Fuji Electric ALPHA5 Smart - 15.3 Control Block Diagram

CHAPTER 15 APPENDIXES
Control Block Diagram 15-5
15
15.3 Control Block Diagram
Command
PA1_53 :
Command pulse
smoothing function
PA1_51 : Moving
average S-curve
time
PA1_52 : Low-pass
filter(for S-curve)
time constant
Control
model
≪Position adjuster≫
PA1_55 : Position loop gain 1 PA1_64 : Position loop gain 2 PA1_88 : Position loop integration time
constant
PA1_89 : Position loop integration limiter
≪Speed adjuster≫
PA1_56 :Speed loop gain 1 PA1_57 :Speed loop integration time constant 1 PA1_65 :Speed loop gain 2 PA1_66 :Speed loop integration time constant 2 PA1_90 :Load torque observer PA1_91 :P/PI automatic change selection
PA1_59 :Torque filter time constant for position and speed control PA1_71 :Notch filter 1 frequency PA1_72 :Notch filter 1 attenuation PA1_73 :Notch filter 1 width PA1_74 :Notch filter 2 frequency PA1_75 :Notch filter 2 attenuation PA1_76 :Notch filter 2 width
PA1_58 : Feed forward gain 1 PA1_67 : Feed forward gain 2
Motor
Encoder
Speed
detection
Position
detection
≪Inertia model calculation≫ [1+(PA1_14 : Load inertia ratio)] *(dv/dt)
≪Inertia model calculation (vibration control)≫ PA1_78 : Vibration suppressing anti resonance frequency 0 PA1_79 : Vibration suppressing workpiece inertia ratio 0 PA1_80 : Vibration suppressing anti resonance frequency 1 PA1_81 : Vibration suppressing workpiece inertia ratio 1 PA1_82 : Vibration suppressing anti resonance frequency 2 PA1_83 : Vibration suppressing workpiece inertia ratio 2 PA1_84 : Vibration suppressing anti resonance frequency 3 PA1_85 : Vibration suppressing workpiece inertia ratio 3
PA1_86 : Vibration suppressing damping coefficient
≪Friction compensation≫
PA1_92 : Speed range for friction compensation PA1_93 : Coulomb friction torque for compensation
PA1_87 : Model torque
filter time constant
PA1_95 : Model torque calculation selection,
speed observer selection
＋ －
＋
＋ －
＋
＋
PA1_54 : Position command response time constant
PA1_68 : Acceleration compensation gain for position control
＋
＋
＋
＋
＋
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≪Electronic gear≫
PA1_05 : Number of command input pulses per revolution PA1_06 : Numerator 0 of electronic gear PA1_07 : Denominator of electronic gear PA2_51 : Numerator 1 of electronic gear ratio PA2_52 : Numerator 2 of electronic gear ratio PA2_53 : Numerator 3 of electronic gear ratio
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