Panasonic A4P Series User Manual

224

 • when Pr02 (Setup of control mode) is  0

Point

command

Position

command

Positional deviation 

monitor

Actual speed monitor

Command speed 

monitor

Feedback pulses

Serial communication 

data

OA/OB/OZ

Damping control

Pr2B

1st 

frequency

Pr2C

1st filter

Pr2D

2nd 

frequency

Pr2E

2nd filter

V

elocity control

Pr1

1

1st  proportion

Pr12

1st  integration

Pr19

2nd  proportion

Pr1A

2nd  integration

Pr20

Inertia ratio

Notch filter

Pr1D

1st  frequency

Pr1E

1st width

Pr28

2nd  frequency

Pr29

2nd width

Pr2A

2nd depth

Pr2F

Adaptation

T

orque filter

Motor

T

orque command monitor

Pr14

1st time 

constant

Pr1C

2nd time 

constant

Pr5E

1st limit

Pr5F

2nd limit

Pr4D

A

verage  

travel times

Primary delay 

smoothing

Pr4C

Selection

Division

Pr44

Numerator

Pr45

Denominator

Pr46

Selection

V

elocity feed 

forward

Pr15

Gain

Pr16

Filter

Speed detection 

filter

Pr13

1st

Pr1B

2nd

Speed detection

Encoder reception 

processing

Position control

Pr10

1st

+

++

–

+

–

Pr18

2nd

Encoder

FIR smoothing