Monitoring Analog Signals - YASKAWA Σ-V Series User Manual

5.1.3 Monitoring Analog Signals

Check the operating status and signal waveform when adjusting the servo gain. Connect a measuring instru-
ment, such as a memory recorder, to connector CN5 on the SERVOPACK to monitor analog signal waveform.
The settings and parameters for monitoring analog signals are described in the following sections.
(1) Monitor Signal
The analog signals that can be monitored are shaded in the following diagram.
Command
SERVOPACK
Option Module
Force CN10
feedforward
Speed
Position reference speed
feedforward
Speed
conversion
Position
reference
+
Error
counter
The following signals can be monitored by selecting functions of parameters Pn006 and Pn007.
Pn006 is used for analog monitor 1 and Pn007 is used for analog monitor 2.
Parameter
n.
n.
n.
n.
n.
n.
n.
Pn006
n.
Pn007
n.
n.
n.
n.
n.
n.
Speed feedforward
Position
amplifier error
Position loop
+
Error
Electronic
counter
gear
-
1
-
Motor movement speed
Electronic
gear
Position Error
Positioning completed
Completion of position
reference
Monitor Signal
00 Motor speed
01 Speed reference
02 Force reference
03
Position error
04
Position amplifier error
05 Position reference speed
06 Reserved (Do not change.)
07 Reserved (Do not change.)
08 Positioning completed
09 Speed feedforward
0A Force feedforward
0B Active gain
0C Completion of position reference
0D Reserved (Do not change.)
5.1 Adjustments and Basic Adjustment Procedure
Force feedforward
Speed reference
Active gain
reference
+ + + +
Speed
Kp
Kp
loop
-
Speed
conversion
Description
Measurement Gain
1 V/1000 mm/s
1 V/1000 mm/s
1 V/100% rated force
0.05 V/reference unit
0.05 V/encoder pulse unit
1 V/1000 mm/s
−
−
Positioning completed: 5 V
Positioning not completed: 0 V
1 V/1000 mm/s
1 V/100% rated force
1st gain: 1 V
2nd gain: 2 V
Completed: 5 V
Not completed: 0 V
−
Force
Current
M
loop
(U/V/W)
(CN2)
Remarks
Pn007 Factory Setting
−
Pn006 Factory Setting
0 V at speed/force control
Position error after elec-
tronic gear conversion
−
−
−
−
−
−
−
−
−
Load
ENC
5
5-5