Panasonic MINAS-A5B Series - Block Diagram of Position Control Mode

No. SX-DSV02472 -61-
5-2-1 Block diagram of position control mode
Position control of MINAS-A5B series, there are four modes.
・
Profile position mode (pp)
・
Cyclic synchronous position mode (csp)
・Interpolated position mode (ip) (Not supported)
・Homing mode (hm)
外部スケール
Current control
Response
setup
6.11
エンコーダ
モータ
Main
power
supply
Velocity
feed forward
Gain
1.10
Filter
1.11
Smoothing
filter
FIR
2.23
Primary
delay
2.22
＋
－
Position control
1st
1.00
2nd
1.05
＋
＋
Damping control
1st
2.14
2nd
2.16
3rd
2.18
2.15
2.17
2.19
4th
2.20
2.21
Switching selection
2.13
Frequency
Filter
＋
－
Velocity detection
Friction
compensation
Additional
value
6.07
Positive
direction
6.08
Negative
direction
6.09
Disturbance
observer
Gain
6.23
Filter
6.24
Gain switching
2nd setup
1.14
Mode
1.15
Delay time
1.16
Level
1.17
Hysteresis
1.18
Switching
time
1.19
3rd setup
6.05
Scale factor
6.06
Torque limit
Selection
5.21
Torque feed
forward
Gain
1.12
Filter
1.13
6074h
Torque demand
[0.1％]
60F4h<PERR>
Following error
actual value
[command]
＋
＋
＋
＋
＋
6063h
Position actual
internal value
[pulse]
Velocity detection
filter
1st
1.03
2nd
1.08
Instantaneous
speed
6.10
Notch filter
2.03
2.06
2.09
2.12
Depth
2.02
2.05
2.08
2.11
Width
1st
2.01
2nd
2.04
3rd
2.07
4th
2.10
Frequency
Adaptive mo de
2.00
Velocity control
1.02
1.07
Proportion
Integration
Inertia ratio
1st
1.01
2nd
1.06
0.04
External load
Encoder
Motor
6064h <APOS>
Position actual value
[command]
60BAh～60BDh <LPOS>
Touch probe
position value
[command]
Trajectory
generator
606Ch <FSPD>
Velocity actual value
[command/s]
60B1h <VFF>
Velocity offset
[command/s]
＋
＋
Velocity FF unit
conversion
60FCh
Position demand
internal value
[pulse]
60B2h <TFF>
Torque offset
[0.1%]
＋
＋
MAX
6072
1st
0.13
2nd
5.22
Electronic gear
positive conversion
6062h <IPOS>
Position demand value
(before filter)
[command]
－
＋
607Ah
Target position
[command]
Electronic gear
reverse conversion
Positional command
speed [r/min]
command position
CMD_POS
[pulse]
Positional deviation
[pulse]
Velocity control
command
[r/min]
Motor velocity
[r/min]
Internal positional
command speed
[r/min]
Internal command
position (after filter)
MPOS[pulse]
＋
＋
60B0h
Position offset
[command]
*csp only
Command positional
deviation *4
[pulse]
Command positional
deviation *4
[pulse]
Sum of feedback pulses
[pulse]
Torque instruction
TRQ
[0.1%]
－
＋
6.
41
Depth
Torque filter
1st
1.04
2nd
1.09
2 stages
6.42
6.43
At tenuation
term
*1) The symbols in < > shows the abbreviations in servo amplifier.
*2) A slanting number shows the object number of EtherCAT.
*3) A bold letter number shows a parameter number.
Block diagram of position control
Monitor position of PANATERM
Monitor position of CiA402 object
R1.05
Motor Business Division, Appliances Company, Panasonic Corporation