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APPENDIX
App. - 46
(b) Fully closed loop control
FBN
FBD
Droop pulses
Speed
command
Position
control
Speed
control
PWM
Current
control
Current
command
Bus voltage
Speed
command
Current
encoder
+
Servo
motor
Encoder
Current feedback
Position feedback
M
Position
command
Differ-
entiation
Differ-
entiation
Dual filter
Servo motor-side
droop pulses
Load-side
droop pulses
Servo motor-side/load-side
position deviation
+
-
Load-side
encoder
Encoder inside
temperature
Fully closed loop
+-
+
-
Differen-
tiation
Differen-
tiation
Servo motor-side/load-side
speed deviation
+
-
+
+
Semi closed loop
+-
Servo motor
speed
Torque
Servo motor-side feedback pulses
(load-side encoder resolution unit)
Load-side feedback pulses
+
+
-
-
+
-
Speed
command 2