Monitoring Operation During Adjustment - YASKAWA SGMJV 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 to connector CN5 with an analog monitor cable
(model: JZSP-CA01-E).
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.
SERVOPACK
Torque
reference
Speed
Position reference speed
reference
Speed
conversion
Position loop
Position
reference
Electronic
gear
+
+
−
Error
counter
∗
Available when the fully-closed loop control is being used.
JZSP-CA01-E
Black
Black
White
CN5 Red
Signal Name
Analog monitor 1
Analog monitor 2
GND
Speed feedforward
Speed reference
Position
amplifier error
+
Error
Backlash
counter
compensation
-
1
Motor rotational
Electronic
speed
gear
+ 1
Position error
Electronic
−
gear
Positioning
completed
Completion of position
reference
5.1 Type of Adjustments and Basic Adjustment Procedure
 Connection Example
CN5
∗
You must acquire the measuring instrument separately.
Torque reference: 1 V/100% rated torque
Motor speed: 1 V/1000 min
Analog monitor GND: 0 V
Torque feedforward
Torque
Active gain
reference
+ + + +
Speed
Kp
loop
−
External encoder speed
Speed
conversion
∗
Error
Motor - load
counter position error
Measuring
White
Probe
Black
Measuring
Probe GND
Instrument *
Measuring
Red
Probe
Black
GND
Probe
Factory Setting
-1
Current
M
Load
loop
(U/V/W)
∗
CN2
External
ENC
ENC
Speed
CN31
conversion
∗
Fully-closed
loop control
∗
5
5-5