Datasheet

№SR-ZSV00039 － 34 －
Motor Business Unit, Appliances Company, Panasonic Corporation
5－2－1 Block Diagram of Position Control Mode
LIQI series position control has a structure shown in the following block diagram.
Position control block diagram
Delay
Switching
time
Input configuration
Velocity
detection
Encoder Motor
Load
Current
control
Response
Torque limit
Select
1
2
Torque command
Main
power
Notch filter
Frequency Width Depth
Adaptive mode
1
2
3
4
1
2
Gain
Filter
Disturbance
observer
Torque filter
Gain switching
Second
gain
Mode
Level
Hysteresis
Third gain
Multi-
plication
Position command
speed
FIR
Smoothing
filter
First
order
Gain
Filter
Torque feed
forward
Friction compe
n-
sation
Addition
Positive
Negative
1
2
3
4
Filter
Cumulative co
m-
mand pulse [com-
mand unit]
Pulse train
Input
selection
Reference
direction
One
revolution
Command scaling (electronic gear)
Numerator
1
Numerator
2
Numerator
3
Numerator
4
Denominator
Mode
Command position
deviation
[command unit]
Command
scaling (elec-
tronic gear)
reverse conve
r-
Velocity feed
forward
Gain
Filter
Position
control
1
2
Position deviation
[encoder pulses]
Velocity control command
Cumulative
feedback pulse
[encoder pulses]
Motor speed
Velocity control
Proportional
1
2
Inertia ratio
Switching mode
Inertia ratio 2
1
2
Velocity
detection filter
Instantaneous
speed
Pulse output
Pulse regeneration
One
revolution
Reverse
Numerator/
denominator
Denominator
Anti-vibration control
Internal position
command speed
Switching
mode
Frequency