Panasonic minas a series - Specifications; Control Block Diagram

- App. 112 -
• Control Block Diagram
Pulse command
PULS
SIGN
Analogue command
T
Feedback pulse(OA • OB) Feedback pulse(OZ • CZ)
Encoder signal A/B phase or Rx
For 17-bit encoder
2500 /
P r
Encoder signal (Z phase)
+
++
+
+
-
-
+
(SPR/TRQR)
Torque command
CCWTL
(Pr02=5)
A/D A/D
Offset
Input mode
selection
[Pr42]
Smoothing
filter
Pr4C
Position 2
[Pr18]
Position 1
[Pr10]
Position
error counter
Position
error amplifier
2nd [Pr18]
1st [Pr13]
Speed detection filter
Width [Pr1E]
Frequency [Pr1D]
Selected by Pr02
Notch filter
Pr5E
Torque limit
Torque command
2nd [Pr1C]
1st [Pr14]
Torque command filter
Control mode switching
Velocity feed
forward
Pr15
Feed forward
filter
Pr16
Denominator
Pr46
Pr4B
Pr50
Pr53
Pr54
Pr55
Pr56
Pr52
Pr02
Pr5C
Pr44
Multi plier
Pr4A
Numerator
x 2
Scaling
Command
input gain
Internal 1st speed Internal 2st speed Internal 3st speed Internal 4st speed
Switching between internal and
external velocity setting
Acceleration, deceleration
and S-curve accel./decel. time
Input command
gain
Output pulse per
single turn[Pr44]
Multiplier of 4
speed
detection
5
2,4
S
P
T
T
P/S
S
P
:
Torque control mode
:
Velocity control mode
:
Position control mode
Block for servo gains and filter time constants
S
Pr02
Pr02
Acceleration time [Pr58]
Deceleration time [Pr59]
S-curve accel./decel. time [Pr5A]
Velocity, 2nd [Pr19] Integration, 2nd [Pr1A] Velocity, 1st [Pr11] Integration, 1st [Pr12] Inertia ratio [Pr20]
Velocity error amplifier
PANATERM
Monitoring the sum of
command pulses
PANATERM
Monitoring feedback pulses
PANATERM
Wave form graphics
(actual velocity)
Wave form
graphics speed
command
PANATERM
Wave form graphics
Velocity command
PANATERM
Only position control mode
Specifications