YASKAWA MP2100 Series User Manual

9 Control Block Diagrams
9.1.1 Position Control
9-4
(2) Control Block Diagram for Position Control
p
t
p
ts
Override Processing
OW18
INTERPOLATE commands
POSING commands
MP2100/MP2100M
SVB
OW00 Run Commands
OW01 Mode 1
OW02 Mode 2
OW03 Function 1
OW04 Function 2
OW05 Function 3
OW08 Motion Command
OW09 Motion Command Options
OW0A Motion Subcommand
OL10 Speed Reference
OW18 Speed Override
OL1C Position Reference Type
OL1E Positioning Completed Width
OL20 Positioning Completed Width 2
OL22 Deviation Abnormal Detection Value
OW26 Position Complete Timeout
OL31
Speed Amends
OL36 Linear Acceleration Time
OL38 Linear Deceleration Time
OW3A S-Curve Acceleration Time
OW3C Home Return Type
OW3D Home Window
OL3E Approach Speed
OL40 Creep Speed
OL42 Home Offset
OL44 Step Distance
OL26 External Positioning Move Distance
OL48 Zero Point Offset
OL4A Work Coordinate System Offset
OL4C Preset Data of POSMAX Turn
IW00 Drive Status
IL02 Warning
IL04 Alarm
IW08 Servo Command Type Response
IW09 Servo Module Command Status
IW0A
Motion Subcommand Response Code
IW0B Motion Subcommand Status
IW0C Position Management Status
IL0E
Machine Coordinate Target Position (TPOS)
IL10 Target Position (CPOS)
IL12
Machine Coordinate System Position (MPOS)
IL14 32-bit Coordinate System Position (DPOS)
IL16 Machine Coordinate Feedback Position (APOS)
IL18 Machine Coordinate Latch Position (LPOS)
IL1A Position Error (PERR)
IL1C Target Position Difference Monitor
IL1E POSMAX Number of Turns
IL20 Speed Reference Output Monitor
IW2C Network Servo Status
IW2D Servo Alarm Code
IW2E Network Servo I/O Monitor
IW2F
Network Servo User Monitor Information
IW30 Servo User Monitor 2
IL40 Feedback Speed
IL42 Torque (Thrust) Reference Monitor
Run Settings
Zero Point Return
Feed speeds
Run Information
Position InformationSERVOPACK Information
Motion Command Information
Acceleration/ Deceleration
Coordinates
Speed/Position References
Σ
Σ
POSMAX processing
POSMAX processing
POSMAX processing
−
+
Note: Processing performed by CPU.
Electronic
gear
Position pattern generation
for interpolation
Motion program acceleration/
deceleration: IAC, IDC
Motion program or
user application
(ladder program)
Speed reference
unit conversion
Electronic
gear
Electronic
gear
Valid only for interpolation
Electronic
gear

YASKAWA MP2100 Series Specifications

General

Brand	YASKAWA
Model	MP2100 Series
Category	Controller
Language	English