Panasonic MINAS A5-series Operating Instructions Manual

3-91 Before Using the Products2 Preparation3 Connection4 Setup5 Adjustment6 When in Trouble7 Supplement3 1. Outline of modeConnection Torque Control ModeOutlineNoteThe torque control is performed according to the torque command specified in the form ofanalog voltage. For controlling the torque, the speed limit input is required in addition tothe torque command to maintain the motor speed within the speed limit.With the A5 series, 3 torque control modes are available, each requires different torquecommand and speed limit as shown in the table below.• Pr3.17 (Selection of torque command)Setupvalue Torque command input Velocity limit input0 Selection of torquecommand 1Analog input 1 *1(AI1, 16-bit resolution)Parameter value(Pr3.25)1 Selection of torquecommand 2Analog input 2(AI2, 12-bit resolution)Analog input 1(AI1, 16-bit resolution)2 Selection of torquecommand 3Analog input 1 *1(AI1, 16-bit resolution)Parameter value(Pr3.25, Pr3.26)*1 For Pr0.01 Control mode setup = 5 (velocity/torque control), the torque commandinput is the analog input 2 (AI2, 12-bit resolution).For details of these parameters, refer to P.4-28 “Details of parameter”. of torque command 1, 3> of torque command2>Servo driverHostcontrollerTorquecontrolsectionAnalogtorque command(AI1, ±10V)ZEROSPD inputAT-SPEED outputV-COIN outputProcess of analogtorque command inputSpeed zero clamp (ZEROSPD) functionAttained speed outputSpeed coincidence outputSpeed limit value(Parameter)Servo driverHostcontrollerTorquecontrolsectionProcess of analogtorque command inputAnalogtorque command(AI2, ±10V)Process ofspeed limit inputSpeed limit input(AI1, ±10V)ZEROSPD inputAT-SPEED outputV-COIN outputSpeed zero clamp (ZEROSPD) functionAttained speed outputSpeed coincidence outputRelated page • P.3-16 “Control Block Diagram”• P.3-19 “Wiring Diagram to the connector, X4”

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