Panasonic MINAS E-series - Manual (Page 66)

66
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
1
1
Pr
1
2
Pr
1
3
Pr
1
4
Pr
2
B
P
r 2C
Pr
1
5
Pr
1
6
Pr46 Pr47 Pr4A Pr4B
Dividing Multiplier 1st 2nd Numerator Denominator
FIR Filter
P
r 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
PUL
S
SI
G
N
Inversed Mode Multiplier
Smoothing Filter
Pr
4
C
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]*: