YASKAWA MP2100 Series - Page 299

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