Panasonic MINAS A6 Multi Series Technical Reference page 146

Auto Tuning Functions
Block diagram of the two-degrees-of-freedom control mode
(with velocity control)
Two-degree-of-freedom control mode (with velocity control) shall be as per the block diagram indicated
below.
 Two-degree-of-freedom control mode (with velocity control) block diagram
*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 module switches to velocity control mode internally.
5-62