Panasonic MINAS A5 Series - Full-Closed Control Mode

3-17
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
Full-closed Control Mode
External scale
Pulse
regeneration
0.11
Numera-
tor
5.03
Denomi-
nator
0.12Reversal
6.20
Z-phase
Width
6.21
Z-phase
setup
6.22
output
method
External scale
dividing
3.24
3.25
Motor
External scale
Encoder
Speed detection
Input setup
3.23Type
3.26Reversal
3.27
Ｚ-phase
invalid
Positional command
speed [r/min]
Internal positional
command speed [r/min]
＋
−
＋
−
＋
＋
＋
＋
＋
＋−
＋
＋
＋
−
Hybrid
deviation
[Command unit]
External scale
Reverse dividing
3.25
Numera-
tor
3.24
Denomi-
nator
External
scale
pulse
output
EXA
EXB
EXZ
Torque command
[％]
Current control
6.11
Response
setup
velocity control
command [r/min]
Motor speed
[r/min]
Inversion of
electric gear
Inversion of
electric gear
Pulse train
PULS
SIGN
Input setup
0.05
Input
selection
0.06
Direction
setup
0.07Mode
Electric gear
0.08
One
revolu-
tion
0.09
1st
numerator
0.10 Denominator
5.00
2nd
numerator
5.01
3rd
numerator
5.02
4th
numerator
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
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
2.22
FIR
2.23
Primary
delay
Friction
compensation
6.07
6.08
6.09
additional
value
Positive
direction
Negative
direction
Torque
feed forward
1.12Gain
1.13Filter
Velocity
feed forward
1.10Gain
1.11Filter
1.011st
1.06
1.02
1.072nd
0.04
6.10
Inertia ratio
6.132nd inertia ratio
Speed detection
filter
1.031st
1.082nd
6.10
Instantaneous
speed
Pulse
regeneration
Encoder
feedback
pulses
output
OA
OB
OZ
Numerator/
Denominator
0.11
One
revolution
0.12Reversal
5.03
Denomi-
nator
Main
power
supply
Torque filter
1.041st
1.092nd
Disturbance
observer
6.23Gain
6.24Filter
Torque limit
5.21 Selection
0.131st
5.222nd
Notch filter
2.011st
Frequency Width
2.04
2.02
2.052nd
2.10 2.11
2.00
Depth
2.03
2.06
2.07 2.083rd 2.09
2.124th
Adaptive
mode setup
Position control
1.001st
1.052nd
Sum of command pulses
[Command unit]
Command positional deviation
[Command unit]
Sum of
feedback pulses
[External scale pulse]
Full-closed
deviation
[External scale pulse]
Numera-
tor
Denomi-
nator
Velocity control
Propor-
tion
Integra-
tion
Function
expansion
Note
5HODWHGSDJH
2QO\IRUSRVLWLRQFRQWUROW\SHLVQRWSURYLGHGZLWKDQDORJLQSXW
3´:LULQJH[DPSOHRIIXOOFORVHFRQWUROPRGHµ
Phone: 800.894.0412 - Fax: 888.723.4773 - Web: www.clrwtr.com - Email: info@clrwtr.com