YASKAWA MP2100 Series - Page 307

9 Control Block Diagrams
9.1.3 Torque Control
9-12
(2) Control Block Diagram for Torque Control
MP2100/MP2100M
SVB
OW00 Run Commands
OW03 Function 1
OW08 Motion Command
OW09 Motion Command Options
OW0A Motion Subcommand
OL0C Torque Reference
OL0E
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
Run Information
Position InformationSERVOPACK Information
Motion Command Information
Coordinates
Torque Reference
POSMAX processing Follow-up processing
Electronic gear
−
+
POSMAX processing
POSMAX processing
Electronic gear
Electronic gear
Speed Limit at Torque
Reference