Yaskawa MP940 Reference Manual - Manual (Page 10)

MotionSuite™ MP940 Machine Controller Reference Manual Outline of the MP940
1-5
• Run commands
P/PI switching, external torque limit, and speed limit during torque con-
trol can be commanded from the MP940 during operation.
• READ/WRITE function of servo amplifier user parameters
User parameters such as Servo Amplifier Position Loop Gain, Speed
Loop Gain, Speed Loop Integral Time Constant, etc. may be modified
during operation.
• Position data monitor
The various position data, reference speed, speed monitor, and external
encoder data can be referenced at high speed within the program, as
depicted below.
SGDH MP940
Global Memory or DPRAM
Mode switching command
Various run commands
User parameter
READ/WRITE
Monitor data reference
Speed Torque
Speed reference
Torque reference
Torque limit
Speed P/PI
Switching
User parameter
Various monitor data
• Position
• Speed
• Torque
Figure 1.5: Position data monitor