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12. Control block diagram
12-1. Position control block diagram
When control mode
Position
command
FIR
Point command
smoothing
RS485
communication
Number of
times in
Pr.4D
moving
average
Primary delay
smoothing
Pr.4C
Selection
Division
Pr.44
Numerator
Feedback
pulse
Pr.45
Denominator
OA／OB／OZ
Pr.46
Selection
A4P
Pr.02
is
0
.
Speed feed
forword
Vibration
suppression control
Pr.15
Pr.2B
Gain
1st frequency
Pr.16
Pr.2C
Filter
1st filter
Pr.2D
2nd frequency
Position control
Pr.2E
2nd filter
＋
Pr.10
1st
−
Pr.18
2nd
Position
deviation monitor
Command
speed monitor
MOTOR COMPANY, MATSUSHITA ELECTRIC INDUSTRIAL CO., LTD
＋
Speed control
＋
＋
Pr.11
1st ratio
1st frequency
1st
Pr.12
−
integration
1st width
Pr.19
2nd ratio
2nd frequency
2nd
Pr.1A
integration
2nd width
Pr.20
Inertia ratio
2nd depth
Speed
Adaptation
detection filter
第１
Pr.13
1st
第２
Pr.1B
2nd
Actual speed
monitor
Speed detection
No. SR-DSV09485
Torque command
monitor
Notch filter
Torque filter
1st time
Pr.1D
Pr.14
Motor
constant
2nd time
Pr.1E
Pr.1C
constant
Pr.28
Pr.5E
1st limit
Pr.29
Pr.5F
2nd limit
Pr.2A
Pr.2F
Encoder
Serial
communication
data
Encoder receive
processing
- 115 -
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