Internal Block Diagram Of Fully-Closed Loop Control - YASKAWA SGMJV User Manual

8.1.2 Internal Block Diagram of Fully-closed Loop Control

Internal block diagram of fully-closed loop control is shown below.
 With Position Control
MECHATROLINK
move command
MECHATROLINK
Monitor data
Encoder
output
pulse
∗
The connected devices depend on the type of external encoder (linear scale).
Note: Either an incremental or an absolute encoder can be used. When the absolute encoder is used, set 1 to Pn002.2 (use
the absolute encoder as an incremental encoder).
 With Speed Control
SERVOPACK
MECHATROLINK
move command
MECHATROLINK
monitor data
Encoder
output
pulse
∗
The connected devices depend on the type of external encoder (linear scale).
8.1 System Configuration and Connection Example for SERVOPACK with Fully-closed Loop Control
SERVOPACK
Elec-
Error
tronic
counter
gear
1
Electronic gear
Divider
Speed feedback
1
Electronic gear
Divider
Position
Speed
control
loop
loop
Pn22A
Speed
Speed
feedback
conversion
Unit conversion
Pn20A
Alarm
detection
Speed
conversion
Speed
loop
Pn22A Speed
conversion
Unit conversion
Pn20A
Alarm
detection
Speed
conversion
Motor Machine
Encoder
External encoder
A.d10
*
Serial
conversion
Motor Machine
Encoder
External encoder
A.d10
*
Serial
conversion
8
8-3