11.4 Monitoring an External Encoder
11.4.3 Block Diagrams
11-11
11
Fully-Closed Loop Contr
ol
The following block diagram shows monitoring an external encoder in the Profile Position
Mode.
Position
limit function
Position
user unit
(2701h: 1/
2701h: 2)
Position
trajectory
generator
Target position
(607Ah)
Software position
limit (607Dh)
Velocity
limit function
Velocity
user unit
(2702h: 1/
2702h: 2)
Profile velocity
(6081h)
Max profile
velocity (607Fh)
Acceleration
limit function
Acceleration
user unit
(2703h: 1/
2703h: 2)
Profile acceleration
(6083h)
Quick stop
deceleration (6085h)
Profile deceleration
(6084h)
[Pos unit]
[Vel unit]
[Acc unit]
[inc]
[inc/s]
10
4
[inc/s
2
]
Quick stop option code (605Ah)
Controlword (6040h)
Position
control
Position
demand
internal
value
(60FCh)
Following error
window
comparator
Position
user unit
(2701h: 2/
2701h: 1)
Velocity
user unit
(2702h: 2/
2702h: 1)
Position reached
window
comparator
Position
user unit
(2701h: 2/2701h: 1)
Position window
time (6068h)
Following window
time out (6066h)
Position actual value (6064h)
Velocity actual value (606Ch)
Torque actual value (6077h)
External encoder position (60E4h: 1)
Position window (6067h)
Target reached in
statusword
(6041h)
Following error in
statusword
(6041h)
Following error window (6065h)
Following error actual value (60F4h)
Motor
Encoder
Speed
control
Machine
External encoder
Serial converter
Torque
control
Position actual
internal value
(6063h)
Position demand value
(6062h)
Output of position
limit function
+
+
−
−
Multiplier
Multiplier
Multiplier
Multiplier
Multiplier
