Monitoring Machine Operation Status And Signal Waveforms; Items That You Can Monitor - YASKAWA SGD7C-***AMAA*** Product Manual

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
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
peed
Reference
Po ition
reference
• Linear Servomotors
Force
reference
peed
reference
Po ition
reference
9-6
ERVOPACK
peed feedforward
Po ition reference peed
peed Po ition amplifier deviation
conver ion
Po ition loop
Backla h
+
Deviation
Electronic
compen-
counter
gear
ation -
+
1
+
Electronic
-
gear
Deviation
counter
Po ition deviation
Po itioning completion
Completion of po ition
reference di tribution
ERVOPACK
peed feedforward
Po ition reference peed
peed Po ition amplifier deviation
conver ion
Po ition loop
+
Deviation
Electronic
counter
Gear
-
1
+
-
Electronic
Gear
Deviation
counter
Po ition deviation
Po itioning completion
Completion of po ition
reference di tribution
Torque Feedforward
peed Reference
Active gain
+ +
peed
Kp
Kp
loop
-
Motor peed
peed
conver ion
1
+ 1
Deviation
Electronic
counter
-
gear
Force feedforward
peed Reference
Active gain
+ +
peed
Kp
Kp
loop
-
Motor peed
peed
conver ion
Torque reference
+ +
Current
loop
(UA/UB,
VA/VB,
CN2A/CN2B
WA/WB)
peed
conver ion
Force reference
+ +
Current
loop
(UA/UB,
VA/VB,
WA/WB)
CN2A/CN2B
M
Load
ENC
M
Load
ENC