Yaskawa Sigma-5 User Manual: Design and Maintenance - Rotary Motors - Analog Voltage and Pulse Train Reference - Manual (Page 146)

5 Operation
5-32
5.4 Position Control
This section describes operation with position control.
Select position control with Pn000.1.
Block Diagram for Position Control
A block diagram for position control is shown below.
∗ The reference pulse input multiplication switching function is supported by software version 001A or later.
Parameter Meaning When Enabled Classification
Pn000 n. 1 Position Control After restart Setup
Pn10A
Error
counter
Position
control section
Position
feedback
Speed feedback
Current feedback
Torque reference
Speed reference
Clear signal input
Position reference
ENC
M Power
amplifier
Divider
Speed
conversion
Pn000.1 Pn000.1
Pn200.0 Pn218
Pn109
Pn20E
Pn210
COIN
Pn212
Pn216
Pn217
Encoder
output pulse
SERVOPACK
Servomotor
Feed-
forward
Elec-
tronic
gear
Reference
Pulse
Multiplier
× n
Smooth-
ing
Feedforward
filter time
constant
Pn522
Positioning
completed
width
Speed
control
section Current
control
section
B
A
*
Refer-
ence
pulse
form
45