5-3
5-1 Position Control
Ope
rati
n
g Func
tions
5
Parameter Block Diagram for Position Control Mode
Vibration Filter
Pn02B:
Frequency 1
Pn02C:
Filter 1
Pn02D:
Frequency 2
Pn02E:
Filter 2
Speed Command
Monitor
Position Deviation
[PERR]
Speed Monitor SP
Deviation
Monitor
Torque Monitor IM
Speed
PI Processor
Pn011:
Speed Gain 1
Pn012:
Integration
Time Constant 1
Pn019:
Speed Gain 2
Pn01A:
Integration
Time Constant 2
Pn020:
Inertia Ratio
Speed Detection Filter
Pn013: Filter 1
Pn01B: Filter 2
Torque Limit PCL/NCL
Torque
PI
Processor
Current Feedback
*1
SM
RE
Receive
Encoder
Signal
+
−
+
+
+
+
−
−
Electronic
Gear
Pn205:
Numerator
Pn206:
Denominator
Pn10E:
Moving
Average
Speed FF
Pn015:
FF Amount
Pn016:
Time
Constant
Deviation
Counter
Pn010: No.1
Pn018: No.2
Notch Filter
Pn01D: Filter 1 Frequency
Pn01E: Filter 1 Width
Pn028: Filter 2 Frequency
Pn029: Filter 2 Width
Pn02A: Filter 2 Depth
Pn02F: Adaptive Filter
Torque Command Filter
Pn014: Filter
Pn01C: Filter 2
Torque Limit
Pn003: Selection
Pn05E: No.1 Torque Limit
Pn05F: No.2 Torque Limit
*1
Generate
Position
Command
Target
Position
[TPOS]
Target
Speed
[TSPD]
Command
Position
[IPOS]
Command
Speed
[CSPD]
Command
Position
[POS,
MPOS]
Speed
Command
Speed FF
[VFF]
Torque
Command
TRQ [%]
Feedback
Position
[AOPS/
LPOS]
MECHATRO
LINK-II
MECHATRO
LINK-II
Feedback Speed
[FSPD]
Torque Command [TRQ]