2 ) control block diagram for position control – Yaskawa MP2200 Machine Controller User Manual
Page 362
6 Control Block Diagrams
6.1.1 Position Control
6-6
( 2 ) Control Block Diagram for Position Control
OW
00
OW
01
OW
02
OW
03
OW
04
OW
05
OW
08
OW
09
OW
0A
OW
10
OW
18
OL
1C
OW
1E
OW
20
OL
22
OW
26
OL
36
OL
38
OW
3A
OW
3C
OW
3D
OL
3E
OL
40
OL
42
OL
44
OL
46
OL
48
OL
4A
OL
4C
IW
00
IL
02
IL
04
IW
08
IW
09
IW
0A
IW
0B
IW
0C
IL
0E
IL
10
IL
12
IL
14
IL
16
IL
18
IL
1A
IL
1C
IL
1E
IL
20
IW
2C
IW
2D
IW
2E
IW
2F
IW
30
IL
40
IL
42
p
t
p
ts
OW
18
MP2200
SVB-01
OLxx31
Override processing
POSING commands
Motion program
Acceleration/deceleration:
IAC, IDC
Motion program or user
application (ladder
program)
RUN Commands
Mode 1
Mode 2
Function 1
Function 2
Function 3
Motion Command
Motion Command Options
Motion Subcommand
Speed Reference
Speed Override
Position Reference Setting
Positioning Completed Width
Positioning Completed Width 2
Deviation Abnormal Detection Value
Position Complete Timeout
Linear Acceleration Time
Linear Deceleration Time
S-curve Acceleration Time
Home Return Type
Home Window
Approach Speed
Creep Speed
Home Offset
Step Distance
Zero Point Offset
Work Coordinate System Offset
Preset Data of POSMAX Turn
Drive Status
Warning
Alarm
Servo Command Type Response
Servo Module Command Status
Motion Subcommand Response Code
Motion Subcommand Status
Position Management Status
Machine Coordinate Target Position (TPOS)
Target Position (CPOS)
Machine Coordinate System Position (MPOS)
32-bit Coordinate System Position (DPOS)
Machine Coordinate Feedback Position (APOS)
Machine Coordinate Latch Position (LPOS)
Position Error (PERR)
Target Position Difference Monitor
POSMAX Number of Turns
Speed Reference Output Monitor
Network Servo Status
Servo Alarm Code
Network Servo I/O Monitor
Network Servo User Monitor Information
Servo User Monitor 2
Feedback Speed
Torque (Thrust) Reference Monitor
Run Settings
Electronic
gear
POSMAX processing
POSMAX processing
POSMAX processing
Speed/Position References
Acceleration/
Deceleration
Zero Point Return
Coordinates
External Positioning Move Distance
Run
Information
Motion Command
Information
Position Information
SER
VOP
ACK
Information
INTERPOLATE
commands
Position pattern generation
for interpolation
Feed
speeds
Speed Amends
Note Processing performed by CPU.
Valid only for
interpolation.
Speed reference
unit conversion
Electronic gear
Electronic gear
Electronic gear
(continued on next page)