Yaskawa Sigma II Series DC Power Input SGMAJ - Manual (Page 228)

8.6 Operating Using Position Control
8-55
8
(3) Position Control Block Diagram
A block diagram for position control is shown below.
Kp M
Pn201
Pn204 Pn202
Pn203
+
-
Pn102
Pn203
Pn202 Pn10A
Pn107
Pn109
PG
Pn200.0
Pn108
B
A
B
A
+
+ +
Differ-
ential
Smoothing Error
counter
Feed-
forward Feed-for-
ward fil-
ter time
constant
Bias
Speed
loop Current
loop
Dividing
Servomotor
Reference
pulse
PG signal
output
SERVOPACK (in position control)
Encoder
Bias adding
width
× 4
× 4
× 2
× 1