YASKAWA MP2000 Series User Manual page 270

¹ TRQ
TRQ
PERR
IL 1A
Integral Output
Monitor
IL 24
Unit
conversion
1st-order Lag
[pulse]
Time Constant
¯
PI calculation
OW
[UNIT]
1
Kp (1+ )
Ti ž S
-
Integration reset
with OW 00, bit 11 = ON
or Ti = 0
Speed Feedforward Amends
OW 30
Kf
Integral
Output
Monitor
Position
IL 24
Integration Position
Time Loop
Constant Gain
OW 32 OW 2E
=0
Kp
-
P control
Unit
¹ 0
conversion
[pulse]
¯
[UNIT]
1
Kp (1+ )
Ti ž S
PERR
PI control
IL 1A
Integration reset with
OW 00, bit 1 = ON or
Ti = 0
Unit
conversion
[pulse]
¯
[UNIT]
Finite
length
APOS
IL
Torque Reference
1st-order Lag Filter
OW 0F
=0
¹ 0
1
1+T ž S
Primary Lag
Position Loop
Output Monitor
IL 28
33 +
=0
+
¹ 0
1
1+T ž S
Primary Lag
Position
Loop
1st-order
Output
Lag
Monitor
Time
IL 28
PHASE
Constant
+
OW 33
=0
POSING
+
¹ 0 EX_POSING
ZRET
INTERPOLATE
1
LATCH
1+T ž S
FEED
STEP
Primary Lag
Infinite
length
IL 40: Feedback Speed
IL 42: Feedback Torque/Thrust
IW 5A: General-purpose AI Monitor 2
[0.001 V]
16
IW 59: General-purpose AI Monitor 1
[0.001 V]
9.1 SVA-01 Module Control Block Diagram
I/O Outputs (In General-purpose I/O Mode)
OW 5D, bit 0:
General-purpose DO_0
OW 5D, bit 1: General-purpose DO_1
OW 5D, bit 2: General-purpose DO_2
OW 5D, bit 3: General-purpose DO_3
OW 5D, bit 4: General-purpose DO_4
OW 5D, bit 5: General-purpose DO_5
I/O Outputs (In Normal Run Mode)
OW 00, bit 0: Servo ON
OW 00, bit 15: Alarm Clear
Internal variable: Control Mode
Switching
OW 5D, bit 3:
General-purpose DO_3
OW 5D, bit 4: General-purpose DO_4
Internal variable:
SEN Signal
I/O Inputs
IW 04, bit 0:
Servo Driver Error
IW 58, bit 0: General-purpose DI_0
IW 00, bit 3: Servo Ready
IW 58, bit 1: General-purpose DI_1
IW 58, bit 2: General-purpose DI_2*
IW 58, bit 3:
General-purpose DI_3
IW 58, bit 4:
General-purpose DI_4
IW 58, bit 5: General-purpose DI_5*
*: Possible to use as a latch signal
Torque
calculation
Speed Limiter
OW 12
VELO TRQ
0
¹ TRQ
OW 13
Speed Reference
Output Monitor
IL 20
Current
position
calculation
Moving
average calculation
Torque
Torque Monitor Input
calculation
CN1/CN2
31
30
12
General-purpose
14
outputs
13
32
CN1/CN2
31
/S-ON
30 /ALM RST
/P-CON
12
(Used as C-SEL signal)
14
To be selected by the
13
user
32 SEM
CN1/CN2
17
/ALM
35 /S-RDY
18
15 /P-OT
33
/N-OT
36
Analog
Torque
SERVOPACK
Reference
Output
D/A
Analog
Speed
Reference
Output
Speed
D/A
calcu-
lation
Feedback
pulse input
Speed
Analog
A/D
Analog
Speed Monitor Input
A/D
9
9-3