Panasonic Minas A4 Series - Control Block Diagram of Full-Closed Control Mode

191
Full-Closed
Control Mode
Control Block Diagram at
Full-Closed Control Mode
PULS

SIGN
Input setup
Pulse 
train
Full closed 
position deviation monitor
Actual speed monitor
Command speed
monitor
Position deviation
monitor
Feedback pulses
OA/OB/OZ
Pr40
Input 
selection
Pr41Reversal
Pr42Mode
Division/Multiplication
Pr481st numerator
Pr492nd numerator
Pr4AMultiplier
Pr4BDenominator
Damping control
Pr2B1st frequency
Pr2C1st filter
Pr2D2nd frequency
Pr2E2nd filter
Motor
Torque command monitor
FIR smoothing
Pr4D
Average
travel times
1st delay 
smoothing
Pr4CSelection
Division
Pr44Numerator
Pr45Denominator
Pr46Selection
Pr47Z-phase
Velocity
feed forward
Pr15Gain
Pr16Filter
Speed detection 
filter
Pr131st
Pr1B2nd
Speed detection
Encoder reception 
processing
Position
control
Pr101st
+
+
+
–
+
–
–
+
Pr182nd
Encoder
External 
scale
External scale reception
processing
External scale correction
Pr78Numerator
Pr79Numerator multiplier
Pr7ADenominator
Velocity control
Pr11
1st 
proportion
Pr12
1st 
integration
Pr19
2nd 
proportion
Pr1A
2nd 
integration
Pr20
Inertia ratio
Notch filter
Pr1D
1st 
frequency
Pr1E1st width
Pr28
2nd 
frequency
Pr292nd width
Pr2A2nd depth
Pr2F
Adaptation
Torque filter
Pr14
1st time 
constant
Pr1C
2nd time 
constant
Pr5E1st limit
Pr5F
2nd limit
Serial 
communication 
data
Serial 
communication 
data
[Connection and Setup of Full-closed Control]