Yaskawa MP940 - Manual (Page 159)

MP940 Functions
4.7.3 MP940 Servo Control Function
4-66
„ One-unit System
The Controller and SERVOPACK exchange commands and feedback data via shared mem-
ory by merging the bus.
4.7.3 MP940 Servo Control Function
The MP940 and SGDH SERVOPACK combine a servo and motion controller, connecting
them through shared memory. Motion control is performed using direct commands to SGDH
shared memory for all commands to the SERVOPACK, such as servo ON commands, con-
trol mode switching, speed commands, and torque control.
PWM
M
PG
・
・
・
・
・
・
Controller SERVOPACK
Motion control
Shared memory
Servo ON
P/PI switching
Speed control
Torque control
Latch count
PG count
Multiturn data
Torque
reference
S
peed
cont
rol
Curr
ent
con
tro
l
Counter
Servomotor
Encoder
INVRF
INTRF
CNTR
PWM
M
PG
A/D V-REF
PG
MP940 SGDH
Servodrive operation command
Operation control mode
Speed
control
Speed
Torque
Torque
control
Position
control
Phase
control
Control methods
Latch data
Count value
Shared memory
Servo ON
P/PI switching
Control mode switching
Alarm reset
Latch request
Latch data
PG count
Multiturn data
Torque monitor
Speed monitor
I/O status
Analog input monitor
Sensor
Speed refer-
ence input
Torque refer-
ence input S
peed cont
rol
Torque
reference
Curre
nt
cont
rol
Count
PG Counter
base PCB PG
Servomotor
Encoder
Sensor
External encoder