Yaskawa MP2200 Machine Controller - Manual (Page 362)

6 Control Block Diagrams
6.1.1 Position Control
6-6
( 2 ) Control Block Diagram for Position Control
OW 00
OW 01
OW 02
OW 03
OW 04
OW 05
OW 08
OW 09
OW 0A
OW 10
OW 18
OL 1C
OW 1E
OW 20
OL 22
OW 26
OL 36
OL 38
OW 3A
OW 3C
OW 3D
OL 3E
OL 40
OL 42
OL 44
OL 46
OL 48
OL 4A
OL 4C
IW 00
IL 02
IL 04
IW 08
IW 09
IW 0A
IW 0B
IW 0C
IL 0E
IL 10
IL 12
IL 14
IL 16
IL 18
IL 1A
IL 1C
IL 1E
IL 20
IW 2C
IW 2D
IW 2E
IW 2F
IW 30
IL 40
IL 42
p
t
p
ts
OW 18
MP2200
SVB-01
OLxx31
Override processing
POSING commands
Motion program
Acceleration/deceleration:
IAC, IDC
Motion program or user
application (ladder
program)
RUN Commands
Mode 1
Mode 2
Function 1
Function 2
Function 3
Motion Command
Motion Command Options
Motion Subcommand
Speed Reference
Speed Override
Position Reference Setting
Positioning Completed Width
Positioning Completed Width 2
Deviation Abnormal Detection Value
Position Complete Timeout
Linear Acceleration Time
Linear Deceleration Time
S-curve Acceleration Time
Home Return Type
Home Window
Approach Speed
Creep Speed
Home Offset
Step Distance
Zero Point Offset
Work Coordinate System Offset
Preset Data of POSMAX Turn
Drive Status
Warning
Alarm
Servo Command Type Response
Servo Module Command Status
Motion Subcommand Response Code
Motion Subcommand Status
Position Management Status
Machine Coordinate Target Position (TPOS)
Target Position (CPOS)
Machine Coordinate System Position (MPOS)
32-bit Coordinate System Position (DPOS)
Machine Coordinate Feedback Position (APOS)
Machine Coordinate Latch Position (LPOS)
Position Error (PERR)
Target Position Difference Monitor
POSMAX Number of Turns
Speed Reference Output Monitor
Network Servo Status
Servo Alarm Code
Network Servo I/O Monitor
Network Servo User Monitor Information
Servo User Monitor 2
Feedback Speed
Torque (Thrust) Reference Monitor
Run Settings
Electronic
gear
POSMAX processing
POSMAX processing
POSMAX processing
Speed/Position References
Acceleration/ Deceleration
Zero Point Return
Coordinates
External Positioning Move Distance
Run Information
Motion Command Information
Position Information
SER
VOP
ACK
Information
INTERPOLATE
commands
Position pattern generation
for interpolation
Feed speeds
Speed Amends
Note Processing performed by CPU.
Valid only for
interpolation.
Speed reference
unit conversion
Electronic gear
Electronic gear
Electronic gear
(continued on next page)