Yaskawa MP2200 Machine Controller - Manual (Page 363)

6.1 SVB-01 Module Control Block Diagrams
6-7
Pn109 Pn10A
Pn102
Pn101
A
B
Pn100
A
B
M
PG
Pn11F
A
B
OW 3A
(OW 32)
(OW 30)
(OW 2F)
S
Kp
Ti
(OW 2E)
(OW 34)
Kv
NTi
FB
Vref
MPOS
APOS
LPOS
TRQ
B
A
Filter
Analog monitor value
Differ-
ential
INTERPOLATE
command
POSING
command
Acceleration/
deceleration
processing Speed Feed Forward
Compensation
Speed Loop Gain
Position Loop Gain
Acceleration: OL 36
Deceleration: OL 38
SERVOPACK
Counter
Latch signal
Counter
Current
loop
Position Integration
Time Constant
Speed Integration
Time Constant