System modeling, Basic block diagram, Controller – Yaskawa SMC–4000 User Manual

Page 31: Motor-amplifier, Smc–4000 user manual, The motor amplifier is configured for current mode, Functional elements of a motion control system

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SMC–4000 User Manual

System Modeling

Basic Block Diagram

The elements of a servo system include the motor, driver, encoder and the controller. These elements are
shown in the following illustration. The mathematical model of the various components is given below:

Controller

Functional Elements of a Motion Control System

Motor-Amplifier

The motor amplifier is configured for current mode:

Motion

Generator

[PA][PR][SP][AC]

[DC][JG][IP]

Scurve

Smoothing

[IT]

Velocity

Feed Forward

[FV]

Acceleration

Feed Forward

[FA]

Proportional

Gain

[KP]

Derivative

Gain

[KD]

Integral

Gain

[KI]

Integrator

Limit

[IL]

Notch Filter

[NF] [NB] [NZ]

Torque Limit

[TL]

Offset

[OF]

Speed

Acceleration

Encoder

Feedback

D/A

To Legend Amp

DIGITAL

FILTER

ZOH

DAC

ENCODER

AMP

MOTOR

CONTROLLER