YASKAWA MP2000 Series - Page 324

8.1 Position Control
8.1.2 Control Block Diagram for Position Control
8-7
Control Block Diagrams
Filter
Analog monitor value
Pn109
Pn10A
Pn102
Pn101
A
B
Pn100
A
B
M
PG
Pn11F
A
B
Speed Loop Gain
Position Loop Gain
Pn811 or Pn812
(OW3A)
(OW32)
(OW30)
(OW2F)
S
Kp
Ti
(OW2E)
(OW34)
Kv
NTi
FB
Vref
SERVOPACK NS100/NS115
MPOS
APOS
LPOS
TRQ
B
A
Counter
Latch signal
Counter
POSING
command
Acceleration/
deceleration
processing
Acceleration:
Pn80B (OL36)
Deceleration:
Pn80E (OL38)
INTERPOLATE
command
Differ-
ential
Speed Feed Forward
Compensation
Position Integration
Time Constant
Speed Integration
Time Constant
Current
loop