Control Block Diagram Of Torque Control Mode - Panasonic minas a4 series Instruction Manual

Control Block Diagram of Torque Control Mode

• when Pr5B (Torque command selection) is 0
Analog Input setup
torque
command
Gain Pr5C
16bitA/D
SPR/
Reversal Pr5D
TRQR
Offset Pr52
Filter Pr57
Division
Numerator Pr44
Feedback pulses
Denominator Pr45
OA/OB/OZ
Selection Pr46
• when Pr5B (Torque command selection) is 1
Analog
torque
Input setup
command
16bitA/D
Gain Pr5C
CCWTL/
TRQR
Reversal Pr5D
Analog
velocity
Input setup
command
16bitA/D
Gain Pr50
SPR/SPL
Offset Pr52
Filter Pr57
Division
Numerator Pr44
Feedback pulses
OA/OB/OZ Denominator Pr45
Selection Pr46
160
Absolute value(magnitude)
Command speed monitor
Multiplication
+
Sign(±)
–
Internal velocity limit
4th speed Pr56
Velocity
detection filter
1st Pr13
2nd Pr1B
Speed detection
Absolute value
(magnitude)
Command speed monitor
Multiplication
+
Sign(±)
–
Absolute value
(magnitude)
Velocity
detection filter
1st Pr13
2nd Pr1B
Speed detection
Velocity control
Notch filter
1st
Pr11 Torque
1st frequency
proportion
limit
1st
Pr12
1st width
integration
2nd
Pr19
2nd frequency
proportion
2nd
Pr1A
2nd width
integration
Inertia ratio Pr20
2nd depth
Monitor of actual speed
Encoder reception
processing
Velocity control Notch filter
1st
Pr11 Torque 1st frequency
proportion
limit
1st
Pr12 1st width
integration
2nd
Pr19 2nd frequency
proportion
2nd
Pr1A 2nd width
integration
Inertia ratio
Pr20 2nd depth
Monitor of actual speed
Encoder reception
processing
Torque command monitor
Torque filter
Pr14
Pr1D 1st time const.
Pr1C
Pr1E 2nd time const.
1st limit Pr5E
Pr28
2nd limit Pr5F
Pr29
Pr2A
Encoder
Serial
communication
data
Torque command monitor
Torque filter
Pr1D 1st time const. Pr14
Pr1E 2nd time const. Pr1C
Pr28 1st limit Pr5E
Pr29 2nd limit Pr5F
Pr2A
Encoder
Serial
communication
data
Motor
Motor