Panasonic MINAS A5 Series - Velocity Control Mode

3-15
1
Before Using the Products
2
Preparation
3
Connection
4
Setup
5
Adjustment
6
When in Trouble
7
Supplement
3
2. Control Block Diagram
Connection
Velocity Control Mode
Analog input
Analog
input 1
16bit A/D
AI1
Al1 input voltage
[Ｖ]
Velocity control
command [r/min]
4.22Offset
4.23Filter
Scaling
3.02Gain
3.03Reversal
Gain switching
1.14
1.20
1.21
1.22
1.23
Internal velocity setup
3.041st
3.052nd
3.063rd
3.074th
3.107th
3.118th
3.085th
3.096th
Velocity command
selection
3.00
3.01
Current control
Velocity detection
6.11
Friction
compensation
6.07
Acceleration/
Deceleration limit
3.12
Accelera-
tion
3.13
Decelera-
tion
Internal/External
switching
Direction
selection
3.14Sigmoid
＋
−
＋
＋
＋
＋
＋
Sum of
feedback pulses
[Encoder pulse]
Motor speed
[r/min]
1.12
1.13
2nd
setup
Mode
Delay
time
Level
Hysteresis
additional
value
Tor q ue
feed forward
Gain
Filter
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
Main
power
supply
Torque filter
1.041st
1.092nd
Disturbance
observer
6.23Gain
6.24Filter
Torque limit
5.21 Selection
0.131st
5.222nd
Torque command
[％]
Motor
Load
Encoder
Response
setup
Pulse
regeneration
Pulses
output
OA
OB
OZ
Numerator/
Denominator
0.11
One
revolution
0.12Reversal
5.03
Denomi-
nator
Velocity
detection filter
1.031st
1.082nd
6.10
Instantaneous
speed
Velocity control
1.011st
1.06
1.02
1.072nd
0.04
6.10
Inertia ratio
6.132nd inertia ratio
Propor-
tion
Integra-
tion
Function
expansion
Note
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