YASKAWA MP2100 Series - Page 300

9.1 Motion Control Block Diagrams
9-5
9
Filter
Analog monitor value
Pn109
Pn10A
Pn102
Pn101
Differential
A
B
Pn100
A
B
M
PG
Pn11F
A
B
Position Loop Gain
Position Loop Gain
Acceleration: OL36
Deceleration: OL38
OW

3A
(OW

32)
(OW

30)
(OW

2F)
S
Kp
Ti
(OW

2E)
(OW

34)
Kv
NTi
FB
Vref
SERVOPACK
MPOS
APOS
LPOS
TRQ
B
A
Counter
Latch signal
Counter
POSING
command
Acceleration/
deceleration
processing
INTERPOLATE
command
Speed Feed Forward
Compensation
Position Integration
Time Constant
Speed Integration
Time Constant
Current
loop