9 Control Block Diagrams
9.1.1 Position Control
9-4
(2) Control Block Diagram for Position Control
p
t
p
ts
Override Processing
OW
18
INTERPOLATE commands
POSING commands
MP2100/MP2100M
SVB
OW
00 Run Commands
OW
01 Mode 1
OW
02 Mode 2
OW
03 Function 1
OW
04 Function 2
OW
05 Function 3
OW
08 Motion Command
OW
09 Motion Command Options
OW
0A Motion Subcommand
OL
10
Speed Reference
OW
18 Speed Override
OL
1C
Position Reference Type
OL
1E
Positioning Completed Width
OL
20
Positioning Completed Width 2
OL
22
Deviation Abnormal Detection Value
OW
26 Position Complete Timeout
OL
31
Speed Amends
OL
36
Linear Acceleration Time
OL
38
Linear Deceleration Time
OW
3A S-Curve Acceleration Time
OW
3C Home Return Type
OW
3D Home Window
OL
3E
Approach Speed
OL
40
Creep Speed
OL
42 Home
Offset
OL
44
Step Distance
OL
26
External Positioning Move Distance
OL
48 Zero Point Offset
OL
4A
Work Coordinate System Offset
OL
4C Preset Data of POSMAX Turn
IW
00 Drive Status
IL
02
Warning
IL
04
Alarm
IW
08
Servo Command Type Response
IW
09
Servo Module Command Status
IW
0A
Motion Subcommand Response Code
IW
0B
Motion Subcommand Status
IW
0C
Position Management Status
IL
0E
Machine Coordinate Target Position (TPOS)
IL
10
Target Position (CPOS)
IL
12
Machine Coordinate System Position (MPOS)
IL
14
32-bit Coordinate System Position (DPOS)
IL
16
Machine Coordinate Feedback Position (APOS)
IL
18
Machine Coordinate Latch Position (LPOS)
IL
1A
Position Error (PERR)
IL
1C
Target Position Difference Monitor
IL
1E
POSMAX Number of Turns
IL
20
Speed Reference Output Monitor
IW
2C
Network Servo Status
IW
2D Servo
Alarm
Code
IW
2E
Network Servo I/O Monitor
IW
2F
Network Servo User Monitor Information
IW
30
Servo User Monitor 2
IL
40
Feedback Speed
IL
42
Torque (Thrust) Reference Monitor
Run Settings
Zero Point
Return
Feed
speeds
Run
Information
Position Information
SER
VOP
ACK Information
Motion Command
Information
Acceleration/
Deceleration
Coordinates
Speed/Position
References
Σ
Σ
POSMAX processing
POSMAX processing
POSMAX processing
−
+
Note: Processing performed by CPU.
Electronic
gear
Position pattern generation
for interpolation
Motion program acceleration/
deceleration: IAC, IDC
Motion program or
user application
(ladder program)
Speed reference
unit conversion
Electronic
gear
Electronic
gear
Valid only for interpolation
Electronic
gear