Sanyo Denki Sanmotion R 3E S, Instruction Manual, Page: 259 / 514

5.9 Control block diagram
5-136
Analog monitor output 2
Position command
pulse frequency monitor 1
Position command pulse frequency monitor 2
(Analog monitor)
[FF Vibration
suppression
control]
＋
－
[Position controller]
Velocity command monitor
[Velocity controller]
Torque command monitor Torque monitor
for Incremental encoder
A/B-phase signal
Z-phase signal
Each of monitors
[Machine model]
Analog monitor output 1
＋
－
＋
－
＋
－
＋
－
＋
＋
for Absolute encoder
[Model velocity control]
[Model following control] [Posiotion command input process]
[Position control]
[Torque control] [Velocity control]
[Model velocity feed forward]
Each of monitors
Using Model following control
Position
command
pulse
PCFIL
[G1-01]
MTFFD
[G3-03]
MFFGN
[G3-02]
TRCPGN
[G1-04]
Pos
iti
on
dev
ia
tion c
o
unt
er
KM1
[G3-00]
MZETA
[G3-01]
TLSEL
[G8-36]
TCLM-F
[G8-37]
TCLM-R
[G8-38]
TCFIL1
[G1-20]
PMOD
[G8-10]
PCPPOL
[G8-11]
PCPFIL
[G8-12]
SUPFRQA1
[G2-00]
SUPLVA
[G2-01]
SUPFRQB1
[G2-02]
SUPCRB
[G2-03]
Position
deviation
monitor
Torque
command
notch filter
TCFIL1
[G1-20]
TCFILOR
[G1-21]
Torque
control
TCNFILC
[G2-24]
TCNFDC
[G2-25]
TCNFILD
[G2-26]
TCNFDD
[G2-27]
TCNFILA
[G2-20]
TCNFPA
[G2-21]
TCNFILB
[G2-22]
TCNFDB
[G2-23]
VDFIL
[G1-11]
OSSFIL
[G3-01]
ENRAT
[GC-04]
PULOUTRES
[GC-06]
MON1
[GA-11]
JRAT1
[G1-14]
MON2
[GA-12]
KP1
[G1-02]
TPI1
[G1-03]
PLPHLK
[G1-04]
PLPHLF
[G1-05]
VCNFIL
[G2-10]
VCFIL
[G1-10]
KVP1
[G1-12]
TVI1
[G1-13]
JRAT1
[G1-14]
VLPHLK
[G1-15]
VLPHLF
[G1-16]
HKVIK
[G1-17]
HKVIF
[G1-18]
T
LSEL
[G8-36]
TCLM-F
[G8-37]
TCLM-R
[G8-38]
B-GER1
[G8-13]
A-GER1
[G8-14]
Servo monitor
Motor encoder
Velocity
detection
MFFFIL
[G3-04]
Pos
iti
on
dev
ia
tion c
o
unt
er
FBHPLS
［ G2-60 ］
FBHTIM
［ G2-61 ］
[Velocity detection]
TCNFILE
[G2-28]
TCNFDE
[G2-29]
PCSMT
[G1-00]
Pos
iti
on
dev
ia
tion c
o
unt
er
Velocity monitor
4-multiplier
Torque command monitor
(before filter)