3-19
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
Full-closed Control Mode
(Two-degree-of-freedom control noneffective)
External scale
Pulse
regeneration
0.11
Numera-
tor
5.03
Denomi-
nator
0.12Reversal
6.20
Z-phase
Width
6.21
Z-phase
setup
6.22
output
method
External scale
dividing
3.24
3.25
Motor
External scale
Encoder
Speed detection
Input setup
3.23Type
3.26Reversal
3.27
Ｚ-phase
invalid
Positional command
speed [r/min]
Internal positional
command speed [r/min]
＋
－
＋
－
＋
＋
＋
＋
＋－
＋
＋
＋
－
Hybrid
deviation
[Command unit]
External scale
Reverse dividing
3.25
Numera-
tor
3.24
Denomi-
nator
External
scale
pulse
output
EXA
EXB
EXZ
Torque command
[％]
Current control
velocity control
command [r/min]
Motor speed
[r/min]
Inversion of
electric gear
Command frequency division
mu tiple number
(electronic gear)
Inverse transform
Input setup
0.05
Input
selection
0.06
Direction
setup
0.07Mode
Electric gear
0.09
1st
numerator
0.10
Denominator
5.00
2nd
numerator
5.01
3rd
numerator
5.02
4th
numerator
Damping control
2.141st
2.13
Switching
selection
Frequency
Filter
2.16
2.18
2.20
2.15
2.172nd
2.19
2.21
3rd
4th
Smoothing
filter
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
2.22
FIR
2.23
Primary
delay
Friction
compensation
6.07
6.08
6.09
additional
value
Positive
direction
Negative
direction
Torque
feed forward
1.12Gain
1.13Filter
Velocity
feed forward
1.10Gain
1.11Filter
1.011st
1.06
1.02
1.072nd
0.04
6.10
Inertia ratio
6.132nd inertia ratio
Speed detection
filter
1.031st
1.082nd
Pulse
regeneration
Encoder
feedback
pulses
output
OA
OB
OZ
Numerator/
Denominator
0.11
One
revolution
0.12Reversal
5.03
Denomi-
nator
Main
power
supply
Torque filter
1.041st
1.092nd
Torque limit
5.21
Selection
0.131st
5.222nd
Position control
1.001st
1.052nd
Sum of command pulses
[Command unit]
Command positional deviation
[Command unit]
Sum of
feedback pulses
[External scale pulse]
Full-closed
deviation
[External scale pulse]
Numera-
tor
Denomi
nator
Velocity control
Propor-
tion
Integra-
tion
Function
expansion
Two-stage
torque filter
6.42
Time
constant
6.43
Damping
term
Load variation suppression
6.23
Compensation gain
6.24
6.73
Compensation filter
Estimate filter
6.23
Frequency 1
6.24
6.73
Frequency 2
Number of times
Depth
6.41
6.60
6.71
6.72
Width
2.27
2.28
2.29
2.30
Notch filter
2.011st
Frequency
Width
2.04
2.02
2.052nd
2.10 2.11
2.00
Depth
2.03
2.06
2.07 2.083rd 2.09
2.124th
Adaptive
mode setup
2.24 2.25 2.265th
6.11
Response
setup
SE SG SF
○
Related page
• P.3-22 “Wiring example of full-closed 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”
Buy: www.ValinOnline.com | Phone 844-385-3099 | Email: CustomerService@valin.com
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