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[Connection and setup of velocity control mode]
Connection and Setup of
Velocity Control Mode
Setup value
0
<1>
Motor rotating direction
CCW direction with (+) command (viewed from the motor shaft end
CW direction with (+) command (viewed from the motor shaft end
51 0 to 1
<1>
–Reversal of speed
command input
You can reverse the polarity of the speed command input signal (SPR:CN
X5, Pin-14). Use this function when you want to change the motor
rotational direction without changing the polarity of the command signal
from the host.
<Notes>
• Default of this parameter is 1, and the motor turns to CW with (+) signal,
this has compatibility to existing MINAS series driver.
• When Pr06 (ZEROSPD) is set to 2, this parameter becomes invalid.
<Caution>
When you compose the servo drive system with this driver set to
velocity control mode and external positioning unit, the motor might
perform an abnormal action if the polarity of the speed command signal
from the unit and the polarity of this parameter setup does not match.
52 –2047 to
2047
<0>
0.3mVSpeed command
offset
• You can make an offset adjustment of analog speed command (SPR :
CN X5, Pin-14) with this parameter.
• The offset volume is 0.3mV per setup value of "1".
• There are 2 offset methods, (1) Manual adjustment and (2) Automatic
adjustment.
1) Manual adjustment
• When you make an offset adjustment with the driver alone,
Enter 0 V exactly to the speed command input (SPR/TRQR), (or
connect to the signal ground), then set this parameter up so that
the motor may not turn.
• when you compose a position loop with the host,
• Set this parameter up so that the deviation pulse may be reduced
to 0 at the Servo-Lock status.
2) Automatic adjustment
• For the details of operation method at automatic offset adjustment
mode, refer to P.73, "Auxiliary Function Mode" of Preparation.
• Result after the execution of the automatic offset function will be
reflected in this parameter, Pr52.
57 0 to 6400
<0>
0.01msSetup of speed
command filter
You can set up the time constant of the primary delay filter to the analog
speed command/analog torque command/analog velocity control (SPR :
CN X5, Pin-14)
53
54
55
56
74
75
76
77
–20000 to
20000
<0>
–20000 to
20000
<0>
r/min
r/min
1st speed of
speed setup
2nd speed of
speed setup
3rd speed of
speed setup
4th speed of
speed setup
5th speed of
speed setup
6th speed of
speed setup
7th speed of
speed setup
8th speed of
speed setup
When the internal speed setup is validated with parameter Pr05, "Switching
of internal or external speed setup", you can set up 1st to 4th speed into
Pr53 to 56, 5th to 8th speed into Pr74 to 77 in direct unit of [r/min].
<Caution>
• The polarity of the setup value represents that of the internal command
speed.
• The absolute value of the parameter setup is limited with Pr73 (Setup of
over-speed level)
+
–
Command to CCW (viewed from the motor shaft end)
Command to CW (viewed from the motor shaft end)
Standard default : < >
PrNo.
Setup
range
UnitTitle Function/Content