Panasonic MINAS A3 Series User Manual

Connections and settings in torque control mode

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[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) .......... 138
Output signal assignment to CN X5 connector pins - designation(logic) ....... 138

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 ..... 147
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

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