Monitoring Operation During Adjustment - YASKAWA SGDV series User Manual

5.1.3 Monitoring Operation during Adjustment

Check the operating status of the machine and signal waveform when adjusting the servo gain. Connect a mea-
suring instrument, such as a memory recorder, to connector CN5 analog monitor connector on the SERVO-
PACK to monitor analog signal waveform.
The settings and parameters for monitoring analog signals are described in the following sections.
(1) Connector CN5 for Analog Monitor
To monitor analog signals, connect a measuring instrument with cable (JZSP-CA01-E) to the connector CN5.
Line Color
White
Red
Black (2 lines)
(2) Monitor Signal
The shaded parts in the following diagram indicate analog output signals that can be monitored.
Command
SERVOPACK
option module
Torque CN10
feedforward
Speed
Position reference speed
feedforward
Speed
conversion
Position
reference
+
-
Error
counter
JZSP-CA01-E
Black
Black
White
Red
CN5
Signal Name
Analog monitor 1
Analog monitor 2
GND
Speed feedforward
Position
amplifier error
Position loop
+
Electric Error
counter
gear
-
1
Motor rotational
Electric
speed
gear
+
Position Error
Electric
-
gear
Positioning completed
Completion of position
reference completed
5.1 Type of Adjustments and Basic Adjustment Procedure
Connection Example
CN5
White
Black
Red
Black
∗
Measuring instrument is not included.
Torque reference: 1 V/100% rated torque
Motor speed: 1 V/1000 min
Analog monitor GND: 0 V
Torque feedforward
Speed reference
Active gain
reference
+ + + +
Kp Speed
Kp
loop
-
External encoder speed
Speed
conversion
1
1
Error
Motor - load
counter position error
M-II
Measuring probe
Measuring
Probe GND
instrument*
Measuring probe
Probe GND
Factory Setting
-1
MECHA
Torque
Current
M
loop
(U/V/W)
CN2
External
ENC
Speed
CN31
conversion
Fully-closed loop (option)
Load
5
ENC
5-5