HIGH SPEED IML ROBOT

Keywords:Panasonic A6 Servo Installation Instruction, Panasonic A6 Driver, Panasonic A6 Series Servo Motor Manual

Panasonic A6 Motor & Driver Instruction 3.1.3 Outline of mode — Torque Control Mode

Abstract

The torque control is performed according to the torque command specified in the form of analog voltage. For controlling the torque, the speed limit input is required in addition to the torque command to maintain the motor speed within the speed limit.
With the A5 series, 3 torque control modes are available, each requires different torque command and speed limit as shown in the table below.

• Pr3.17 (Selection of torque command)

Parameter	Title	Torque command input	Velocity limit input
0	Selection of torque command 1	Analog input 1^*1 (Al1, 16-bit resolution)	Parameter value (Pr3.21)
1	Selection of torque command 2	Analog input 2 (Al2, 12-bit resolution)	Analog input 1 (Al1, 16-bit resolution)
2	Selection of torque command 3	Analog input 1 ^*1 (Al1, 16-bit resolution)	Parameter value (Pr3.21, Pr3.22)

*1 For Pr0.01 Control mode setup = 5 (velocity/torque control), the torque command input is the analog input 2 (Al2, 12-bit resolution).

Note → For details of these parameters, refer to P.4-35 "Details of parameter".

<Selection of torque command 1, 3>

<Selection of torque command 2>

Note → Only for standard type and communication type are not provided with analog input and V-COIN output.

Related page → • P.3-18 "Control Block Diagram" •P.3-22 "Wiring Diagram to the connector, X4"

Function

(1) Process of analog torque command input

This process converts the analog torque command input (voltage) to the equivalent digital torque command having the same effect. You can set the filter or adjust the offset to eliminate noise.

• Relevant parameters <Selection of torque command 1, 3>

Parameter No.	Title	Range	Unit	Function
Pr3.18	Torque command direction selection	0 to 1	—	Select the direction positive/negative direction of torque command.
Pr3.19	Torque command	10 to 100	0.1 V/100 %	Based on the voltage (V) applied to the analog torque command (TRQ R), set up the conversion gain to torque command (%).
Pr3.20	Input reversal of torque command	0 to 1	—	Set up the polarity of the voltage applied to the analog torque command (TRQR).
Pr4.22	Analog input 1 (Al1) offset setup	-5578 to 5578	0.359 mV	Set up the offset correction value applied to the voltage fed to the analog input 1.
Pr4.23	Analog input 1 (Al1) filter	0 to 6400	0.01 ms	Set up the time constant of 1^st delay filter that determines the lag time behind the voltage applied to the analog input 1.

• Relevant parameters <Selection of torque command 2>

Parameter No.	Title	Range	Unit	Function
Pr3.18	Torque command direction selection	0 to 1	—	Select the direction positive/negative direction of torque command.
Pr3.19	Input gain of torque command	10 to 100	0.1 V/100 %	Based on the voltage (V) applied to the analog torque command (TRQ R), set up the vonversion gain to torque command (%).
Pr3.20	Input reversal of torque command	0 to 1	—	Set up the polarity of the voltage applied to the analog torque command (TRQR).
Pr4.25	Analog input 2 (Al2) offset setup	-342 to 342	5.86 mV	Set up the offset correction value applied to the voltage fed to the analog input 2.
Pr4.26	Analog input 2 (Al2) filter	0 to 6400	0.01 ms	Set up the time constant of 1^st delay filter that determines the lag time behind the voltage applied to the analog input 2.

Note → For details of these parameters, refer to P.4-6 to P.4-85 "Details of parameter".

(2) Speed limit function

The 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 while the torque is controlled.

Caution →

While the speed limit is used to control the motor, the torque command applied to the motor is not directly proportional to the analog torque command. Torque command should have the following result: the motor speed is equal to the speed limit.
Due to gravity and other external disturbances, the torque command from the controller output makes the motor reverse direction action, the speed limit is not valid. This action becomes the problem, want to stop the motor, speed need to be set to Pr5.13 (Over-speed level setting) or Pr6.15 (Over-speed level setting) by Err26.0 (Overspeed protection) or Err26.1 (second overspeed protection) will stop the motor.

• Relevant parameters <Selection of torque command 1, 3>

Parameter No.	Title	Range	Unit	Function
Pr3.21	Speed limit value 1	0 to 20000	r/min	Set the speed limit used for torque controlling.
Pr3.22	Speed limit value 2	0 to 20000	r/min	Set the speed limit used for torque controlling.
Pr3.15	Speed zero-clamp function selection	0 to 3	—	You can set up the function of the speed zero clamp input.

• Relevant parameters <Selection of torque command 2>

Parameter No.	Title	Range	Unit	Function
Pr3.02	Input gain of speed command	10 to 2000	(r/min) /V	Based on the voltage applied to the analog speed command (SPR), set up the conversion gain to motor command speed.
Pr4.22	Analog input 1 (Al 1) offset setup	-5578 to 5578	0.359 mV	Set up the offset correction value applied to the voltage fed to the analog input 1.
Pr4.23	Analog input 1 (Al1) filter	0 to 6400	0.01 ms	Set up the time constant of 1^st delay filter that determines the lag time behind the voltage applied to the analog input 1.
Pr3.15	Speed zero-clamp function selection	0 to 3	—	You can set up the function of the speed zero clamp input.