YASKAWA MOTIONPACK-110 Descriptive Information page 26

2.3.2 OPERATION OF AXIS MODULES
Axis modules are units each of which controls motion along one axis. They each incorporate
an 8-bit microcomputer, read and analyze the position data from the motion modules and
external signals, and output speed commands to the Servopack to accomplish the desired
motor motions.
They output position data, alarm and status signals as answer-back data for
transmission to the motion modules.
(1) Fig. 2.3 shows the axis module control block diagram. The axis modules generate
command positions and inputs the data to the error register. The signals generated by
the PG and processed into pulses are fed back to the error register as current position
signals, so that the contents always represent the current position error. The position
error signals are converted into pulse width in the PWM circuit, luther converted into
analog voltage signals by the D/A conversion circuit, and output to the Servopack as
speed command voltages. When the position destination is reached, the contents of the
error register become zero, and the speed command becomes 0V.
During the control process, the contents of the error register are checked for excess
error, etc., and when an abnormal state is detected, alarm processing is executed.
AXIS MODULE
- - - i___L
MODOLE T A"SM'SS ONi____I ANSWERBACK1
PROCESSING I I PROCESSING ]
! (FA BUS)= (
I
I COMMAND
....... -J ANALYSIS
1
POSITION
DATA I
IPROCEi$1NG J
l
POSITIONs.COM MAND
POSITION DETECTON
Servopack
OFFSET SPEED "
I PROCESSING COM M A_ _],__._
POSITION I I L'_ _-I _ c_) SERVOMOTOR
I / ERROR VALUE(ERROR PULSE)I I
_._REGISTER_'_ PWM H D/A _1 I (_TG
POSITIONI
l PULSE I_ FEEDBACK PULSE_
PROCESSING -- PG
Fig. 2.3 Control Block Diagram of Axis Module
12
(For Axis Control)