Velocity Control Mode (Two-Degree-Of-Freedom Control Noneffective) - Panasonic MINAS A6 Series Operating Instructions Manual

3
Connection
Al1 input voltage
[Ｖ]
Analog
input 1
Analog input
16bit A/D
AI1
4.22
Offset
4.23
Filter
Velocity command
Internal/External
switching
Direction
selection
Internal velocity setup
3.04 3.08
1st 5th
3.05 3.09
2nd 6th
3.06 3.10
3rd 7th
3.07 3.11
4th 8th
Pulse
regeneration
One
0.11
revolution
0.12
Reversal
Pulses
output
Numerator/
Denominator
OA
Denomi-
OB
5.03
nator
OZ
Related page
• P.3-21 "Wiring example of velocity control mode"
• P.3-23 "Connecting example to host controller"
• P.3-33 "Inputs and outputs on connector X4" • P.4-2 "List of Parameters"
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3-16
2. Control Block Diagram
Velocity Control Mode
Scaling
3.02
Gain
3.03
Reversal
Velocity control
command [r/min]
Acceleration/
selection Deceleration limit
Accelera-
3.12
tion
3.00
Decelera-
3.13
tion
3.01
3.14
Sigmoid
Sum of
Motor speed
feedback pulses
[r/min]
[Encoder pulse]
Motor
Encoder
Load
Internal speed
(2DOF control noneffective)
command
Torque
feed forward
1.12
Gain
1.13
Filter
Velocity control
Propor- Integra-
tion tion
1.01 1.02
1st
＋
1.06 1.07
2nd
－
0.04
Inertia ratio
Function
6.10
expansion
6.13
2nd inertia ratio
Velocity
detection filter
1.03
1st
1.08
2nd
Velocity detection
Selection
Current control
Response
6.11
1st
setup
2nd
Torque command
[％]
Main
power
supply
Analog
SE SG SF SE SG SF
input
○ ○ ○
Gain switching
2nd
1.14
setup
1.20
Mode
Delay
1.21
time
1.22
Level
1.23
Hysteresis
Friction
compensation
Additional
6.07
value
Torque filter
＋
＋ ＋
1st
＋
2nd
Two-stage
torque filter
Time
constant
Damping
term
Load fluctuant restrain function
Compens-
6.23
1st frequence
ation gain
Compens-
6.24
2nd frequence
ation filter
Designate
6.73 Times
filter
Notch filter
Frequency Depth
Torque limit
2.01 2.02
1st
5.21
2.04 2.05
2nd
0.13
2.07 2.08
3rd
5.22
2.10 2.11
4th
2.24 2.25
5th
Adaptive
2.00
mode setup
○
1.04
1.09
6.42
6.43
6.74
6.75
6.76
Width
2.03
2.06
2.09
2.12
2.26