Yaskawa MP2000 Series: Built-in SVB or SVB-01 Motion Module - Manual (Page 325)

8.2 Phase Control
8.2.2 Control Block Diagram for Phase Control
8-13
Control Block Diagrams
* The speed feedback gain is 0 for phase references.
Filter
Analog monitor value
Pn109 Pn10A
Pn102
Pn101
A
B
Pn100
A
B
M
PG
Pn11F
A
B
Speed Loop Gain
Position Loop Gain
OW 3A
(OW 32)
(OW 30)
(OW 2F)
S
Kp
Ti
(OW 2E)
(OW 34)
Kv
NTi
FB
Vref
SERVOPACK NS110/NS115
MPOS
APOS
LPOS
TRQ
B
A
Counter
Latch signal
Counter
Differ-
ential
Speed Feed Forward
Amends*
Position Integration
Time Constant
Speed Integration
Time Constant
Current
loop