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
Torque
reference
Speed
reference
Position
reference
*
This speed is available when fully-closed loop control is being used.
• Linear Servomotors
Force
reference
Speed
reference
Position
reference
9-6
SERVOPACK
Speed feedforward
Position command speed
Speed Position amplifier
conversion
Position loop
Backlash
+ Deviation
Electronic
compen-
counter
gear
sation
-
+
1
+
Electronic
-
gear
Deviation
counter
Position deviation
Positioning completion
Completion of position
reference distribution
SERVOPACK
Speed feedforward
Position command speed
Speed Position amplifier deviation
conversion
Position loop
Deviation
+
Electronic
gear

1

+
Electronic
gear
Deviation
counter
Position deviation
Positioning completion
Completion of position
reference distribution
Torque feedforward
Speed reference
Active gain
deviation
+ +
Speed
Kp
K
loop
-
External encoder speed
Motor speed
Speed
conversion
1
1
+
Deviation
Electronic
position deviation
counter
-
gear
Force feedforward
Speed reference
Active gain
+ +
Speed
Kp
K
counter loop

Motor speed
Speed
conversion
Torque reference
+ +
Current
loop
(U/V/W)
*
CN2
*
Motor - load
Speed
conversion
Fully closed*
Force reference
+ +
Current
loop
(U/V/W)
CN2
Load
M
*
External
encoder
ENC
CN31
Load
M
ENC