YASKAWA MP2100 Series - Page 308

9.1 Motion Control Block Diagrams
9-13
9
Analog monitor value
Pn109
Pn10A
Pn102
Pn101
Differential
A
B
Pn100
A
B
M
PG
Pn11F
A
B
Speed Loop Gain
Position Loop Gain
S
Kp
Ti
Kv
NTi
FB
Vref
SERVOPACK
APOS
LPOS
B
A
Counter
Latch signal
Counter
TRQ
V-REF
T-REF
MPOS
Speed reference
operation
Torque reference
operation
Speed Feed Forward
Compensation
Position Integration
Time Constant
Speed Integration
Time Constant
Current
loop