Panasonic MINAS A5 Series - 2 Control Block Diagram Position Control Mode

3-14
3
2. Control Block Diagram
Connection
Position Control Mode
Pulse train
PULS
SIGN
Input setup
Sum of command pulses
[Command unit]
0.05
Input
selection
0.06
Direction
setup
0.07Mode
Notch filter
2.011st
Frequency Depth
2.04
2.02
2.052nd
2.10 2.11
2.00
Width
2.03
2.06
2.07 2.083rd 2.09
2.124th
Adaptive
mode setup
Velocity control
1.011st
Propor-
tion
Integra-
tion
1.06
1.02
1.072nd
0.04
6.10
Inertia ratio
Function
expansion
6.132nd inertia ratio
Damping control
2.141st
2.13
Switching
selection
Frequency Filter
2.16
2.18
2.20
2.15
2.172nd
2.19
2.21
3rd
4th
Smoothing
filter
Electric gear
0.08
One
revolu-
tion
0.09
1st
numerator
0.10 Denominator
Gain switching
1.14
2nd
setup
1.15Mode
1.16
Delay
time
1.17Level
1.18 Hysteresis
1.19
Switching
time
6.05
3rd
setup
6.06
Scale
factor
5.00
2nd
numerator
5.01
3rd
numerator
2.22
FIR
2.23
Primary
delay
Motor
Load
Main
power
supply
Encoder
Velocity
feed forward
1.10Gain
1.11Filter
Tor q ue
feed forward
1.12Gain
1.13Filter
Position control
1.001st
1.052nd
Current control
Speed detection
6.11
Response
setup
Torque filter
1.041st
1.092nd
Disturbance
observer
6.23Gain
6.24Filter
Speed detection
filter
1.031st
1.082nd
6.10
Instantaneous
speed
Torque limit
5.21 Selection
0.131st
5.222nd
Pulse
regeneration
Pulses
output
OA
OB
OZ
Numerator/
Denominator
0.11
One
revolution
0.12Reversal
5.03
Denomi-
nator
5.02
4th
numerator
Command positional deviation
[Command unit]
Encoder
positional deviation
[Encoder pulse]
velocity control
command [r/min]
Torque command
[％]
＋
−
＋
−
＋
＋
＋
＋
＋
＋
＋
＋
−
Sum of
feedback pulses
[Encoder pulse]
Motor speed
[r/min]
Inversion of
electric gear
Friction
compensation
6.07
6.08
6.09
additional
value
Positive
direction
Negative
direction
Positional command
speed [r/min]
Internal positional
command speed [r/min]
5HODWHGSDJH
3´:LULQJH[DPSOHRISRVLWLRQFRQWUROPRGHµ
3´&RQQHFWLQJH[DPSOHWRKRVWFRQWUROOHUµ
3´,QSXWVDQGRXWSXWVRQFRQQHFWRU;µ3´/LVWRI3DUDPHWHUVµ
Phone: 800.894.0412 - Fax: 888.723.4773 - Web: www.clrwtr.com - Email: info@clrwtr.com