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

5-2-1 Block diagram of position control mode

Position control of MINAS-A5BL series, there are four modes.
・
Profile position mode
・
Cyclic synchronous position mode
・Interpolated position mode (ip) (Not supported)
・Homing mode (hm)
*csp only
60B0h
Position offset
[command]
＋
＋
Trajectory
generator
607Ah
Target position
[command]
6064h
Position actual value
[command]
60BAh～60BDh
Touch probe
position value
[command]
Electronic gear
reverse conversion
60B2h
Torque offset
[0.1%]
Velocity FF unit
conversion
60B1h
＋
Velocity offset
[command/s]
－
606Ch
Velocity actual value
[command/s]
Velocity unit
conversion
6063h
Position actual
internal value
[pulse]
Input setting
Type
Reversed
Z phase
invalid
*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.
*4) The calculation method for positional deviation on PANATERM (reference) varies depending on the setting of
command position deviation output switching (bit 14) of 3723h (Communication function Extended setup 2).
R1.00
(pp)
(csp)
6062h
Position demand value
(before filter)
[command]
Electronic gear
positive conversion
60FCh
Position demand
internal value
[pulse]
＋
－
60F4h
Following error
actual value
[command]
－
Velocity
feed forward
1.10
Gain
1.11
Filter
＋
Position control
＋
1.00
1st
＋
1.05
2nd
Command positional
deviation *4
[pulse]
Positional deviation
Velocity control
[pulse]
command
[r/min]
Motor velocity
Sum of feedback pulses
[r/min]
[pulse]
3.23
Moter
エンコーダ
feedback
3.26
scale
Motor specification
3.27
Type
9.00
selection
Scale specification
Magnetic
9.02
pole pitch
9.01
Resolution
Number of
9.03
pole pairs
Maximum
9.10
speed
9.04
Weight
Rated
9.05
thrust
Block diagram of position control
Positional command
speed [r/min]
Damping control
Switching selection
Smoothing
Frequency
filter
2.14
1st
2.23
FIR
2.16
2nd
Primary
2.22
delay
2.18
3rd
2.20
4th
command position
CMD_POS
Internal command
[pulse]
position (after filter)
MPOS[pulse]
Command positional
deviation *4
Internal positional
[pulse]
command speed
＋
[r/min]
Torque feed
forward
1.12
Gain
＋
1.13
Filter
Velocity control
Proportion Integration
＋
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
response
9.13
Proportion
Rated
9.14
Integration
9.06
current
Maximum
9.07
current
Phase
9.08
CS signal
inductance
Phase
9.09
resistance
Maximum
9.10
speed
No. SX-DSV02829 -
Data of Analog Monitor and Panaterm
Data of CiA402 object
2.13
Filter Depth
2.15 Gain switching
6.41
1.14
2nd setup
2.17
1.15
Mode
2.19
1.16
Delay time
2.21
1.17
Level
1.18
Hysteresis
Switching
1.19
time
Friction
compensation
＋
Additional
6.07
value
Positive
6.08
direction
＋
Negative
6.09
direction
＋ Frequency
＋
1.02 2.01
1st
＋
1.07
2.04
2nd
＋ ＋
0.04 2.07
3rd
2.10
4th
Adaptive mo de
1st
Disturbance
observer
2nd
6.23
Gain
2 stages
6.24
Filter
Magnetic pole
9.20
Selection
detected
9.21
CS phase
1st
Pole position
2nd
estimation
relationship
MAX
9.22–9.28
Main power
supply
Torque command
TRQ
[0.1%]
Motor Business Unit, Panasonic Corporation
93-
6.05
3rd setup
6.06
Scale factor
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％]