LS LSLV-iV5 Series, Руководство пользователя

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14. Control Block Diagram
14-8
0
L
P
F
n
u
m
b
e
r
o
f
e
n
c
o
d
e
r
p
u
ls
e
L
P
F
M
o
to
r
S
p
e
e
d
S
p
e
e
d
C
o
n
tr
o
l
S
e
c
ti
o
n
A
S
R
L
P
F
ti
m
e
c
o
n
s
ta
n
t
2
A
S
R
L
P
F
ti
m
e
c
o
n
s
ta
n
t
1
A
S
R
P
I
G
a
in
s
w
it
c
h
-o
v
e
r
M
u
lt
i-
fu
n
c
ti
o
n
in
p
u
t
te
rm
in
a
l
G
a
in
W
r
W
rR
e
f
C
O
N
_
0
8
C
O
N
_
0
5
D
IO
_
0
1
~
0
7
P
A
R
_
1
3
e
n
c
o
d
e
r
L
P
F
ti
m
e
c
o
n
s
ta
n
t
D
IS
_
0
0
M
o
to
r
rp
m
R
A
M
P
C
O
N
_
0
9
R
a
m
p
t
im
e
d
u
ri
n
g
A
S
R
G
a
in
s
w
it
c
h
-
o
v
e
r
P
I
A
S
R
P
G
a
in
A
S
R
I
G
a
in
R
A
M
P N
e
g
a
ti
v
e
T
o
rq
u
e
L
im
it
P
o
s
it
iv
e
T
o
rq
u
e
L
im
it
D
IO
_
0
1
~
0
7
A
S
R
P
/P
I
s
w
it
c
h
-o
v
e
r
M
u
lt
i-
fu
n
c
ti
o
n
in
p
u
t
te
rm
in
a
l
A
S
R
O
u
tp
u
t
D
IO
_
0
1
~
0
7
A
S
R
G
a
in
s
w
it
c
h
-o
v
e
r
C
O
N
_
1
0
A
S
R
G
a
in
s
w
it
c
h
-o
v
e
r
S
p
e
e
d
C
O
N
_
0
7
C
O
N
_
0
4
A
S
R
I
G
a
in
2
A
S
R
I
G
a
in
1
M
u
lt
i-
fu
n
c
ti
o
n
in
p
u
t
te
rm
in
a
l
C
O
N
_
0
6
C
O
N
_
0
3
A
S
R
P
G
a
in
2
A
S
R
P
G
a
in
1