Yaskawa FSP Amplifier - Manual (Page 181)

FSP Amplifier User’s Manual Chapter 6: Servo Adjustment
6-14
6.3.2. Position Control Block Diagram
The following is a general block diagram of the NCT. The NCT algorithm
includes specific non-linear functions for each one of the blocks shown
here, so that this block diagram should be used for general understanding
only.
Kp
S
Kis/S
Kd
S 2 Ka
+
+
+
+
+
+
S 2 Kff
Kiv
Command Smoothing Command
Position
Internal Command Position
Notch Filter Torque
Filter
1 / K
t
Torque
Command
Current
Controller
Motor
Encode
Current
Command
+
-