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

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
SERVOPACK
Position command speed
Speed
conversion
Position
reference
El e ctroni c
+
Deviation
counter
*
This speed is available when fully-closed loop control is being used.
• Linear Servomotors
SERVOPACK
Position command speed
Position
reference
+
Deviation
counter
Position amplifier
deviation
Position loop
Backlash
+ Deviation
compen-
counter
gear
sation -
+
1
Motor speed
Electronic
-
gear
+
Position deviation
Electronic
-
Positioning completion
Completion of position
reference distribution
Speed Position amplifier
deviation
conversion
Position loop
+ Deviation
Electronic
counter
gear
-
1
-
Electronic
gear
Position deviation
Positioning completion
Completion of position
reference distribution

9.3 Monitoring Machine Operation Status and Signal Waveforms

Speed reference
Active gain
Torque reference
+
Speed
Kp
Kp
loop
-
External encoder speed
Speed
conversion
1
1
Motor - load
Deviation
position deviation
counter
gear
Speed reference
Active gain
+
Speed
Kp
Kp
loop
-
Motor speed
Speed
conversion

9.3.1 Items That You Can Monitor

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
9
ENC
9-7