8 Operation
8.6.3 Position Reference
8-56
When the external power supply is used, the circuit will be isolated by a photocoupler. When the SERVO-
PACK internal power supply is used, the circuit will not be isolated.
* : Represents twisted-pair wires.
When the open-collector output is used, input signal noise margin lowers. Set the parameter Pn200.3 to 1.
(3) Position Control Block Diagram
A block diagram for position control is shown below.
CN1
7
3
8
1
14
15
12
11
13
18
/PULS
SIGN
/SIGN
CLR
/CLR
PULS
PL1
PL2
PL3
150Ω
1kΩ
+12V
∗
Tr1
1.5 V max. at ON
SERVOPACKHost controller
Photocoupler
IMPORTANT
Kp
M
Pn201
Pn204
Pn202
Pn203
+
-
Pn102
Pn203
Pn202
Pn10A
Pn107
Pn109
PG
Pn200.0
Pn108
B
A
B
A
+
++
Differ-
ential
Smoothing
Error
counter
Feed-
forward
Feed-for-
ward fil-
ter time
constant
Bias
Speed
loop
Current
loop
Dividing
Servomotor
Reference
pulse
PG signal
output
SERVOPACK (in position control)
Encoder
Bias adding
width
× 4
× 4
× 2
× 1
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