Sanyo SUPER BL P5 - Description of Parameters

7. EXPLANATION OF PARAMETERS
7-27
7.2 Description of Parameters
7.2.1 Block Diagram of Position Control Type Parameters
Fig. 7-15 Control System Block Diagram
1 Parts inside do not function in the velocity/torque control mode.
2 Parts inside do not function in the torque control mode.
3 Velocity addition input functions for the position control type only.
4 Torque compensation input functions for the position/velocity control type only.
5 Each low pass or notch filter is disabled at the setting of 1,000 Hz.
6 An external encoder can be connected on a fully closed servo system only.
If your system is not fully closed, set bits7 and 6 of MODE.2-1 and bit4 of MODE.2-6 to
zero.
7 The multiplication-by-4 function of the motor encoder applies only to INC-E and ABS-E .
For ABS-RII, multiplication by 1 applies.
External
encoder
SM
Encoder
＋
＋
＋
d
dt
MODE.1-14
Velocity
command
scale
MODE.0-10
Acceleration
time
MODE.0-11
Deceleration
time
MODE.1-15
Torque
command
scale
MODE.0-0
Position loop
gain
Current
MODE.0-5
Velocity
command
low pass filter
MODE.0-2
MODE.0-3
Velocity loop proportional
gain
Integra time constant
MODE.1-2
Electronic
gear
MODE.2-0
Pulse train
form
MODE.0-9
Position
command
low pass filter
MODE.0-6
Current command
low pass filter
i
MODE.0-7
Current command
notch filter 1
MODE.0-8
Current command
notch filter 2
Position loop encoder
selection
MODE.2-1 Bit.7
4
multiplier
4
multiplier
Full close encoder
multiplier switching
MODE.2-1 Bit.6
MODE.1-4
Output pulse
dividing
A,B
MODE.4-0
MODE.4-1
Monitor output selection 1
Monitor output selection 2
MON2
MON1
Position
command
pulse
Velocit
y
command
voltage
Torque
command
voltage
MODE.0-1
Feed forward
gain
MODE.0-4
Feed forward
low pass filter
＋
－
＋
＋
－
Velocity monito
r
Velocity command
monito
r
Current monitor
Current command
monitor
Position excessive
monitor
Each monito
r
＋
＋
Velocity addition
input
MODE.2-2 Bit.7
Divided output
signal switching
MODE.2-6 Bit.4
Torque compensation
input
MODE.2-2 Bit.6
3
4
1
2
MODE.1-8
～
10
Internal velocity
command
1 ～ 3
Velocity command
selection
MODE.2-4
Bit.3
･
2
･
1
･
0
C
６
６
６
６
７