Block Diagram Of Velocity Control Mode - Panasonic MINAS-A5BL Series Manual

5-2-2 Block diagram of velocity control mode

Velocity control of MINAS-A5BL series, there are two modes.
・Profile velocity mode (pv)
・Cyclic synchronous velocity mode (csv)
60B2h
Torque offset
[0.1%]
60B1h
Velocity offset
[command/s]
60FFh
Target velocity
[command/s]
＋
＋
606Ch
Velocity actual value
[command/s]
6064h
Position actual value
[command]
Electronic gear
reverse
conversion
60BAh or 60BCh
Touch probe
position value
[command]
*1) A slanting number (Example：6072h) shows the object number of EtherCAT.
*2) A bold letter number(Example：1.01) shows a parameter number.
*3) Polarity was omitted.
R1.00
Speed unit
conversion
Velocity control command
[r/min]
Acceleration/
Deceleration limit
Accelera -
3.12
tion
Decelera -
3.13
tion
3.14
Sigmoid
6063h
Position actual
internal value
[Feedback Scale pulse]
Sum of feedback pulses
[Feedback Scale pulse]
Motor velocity
[r/min]
Input setting
3.23
Type
エンコーダ
feedback
3.26
Reversed
scale
Z phase
3.27
invalid
Scale specification
9.01
Resolution
Maximum
9.10
speed
Block diagram of velocity control
Torque feed
forward
1.12
Gain
1.13
Filter
Velocity control
Proportional
＋
1.01
1st
1.06
2nd
－
Inertia ratio
Velocity detection
filter
1.03
1st
1.08
2nd
Instantaneous
6.10
speed
Velocity
detection
Current control
Carrier
9.11
selection
Current
9.12
Moter
response
9.13
Proportion
Motor specification
Type Rated
9.14
9.00 9.06 Integration
selection
current
Magnetic
Maximum
9.02
9.07
pole pitch current
Phase
Number of
9.08
9.03
CS signal
pole pairs inductance
Phase
9.04 9.09
Weight
resistance
Rated Maximum
9.05 9.10
thrust speed
No. SX-DSV02829 -
Data of Analog Monitor and Panaterm
Data of CiA402 object
2nd setup
Mode
Delay time
Level
Hysteresis
Friction
＋
compensation
Additional
6.07
value
＋
Integral ＋ Frequency
＋
1.02
2.01
1st
＋
1.07
2.04
2nd
＋ ＋
0.04 2.07
3rd
2.10
4th
Adaptive mode
setup
Disturbance
observer
1st
6.23
Gain
2nd
6.24
Filter
2 stages
Magnetic pole
9.20
Selection
detected
9.21
CS phase
1st
Pole position
2nd
estimation
relationship
9.22–9.28 MAX
Main power
supply
Torque command
TRQ
[0.1%]
Motor Business Unit, Panasonic Corporation
94-
Gain switching
1.14
1.20
1.21
1.22
1.23
Notch filter
Width Depth
2.02 2.03
2.05 2.06
2.08 2.09
2.11 2.12
2.00
Torque filter
1.04
1.09
At tenuation
term
6.42 6.43
Torque limit
5.21
0.13
5.22
6072
6074h
Torque demand
[0.1％]