9 Control Block Diagrams
9.1.3 Torque Control
9-12
(2) Control Block Diagram for Torque Control
MP2100/MP2100M
SVB
OW
00
Run Commands
OW
03
Function 1
OW
08
Motion Command
OW
09
Motion Command Options
OW
0A Motion Subcommand
OL
0C
Torque Reference
OL
0E
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
Run
Information
Position Information
SER
VOP
ACK Information
Motion Command
Information
Coordinates
Torque
Reference
POSMAX processing
Follow-up processing
Electronic gear
−
+
POSMAX processing
POSMAX processing
Electronic gear
Electronic gear
Speed Limit at Torque
Reference