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