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Control block diagram of velocity control mode
SPR
Acceleration/
Deceleration limit
Pr58Acceleration
Pr59Deceleration
Pr5ASigmoid
Input setup
Pr50Gain
Pr51Reversal
Pr52Offset
Pr57Filter
Internal velocity setup
Pr53
1st speed
Pr54
2nd speed
Pr55
3rd speed
Pr56
4th speed
Pr74
5th speed
Pr75
6th speed
Pr76
7th speed
Pr77
8th speed
Command
selection
Pr05
Selection
Torque command
Command speed monitor
Velocity control
Pr11
1st
proportion
Pr12
1st
integration
Pr19
2nd
proportion
Pr1A
2nd
integration
Pr20Inertia ratio
Notch filter
Pr1D
1st frequency
Pr1E
1st
width
Pr28
2nd frequency
Pr29
2nd
width
Pr2A
2nd
depth
Pr2FAdaptation
Torque filter
Pr14
1st time const.
Pr1C
2nd time const.
Pr5E1st limit
Pr5F2nd limit
Motor
Encoder
Feedback pulses
OA/OB/OZ
Division
Pr44Numerator
Pr45Denominator
Pr46Selection
Actual speed monitor
Velocity
detection filter
Pr131st
Pr1B2nd
Velocity detection
+
–
16bit A/D
Analog
velocity
command
Serial
communication
data
Encoder reception
process