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

Block Diagram by Control Mode
Position Control Mode
• when Pr02 (Setup of control mode) is 0 ,
when Pr02 (Setup of control mode) is 3 and 1st control mode
when Pr02 (Setup of control mode) is 4 and 1st control mode
Pulse
Input setup FIR smoothing
train
Input
Pr40
selection
PULS
Average
SIGN
Pr41 Pr4D
Reversal
travel times
Mode Pr42
Division/
Primary delay
Multiplication
smoothing
1st
Pr48
numerator
Selection Pr4C
2nd
Pr49
numerator
Multiplier Pr4A
Denominator Pr4B
Division
Numerator Pr44
Feedback pulses
Denominator Pr45
OA/OB/OZ
Selection Pr46
Velocity Control Mode
• when Pr02 (Setup of control mode) is 1 ,
when Pr02 (Setup of control mode) is 3 and 2nd control mode
when Pr02 (Setup of control mode) is 5 and 1st control mode
Analog
velocity
Input setup
command
16bit A/D
Gain
SPR
Reversal
Offset
Filter
Internal velocity setup
1st speed Pr53 5th speed
2nd speed Pr54 6th speed
3rd speed Pr55 7th speed
4th speed Pr56 8th speed
Division
Numerator
Feedback pulses
Denominator
OA/OB/OZ
Selection
356
Velocity feed
forward
Damping control
1st
Gain
Pr2B
frequency
Filter
1st filter Pr2C
2nd
Pr2D
frequency
Position control
2nd filter Pr2E
+
1st
–
2nd
Positional deviation
monitor
Command speed
monitor
Command speed monitor
Command Acceleration/
selection Deceleration limit
Pr50
Selection Pr05 Acceleration
Pr51
Deceleration
Pr52
Sigmoid
Pr57
Pr74
Pr75
Pr76
Pr77
Pr44
Pr45
Pr46
Pr15
Pr16
+
Velocity control
1st
+ +
Pr11
proportion
Pr10
1st
Pr12
–
integration
Pr18
2nd
Pr19
proportion
2nd
Pr1A
integration
Inertia ratio Pr20
Speed detection
filter
1st Pr13
2nd Pr1B
Actual speed monitor
Speed detection
Velocity control
+
1st
Pr11
proportion
1st
–
Pr12
Pr58
integration
2nd
Pr19
Pr59
proportion
2nd
Pr1A
Pr5A
integration
Inertia ratio Pr20
Velocity
detection filter
1st Pr13
2nd Pr1B
Actual speed monitor
Velocity detection
Encoder reception
process
Torque command monitor
Notch filter Torque filter
1st
1st time
Pr1D Pr14
frequency
constant
2nd time
1st width Pr1E Pr1C
constant
2nd
Pr28 1st limit Pr5E
frequency
2nd width Pr29 2nd limit Pr5F
2nd depth Pr2A
Adaptation Pr2F
Serial communication
data
Encoder reception
processing
Torque command
Notch filter Torque filter
1st frequency Pr1D 1st time const. Pr14
1st width Pr1E 2nd time const. Pr1C
2nd frequency Pr28 1st limit Pr5E
2nd width Pr29 2nd limit Pr5F
2nd depth Pr2A
Adaptation Pr2F
Serial
communication
data
Motor
Encoder
Motor
Encoder