5 - 32
5. PARAMETERS
(3) Analog monitor block diagram
PW
M
M
Cu
rr
e
n
t
co
ntrol
S
peed
co
ntrol
Cu
rr
e
n
t
co
mm
a
n
d
P
o
si
ti
on
co
ntrol
Dr
oo
p p
u
ls
e
Di
ff
er-
en
ti
a
l
Co
m
m
and
p
u
ls
e f
req
u
e
n
c
y
B
u
s vol
tage
S
peed
co
mm
a
n
d
Co
m
m
and
pu
ls
e
Cu
rr
e
n
t f
eedback
P
o
si
ti
on f
eedback
Se
rv
o
Mo
to
r
speed
Cu
rr
e
n
t
en
co
de
r
Se
rv
o
Mo
to
r
E
n
coder
Torque
