Yaskawa MP2000 Series: Built-in SVB or SVB-01 Motion Module - Manual (Page 330)

8.3 Torque Control
8.3.2 Control Block Diagram for Torque Control
8-18
8.3.2 Control Block Diagram for Torque Control
MP2000-series Machine Controller
SVB
OW 00 RUN Command Setting
OW 03 Function Setting 1
OW 08 Motion Command
OW 09 Motion Command Control Flag
OW 0A Motion Subcommand
OL 0C Torque Reference
OW 0E Speed Limit Setting at the
Torque/Thrust Reference
OL 48 Zero Point Position in Machine Coordinate System Offset
OL 4A Work Coordinate System Offset
OL 4C Number of POSMAX Turns Presetting Data
IW 00 RUN Status
IL 02 Warning
IL 04 Alarm
IW 08 Motion Command Response Code
IW 09 Motion Command Status
IW 0A Motion Subcommand Response Code
IW 0B Subcommand Status
IW 0C Position Management Status
IL 0E Target Position in Machine Coordinate System (TPOS)
IL 10 Calculated Position in Machine Coordinate System (CPOS)
IL 12 Machine Coordinate System Reference Position (MPOS)
IL 14 CPOS for 32bit (DPOS)
IL 16 Machine Coordinate System Feedback Position (APOS)
IL 18 Machine Coordinate System Latch Position (LPOS)
IL 1A Position Error (PERR)
IL 1C Target Position Difference Monitor
IL 1E Number of POSMAX Turns
IL 20 Speed Reference Output Monitor
IW 2C Servo Driver Status
IW 2D Servo Driver Alarm Code
IW 2E Servo Driver I/O Monitor
IW 2F Servo Driver User Monitor Information
IW 30 Servo Driver User Monitor 2
IL 40 Feedback Speed
IL 42 Feedback Torque/Thrust
POSMAX processing Follow-up processing
Electronic gear POSMAX processing
Electronic gear POSMAX processing
Electronic gear
㧙
+
Run Settings
Torque Reference
Coordinates
Run Information
Motion Command Information
Position Information
SER
VOP
ACK
Information
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