Higen FDA5000 Series - Generating Current Command (when position and speed are controlled); Generating Current Command (when torque is controlled)

Chapter 13. Examples of Operation Flow and PLC Wiring
13-2
13.3 Generating Current Command (when position and speed are controlled)
[Resonant FRQ (P2-19)]
[De-Resonance ENB (P2-20)]
Note) De-Resonance operation
starts in case of
([De-Resonance ENB]=[1])
s : Differentiation operator
() : Contact input
[] : Set value
Detects
speed
Encoder
[Zero Speed (P3-11)]
1.2*[SPD(Max) (P1-07)]
Zero speed
(in case of +>- )
Over speed
(in case of +>- )
Internal speed command +
-
[SC I Gain (P2-04)]
s
Select P/PI
(P/PI)
(OFF)
(ON)
GND
Estimate
load torque
Speed
error
[SC P Gain (P2-03)]
+
+
+
+
De-Resonance
operation
Internal current
command
CC torque
limit
CW torque
limit
Speed
+
-
[In Speed (P3-12)]
In speed
(in case of +>- )
Select torque
limit (TL)
(OFF)
(ON)
(OFF)
(ON)
[TRQ LMT(+) (P2-05)]
[TRQ LMT(-) (P2-06)]
(TRQIN)
-1
First order
filter
[FDELAY (P3-17)]
First order
filter
[TRQ CMD TC (P2-01)]
+
-
+
-
Rated torque
100
Rated torque
100
[10V Torque (P5-02)]
1000
x Rated torque
13.4 Generating Current Command (when torque is controlled)
+
[TRQ CMD TC (P2-01)]
+
-
1
1000
+
[Torque OFFS (P5-03)]
First order
filter
[Speed CMD3 (P3-03)]
[Speed CMD2 (P3-02)]
[Speed CMD1 (P3-01)]
Select speed limit
(SPD1,SPD2)
(OFF,OFF)
(ON,ON)
(OFF,ON)
(ON,OFF)
Detect
speed
Encoder
Speed limit operation
Internal current
command
[10V Torque (P5-02)]
1000
x Rated torque
Speed limit
0
1
[10V Speed (P3-13)]
10
1
1000
[SPD CMD OFFS (P3-14)]
+
+
Analog
speed limit
(TRQIN)
Generatin current command
(when torque control mode)
() : Contact input
[] : Set value