Keyence SV Series - A-3 Control Block Diagram

A-26
- SV Series User’s Manual -
APPENDIX
A-3 Control Block Diagram
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POSING system INTERPOLATE system
Acceleration/
deceleration
pattern processing
Switching
Acceleration/
deceleration
filter
IPOS (internal command position) POS (command position) MPOS (command position) PERR (command deviation)
APOS (Feedback position)
LPOS (latch position)
Tracing
Coordinate
transformation
Coordinate
transformation
POS_02/03
1/electronic
gear
POS_02/03
accumulate
Latch signal
POS_02/03
Electronic
gear
Position control section
Deviation
counter
Position
Gain
TUN_04
Feedforward section
Feedforward
gain
Feedforward
LPF
TUN_09 TUN_10
Position/
speed
switching
Speed command
I/O signal
Soft start
acceleration/
deceleration
time
VEL_02/03
Speed command switching
Tor que command Speed limit
Tor que control processing
Speed limit
Speed control section
Speed gain
TUN_05
P/PI switching
Integral
time constant
TUN_06
Speed
conversion
Position/
speed/
torque
switching
+
Tor que control section
Tor que
command
LPF
Notch filter 1 Notch filter 2
TUN_07
TUN_21/23 /25/26/27
TUN_22/24 /28/29/30
Current
PWM control
Servo motor
Encoder
MECHATROLINK-II processing
Tor que command
acceleration/
deceleration time
TRQ_04/05
1/electronic
gear
Speed control processing
MECHATROLINK-II type