User`s manual

Parameter description
6
6-84
6. Parameter description
6.4 Control block diagram and monitors
The following is the control block diagram for the robot driver, showing the relation
among parameters, input terminals, and monitors.
Electronic
gear
numerator/
denominator
FA-11
s&R
s03
s!B
sR&
s03
sB!
Position
COMMANDFILTER
TIMECONSTANT
3PEED
command
monitor
0ULSETRAIN
INPUTMODE
d-07
$IFFER
ential
+PF
d-00
3PEED
COMMAND
limiter
0OSITIONCONTROL
d-09
0OSITIONCOMMAND
monitor
FA-20
sNON
3PEEDLIMIT
mode
FA-00
s03
Position
control
d-08
0RESENT
POSITION
monitor
Position
detection
3PEED
detection
d-01
0OSITIONFEED
FORWARDGAIN
%LECTRONICGEAR
numerator
FA-12
FA-13
%LECTRONICGEAR
denominator

Position
error
monitor
3PEED
detection
value
monitor
+PP
Fd-07
0OSITIONPHASE
COMPENSATING
ratio
Fd-08
0OSITIONPHASE
COMPENSATING
TIMECONSTANT
0HASE
COMPEN
sation
0ARAMETER.O
)NPUTTERMINAL
-ONITOR.O
Fd-20
3PEED
COMMANDFILTER
TIMECONSTANT
3PEED
COMMAND
FILTER
&IRSTORDER
lag
Fd-09
0OSITIONCONTROL
CUTOFF
FREQUENCY
Fd-32
3ECONDPOSITION
CONTROL CUTOFF
FREQUENCY
Fd-33
$IFFER
ential
Fd-36
Position
error
FILTER
Firstorder
lag
EGR2
FC-19
#OMMANDPULSE
FILTERTIME
constant
FA-81
0OSITIONSENSOR
selection
FA-82
0OSITIONSENSOR
resolution
Fd-10
0OSITIONGAIN
CHANGETIME
constant