NSK M-EGA-15A2301, User Manual, Page: 147 / 237

5.Operation Control block diagram/ using model control
5-82
[Feed forward control]
[オートチューニング]
Position command pulse frequency
monitor 1
Position command
pulse frequency
monitor 2
FF Vibration
control
＋
−
[Position
control]
Velocity
command
monitor
[Velocity
control]
Torque command monitor Torque monitor
[Acceleration feedback]
Velocity
monitor
A/B-phase
signal
Z-phase
signal
Monitors
[Machine
model]
Monitors
Analog monitor
output 2
Analog
monitor output
1
＋
−
＋
−
＋
−
＋
＋
＋
−
[Disturbance
observer]
Position
command
pulse
FFGN
[G1‑05]
TRCPGN
[G1‑04]
P
o
s
iti
on
de
v
ia
tion
c
o
un
te
r
KM1
[G3‑00]
Model
velocity
control
TLSEL
[G8‑36]
TCLM‑F
[G8‑37]
TCLM‑R
[G8‑38]
TUNMODE ATRES
[G0‑00] [G0‑02]
ATCHA ATSAVE
[G0‑01] [G0‑03]
PMOD
[G8‑10]
PCPP0L
[G8‑11]
PCPFIL
[G8‑12]
PCSMT
[G1‑00]
P
o
s
iti
on
de
v
ia
tion
c
o
un
te
r
P
o
s
iti
on
de
v
ia
tion
c
o
un
te
r
Position
deviation
monitor
VCNFIL
[G2‑10]
VCFIL
[G1‑10]
Torque
command
notch filter
Torque
control
TCNFILA
[G2‑20]
TCNFPA
[G2‑21]
TCNFILB
[G2‑22]
TCNFDB
[G2‑23]
OBCHA OBLPF
[G2‑30] [G2‑32]
OBG OBNFIL
[G2‑31] [G2‑33]
AFBK
[G1‑16]
AFBFIL
[G1‑17]
Velocity
detection
MON2
[GA‑12]
MON1
[GA‑11]
JRAT1
[G1‑14]
ANRFRQ1
[G3‑02]
RESFRQ1
[G3‑03]
B‑GER1
[G8‑13]
A‑GER1
[G8‑14]
VDFIL
[G1‑11]
OSSFIL
[G3‑01]
Encoder
Motor
KP1
[G1‑02]
TPI1
[G1‑03]
Velocity
detection
PCFIL
[G1‑01]
SUPFRQ1
[G2‑00]
SUPLV
[G2‑01]
TCFIL1
[G1‑20]
KVP1
[G1‑12]
TVI1
[G1‑13]
JRAT1
[G1‑14]
TLSEL
[G8‑36]
TCLM‑F
[G8‑37]
TCLM‑R
[G8‑38]
TCFIL1
[G1‑20]
TCFILOR
[G1‑21]
TCNFILC
[G2‑24]
TCNFDC
[G2‑25]
TCNFILD
[G2‑26]
TCNFDD
[G2‑27]
Using Model following vibration
suppressor control
[Used when
adjustment]
ENRAT
[GC‑04]
PULOUTRES
[GC‑06]
FFFIL
[G1‑06]