Control Block Diagram For Position Control - YASKAWA JEPMC-MP2300-Y Series User Manual

8 Control Block Diagrams

8.1.2 Control Block Diagram for Position Control

8.1.2 Control Block Diagram for Position Control
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8-4
00 RUN Commands
01 Mode 1
02 Mode 2
03 Function 1
04 Function 2
05 Function 3
08 Motion Command
09 Motion Command Options
0A Motion Subcommand
10 Speed Reference
18 Speed Override
1C Position Reference Setting
1E Positioning Completed Width
20 Positioning Completed Width 2
22 Deviation Abnormal Detection Value
26 Position Complete Timeout
31 Speed Amends
36 Linear Acceleration Time
38 Linear Deceleration Time
3A S-curve Acceleration Time
3C Home Return Type
3D Home Window
3E Approach Speed
40 Creep Speed
42 Home Offset
44 Step Distance
46 External Positioning Move Distance
48 Zero Point Offset
4A Work Coordinate System Offset
4C Preset Data of POSMAX Turn
00 Drive Status
02 Warning
04 Alarm
08 Servo Command Type Response
09 Servo Module Command Status
0A Motion Subcommand Response Code
0B Motion Subcommand Status
0C Position Management Status
0E
Machine Coordinate Target Position (TPOS)
10 Target Position (CPOS)
12 Machine Coordinate System Position (MPOS)
14
32-bit Coordinate System Position (DPOS)
16
Machine Coordinate Feedback Position (APOS)
18
Machine Coordinate Latch Position (LPOS)
1A Position Error (PERR)
1C Target Position Difference Monitor
1E POSMAX Number of Turns
20 Speed Reference Output Monitor
2C Network Servo Status
2D Servo Alarm Code
2E Network Servo I/O Monitor
2F Network Servo User Monitor Information
30 Servo User Monitor 2
40 Feedback Speed
42 Torque (Thrust) Reference Monitor
INTERPOLATE Position pattern generation
commands for interpolation
Motion program
Acceleration/deceleration:
IAC, IDC
Motion program or user
application (ladder
program)
Note Processing performed by CPU.
Speed reference
unit conversion
Valid only for
interpolation.
POSMAX processing
POSMAX processing
POSMAX processing
Electronic
gear
Electronic gear
Electronic gear
+
Electronic gear
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