Monitoring Machine Operation Status And Signal Waveforms; Items That You Can Monitor - YASKAWA SGD7S Product Manual

9.3 Monitoring Machine Operation Status and Signal Waveforms

9.3.1 Items That You Can Monitor

9.3

Monitoring Machine Operation Status and Signal Waveforms

To monitor waveforms, use the SigmaWin+ trace function or a measuring instrument, such as a
memory recorder.
9.3.1

Items That You Can Monitor

You can use the SigmaWin+ or a measuring instrument to monitor the shaded items in the fol-
lowing block diagram.
• Rotary Servomotors
Position
reference
*
This speed is available when fully-closed loop control is being used.
• Linear Servomotors
Position
reference
9-6
SERVOPACK
Position command speed
Speed Position amplifier
conversion
deviation
Position loop
Backlash
+
Deviation
El e ctroni c
compen-
counter
gear
sation -
+
1
+
Electronic
-
gear
Deviation
counter
Position deviation
Positioning completion
Completion of position
reference distribution
SERVOPACK
Position command speed
Speed
conversion
Position loop
+
Electronic
gear
-
1
+
-
Electronic
gear
Deviation
counter
Position deviation
Positioning completion
Completion of position
reference distribution
Speed reference
Active gain
+
Speed
Kp
Kp
loop
-
External encoder speed
Motor speed
Speed
conversion
1
1
+
Motor - load
Deviation
Electronic
position deviation
counter
-
gear
Speed reference
Position amplifier
Active gain
deviation
+
Deviation Speed
Kp
Kp
counter loop
-
Motor speed
Speed
conversion
Torque reference
Current
M
loop
(U/V/W)
*
CN2
ENC
*
Speed
CN31
conversion
Fully closed*
Force reference
Current
M
loop
(U/V/W)
CN2
Load
*
External
encoder
Load
ENC