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8.3 Torque Control
8.3.2 Control Block Diagram for Torque Control
8-18
8.3.2 Control Block Diagram for Torque Control
MP2000-series Machine Controller
SVB
OW
00 RUN Command Setting
OW
03 Function Setting 1
OW
08 Motion Command
OW
09 Motion Command Control Flag
OW
0A Motion Subcommand
OL
0C Torque Reference
OW
0E
Speed Limit Setting at the
Torque/Thrust Reference
OL
48 Zero Point Position in Machine Coordinate System Offset
OL
4A Work Coordinate System Offset
OL
4C Number of POSMAX Turns Presetting Data
IW
00 RUN Status
IL
02
Warning
IL
04
Alarm
IW
08 Motion Command Response Code
IW
09 Motion Command Status
IW
0A Motion Subcommand Response Code
IW
0B Subcommand Status
IW
0C Position Management Status
IL
0E
Target Position in Machine Coordinate System (TPOS)
IL
10
Calculated Position in Machine Coordinate System (CPOS)
IL
12
Machine Coordinate System Reference Position (MPOS)
IL
14
CPOS for 32bit (DPOS)
IL
16
Machine Coordinate System Feedback Position (APOS)
IL
18
Machine Coordinate System Latch Position (LPOS)
IL
1A
Position Error (PERR)
IL
1C
Target Position Difference Monitor
IL
1E
Number of POSMAX Turns
IL
20
Speed Reference Output Monitor
IW
2C Servo Driver Status
IW
2D Servo Driver Alarm Code
IW
2E Servo Driver I/O Monitor
IW
2F
Servo Driver User Monitor Information
IW
30 Servo Driver User Monitor 2
IL
40
Feedback Speed
IL
42
Feedback Torque/Thrust
POSMAX processing
Follow-up processing
Electronic gear
POSMAX processing
Electronic gear
POSMAX processing
Electronic gear
㸫
+
Run Settings
T
orque
Reference
Coordinates
Run
Information
Motion Command
Information
Position Information
SER
VOP
ACK
Information
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