Panasonic Minas E Series - Control Block Diagram in Position Control Mode

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Control Block Diagram in Position Control Mode
*1: This is valid only
when Pr42 =0 or 2.
Dividing
Torque Filter
Position Error
Driver
Notch Filter
Speed Error
Driver
Vibration Damping
Filter
Input Setting
Pr 1
0
Pr 11
Pr 1
2
Pr 1
3
Pr 14
Pr 2B
Pr 2C
Pr 15
Pr 16
Pr46
Pr47
Pr4A
Pr4B
Dividing Multiplier
1st
2nd
Numerator
Denominator
FIR Filter
Pr 4E
Pr 1
8
Pr 1
9
Pr 1
A
Pr 1
B
Pr 1
C
Pr 1
D
Pr 1
E
Pr 2
0
Pr 4
0
Pr 4
1
Pr 4
2
Pr 4
4
Pr 4
5
Pulse Row
PULS
SIGN
Inversed
Mode
Multiplier
Smoothing
Filter
Pr 4C
Position Deviation
Monitor
2nd
1st
1st
Proportion
1st
Integration
Inertia ratio
1st
Frequency
1st Width
1st Time
Constant
2nd Time
Constant
Inverted
Dividing
Speed Detection
Filter
Limit
Pr 5
E
Motor
Encoder
Torque Command
Monitor
Speed
Detected
*1
Command
Speed Monitor
Velocity Feed
Forward
2nd
Proportion
2nd
Integration
2nd
1st
Real Speed
Monitor
Feedback Pulse
Encoder
Reception
Operation
OA/OB/OZ
When Pr02, parameter for setting control mode is [0] or [2]*:
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