Monitoring Analog Signals - YASKAWA SGMJV User Manual

6 Adjustments

6.1.3 Monitoring Analog Signals

6.1.3 Monitoring Analog Signals

Check the operating status and signal waveform when adjusting the servo gain. Connect a measuring instru-
ment, such as a memory recorder, to connector CN5 on the SERVOPACK to monitor analog signal waveform.
The settings and parameters for monitoring analog signals are described in the following sections.
(1) Monitor Signal
The following diagram shows the analog monitor output at position control.
T-REF
V-REF
PULS
SIGN
The following signals can be monitored by selecting functions of parameters Pn006 and Pn007.
Pn006 is used for analog monitor 1 and Pn007 is used for analog monitor 2.
Parameter
Pn006
Pn007
6-6
SERVOPACK
CN
Speed feedforward
Position reference speed
Speed
conversion
Position loop
+
Electric
gear
−
1
+
−
Electric
gear
Error
counter
Position Error
Positioning
completed
Completion of position
reference completed
Monitor Signal
n. 00
Motor speed
n. 01
Speed reference
n. 02 Torque reference
n. 03
Position error
n. 04
Position amplifier error
n. 05 Position reference speed
n. 06 Reserved
n. 07 Motor-load position error
n. 08
Positioning completed
n. 09 Speed feedforward
n. 0A Torque feedforward
n. 0B Active gain
n. 0C
Completion of position reference
Torque feedforward
Speed reference
Position
Active gain
amplifier error
+ +
Error
Speed
Kp
counter
loop
−
External encoder speed
Motor rotational
speed
Speed
conversion
+ 1
Error
Electric
counter
−
gear
Description
Measurement Gain
1 V/1000 min
1 V/1000 min
1 V/100% rated torque
0.05 V/reference unit
0.05 V/encoder pulse
unit
1 V/1000 min
0.01 V/reference unit
Positioning completed:
5 V
Positioning not com-
pleted: 0 V
1 V/1000 min
1 V/100% rated torque
1 st gain: 1 V
2 nd gain: 2 V
Completed: 5 V
Not completed: 0 V
Torque
reference
+ +
Current
loop
(U/V/W)
CN2
Motor - load Speed
position error conversion
Fully-closed loop option
Remarks
-1 *
Pn007 Factory Setting
-1 *
Pn006 Factory Setting
0 V at speed/torque control
Position error after electronic
gear conversion
-1 *
−
-1 *
M
Load
External
ENC
ENC
CN31
−
−
−
−
−
−
−
−
−