Panasonic MINAS A4P Series - Manual (Page 224)

224
Block Diagram by Control Mode
Position Control Mode
• when Pr02 (Setup of control mode) is 0
Point
command
Position
command
Positional deviation
monitor
Actual speed monitor
Command speed
monitor
Feedback pulses
Serial communication
data
OA/OB/OZ
Damping control
Pr2B
1st frequency
Pr2C
1st filter
Pr2D
2nd frequency
Pr2E
2nd filter
V
elocity control
Pr1
1
1st proportion
Pr12
1st integration
Pr19
2nd proportion
Pr1A
2nd integration
Pr20
Inertia ratio
Notch filter
Pr1D
1st frequency
Pr1E
1st width
Pr28
2nd frequency
Pr29
2nd width
Pr2A
2nd depth
Pr2F
Adaptation
T
orque filter
Motor
T
orque command monitor Pr14
1st time constant
Pr1C
2nd time constant
Pr5E
1st limit
Pr5F
2nd limit
Pr4D
A
verage
travel times Primary delay
smoothing
Pr4C
Selection
Division
Pr44
Numerator
Pr45
Denominator
Pr46
Selection
V
elocity feed
forward
Pr15
Gain
Pr16
Filter
Speed detection
filter
Pr13
1st
Pr1B
2nd Speed detection
Encoder reception
processing
Position control
Pr10
1st
+
++
–
+
–
Pr18
2nd
Encoder
FIR smoothing