Panasonic Minas A4 Series - Control Block Diagram of Position Control Mode

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Control Block Diagram of Position Control Mode
PULS
SIGN
Input setup
Pulse
train
Positional deviation 
monitor
Actual speed monitor
Command speed 
monitor
Feedback pulses
Serial communication 
data
OA/OB/OZ
Pr40
Input 
selection
Pr41
Reversal
Pr42Mode
Division/
Multiplication
Pr48
1st 
numerator
Pr49
2nd 
numerator
Pr4A
Multiplier
Pr4B
Denominator
Damping control
Pr2B
1st 
frequency
Pr2C1st filter
Pr2D
2nd 
frequency
Pr2E2nd filter
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
Motor
Torque command monitor
Pr14
1st time 
constant
Pr1C
2nd time 
constant
Pr5E1st limit
Pr5F
2nd limit
Pr4D
Average 
travel times
Primary delay 
smoothing
Pr4C
Selection
Division
Pr44
Numerator
Pr45
Denominator
Pr46
Selection
Velocity feed 
forward
Pr15Gain
Pr16Filter
Speed detection 
filter
Pr131st
Pr1B2nd
Speed detection
Encoder reception 
processing
Position control
Pr101st
+
++
–
+
–
Pr182nd
Encoder
FIR smoothing