YASKAWA SGMJV User Manual page 224

Parameters
0003H
0004H
000AH
000BH
000CH
000DH
Pn824
Pn825
0017H
0018H
001CH
001DH
001EH
0080H
 Related Monitoring Diagrams
[M]: IPOS
Position
[M]: TPOS Position
reference
reference
filter
[M]: MPOS
([M]: POS)
Error
[M]: PERR
counter
[M]: APOS
[M]: Previous
value for LPOS
[M]: LPOS
[M]: PG count
[M]: FPG count
Monitor Information
Position error (lower 32 bits)
Position error (upper 32 bits)
Encoder count (lower 32 bits)
Encoder count (upper 32 bits)
FPG count (lower 32 bits)
FPG count (upper 32 bits)
Un007: Input reference speed
Un008: Position error amount
Un00C: Input reference counter
Un00D: Feedback pulse counter
Un00E: Fully-closed feedback pulse
counter
Previous value of latched feedback
position (LPOS)
[U][M]: Un00C
[A][T]: Position
reference speed
Speed
[U][M]: Un007
conversation
Electronic
gear
Backlash
compensation
function
Electronic
gear
Backlash
compensation
Electronic
function
gear
Latch
signal
5.8 Additional Adjustment Function
Output Unit
Reference
unit
Reference
unit
Reference
unit
Count value of the actually driven
motor encoder
Reference
unit
Reference
unit
Count value of the actually driven
external encoder
Reference
unit
-1
Same as monitor display Un007
min
Reference
Same as monitor display Un008
unit
Reference
Same as monitor display Un00C
unit
Encoder
Same as monitor display Un00D
pulse
External
encoder Same as monitor display Un00E
resolution
Encoder Feedback position with the backlash
pulse compensation subtracted
[A][T]: Speed feedforward
Feedforward
[A][T]: Position amplifier error
Error
Kp
counter
[U]: Un013
Electronic
gear
[A][T][M]: Position error
Error
counter
[U][M]: Un008
[A][O][T]: Positioning completed
Output
[A][T]: Completion of
signal
position reference
processing
[O][T]: Position near
[U][M]: Un00D
[U][M]: Un00E
Remarks
–
–
<Legend symbols>
[A]: Analog monitoring
[U]: Monitor display
(Un monitoring)
[O]: Output signal
[T]: Trace data object
[M]: MECHATROLINK
monitor information
Speed/
current Load
loop
External
Speed
ENC
ENC
conversation
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