Mitsubishi Electric FR-E700EX Instruction Manual page 91

(2) Control block diagram
Speed command
∗2
created
Point
RH signal
table
RM signal
RL signal
selection
Travel
distance
created
Target position
Position command
[Before electronic gear]
[Before
electronic gear]
∗1 The data can be measured by
a graph in FR Configurator.
∗2 The PU operation mode cannot
be selected under position control.
Current position
[Before electronic gear]
Indication category of position data
[Before electronic gear] [After electronic gear]
Ideal speed command
Position command
Electronic gear
[After electronic gear]
Pr.420
Pr.421
+ +
Droop pulse
∗1
- -
[Before
electronic gear]
Current position
∗1 -1
[After electronic gear]
Electronic gear
Pr.421
Pr.420
Position feed
forward gain
Pr.423
∗1
Model position
control gain
Pr.446
+
-
Model position
Droop pulse
[After electronic
∗1
gear]
Integral
Pr.877
= 1
Pr.877
= 2
= 0, 1
Speed
Position control
command
∗1
gain Pr.422
+ +
+
-
Integral
Position control
Model adaptive speed control (Pr.877 = 2)
Model speed
Model speed
control gain
calculation
Pr.828
+ 1
J s
-
Load inertia ratio
Pr.880
J
Torque
Model speed
coefficient
0
Speed feed forward
2 0
gain Pr.881
0
Pr.877
2 0
=1
Speed control P gain
Pr.820
+
+
Torque
+ -
control
Speed control
+
integral time Pr.821
+
Integral
+
Speed control
D gain Pr.698
Differential
Rotation
speed
Motor
∗1
4
89