Offset volume will be approximately 0.3mV per a set val[...]

152 Parameter Setting P arameters for T or que Control 5E 0 – 500 % T orque limit • This function limits maximum torque of the motor through setting o f parameters within the driver . • In normal specifications, torque about 3 times higher than the rated is al - lowed for an instant. This parameter limits the maximum torque, how - ever , if t[...]

153 [Connections and Settings in T or que Control Mode] Connections and Settings in T orque Control Mode T he motor decelerates and stops as the dynamic brake (DB) is operated. The motor will be in free condition after it stops. Free running, the motor decelerates and stops. The motor will be in free condition after it stops. In this case, if you s[...]

154 Parameter Setting Parameter No. Setting range Parameter Name Unit Function/Description Default setting is shown by [ ] 6A 0 – 100 [0] 2ms Mechanical brake delay at motor standstill The parameter sets time till non-energization of motor (servo free) afte r the brake release signal (BRK-OFF) turns off (brake retained), at Serve Off while the mo[...]