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

No. SX-DSV02472 -62-
5-2-2 Block diagram of velocity control mode
Velocity control of MINAS-A5B series, there are two modes.
・Profile velocity mode (pv)
・Cyclic synchronous velocity mode (csv)
外部スケール
Current control
Response
setup
6.11
エンコーダ
モータ
Main
power
supply
Velocity
detection
Load
Encoder
Motor
＋
－
Friction
compensation
Additional
value
6.07
Disturbance
observer
Gain
6.23
Filter
6.24
Gain switching
2nd setup
1.14
Mode
1.20
Delay time
1.21
Level
1.22
Hysteresis
1.23
Torque feed
forward
Gain
1.12
Filter
1.13
＋
＋
＋
＋
＋
6063h
Position actual
internal value
[Encoder 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 mode
setup
2.00
Velocity control
1.02
1.07
Proportional
Integral
Inertia ratio
1st
1.01
2nd
1.06
0.04
Acceleration/
Deceleration limit
Accelera -
tion
3.12
Decelera -
tion
3.13
Sigmoid
3.14
Speed unit
conversion
60FFh <VREF, TSPD>
Target velocity
[command/s]
6074h
Torque demand
[0.1％]
6064h <APOS>
Position actual value
[command]
60BAh or 60BCh
<LPOS>
Touch probe
position value
[command]
606Ch <FSPD>
Velocity actual value
[command/s]
60B2h <TFF>
Torque offset
[0.1%]
＋
＋
60B1h <VFF>
Velocity offset
[command/s]
＋
＋
Torque limit
Selection
5.21
1st
0.13
2nd
5.22
MAX
6072
Electronic gear
reverse
conversion
Electronic gear
reverse
conversion
Velocity control command
[r/min]
Motor velocity
[r/min]
Torque command
TRQ
[0.1%]
Sum of feedback pulses
[Encoder pulse]
Torque filter
1st
1.04
2nd
1.09
2 stages
6.42
6.43
At tenuation
term
*1) The symbols in parentheses indicate the abbreviations in the servo amplifier.
*2) A slanting number shows the object number of EtherCAT.
*3) A bold letter number shows a parameter number.
Block diagram of velocity control
Monitor position of PANATERM
Monitor position of CiA402 object
R1.05
Motor Business Division, Appliances Company, Panasonic Corporation