Panasonic MINAS A5-series Operating Instructions Manual

3-111 Before Using the Products2 Preparation3 Connection4 Setup5 Adjustment6 When in Trouble7 Supplement1. Outline of modeTorque Control ModeCautionNote(2) Speed limit functionThe speed limit is one of protective functions used during torque control.This function regulates the motor speed so that it does not exceed the speed limit whilethe torque is controlled.While the speed limit is used to control the motor, the torque command applied to themotor is not directly proportional to the analog torque command. Torque commandshould have the following result: the motor speed is equal to the speed limit.• Relevant parameters of torque command 1, 3>ParameterNo. Title Range Unit FunctionPr3.21 Speed limit value 1 0 to 20000 r/min Set up the speed limit used for torquecontrolling.Pr3.22 Speed limit value 2 0 to 20000 r/minPr3.15 Speed zero-clampfunction selection 0 to 3 — You can set up the function of the speedzero clamp input.• Relevant parameters of torque command 2>ParameterNo. Title Range Unit FunctionPr3.02 Input gain of speedcommand 10 to 2000 (r/min)/VBased on the voltage applied to theanalog speed command (SPR), set up theconversion gain to motor command speed.Pr4.22 Analog input 1 (AI1)offset setup−5578 to5578 0.359mV Set up the offset correction value appliedto the voltage fed to the analog input 1.Pr4.23 Analog input 1 (AI1)filter 0 to 6400 0.01msSet up the time constant of 1st delay filterthat determines the lag time behind thevoltage applied to the analog input 1.Pr3.15 Speed zero-clampfunction selection 0 to 3 — You can set up the function of the speedzero clamp input.For details of these parameters, refer to P.4-25, 27, 29 and 37 “Details of parameter”.

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