Panasonic MINAS A6 Series - Velocity Control Mode (Two-Degree-Of-Freedom Control Effective)

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
Velocity Control Mode (2DOF control effective)
Analog input
Analog
input 1
16bit A/D
AI1
Al1 input voltage
[Ｖ]
Velocity control
command [r/min]
4.22Offset
4.23Filter
Scaling
3.02Gain
3.03Reversal
Gain switching
1.14
1.20
1.21
1.22
1.23
Internal velocity setup
3.041st
3.052nd
3.063rd
3.074th
3.107th
3.118th
3.085th
3.096th
Velocity command
selection
3.00
3.01
Current control
Velocity detection
Friction
compensation
6.07
Acceleration/
Deceleration limit
3.12
Accelera-
tion
3.13
Decelera-
tion
Internal/External
switching
Direction
selection
3.14Sigmoid
＋
－
＋
＋
＋
＋
Sum of
feedback pulses
[Encoder pulse]
Motor speed
[r/min]
1.12
1.13
2nd
setup
Mode
Delay
time
Level
Hysteresis
Additional
value
6.50
Gain
Torque
feed forward
Gain
Filter
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
Main
power
supply
Torque filter
1.041st
1.092nd
Torque limit
5.21 Selection
0.131st
5.222nd
Torque command
[％]
Motor
Load
Encoder
Pulse
regeneration
Pulses
output
OA
OB
OZ
Numerator/
Denominator
0.11
One
revolution
0.12Reversal
5.03
Denomi-
nator
Velocity
detection filter
1.031st
1.082nd
Velocity control
1.011st
1.06
1.02
1.072nd
0.04
6.10
Inertia ratio
6.13
2nd inertia
ratio
Propor-
tion
Integra-
tion
Function
expansion
Two-stage
torque filter
6.42
Time
constant
6.43
Damping
term
Command
response filter
2.22
Time
constant
Adjust filter
6.48
Time
constant
6.11
Response
setup
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
• P.3-21 “Wiring example of velocity 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
○ ○ ○
SE SG SF
○
Related page
Internal speed
command
Analog
input
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