Panasonic MINAS A3 User Manual

[Connections and Settings

in Torque Control Mode]

page

Torque control block diagram..............................132

CN X5 Connector...................................................133

CN X5 Connector ...................................................................... 133

Interface Circuit ......................................................................... 134

Input signal (common) assignment to CN X5 connector pins... 136 Input signal assignment to CN X5 connector pins - designation(logic) Output signal assignment to CN X5 connector pins - designation(logic)

Trial run at Torque Control Mode.........................140

Operation with CN X5 Connected ............................................. 140

Real time auto gain tuning ...................................142

Outline ....................................................................................... 142

Application range....................................................................... 142

How to use ................................................................................ 142

Parameters, which are set up automatically ............................. 143

Caution ...................................................................................... 143

Parameter Setting .................................................144

Parameters for Function Selection............................................ 144

Parameters for Time Constants of Gains and Filters: Related to Real Time Auto Tuning .....

Parameters for real time auto gain tuning................................. 148

Parameters for Switching to 2nd Gains..................................... 150

Parameters for Position Control ................................................ 150

Parameters for Speed Control .................................................. 151

Parameters for Torque Control.................................................. 152

Parameters for various sequences ........................................... 152

.......... 138

....... 138

147

Pr 11

Pr 1

Pr 14

Pr 1

Pr 2

Pr 5

Pr 4

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

Division

Limit

Pr 5

Pr 2

Pr 5

16bitA/

Pr 5

10bitA/

Sign( )

Analog torque

command

Analog torque

command

SPR /

TRQR

When pr 02 = 2 or 4

Input setting

When pr 02 = 5

Absolute

(magnitude)

Command speed

monitor

Multiplication

Internal speed limit

4th

speed

Speed control

Notch filter Torque f ilter

Torque

limit

Disturbance

observer

Filter

Actual speed

monitor

Speed

detection filter

Speed detection

Encored

receive

processing

PS / PS signal

Division

Feedback pulse

OA / OB / OZ

Torque command

monitor

Encoder

Motor

CCWTL /

TRQR

–

Torque contr ol block diagram

132

Connections and Settings in

Torque Control Mode

Battery for absolute encoder

4.7k

Ω

COM+

PULS2

SIGN1

SIGN2

GND

OA+

OB+

OZ+

GND

SPR/TRQR

GND

CCWTL/TRQR

GND

CWTL

10k

Ω

10k

Ω

20k

Ω

220

Ω

220

Ω

10k

Ω

10k

Ω

PULS1

INH

SRV-ON

GAIN

DIV

ZEROSPD

C-MODE

A-CLR

CCWL

CWL

S-RDY+

S-RDY

ALM+

COIN+

BRKOFF

TLC

24V

ZSP

COM

BATT+

to CN X4 (5th pin)

to CN X4 (6th pin)

BATT

CN X5

COIN

ALM

Servo-ON

P-operation/2nd gain

switching

Control mode switching

Scaler

Alarm clear

CCW overtravel inhibit

A-phase

output

B-phase

output

Z-phase

output

Speed monitor

Torque monitor

Z-phase output (Open collector)

CW overtravel inhibit

Servo ready

Servo alarm

At-speed

Mechanical brake release

· In case the battery for absolute encoder

is installed at the controller side

Torque limited

(Pr09)

Zero speed detected

(Pr0A)

<Note> Specify the speed limit value using

4th speed set-up (Pr56) parameter.

SPR/TRQR

GND

CCWTL/TRQR

GND

330

Ω

330

Ω

330

Ω

Zero speed clamp (Pr06)

Torque command

(0 to ±10V)

Wiring when Pr02

(Control Mode) = 5

Speed

command

(0 to ±10V)

Torque

command

(0 to ±10V)

CN X5 Connector

[Connections and Settings in Torque Control Mode]

CN X5 Connector

Circuits Available for Torque control mode

133

CN X5 Connector

Interface Circuit

Input Circuit

SI Connecting to

sequence input signals

• Connect to a contact of switch and relay, or a transistor of an open collector output.

• Use a s witch or relay for micro current so that insufficient contact can be avoided.

• Lower limit of the power supply (12 to 24V) should not be less than 11.4V in order to secure the appropriate level of primary current of the photo coupler.

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 voltage is ±10V. F or the input impedance of these inputs, see the right figure.

• If you make a simplified circuit comprising a variable resistor (VR) and resistor (R), refer to the right figure. When the variable range of each input is -10V to +10V, the VR should be a B type resistor of 2kΩ (min.1/2W). The R should be 200Ω (min.1/2W).

• The A/D converters for these inputs should have the following resolution.

12V

2–24V

-12V R

Relay

SPR/TRQR

CWTL

COM+4.7kΩ Servo-ON or

other input

7 COM+4.7kΩ

Servo-ON or other input

20kΩ

GND

10kΩ

CCWTL

GND

10kΩ

ADC

1) ADC1 (SPR and TRQR) : 16 bits (including one bit for sign)

2) ADC2 (CCWTL and CWTL) : 10 bits (including one bit for sign)

134

[Connections and Settings in Torque Control Mode]

Connections and Settings in

Torque Control Mode

H p (

Output Circuit

Sequence output circuit

SO1 SO2

• This comprises a Darlington driver with an open collector. This is connected to a relay or photo coupler.

• There exists a collector-to-emitter voltage V approx. 1V at transistor ON, because of Darlington con-

CE(SAT) of

12–24V

nection of the out put transistor. Note that normal TTLIC can't be directly connected since this does not meet VIL requirement.

• This circuit has an independent emitter connection, or an emitter connection that is commonly used as the minus (–) terminal (COM–) of the control power.

• Calculate the value of R using the formula below so as the primary current of the photo coupler become approx. 10mA.

[kΩ] =

VDC[V] — 2.5[V]

For the recommended primary current value, check the data sheet on the equipment and photocoupler used.

Install as per the fig. Shows without fail

SO1 ALM+ or other signal

ALM– or other signal

SO2

ZSP, TLC

COM–41

Maximum rating: 30V, 50m

PO1

Line Driver (Differential Output) Output

• Provides differential outputs of encoder signals (A, B and Z phases) that come from the scalar.

• Receive these signals with a line receivers. In this case, install a resistor of approx. 330Ω between the inputs.

• These outputs are non-insulated signals.

shows a pair of twisted wires.

Open Collector Output

PO2

• Outputs Z-phase signals among those from the encoder. The outputs are non-insulated.

• Receive these signal with high-speed photo coupler at controller side, since these Z-phase signal width is normally narrow.

shows a pair of twisted wires.

AM26LS32 or equivalent

OA+ OA-

OB+ OB-

OZ+ OZ-

Connect the signal grounds between the controller and driver.

1925CZ

igh-speed

hoto coupler

Equivalent to T oshiba TLP554)

AM26LS31 or equivalent

21 22 48

49 23

25GND

Maximum rating: 30V, 50mA

GND

Analogue Monitor Output

• This output is the speed monitor signal (SP) or torque moni-

• The signal range is approx. 0 to ± 9V.

• The output impedance is 1kΩ. Pay attention to the input

1) Speed monitor signal (SP): 8r/min./LSB calculated from

2) Torque monitor signal (IM): 0.4%/LSB calculated from 3V/rated value (100%)

tor signal (IM).

impedance of your measuring instruments and external circuits connected.

6V/3000r/min (Pr07 = 3)

Measuring instrument or external circuit

GND

1kΩ

135

CN X5 Connector

Input signal (common) assignment to CN X5 connector pins

Input Signals (Common) and their Functions

Signal Pin No. Symbol Function I/F circu

Control signal power (+)

Control signal power (–)

Servo-ON

Control mode switching

<Notes>

This signal becomes effective about two seconds after power on (see the Timing Chart).

2. Don't use this Servo-ON or Servo-OFF signal to turn on or off the motor. See page 46 "Dynamic Brake" in Preparations.

• Allow at least 50ms delay after the driver is enabled before any command input is entered.

• By opening the connection to COM– , the driver will be disabled(Servo-OFF) and the current flow to the motor will be inhibited.

• Operation of the dynamic brake and clearing action of the position error counter can be selected using Pr69 (Sequence under Servo-OFF).

Pr02 value

COM +

COM –

SRV-ON

C-MODE

3 4 5

• Connect to (+) of an external power supply (12VDC to 24VDC).

• Use source voltage of 12V±10% – 24V±10%.

• Connect to (–) of an external power supply (12VDC to 24VDC).

• The required capacity depends on the I/O circuit configuration. 0.5A or larger is recommended.

• When this signal is connected to COM-, the dynamic brake will be released and the driver is enabled. (Servo-ON).

• When Pr02 (Control Mode Selection) = 3, 4 or 5, the control mode is selected per the table below.

Connection with COM–

open (1st)

Position control mode Position control mode

Speed control mode

closed (2nd)

Speed control mode

Torque control mode

–

page 13

CW overtravel inhibit

CCW overtravel inhibit

Counter clear

Position control

Speed control

Torque control

CWL

CCWL

• If COM– is opened when the movable part of the machine has moved to CW exceeding the limit, the motor does not generate torque.

• If COM– is opened when the movable part of the machine has moved CCW exceeding the limit, the motor does not generate torque.

•

If you set 1 to Pr04 (Overtravel input inhibited invalid), CWL/CCWL input will be disabled. A factory setting is Disable (1).

• With Pr66 (DB deactivate when driving is inhibited), you can activate dynamic brake when CWL/CCWL input is enabled. According to a factory setting, dynamic brake operates (Pr66 is set to 0).

The function differs depending on the control mode.

• Clears the position error counter. Connect to COM– to clear the counter.

• Use Pr4D to select the clear mode. Pr4D value

0(Factory-setting)

• With speed setting of the 2nd selection input, you can set 4

speeds in combination with INH.

• For details, see Pr05 (Speed Set-Up Switching) description.

• Invalid

Meaning

LEVEL

EDGE

page 13

136

Connections and Settings in

Torque Control Mode

Signal Pin No. Symbol Function I/F circu

Command pulse input inhibit

Position control

INH

[Connections and Settings in Torque Control Mode]

The function differs depending on the control mode.

• Enter command pulse input inhibit.

• You can disable this input with Pr43 (disable command pulse input inhibit).

Pr43 value

1(Factory-setting)

The INH signal (input) is disabled.

• With COM– closed, the pulse command signal (PULSE SIGN) is enabled.

• With COM– open, the pulse command signal (PULSE SIGN) is inhibited.

Meaning

page 13

Speed zero clamp

Gain switching

Alarm clear

Speed control

Torque control

(Factory-setting)

ZEROSPD

GAIN

Pr30 value

A-CLR

• With speed setting of the 1st selection input, you can set 4 speeds in combination with CL input.

• For details, see Pr05 (Speed Set-Up Switching) description.

• Invalid

• With COM– open, the speed command is considered zero.

• This input can be made disabled using Pr06.

• With factory setting, disconnecting this pin from COM– sets the speed to zero.

Pr06 value

0 (Factory-setting)

• This is setting of Pr30 (2nd gain setting) and has the following 2 types of functions:

Connection

to COM-

Open Close Open Close

To use the second gain, set Pr31 to “2”.

No.2 Gain change Funcutions, see page 202 "Adjustments ".

•

• If the COM- connection is kept closed for more than 120 ms, the alarm status will be cleared.

• For details about not cleared alarm, see page 216 "Protective Functions".

Speed loop: PI (Proportional / Integral) action Speed loop: P (Proportional) action

• 1st gain selected (Pr10, 11, 12, 13 and 14)

• 2nd gain selected (Pr18, 19, 1A, 1B, 1C)

ZEROSPD is disabled. ZEROSPD is enabled.

Meaning

Function

page 13

137

CN X5 Connector

Input signal assignment to CN X5 connector pins - designation(logic)

Input Signals (Speed Control) and their Functions

Signal Pin No. Symbol Function I/F circu

Speed (torque) command

CCW torque limit

CW torque limit

Battery +

Battery -

(15)

(17)

SPR/TRQR

(GND)

CCWTL/

TRQR*

(GND)

CWTL

(GND)

BATT +

BATT -

* When the torque control mode is selected at the speed/torque switching mode (Pr02 = 5), the

No.16 pin (CCWTL/TRQR) becomes the torque command input (analogue). You can set-up the relationship between the command voltage level and the motor torque with Pr5C (Torque Command Input Gain).

< At speed control >

• This becomes speed command input (analogue) 0–±10V

• You can set-up the relationship between the command voltage level and the motor speed, with Pr50 (Speed Command Input Gain) .

• Use Pr51 to inverse the polarity of the command input.

< At torque control >*

• This becomes torque command input (analogue) 0–±10V

• You can set-up the relationship between the command voltage level and the motor torque, with Pr5C (Torque Command Input Gain) .

• Use Pr5D to inverse the polarity of input signals.

• Use Pr56 (4th Speed Set-up) to adjust the speed limit in torque control.

< Note >

SPR/TRQR are invalid in position control mode.

< At speed and position control >

• You can limit the motor torque in the CCW direction by entering positive voltage (0 to +10V) to CCWTL.

• You can limit the motor torque in the CW direction by entering negative voltage (-10 to 0V) to CWTL.

• The torque limit value is proportional to the voltage with a factor of 100%/3V.

• CCWTL and CWTL are valid when Pr03 (Torque Limit Input Inhibit) = 0. They are invalid when Pr03 = 1.

< At torque control >*

• Both of CCWTL and CWTL are invalid.

• Use the 4th speed set-up(Pr56) to limit the speed.

• Connect a backup battery for absolute encoder (polesensitive !).

• If the battery is connected directly to the driver, it is not necessary to connect a battery to this terminal.

page 13

–

Output signal assignment to CN X5 connector pins - designation(logic)

Output Signals (Common) and their Functions

Signal Pin No. Symbol Function I/F circu

• This output(transistor) turns OFF, when the driver detects and error(trip).

• This output(transistor) turns ON, when the main power is on(for both the driver and the motor) and no alarm is active.

•

This is used to release the electromagnetic brake of the motor.

• Turn the output transistor ON when releasing brake.

• Refer to “Timing Chart” on page 40, on Preparations.

• This output(transistor) turns ON , when the brake is re-

leased.

• See page 40 "Timing Chart".

138

Servo alarm output

Servo-ready output

Mechanical brake release output

37 36 35 34 11 10

ALM + ALM –

S-RDY +

S-RDY BRK-OFF + BRK-OFF –

SO1

page 13

SO1

page 13

SO1

page 13

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Panasonic MINAS A3 User Manual

Specifications and Main Features

Frequently Asked Questions

User Manual