Sanyo Denki Sanmotion R 3E S, Instruction Manual, Page: 383 / 514

9.2 Internal block diagram
9-2
9.1.2 Internal block diagram
Servo motor
for Incremental encoder
for Absolute encoder
＋
Motor encoder
Velocity command
input process
Torque control
Feed Forward Control
Torque command
input process
Position
control
counter
＋
Position
controller
＋
＋
＋
＋
＋
Dual position error
Warning
DFBCG
[G1-30]
DFBFIL
[G1-31]
FBPLSPN
[SY-24]
FBPLSPD
[SY-25] ＋
DFOFWLV
[GB-19]
DFOFLV
[GB-20]
EX-ENFIL
[GC-01]
External encoder
EX-ENPOL
[GC-02]
4-multiplier
Dual position error
excess
4-multiplier
Z-phase signal
Dual position
error monitor
PLSOUTSEL
[GC-03]
PLMODE
[SY-20]
Position
deviation
monitor
－
－
＋
Velocity control
＋
＋
Valid in position
control
Position command
input process
Machine
A/B-phase signal
ENRAT
[GC-04]
PLSOUTRES
[GC-06 ］