5 - 16
5. PARAMETERS
(3) Analog monitor block diagram
PW
M
M
Current
con
trol
S
peed
con
trol
Cu
rr
e
nt
comm
an
d
P
osit
ion
co
ntrol
D
ro
op p
ul
se
D
iffe
r-
en
tia
l
S
peed
comm
an
d
Bu
s vol
ta
ge
Sp
ee
d
com
m
and
Com
m
and
pulse
Cur
ren
t f
eedback
P
osit
ion f
eedback
S
er
vo m
ot
or
speed
Current
encoder
Se
rv
o M
ot
or
En
co
de
r
To
rq
ue
D
iffe
r-
en
tia
l
