No. SX-DSV02472
Gain tuning/vibration suppressing function ........................................................................................................ 48
5-1 Automatic adjusting function .............................................................................................................................. 49
5-1-1 Real-Time Auto Tuning ................................................................................................................................. 50
5-1-2 Adaptive filter ................................................................................................................................................ 58
5-2 Manual adjusting function................................................................................................................................... 60
5-2-1 Block diagram of position control mode ........................................................................................................ 61
5-2-2 Block diagram of velocity control mode ........................................................................................................ 62
5-2-3 Block diagram of torque control mode .......................................................................................................... 63
5-2-4 Block diagram of full-closed control mode (Not supported) .................................................................... 64
5-2-5 Gain Switching Function ............................................................................................................................... 65
5-2-6 Notch filter ..................................................................................................................................................... 71
5-2-7 Damping Control ........................................................................................................................................... 73
5-2-8 Feed forward function .................................................................................................................................... 77
5-2-9 Instantaneous Velocity Observer function ..................................................................................................... 79
5-2-10 Disturbance observer function ..................................................................................................................... 81
5-2-11 3rd gain switching function ......................................................................................................................... 83
5-2-12 Friction torque compensation ...................................................................................................................... 84
5-2-13 Hybrid vibration damping function (Not supported) .............................................................................. 86
5-2-14 2-stage torque filter ...................................................................................................................................... 87
Application .............................................................................................................................................................. 88
6-1 Torque limit switching function .......................................................................................................................... 89
6-2 Motor working range setup function ................................................................................................................... 90
6-3 Deceleration stop sequence ................................................................................................................................. 92
6-3-1 Sequence upon inputting of over-travel inhibition (POT, NOT) (under review) ........................................... 92
6-3-2 Sequence at Servo-Off ................................................................................................................................... 94
6-3-3 Sequence at main power OFF ........................................................................................................................ 95
6-3-4 Sequence at alarm .......................................................................................................................................... 97
6-3-5 Emergency stop upon occurrence of alarm .................................................................................................... 98
6-4 Torque saturation protection function ............................................................................................................... 100
Protective function/Warning function ................................................................................................................ 101
7-1 List of protective function ................................................................................................................................. 102
7-2 Details of Protective function ............................................................................................................................ 105
7-3 Warning function .............................................................................................................................................. 116
7-4 Setup of gain pre-adjustment protection ........................................................................................................... 119
Safety function [Supported only by specific model] .......................................................................................... 121
8-1 Outline description of safe torque off (STO) .................................................................................................... 122
8-2 Specifications of Input & output signals ........................................................................................................... 123
8-2-1 Safety input/ signal ...................................................................................................................................... 123
8-2-2 External device monitor (EDM) output signal ............................................................................................. 124
8-2-3 Internal signal circuit block diagram ........................................................................................................... 124
8-3 Detailed functional description ......................................................................................................................... 125
8-3-1 Operating timing for safety status ................................................................................................................ 125
8-3-2 Return timing from safety state .................................................................................................................... 126
8-4 Example of connection ...................................................................................................................................... 127
8-4-1 Example of connection to safety switch ...................................................................................................... 127
8-4-2 Example of connection to safety sensor ....................................................................................................... 127
8-4-3 Example of connection to safety controller ................................................................................................. 128
8-4-4 Example of connection when using multiple axes ....................................................................................... 129
8-5 Safety precautions ............................................................................................................................................. 130
R1.05
Motor Business Division, Appliances Company, Panasonic Corporation
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