Panasonic MINAS A6 Multi Series Technical Reference page 6

5.2.2 Block diagram of velocity control mode ...................................................................... 5-28
5.2.3 Block diagram of torque control mode ........................................................................ 5-29
5.2.4 Block diagram of full-closed control mode .................................................................. 5-30
5.2.5 Gain switching function ............................................................................................... 5-31
5.2.6 Notch filter ................................................................................................................... 5-36
5.2.7 Damping control .......................................................................................................... 5-38
5.2.8 Model-type damping filter (Not supported) .................................................................. 5-43
5.2.9 Feed forward function ................................................................................................. 5-44
5.2.10 Load variation suppression function............................................................................ 5-48
5.2.11 3rd gain switching function .......................................................................................... 5-51
5.2.12 Friction torque compensation ...................................................................................... 5-52
5.2.13 Hybrid vibration damping function ............................................................................... 5-54
5.2.14 Two-stage torque filter ................................................................................................ 5-55
5.2.15 Quadrant projection suppression function .................................................................. 5-56
5.2.16 Two-degree-of-freedom control mode (with position control) ..................................... 5-58
5.2.17 Two-degree-of-freedom control mode (with velocity control) ...................................... 5-61
5.2.18 Two-degree-of-freedom control mode (with full-closed control) ................................. 5-63
5.2.19 Two-degree-of-freedom control mode (with torque control) ....................................... 5-66
5.2.20 High response current control ..................................................................................... 5-66
6. Application Functions ....................................................................... 6-1
6.1 Torque limit switching function .................................................................................. 6-2
6.2 Motor working range setup function .......................................................................... 6-3
6.3 Deceleration stop sequence ...................................................................................... 6-5
6.3.1 Sequence upon inputting of over-travel inhibition (POT, NOT) .................................... 6-5
6.3.2 Sequence at servo-off ................................................................................................... 6-7
6.3.3 Sequence at main power OFF ...................................................................................... 6-8
6.3.4 Sequence at alarm ........................................................................................................ 6-3
6.3.5 Emergency stop upon occurrence of alarm .................................................................. 6-4
6.3.6 Fall prevention function in the event of alarms/servo-ON ............................................. 6-6
6.3.6.1
6.3.6.2
6.3.7 Slow stop function ......................................................................................................... 6-8
6.4 Torque saturation protection function ...................................................................... 6-11
6.5 Position comparison output function ....................................................................... 6-12
6.6 Single-turn absolute function ................................................................................... 6-16
6.7 Infinitely rotation absolute function .......................................................................... 6-19
6.8 Deterioration diagnosis warning function ................................................................. 6-23
Fall prevention function in the event of alarms .................................................... 6-6
Fall prevention function in the event of servo-ON ................................................ 6-7
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