YASKAWA SGD7S Product Manual page 345

 Related Monitoring Diagrams
The following symbols are used in the related monitoring diagrams.
[A]: Analog monitor
[U]: Monitor mode (Un monitor)
[O]: Output signal
[T]: Trace data
[M]: MECHATROLINK monitor information
[M]：IPOS
Position
Position
reference
[M]：TPOS
reference
filter
[M]：MPOS
([M]：POS)
Deviation
[M]：PERR
counter
[M]：APOS
[M]: Previous
value for LPOS
[M]：LPOS
[M]: PG count
[M]: FPG count
[U] [M]: Input reference pulse
counter
[A] [T]: Position reference speed
Speed
[U] [M]: Input reference pulse
conversion
speed
Electronic
gear
Backlash
compensation



Deviation
counter
Output
signal
processing
1
Electronic
gear
Backlash
1
compensation
Electronic
gear
Latch signal
8.12 Additional Adjustment Functions
8.12.7 Backlash Compensation
[A] [T]: Speed feedforward
Feedforward
[A] [T]: Position amplifier deviation



Deviation
Kp
counter

[U]: Feedback pulse counter
1
Electronic

gear
[A] [T] [M]: Position deviation
[U] [M]: Position deviation
[A] [O] [T]: Positioning completion
[A] [T]: Completion of position
reference distribution
[O] [T]: Near
[U] [M]: Feedback pulse counter
[U] [M]: Fully closed feedback pulse counter
Speed/
Load
current
Ｍ
loop
External
Speed
ENC
ENC
conversion
8
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