Panasonic MINAS E-series - Manual (Page 205)

205
[Reference]
Reference
Control Block Diagram
Pulse Row Command PULS SIGN
Encoder Signal (Phases A/B)
Encoder Signal (Phase Z)
+
+
+
+
-
-
Input Mode
Setting
Frequency Pr2B Setting of Filter Pr2C
Smoothing
Filter Pr4C
FIR Filter
Pr4E
Pr18
1st
Position Pr10
Deviation Counter
2nd
Pr1B
1st
Pr13
Speed Detection
Filter
Width
Pr1E
Frequency
Pr1D
Pr02
Select with
Notch Filter
Pr5E
Torque Limit
PANATERM
Torque Command
Pr1C
1st
Pr71
2nd
Pr14
Torque
Command Filter
Selection of Control Mode
Velocity Feed
Forward Pr15
Feed Forward
Filter
Pr16
Pr42
Pr53 Pr54
Pr59 Pr58
Pr55 Pr56
Pr44
Internal 1st Speed
Speed Setting Internal/
External Switching
Between Acceleration and Deceleration
Dividing
Pr45
Inversion
4 times Multiplier
Speed
Detection
P
S P
:
Internal Velocity Control Mode
:
Position Control Mode
:
S
ervo Gain/Filter Time Constant Related Block
S
Pr02
Denominator
Pr46
Pr4B
Numerator
Scale Pr4A
Numerator
2
Command Dividing/
Multiplier
Acceleration Deceleration
Pr19 Pr1A Pr11 Pr12 Pr20
1st Speed 1st ntegration
Speed Error
Driver
PANATERM
Monitor Total of
Command
ulses
PANATERM Monitor
Feedback Pulse PANATERM
Waveform Graphic
Actual Speed
PANATERM
Velocity Control Mode
Waveform
Graphic
Command
Speed
Waveform
Graphic Position Deviation
PANATERM
Position Control Mode
Vibration Damping
Filter
PANATERM
Position Control Mode
Position
Error Driver
2nd
Position
Waveform Graphic Command Speed
2nd Speed 2nd ntegration Inertia Ratio
Internal 2nd Speed Internal 3rd Speed Internal 4th Speed
Waveform Graphic Torque Command
1st 2nd
Feedback Pulse (OA
•OB)
Feedback Pulse (OZ
•CZ)
Control Block Diagram