Control Block Diagrams; 11.1.1 Control Block Diagram For Position Control - YASKAWA SVC User Manual

11.1 Control Block Diagrams

11.1.1 Control Block Diagram for Position Control

11.1 Control Block Diagrams
This section uses block diagrams to show the relation between motion control and motion
parameters.
11.1.1 Control Block Diagram for Position Control
The following diagram shows the relationships between the control block and motion parame-
ters for position control.
11-2
OW 00 Run Command Settings
OW 01 Mode Settings 1
OW 02 Mode Settings 2
OW 03 Function Settings 1
OW 04 Function Settings 2
OW 05 Function Settings 3
OW 08 Motion Commands
OW 09 Motion Command Control Flags
OW 0A Motion Subcommands
OL 10 Speed Reference Setting
OW 18 Override
OL 1C Position Reference Setting
OL 1E Positioning Completion Width
OL 20 NEAR Signal Output Width
OL 22 Excessive Deviation Detection Value
OW 26 Positioning Completion Check Time
OW 31 Speed Compensation
OL 0C Torque/Force Reference Setting
OL 36 Linear Acceleration Rate/Acceleration Time Constant
OL 38 Linear Deceleration Rate/Deceleration Time Constant
OL 14 Torque/Force Limit
OW 3A Filter Time Constant
OW 3C Zero Point Return Method
OW 3D Zero Point Position Output Width
OL 3E Approach Speed
OL 40 Creep Speed
OL 42 Zero Point Return Travel Distance
OL 44 STEP Travel Distance
OL 46 External Positioning Final Travel Distance
OL 48 Zero Point Position Offset in Machine Coordinate System
OL 4A Working Coordinate System Offset
OL 4C Number of POSMAX Turns Preset Data
IW 00 RUN Status
IL 02 Warnings
IL 04 Alarms
IW 08 Motion Command Response Code
IW 09 Motion Command Status
IW 0A Motion Subcommand Response Code
IW 0B Motion Subcommand Status
IW 0C Position Management Status
IL 0E Machine Coordinate System Target Position (TPOS)
IL 10 Machine Coordinate System Calculated Position (CPOS)
IL 12 Machine Coordinate System Reference Position (MPOS)
IL 14 32-bit DPOS (DPOS)
IL 16 Machine Coordinate System Feedback Position (APOS)
IL 18 Machine Coordinate System Latch Position (LPOS)
IL 1A Position Deviation (PERR)
IL 1E Number of POSMAX Turns
IL 20 Speed Reference Output Monitor
IW 2C M-III Command Status
IW 2D SERVOPACK Alarm Code
IW 2F SERVOPACK User Monitor Information
IL 30 SERVOPACK User Monitor 2
IL 34 SERVOPACK User Monitor 4
IL 40 Feedback Speed
IL 42 Torque/Force Reference Monitor
MP3000
Override
OW 18
POSING
Position pattern generation
INTERPOLATE
compensation
p
δp
ts t
Motion program
Acceleration/deceleration:
IAC and IDC
Motion program or
user application
(ladder program)
Note: Processed by the CPU.
Valid for INTERPOLATE only
OL 0C
OL 14
POSMAX processing
POSMAX processing
POSMAX processing
Electronic
Σ
gear
Speed reference unit
conversion
Torque/force reference unit
conversion
Σ
Electronic gear
Electronic gear
+
Electronic gear
-