YASKAWA SGD7S-1R9D Product Manual page 333

 Related Monitoring Diagrams
The following symbols are used in the related monitoring diagrams.
[A]: Analog monitor
[E]: EtherCAT monitor Information
[U]: Monitor mode (Un monitor)
[O]: Output signal
[T]: Trace data
[E] Position
demand value
(6062 hex)
Position unit
[E] Target
Position multiplier
position
reference
(2701 hex: 1
(607A hex)
or 2701 hex: 2)
Position unit
[E] Following
multiplier
error actual value
(2701 hex:1
(60F4 hex)
or 2701 hex:2)
Position unit
[E] Position actual
multiplier
value (6064 hex)
(2701 hex:1
or 2701 hex:2)
[E] Touch probe
1 position value
Position unit
(60BA hex)
multiplier
Touch probe 2
(2701 hex:1
position value
or 2701 hex:2)
(60BC hex)
[U]: Reference pulse counter
[A] [T]: Position reference speed
Speed
[U]: Input reference pulse speed
conversion
Position
reference
filter
Backlash
compensation
+
Deviation
counter
−
Backlash
compensation
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
+
−
[A] [T]: Following error actual value (60F4 Hex)
Deviation
counter
[U]: Position deviation
[A] [O] [T]: Positioning completion
Output
signal
[A] [T]: Compl e ti o n of posi t i o n reference di s tri b uti o n
processing
[O] [T]: Near
[U]: Feedback pulse counter
[U]: Fully closed feedback pulse counter
+ Speed/
+
Load
current M
loop
External
Speed
ENC
encoder
conversion
8-75
8