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 Outline of mode — Velocity Control Mode

Abstract

You can control the speed according to the analog speed command from the host controller or the speed command set in the servo driver.

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

Function

(1) Velocity control by analog speed command

The analog speed command input voltage is converted to equivalent digital speed command. You can set the filter to eliminate noise or adjust the offset.

• Relevant parameters

Parameter	Title	Range	Unit	Function
Pr3.00	Speed setup, Internal/External switching	0 to 3	—	This driver is equipped with internal speed setup function so that you can control the speed with contact inputs only.
Pr3.01	Speed command rotational direction selection	0 to 1	&mdash	Select the Positive/Negative direction specifying method.
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.
Pr3.03	Reversal of speed command input	0 to 1	—	Specify the polarity of the voltage applied to the analog speed command (SPR).
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 the determinese the lag time behind the voltage applied to the analog input 1.

Note → For details of these parameters, refer to P.4-6 to P.4-85 "Details of parameter".
Only for standard type and communication type are not provided with analog input.

Related page → •P.3-14 "Control Block Diagram" •P.3-21 "Writing Diagram to the connector, X4"

(2) Velocity control by internal speed command

You can control the speed by using the internal speed command set to the parameter. By using the internal speed command selections 1, 2, 3 (INTSPD 1, 2, 3), you can select best appropriate one among up to 8 internal speed command settings. Default setting uses the analog speed command. To use the internal speed command, select it through Pr3.00 "Internal/external speed setup".

• Relevant parameters

Parameter No.	Title	Range	Unit	Function
Pr3.00	Speed setup, Internal/External switching	0 to 3	—	This driver is equipped with internal speed setup function so that you can control the speed with contact inputs only.
Pr3.01	Speed command rotational direction selection	0 to 1	—	Select the Positive/Negative direction specifying method.
Pr3.04	1^st speed of speed setup	-20000 to 20000	r/min	Set up internal command speeds, 1^st to 1^st.
Pr3.05	2^nd speed of speed setup			Set up internal command speeds, 1^st to 2^nd.
Pr3.06	3^rd speed of speed setup			Set up internal command speeds, 1^st to 3^rd.
Pr3.07	4^th speed of speed setup			Set up internal command speeds, 1^st to 4^th.
Pr3.08	5^th speed of speed setup			Set up internal command speeds, 1^st to 5^th.
Pr3.09	6^th speed of speed setup			Set up internal command speeds, 1^st to 6^th.
Pr3.10	7^th speed of speed setup			Set up internal command speeds, 1st to 7^th.
3.11	8^th speed of speed setup			Set up internal command speeds, 1^st to 8^th.

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

(3) Speed zero clamp (ZEROSPD) function

You can forcibly set the speed command to 0 by using the speed zero clamp input.

• Relevant parameters

Parameter No.	Title	Range	Unit	Function
Pr3.15	Speed zero-clamp function selection	0 to 3	—	You can set up the function of the speed zero clamp input.
Pr3.16	Speed zero clamp level	10 to 20000	r/min	Select the timing at which the position control is activated as the Pr3.15 Speed zero-clamp function selection is set to 2.

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

(4) Attained speed output (AT-SPEED)

The signal AT-SPEED is output as the motor reaches the speed set to Pr4.36 "Attained speed".

• Relevant parameters

Parameter No.	Title	Range	Unit	Function
Pr4.36	At-speed (Speed arrival)	10 to 20000	r/min	Set the detection timing of the speed arrival output (AT-SPEED).

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

(5) Speed coincidence output (V-COIN)

This signal is output when the motor speed is equal to the speed specified by the speed command. The motor speed is judged to be coincident with the specified speed when the difference from the speed command before/after acceleration/deceleration is within the range specified by Pr4.35 "Speed coincident range".

• Relevant parameters

Parameter No.	Title	Range	Unit	Function
Pr4.35	Speed coincidence range	10 to 20000	rmin	Set the speed coincidence (V-COIN) output detection timing.

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

(6) Speed command acceleration/deceleration setting function

This function controls the speed by adding acceleration or decceleration instruction in the driver to the input speed command.
Using this function, you can use the soft start when inputting stepwise speed command or when using internal speed setup. You can also use S shaped acceleration/deceleration function to minimize shock due to change in speed.

• Relevant parameters

Parameter No.	Title	Range	Unit	Function
Pr3.12	Acceleration time setup	0 to 10000	ms/(1000 r/min)	Set up acceleration processing time in response to the speed command input.
Pr3.13	Deceleration time setup	0 to 10000	ms/(1000 r/min)
Pr3.14	Sigmoid acceleration/deceleration time setup	0 to 1000	ms	Set S-curve time for acceleration/deceleration process when the speed command is applied.