YASKAWA MP2100 Series - Page 304

9.1 Motion Control Block Diagrams
9-9
9
* The speed feedback gain is 0 for the phase reference.
Filter
Analog monitor value
Pn109
Pn10A
Pn102
Pn101
Differential
A
B
Pn100
A
B
M
PG
Pn11F
A
B
Speed Loop Gain
Position Loop Gain
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
Speed Feed Forward
Compensation*
Position Integration
Time Constant
Speed Integration
Time Constant
Current
loop