YASKAWA SGD7S Product Manual page 344

8.12 Additional Adjustment Functions
8.12.7 Backlash Compensation
MECHATROLINK Monitor Information
This section describes the information that is set for the MECHATROLINK monitor information
(monitor 1, monitor 2, monitor 3, and monitor 4) and the backlash compensation operation.
Monitor
Code
0
1
2
3
4
5
6
E
F
Pn824
Pn825
8-78
Abbreviation Description
Reference position in
the reference coordi-
POS
nate system (after the
position reference filter)
MPOS Reference position
PERR Position deviation
Feedback position in
APOS machine coordinate
system
Feedback latch posi-
LPOS tion in the machine
coordinate system
Reference position in
the reference coordi-
IPOS
nate system (before the
position reference filter)
Target position in the
TPOS reference coordinate
system
Option monitor 1
OMN1
(selected with Pn824)
Option monitor 2
OMN2
(selected with Pn825)
Parameter Monitor Information
Position deviation
0003 hex
(lower 32 bits)
Position deviation
0004 hex
(upper 32 bits)
PG count
000A hex
(lower 32 bits)
PG count
000B hex
(upper 32 bits)
FPG count
000C hex
(lower 32 bits)
FPG count
000D hex
(upper 32 bits)
Input reference pulse
0017 hex
speed
0018 hex Position deviation
Input reference pulse
001C hex
counter
Feedback pulse
001D hex
counter
Fully-closed feedback
001E hex
pulse counter
Previous value of
0080 hex latched feedback posi-
tion (LPOS)
Unit
Reference
units
Reference
units
Reference
units
Reference Feedback position with the backlash com-
units pensation subtracted
Reference Feedback position with the backlash com-
units pensation subtracted
Reference
units
Reference
units
−
−
Output Unit
Reference
units
Reference
units
Reference
units
Count value of the actually driven motor
encoder
Reference
units
Reference
units
Count value of the actually driven external
encoder
Reference
units
-1
min
Reference
units
Reference
units
Encoder
pulses
External
encoder
resolution
Encoder Feedback position with the backlash com-
pulses pensation subtracted
Remarks
−
−
−
−
−
−
−
Remarks
−
−
−
−
−
−
−