Table of Contents
3
Connection
Al1 input voltage
[ ]
Analog
input 1
Analog input
16bit A/D
AI1
Offset
Gain
Filter
Reversal
Velocity command
Internal/External
switching
Direction
selection
Internal velocity setup
1st
5th
2nd
6th
3rd
7th
4th
8th
Pulse
regeneration
One
revolution
Reversal
Pulses
output
Numerator/
Denominator
OA
Denomi-
OB
nator
OZ
Related page
• P.3-18 "Wiring example of velocity control mode"
2. Control Block Diagram
Velocity Control Mode
Scaling
Velocity control
command [r/min]
Acceleration/
selection
Deceleration limit
Accelera-
tion
Decelera-
tion
Sigmoid
Sum of
Motor speed
feedback pulses
[r/min]
[Encoder pulse]
Motor
Encoder
Load
Torque
feed forward
Gain
Filter
Velocity control
Propor-
Integra-
tion
tion
1st
2nd
Inertia ratio
Function
expansion
2nd inertia ratio
Velocity
detection filter
1st
2nd
Instantaneous
speed
Velocity detection
Current control
Response
setup
Main
power
supply
Gain switching
2nd
setup
Mode
Delay
time
Level
Hysteresis
Friction
compensation
additional
value
Positive
direction
Negative
direction
Notch filter
Frequency Depth
Width
1st
2nd
3rd
4th
Adaptive
mode setup
Disturbance
Torque filter
observer
Gain
1st
Filter
2nd
Torque limit
Selection
1st
2nd
Torque command
3-15
1
2
3
4
5
6
7
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