Yaskawa FSP Amplifier - Manual (Page 170)

FSP Amplifier User’s Manual Chapter 6: Servo Adjustment
6-3
6.2. Analog Input or Contact Input Velocity Control
This section provides technical information for operation of servomotors in
Velocity Control mode with Analog Input.
The Identical Control principle is applied in case of Contact Input or Analog
Input. In case of Contact Input, the velocity command value is retrieved from one
of the predefined values, according to the Contact Input setting.
Instructions and descriptions referring to Analog Input in the following sections
also apply to Contact Input.
6.2.1. Principle and Block Diagram of the Velocity Control
Command
Smoothing
Analog Input
Speed Command
+
+
Offset Compensation
Input Gain
K
v
(1+ 1/T
i
S) Notch Filter Low Pass
Filter
Internal Speed
Command
1/K
t
Torque
Command
Current Controller
Motor
Encoder
Current
Command
S
+
-
Speed Loop Gains
Contact Input Predefined Speed