Yaskawa SMC–4000 - Manual (Page 35)

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SMC–4000 User Manual
The system elements are shown in the following illustration:
Mathematical model of the control system
The open loop transfer function, A(s), is the product of all the elements in the loop:
A = 390,000 (s+51)/[s 2 (s+2000)]
Σ 0.245(S+51)
318
ENCODER
500
S 2
FILTER
2000
S+2000
0.0012 4
ZOH DAC AMP MOTOR