YASKAWA SGDV SERVOPACK User Manual

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5 Operation
5-36
5.4 Position Control
This section describes operation with position control.
Select position control with Pn000.1.
 Block Diagram for Position Control
A block diagram for position control is shown below.
 The reference pulse input multiplication switching function is supported by software version 001A or later.
Parameter Meaning When Enabled Classification
Pn000 n.1 Position Control After restart Setup
Pn10A
Error
counter
Position
control section
Position
feedback
Speed feedback
Linear
scale
Current feedback
Force reference
Speed reference
Clear signal input
Position reference
ENC
M
Power
amplifier
Divider
Speed
conversion
Pn000.1 Pn000.1
Pn200.0 Pn218
Pn109
Pn20E
Pn210
COIN
Pn281
Pn216
Pn217
Encoder
output pulse
SERVOPACK
Servomotor
Feed-
forward
Elec-
tronic
gear
Reference
Pulse
Multiplier
× n
Smooth-
ing
Feedforward
filter time
constant
Pn522
Positioning
completed
width
Speed
control
section
Current
control
section
B
A
*
Refer-
ence
pulse
form
47

YASKAWA SGDV SERVOPACK Specifications

General

Model	SGDV
Type	SERVOPACK
Control Modes	Position, Speed, Torque
Communication Interface	MECHATROLINK-II, MECHATROLINK-III, EtherCAT
Protection Rating	IP20
Operating Temperature	0°C to 55°C
Vibration Resistance	5.9 m/s² (0.6G) at 10-60Hz
Shock Resistance	49 m/s² (5G)
Protection Features	Overcurrent, Overvoltage, Undervoltage, Overload, Regenerative overload, Encoder error