Yaskawa MP940 Reference Manual - Manual (Page 130)

MotionSuite™ MP940 Machine Controller Reference Manual Mechatrolink Function
4-39
MP940 Servo Control Function
The MP940 and SGDH servo amplifier is a unified servo motion controller
connected with a global memory. Commands to the servo amplifier such as
Servo ON, control mode switching, speed reference, torque control, etc., are
direcly commanded to the SGDH via the global memory, thereby executing
motion control.
The MP940 has the following servo control functions enabling hi-speed and
high-precision control.
1. Position, speed, torque, and phase control switching are possible during
operation.
Various Control
Formats
Phase Control
Position Control
Torque Control
Servo Drive RUN
Command
Operation Control Mode
Speed Control
Control Mode Switching
P/PI Switching
Servo ON
Global Memory
Alarm Reset
INVRF
INTRF
Latch Request
Latch Data
PG Count
Multiturn Data
Torque Monitor
Speed Monitor
I/O Status
Analog Input
Monitor
CNTR
Latch Data
Count Value
Speed
Torque
Sensor
Torque Reference Input
Speed Reference
Input
Spe
ed
Co
n
tr
o
l
Torque
Reference
CNTR
Base Board
PG
PWM
M
Servo Motor
PG
Encoder
A/D
Sensor
V-REF
PG
Count
MP940 SGDH
External Encoder
C
u
rre
nt
Co
n
tr
o
l
V
T
Speed
Synchro-
nous
Phase
Torque
Position