Yaskawa MP2200 Machine Controller - Manual (Page 383)

6.2 SVA-01 Module Control Block Diagram
6-27
-
PERR
IL 1A
Kp
P I control
1
1+T S
Primary Lag
Time Constant
OW 33
P control
Primary Lag
Position
Integration
Time Constant
OW 32
0
0
Position Loop
Output Monitor
IL 28
Kf
+
+
Position
Loop Gain
OW 2E
Present
position
calculation
APOS
IL 16
-
PERR
IL 1A
Kp (1+ )
Ti S
1
P I calculation
Speed Feed Forward Compensation
OW 30
+
+
POSING
EX_POSING
ZRET
INTERPOLATE
LATCH
FEED
STEP
PHASE
VELO
Speed Reference
Output Monitor
IL 20
D/A
TRQ
TRQ
TRQ
TRQ
D/A
Analog torque
reference output
Analog speed
reference output
Feedback pulse input
SERVOPACK
Speed
calculation
A/D
Torque
calculation
A/D
Analog torque
monitor input
Analog speed
monitor input
OW 12
Speed limiter
OW 13
0
/S-ON
/ALM RST
/P-CON (Used as C-SEL signal.)
Selected by user.
/ALM
/S-RDY
ZERO/HOME OTF OTR EXT/DEC
SEN
OW 00, bit 11=ON
or Ti=0,
Integration Reset
General-purpose outputs
/P-OT
/N-OT
Torque Reference
Primary Lag Filter
Time Constant
OW 0F
Integral
Output Monitor
IL 24
Moving
average
Unit
conversion
[UNIT]
[pulse]
0
0 Unit
conversion
[UNIT]
[pulse]
Integral
Output Monitor
IL 24
Position Loop
Output Monitor
IL 28
Kp (1+ )
Ti S
1
OW 00, bit 11=ON
or Ti=0,
Integration Reset 1
1+T S
Primary Lag
0
0
Primary Lag
Time Constant
OW 33
Unit
conversion
[UNIT]
[pulse]
1
1+T S
Primary Lag
0
0
OW 00, bit 15: Alarm reset
I/O: Outputs (normal operation mode)
Internal variable: Control mode switch
OW 5D, bit 3: General-purpose DO_3
OW 5D, bit 4: General-purpose DO_4
Internal variable: SEN signal
OW 00, bit 0: Servo ON
I/O: Inputs
IW 58, bit 2: General-purpose DI_2
Bits 2 and 5: latchable
IW 58, bit 3: General-purpose DI_3
IW 58, bit 4: General-purpose DI_4
IW 58, bit 5: General-purpose DI_5
IW 04, bit 0: Servodriver error
IW 00, bit 3: Servo ready
IW 58, bit 1: General-purpose DI_1
IW 58, bit 0: General-purpose DI_0
OW 5D, bit 0: General-purpose DO_0
OW 5D, bit 1:General-purpose DO_1
OW 5D, bit 2: General-purpose DO_2
OW 5D, bit 5:General-purpose DO_5
31
30
12
14
13
32
CN1/CN2
OW 5D, bit 3: General-purpose DO_3
OW 5D, bit 4: General-purpose DO_4
CN1/CN2
17
35
18
15
33
36
31
30
12
14
13
32
CN1/CN2
I/O: Outputs General-purpose I/O mode)
IL 42: Torque (Thrust) Reference Monitor
IW 59: General-purpose AI Monitor 1 [0.001V]
IW 5A: General-purpose AI Monitor 2 [0.001V]
IL 40: Feedback Speed
(b)
(a)
(c)
(d)
(e)
(f)
(h)
(i)
(j)
(g)
Finite
length Infinite
length
Torque
calculation
Speed
calculation