Panasonic MINAS A6 Multi Series Technical Reference page 112

Auto Tuning Functions
5.2.2 Block diagram of velocity control mode
Velocity control of MINAS A6 Multi series, there are two modes.
 Profile velocity mode (pv)
 Cyclic synchronous velocity mode (csv)
 Block diagram of velocity control
*1 A slanting number shows (ex: 607Ah) the object number of EtherCAT.
*2 A bold letter number shows (ex:1.00) a parameter number.
*3 Polarity was omitted.
*4 When performing Frequency characteristic measurement (speed close loop characteristic, Torque speed [Vertical]) from the
PANATERM for Multi, the driver switches to velocity control mode internally.
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