Yaskawa LEGEND-MC - Manual (Page 32)

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LEGEND-MC User’s Manual
Level
Levels of Control Functions
The three levels of control may be viewed as different levels of management. The top manager, the motion
program, may specify the following instruction, for example.
This program corresponds to the velocity profiles shown in the following illustration - Velocity and Position
Profiles . Note that the profiled positions show where the motors must be at any instant of time.
Finally, it remains up to the servo system to verify that the motor follows the profiled position by closing
the servo loop.
The operation of the servo system is done in two manners. First, it is explained qualitatively, in the
following section. Later, the explanation is repeated using analytical tools for those who are more
theoretically inclined.
PR 6000,4000
SP 20000,20000
AC 200000,300000
BG X
AD 2000
BG Y
EN
MOTION
PROGRAMMING
MOTION
PROFILING
CLOSED-LOOP
CONTROL
LEVEL
3
2
1