YASKAWA MP2200

6
Control Block Diagrams
6.1.1
Position Control
6-6
( 2 ) Control Block Diagram for Position Control
OW00
OW01
OW02
OW03
OW04
OW05
OW08
OW09
OW0A
OW10
OW18
OL1C
OW1E
OW20
OL22
OW26
OL36
OL38
OW3A
OW3C
OW3D
OL3E
OL40
OL42
OL44
OL46
OL48
OL4A
OL4C
IW00
IL02
IL04
IW08
IW09
IW0A
IW0B
IW0C
IL0E
IL10
IL12
IL14
IL16
IL18
IL1A
IL1C
IL1E
IL20
IW2C
IW2D
IW2E
IW2F
IW30
IL40
IL42
p
t
p
ts
OW18
MP2200
SVB-01
OLxx31
Override processing
POSING commands
Motion program
Acceleration/deceleration:
IAC, IDC
Motion program or user
application (ladder
program)
RUN Commands
Mode 1
Mode 2
Function 1
Function 2
Function 3
Motion Command
Motion Command Options
Motion Subcommand
Speed Reference
Speed Override
Position Reference Setting
Positioning Completed Width
Positioning Completed Width 2
Deviation Abnormal Detection Value
Position Complete Timeout
Linear Acceleration Time
Linear Deceleration Time
S-curve Acceleration Time
Home Return Type
Home Window
Approach Speed
Creep Speed
Home Offset
Step Distance
Zero Point Offset
Work Coordinate System Offset
Preset Data of POSMAX Turn
Drive Status
Warning
Alarm
Servo Command Type Response
Servo Module Command Status
Motion Subcommand Response Code
Motion Subcommand Status
Position Management Status
Machine Coordinate Target Position (TPOS)
Target Position (CPOS)
Machine Coordinate System Position (MPOS)
32-bit Coordinate System Position (DPOS)
Machine Coordinate Feedback Position (APOS)
Machine Coordinate Latch Position (LPOS)
Position Error (PERR)
Target Position Difference Monitor
POSMAX Number of Turns
Speed Reference Output Monitor
Network Servo Status
Servo Alarm Code
Network Servo I/O Monitor
Network Servo User Monitor Information
Servo User Monitor 2
Feedback Speed
Torque (Thrust) Reference Monitor
Run Settings
Electronic
gear
POSMAX processing
POSMAX processing
POSMAX processing
Speed/Position References
Acceleration/ Deceleration
Zero Point Return
Coordinates
External Positioning Move Distance
Run Information
Motion Command Information
Position Information
SERVOPACK Information
INTERPOLATE
commands
Position pattern generation
for interpolation
Feed speeds
Speed Amends
Note Processing performed by CPU.
Valid only for
interpolation.
Speed reference
unit conversion
Electronic gear
Electronic gear
Electronic gear
(continued on next page)
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