YASKAWA MP2200

6.2
SVA-01 Module Control Block Diagram
6-27
-
PERR
IL
1A
Kp
P I control
1
1+T
S
Primary Lag
Time Constant
OW33
P control
Primary Lag
Position
Integration
Time Constant
OW32
0
0
Position Loop
Output Monitor
IL
28
Kf
+
+
Position
Loop Gain
OW2E
Present
position
calculation
APOS
IL16
-
PERR
IL
1A
Kp (1+ )
Ti
S
1
P I calculation
Speed Feed Forward Compensation
OW30
+
+
POSING
EX_POSING
ZRET
INTERPOLATE
LATCH
FEED
STEP
PHASE
VELO
Speed Reference
Output Monitor
IL20
D/A
TRQ
TRQ
TRQ
TRQ
D/A
Analog torque
reference output
Analog speed
reference output
Feedback pulse input
SERVOPACK
Speed
calculation
A/D
Torque
calculation
A/D
Analog torque
monitor input
Analog speed
monitor input
OW12
Speed limiter
OW13
0
/S-ON
/ALM RST
/P-CON
(Used as C-SEL signal.)
Selected by user.
/ALM
/S-RDY
ZERO/HOME
OTF
OTR
EXT/DEC
SEN
OW00, bit 11=ON
or Ti=0,
Integration Reset
General-purpose outputs
/P-OT
/N-OT
Torque Reference
Primary Lag Filter
Time Constant
OW0F
Integral
Output Monitor
IL24
Moving
average
Unit
conversion
[UNIT]
[pulse]
0
0
Unit
conversion
[UNIT]
[pulse]
Integral
Output Monitor
IL24
Position Loop
Output Monitor
IL
28
Kp (1+ )
Ti
S
1
OW00, bit 11=ON
or Ti=0,
Integration Reset
1
1+T
S
Primary Lag
0
0
Primary Lag
Time Constant
OW33
Unit
conversion
[UNIT]
[pulse]
1
1+T
S
Primary Lag
0
0
OW00, bit 15:
Alarm reset
I/O:
Outputs (normal operation mode)
Internal variable:
Control mode switch
OW5D, bit 3:
General-purpose
DO_3
OW5D, bit 4:
General-purpose DO_4
Internal variable: SEN signal
OW00, bit 0: Servo ON
I/O:
Inputs
IW58, bit 2:
General-purpose DI_2
Bits 2 and 5: latchable
IW58, bit 3: General-purpose
DI_3
IW58, bit 4:
General-purpose DI_4
IW58, bit 5:
General-purpose DI_5
IW04, bit 0:
Servodriver error
IW00, bit 3:
Servo ready
IW58, bit 1:
General-purpose DI_1
IW58, bit 0:
General-purpose DI_0
OW5D, bit 0: General-purpose DO_0
OW5D, bit 1: General-purpose DO_1
OW5D, bit 2:
General-purpose DO_2
OW5D, bit 5:
General-purpose DO_5
31
30
12
14
13
32
CN1/CN2
OW5D, bit 3:
General-purpose
DO_3
OW5D, bit 4:
General-purpose DO_4
CN1/CN2
17
35
18
15
33
36
31
30
12
14
13
32
CN1/CN2
I/O:
Outputs General-purpose I/O mode)
IL42:
Torque (Thrust) Reference Monitor
IW59:
General-purpose AI Monitor 1 [0.001V]
IW5A:
General-purpose AI Monitor 2 [0.001V]
IL40:
Feedback Speed
(b)
(a)
(c)
(d)
(e)
(f)
(h)
(i)
(j)
(g)
Finite
length
Infinite
length
Torque
calculation
Speed
calculation
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