Panasonic IMC80A specifications Control Block, Diagram

Control Block Diagram

Control Block

Command Dividing/

Multiplier

Velocity Feed	Feed Forward
Forward		Filter
Pr15		Pr16

P

S

: Servo Gain/Filter Time Constant Related Block

: Position Control Mode Select with	Pr02	Selection of Control Mode
: Internal Velocity
Control Mode

Diagram

						Pr46		Numerator
Pulse Row	Input Mode							Scale
			PANATERM	FIR Filter				Pr4A
Command		Setting	Monitor		Numerator
								2
PULS			Total of
		Pr42	Command	Pr4E		Denominator
SIGN			ulses
							Pr4B

205

Smoothing			Waveform	Vibration Damping
	Filter		Graphic	Filter
			Command	Frequency Pr2B
	Pr4C		Speed
				Setting of Filter Pr2C
			PANATERM
		Position Control Mode

Speed Setting Internal/

External Switching

		Position
		Error				Speed Error
+ Deviation	Waveform	Driver	+	P	Pr02	Driver
		1st				1st Speed	Pr11
Counter	Graphic	Position			+	1st
	Position		+				Pr12
		Pr10				ntegration
-	Deviation					2nd
		2nd			-		Pr19
	PANATERM					Speed
		Position		S		2nd	Pr1A
Position Control Mode		Pr18				ntegration
						Inertia Ratio Pr20
					Speed Detection
					Filter

Notch Filter			Torque		Torque Limit		Waveform Graphic	Torque
		Command Filter						Command
Frequency	Pr1D	1st		Pr14			Torque Command
					1st	Pr5E
Width	Pr1E	2nd		Pr1C	2nd	Pr71	PANATERM

Feedback Pulse (OA•OB)

Feedback Pulse (OZ•CZ)

		Between Acceleration and Deceleration			1st	Pr13
Internal 1st	Pr53				2nd	Pr1B
Speed		Acceleration
Internal 2nd	Pr54		Pr58	Waveform Graphic
		Deceleration	Pr59
Speed				Command Speed
Internal 3rd	Pr55			PANATERM	Waveform Graphic		PANATERM
Speed					Actual Speed
				Velocity Control Mode
Internal 4th
	Pr56
Speed
						Speed
						Detection
									Encoder Signal
							PANATERM Monitor	4 times	(Phases A/B)
							Feedback Pulse	Multiplier
	Dividing	Pr44							Encoder Signal (Phase Z)
	Inversion Pr45

[Reference]

Reference