YASKAWA SVC - Control Block Diagrams; 11.1.1 Control Block Diagram for Position Control

11.1 Control Block Diagrams
11.1.1 Control Block Diagram for Position Control
11-2
11.1 Control Block Diagrams
This section uses block diagrams to show the relation between motion control and motion
parameters.
11.1.1 Control Block Diagram for Position Control
The following diagram shows the relationships between the control block and motion parame-
ters for position control.
p
t
OL0C
OL
14
Σ
Σ
-
+
δp
ts
MP3000
Override
OW18
Electronic
gear
POSING
Motion program
Acceleration/deceleration:
IAC and IDC
Motion program or
user application
(ladder program)
Valid for INTERPOLATE only
Speed reference unit
conversion
POSMAX processing
POSMAX processing
Electronic gear
Electronic gear
Electronic gear
POSMAX processing
Torque/force reference unit
conversion
Position pattern generation
compensation
OL10 Speed Reference Setting
OW18 Override
OL1C Position Reference Setting
OL1E Positioning Completion Width
OL20 NEAR Signal Output Width
OL22 Excessive Deviation Detection Value
OW26 Positioning Completion Check Time
OW31 Speed Compensation
OW00 Run Command Settings
OW01 Mode Settings 1
OW02 Mode Settings 2
OW03 Function Settings 1
OW04 Function Settings 2
OW05 Function Settings 3
OW08 Motion Commands
OW09 Motion Command Control Flags
OW0A Motion Subcommands
OW3C Zero Point Return Method
OW3
D Zero Point Position Output Width
OL3E Approach Speed
OL40 Creep Speed
OL42 Zero Point Return Travel Distance
OL 44 STEP Travel Distance
OL46 External Positioning Final Travel Distance
OL48 Zero Point Position Offset in Machine Coordinate System
OL4A
Working Coordinate System Offset
OL4C Number of POSMAX Turns Preset Data
IW00 RUN Status
IL02 Warnings
IL04 Alarms
IW08 Motion Command Response Code
IW09 Motion Command Status
IW0A Motion Subcommand Response Code
IW0B Motion Subcommand Status
IW2C M-III Command Status
IW2D SERVOPACK Alarm Code
IW2F SERVOPACK User Monitor Information
IL30 SERVOPACK User Monitor 2
IL34 SERVOPACK User Monitor 4
IL40 Feedback Speed
IL42 Torque/Force Reference Monitor
IW0C Position Management Status
IL0E Machine Coordinate System Target Position (TPOS)
IL10 Machine Coordinate System Calculated Position (CPOS)
IL12 Machine Coordinate System Reference Position (MPOS)
IL14 32-bit DPOS (DPOS)
IL16 Machine Coordinate System Feedback Position (APOS)
IL18 Machine Coordinate System Latch Position (LPOS)
IL1A Position Deviation (PERR)
IL1E Number of POSMAX Turns
IL20 Speed Reference Output Monitor
OL0C Torque/Force Reference Setting
OL36 Linear Acceleration Rate/Acceleration Time Constant
OL38 Linear Deceleration Rate/Deceleration Time Constant
OL14 Torque/Force Limit
OW3A Filter Time Constant
Operation Settings
Speed/Position
References
Acceleration/
Deceleration
Origin
Return
Coordinates
Operation
Information
Motion Command
Information
Position Information
SERVOPACK
Information
Feed
Speed
Note: Processed by the CPU.
INTERPOLATE