Information

12
Driver functions
Functions
MINAS A5E MINAS A5, A5N, A5B
Position control
Control input
1. Clear deviation counter, 2. Command pulse inhibition, 3. Electronic gear switching,
4.Damping control switching
Control output Positioning complete etc.
Pulse input
Line driver A 500kpps
Open collector 200kpps
Line driver B 4Mpps
Signal format Differential input/square-wave pulse
Electronic gear Scaling of pulse frequency from 1/1000 – 1000 times
Smoothing lter Primary delay lter or FIR lter, customizable
Analog input Torque limit command –
Individual torque limit for positive and negative
direction
Instantaneous speed observer Available
Damping control Available
Velocity control
Control input –
1.-3. Selection of internal velocities, 4. Zero
speed clamp
Control output – Set velocity has been reached, etc.
Analog input
Velocity command – Velocity and direction
Torque limit command – Available
Velocity range – 1 – 6000r/min
Internal velocity command – 8 velocity set values
Smooth start-up and stopping –
Individual setup of acceleration and deceleration
from 0 – 10s/1000r/min
S-curve acceleration and deceleration ramp
possible
Zero speed clamp – Available
Instantaneous speed observer – Available
Velocity control lter – Available
Torque control
Control input –
Zero speed clamp,
Torque direction command etc.
Control output –
Set torque has been reached (at predened
velocity)
Analog input
Velocity command – Set speed can be scaled
Speed limit function – Speed can be scaled
Full-closed control
Control input –
1. Clear deviation counter, 2. Command pulse
inhibition, 3. Electronic gear switching,
4. Damping control switching
Control output – Full-closed control complete
Pulse input
Line driver A – 500kpps
Open collector – 200kpps
Line driver B – 4Mpps
Signal format – Differential input/square-wave pulse
Electronic gear –
Scaling of pulse frequency from 1/1000 – 1000
times
Smoothing lter – Primary delay lter or FIR lter, customizable
Analog input Torque limit command – Torque limit available
Setup range of division/multiplication of feedback
scale
– From 1/40 – 160 times
Other features
Autotuning
Automatic adjustment of the driver's rigidity to the vibration behavior of the mechanical parts
and changes to the load
Division of encoder feedback pulse Any value up to the maximal resolution of the encoder
Protective function
Error messages causing
switch-off
Overvoltage, undervoltage, overspeed, overload, over
-
heat, overcurrent, encoder error, etc.
Error messages requiring
acknowledgement
Excessive position deviation, command pulse division error, EEPROM error, etc.
Alarm history Can be logged for reference