146
Chapter 7 – Control Block Diagram
F
U
N
_
01
+
1
-1
+
1
-1
+
1
-1
R
un
/S
to
p
C
om
m
a
nd
S
el
ec
t
K
ey
pa
d
T
e
rm
in
a
l 1
T
e
rm
in
a
l 2
A
ng
ul
ar
V
el
oc
ity
C
al
cu
la
tio
n
S
pe
ed
*
Operating
direction
W
sl
ip
W
r
C
O
N
_
01
V
E
C
T
O
R
C
O
N
T
R
O
L
W
e
A
n
gu
la
r
ve
lo
ci
ty
sc
al
in
g
F
U
N
_5
5
S
w
itc
h
in
g
fr
eq
.
se
le
ct
W
rR
ef
K
P
D
F
W
D
K
P
D
R
E
V
F
X
R
X
F
X
R
X