Module Control Block Diagram - YASKAWA MP2200 User Manual

6 Control Block Diagrams
6.1.4 Speed Control
6.2 SVA-01 Module Control Block Diagram
OL 14: Positive Side Limiting Torque
Setting at Speed Reference
Torque Reference (TRQ) Command
OL 0C: Torque Reference
OW 0E: Speed Limit at Torque Reference
Speed Reference (VELO) Command
OL 10: Speed Reference
OL 36: Accel/Accel Time Constant
OL 38: Decel/Decel Time Constant
Phase Control (PHASE) Command
OL 10: Speed Reference
OL 28: Phase Compensation
OW 31:Speed Amends
OL 16: Secondly Speed Compensation
Interpolation (INTERPOLATE/LATCH) Command
OL 1C: Position Reference
Positioning (POSING) Command
OL 10: Speed Reference
OL 36: Accel/Accel Time Constant
OL 38: Decel/Decel Time Constant
OL 1C: Position Reference Setting
External Positioning (EX_POSING) Command
OL 10:
Speed Reference
OL 36:
Accel/Accel Time Constant
OL 38:
Decel/Decel Time Constant
OL 1C: Position Reference Setting
OL 46: External Positioning Move Distance
JOG Operation (FEED) Command
OL 10:
Speed Reference
OL 36: Accel/Accel Time Constant
OL 38:
Decel/Decel Time Constant
STEP Operation (STEP) Command
OL 10: Speed Reference
OL 36:
Accel/Accel Time Constant
OL 38:
Decel/Decel Time Constant
OL 44: Step Distance
Zero Point Return (ZRET) Command
OL 10: Speed Reference
OW 3C:Home Return Type
OW 3D:Home Window
OL 3E: Approach Speed
OL 40: Creep Speed
OL 42: Home Offset
OL 24: Position Compensation
31: Speed Amends
OW
OL 16:
Secondly Speed Compensation
6-26
TRQ
Asymmetric
trapezoidal accel.
Accel/decel filter
VELO
Phase reference generation
Cut for
electronic cam.
PHREFOFF
PHASE
Calculate position
(OW 05, bit 1)
change equivalent
to speed
reference.
+
INTERPOLATE
/LATCH
POSING
TPOS
(IL 0E)
Asymmetric
trapezoidal accel.
Accel/decel filter
EX_POSING
TPOS
(IL 0E)
FEED
STEP
Zero point return
ZRET
+
WWW.NNC.IR
Machine lock status
(IW 0C, bit 6)
Machine lock status
(IW 0C, bit 6)
Machine lock status
(IW 0C, bit 6)
CPOS
IL 10
Reference Position
Increment Monitor DPOS
IL 1C IL 14
Finite Infinite Finite
Command length length
length
position
+
calculation
+
Reference Position
Increment Monitor
IL 1C
Machine lock status
(IW 0C, bit 6)
Command
position
Finite Infinite
calculation
Finite
length length
length
DPOS
IL 14
CPOS
IL 10
Speed Compensation
during Position Control
(OW 01, bit 2)
(a)
(b)
(c)
(d)
(e)
MPOS
IL 12
Infinite Unit
conversion
length
[UNIT]
(f)
[pulse]
(g)
Unit
conversion
[UNIT]
(h)
[pulse]
Unit
conversion
[UNIT]
(i)
Infinite
[pulse]
length
MPOS
IL 12
(j)
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