Torque control block diagram
command monitor
Motor | Encoder |
Torque
Torque
Notch filter Torque f ilter
limit
14Pr
1st timeconstant
1DPr 1st frequency
Pr1C | Pr5E |
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2ndtime constant | Limit |
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Pr1E | Pr28 | Pr29 | Pr2A |
1stwidth | 2nd frequency | 2nd width | 2nd depth |
Disturbance observer | Pr27 |
Filter |
Encored PS / PS signal receive processing
+ –
Command speed monitor
Absolute | (magnitude) |
control | Pr11 | Pr12 |
Speed | 1stratio | 1st differential |
Multiplication
+
–
Sign( ±)
Pr19 | Pr1A | Pr20 |
2ndratio | 2nd differential | Inertia ratio |
Speed detection filter
speedlimit | Pr56 |
Internal | 4th speed |
13 | 1B |
Pr | Pr |
1st | 2nd |
Speed detection
| setting |
| Pr5C |
| Pr5D | Pr52 |
| setting |
| Pr5C |
| Pr5D |
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| Inverse |
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| Inverse | |||
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or4 | Input | Gain |
| Offset | Whenpr02=5 | Input | Gain | |||||
2 |
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Whenpr02= | Analogtorque command | /SPR | TRQR |
| nalogAtorque command | /CWTLC | TRQR | |||||
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| 16bitA/D |
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| 10bitA/D |
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Division | 44PrDivision |
| Pr45 |
| Inverse | ||
| pulse | /OZ | |
| Feedback | OA/OB | |
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