Table of Contents
3
Connection
Sum of command pulses
[Command unit]
Pulse train
Input setup
PULS
One
Input
SIGN
revolu-
selection
tion
Direction
setup
Mode
Inversion of
electric gear
External scale
External
Pulse
scale
regeneration
pulse
output
Numera-
tor
EXA
Denomi-
EXB
nator
EXZ
Reversal
Z-phase
Width
Z-phase
setup
output
method
Pulse
regeneration
One
revolution
Reversal
Encoder
Pulses
Numerator/
Input setup
output
Denominator
OA
Denomi-
Type
OB
nator
OZ
Reversal
-phase
invalid
Related page
• P.3-19 "Wiring example of full-close control mode"
2. Control Block Diagram
Full-closed Control Mode
Positional command
speed [r/min]
Electric gear
1st
2nd
numerator
numerator
3rd
Denominator
numerator
4th
numerator
Command positional deviation
[Command unit]
Velocity
feed forward
Gain
Filter
Position control
1st
2nd
Full-closed
velocity control
deviation
command [r/min]
[External scale pulse]
Sum of
feedback pulses
[External scale pulse]
Motor speed
[r/min]
Hybrid
deviation
[Command unit]
Inversion of
External scale
electric gear
Reverse dividing
Numera-
tor
Denomi-
nator
Encoder
External scale
Smoothing
Damping control
filter
Switching
selection
Primary
delay
1st
2nd
3rd
4th
Torque
feed forward
Gain
Filter
Velocity control
Propor-
Integra-
tion
1st
2nd
Inertia ratio
Function
Speed detection
expansion
filter
2nd inertia ratio
1st
2nd
Instantaneous
speed
Speed detection
Current control
Motor
Response
setup
Main
power
supply
Internal positional
command speed [r/min]
External scale
dividing
Numera-
tor
Denomi-
nator
Gain switching
2nd
3rd
setup
setup
Frequency Filter
Scale
Mode
factor
Delay
time
Level
Hysteresis
Switching
time
Friction
compensation
additional
value
Positive
direction
Negative
direction
Notch filter
Frequency Depth
1st
tion
2nd
3rd
4th
Adaptive
mode setup
Disturbance
Torque filter
observer
Gain
1st
Filter
2nd
Torque limit
Selection
1st
2nd
Torque command
1
2
3
4
Width
5
6
7
3-17
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