Panasonic MINAS A6 Series - Control Block Diagram; Position Control Mode (Two-Degree-Of-Freedom Control Noneffective)

3-14
3
2. Control Block Diagram
Connection
Position Control Mode (Two-degree-of-freedom control noneffective)
Pulse train
PULS
SIGN
Input setup
Sum of command pulses
[Command unit]
0.05
Input
selection
0.06
Direction
setup
0.07Mode
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
2.24 2.25 2.265th
Adaptive
mode setup
Velocity control
1.011st
Propor-
tion
Integra-
tion
1.06
1.02
1.072nd
0.04
6.10
Inertia ratio
Function
expansion
6.132nd inertia ratio
Damping control
2.141st
2.13
Switching
selection
Frequency Filter
2.16
2.18
2.20
2.15
2.172nd
2.19
2.21
Depth
6.41
6.60
6.71
6.72
Width
2.27
2.28
2.29
2.30
3rd
4th
Smoothing
filter
Electric gear
0.08
One
revolu-
tion
0.09
1st
numerator
0.10 Denominator
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
5.00
2nd
numerator
5.01
3rd
numerator
2.22
FIR
2.23
Primary
delay
Motor
Load
Main
power
supply
Encoder
Velocity
feed forward
1.10Gain
1.11Filter
Torque
feed forward
1.12Gain
1.13Filter
Position control
1.001st
1.052nd
Current control
Speed detection
Torque filter
1.041st
1.092nd
Load fluctuant restrain function
6.23
Compens-
ation gain
6.24
Compens-
ation filter
6.73
Designate
filter
6.74 1st frequence
6.75 2nd frequence
6.76
Times
Speed detection
filter
1.031st
1.082nd
Torque limit
5.21 Selection
0.131st
5.222nd
5.02
4th
numerator
Command positional deviation
[Command unit]
Encoder
positional deviation
[Encoder pulse]
velocity control
command [r/min]
Two-stage
torque filter
6.42
Time
constant
6.43
Damping
term
Torque command
[％]
＋
－
＋
－
＋
＋
＋
＋
＋
＋
＋
－
Sum of
feedback pulses
[Encoder pulse]
Motor speed
[r/min]
Inversion of
electric gear
Friction
compensation
6.07
6.08
6.09
additional
value
Positive
direction
Negative
direction
Positional command
speed [r/min]
Internal positional
command speed [r/min]
Pulse
regeneration
Pulses
output
OA
OB
OZ
Numerator/
Denominator
0.11
One
revolution
0.12
5.03
Reversal
Denomi-
nator
6.11
Response
setup
Related page
• P.3-21 “Wiring example of position control mode”
• P.3-23 “Connecting example to host controller”
• P.3-33 “Inputs and outputs on connector X4” • P.4-2 “List of Parameters”
SE SG SF
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