YASKAWA SGMJV User Manual page 223

5 Adjustments
5.8.6 Backlash Compensation Function
(5) Monitor Functions (Un Monitoring)
Un No.
Un007
Un008
Un00C
Un00D
Un00E
Un013
(6) MECHATROLINK Monitor Information
This section describes the information that is set for the MECHATROLINK monitoring information (Monitor
1, Monitor 2, Monitor 3, and Monitor 4) and the backlash compensation operation.
Monitor
Code
0
1
2
3
4
5
6
E
F
5-68
Displayed Information
Input reference speed
Position error amount
Input reference counter
Feedback pulse counter
Fully-closed feedback
pulse counter
Feedback pulse counter
Designation Meaning
Reference position in the reference
POS coordinate system (after the position
reference filter)
MPOS Reference position
PERR Position error
Feedback position in the machine
APOS
coordinate system
Feedback latch position in the
LPOS
machine coordinate system
Reference position in the reference
IPOS coordinate system (before the position
reference filter)
Target position in the reference coor-
TPOS
dinate system
Option monitor 1
OMN1
(selected with Pn824)
Option monitor 2
OMN2
(selected with Pn825)
Unit
Indicates the input reference speed before backlash
-1
min
compensation.
Displays the position error with respect to the position
Reference unit
reference after backlash compensation.
Displays the input reference counter before backlash
Reference unit
compensation.
Displays the pulse count of the actually driven motor
Encoder pulse
encoder.
External encoder Displays the pulse count of the actually driven external
resolution encoder.
Displays the pulse count of the actually driven encoder
Reference unit
in reference units.
Unit
Reference
unit
Reference
unit
Reference
unit
Reference
unit
Reference
unit
Reference
unit
Reference
unit
–
–
Specification
Remarks
–
–
–
Feedback position with the backlash
compensation subtracted
Feedback position with the backlash
compensation subtracted
–
–
–
–