YASKAWA SGD7S-****20A Series Product Manual page 357

MECHATROLINK Monitor Information
This section describes the information that is set for the MECHATROLINK monitor information
(monitor 1, monitor 2, monitor 3, and monitor 4) and the backlash compensation operation.
Monitor
Abbreviation
Code
Reference position in
the reference coordi-
0 POS
nate system (after the
position reference filter)
1 MPOS Reference position
2 PERR Position deviation
Feedback position in
3 APOS machine coordinate
system
Feedback latch posi-
4 LPOS tion in the machine
coordinate system
Reference position in
the reference coordi-
5 IPOS
nate system (before the
position reference filter)
Target position in the
6 TPOS reference coordinate
system
Option monitor 1
E OMN1
(selected with Pn824)
Option monitor 2
F OMN2
(selected with Pn825)
Parameter
Position deviation
0003h
(lower 32 bits)
Position deviation
0004h
(upper 32 bits)
PG count
000Ah
(lower 32 bits)
PG count
000Bh
(upper 32 bits)
FPG count
000Ch
(lower 32 bits)
FPG count
000Dh
(upper 32 bits)
Pn824
Input reference pulse
0017h
Pn825
speed
0018h Position deviation
Input reference pulse
001Ch
counter
Feedback pulse
001Dh
counter
Fully-closed feedback
001Eh
pulse counter
Previous value of
0080h latched feedback posi-
tion (LPOS)
Description Unit
Reference
units
Reference
units
Reference
units
Reference
units
Reference
units
Reference
units
Reference
units
Monitor Information Output Unit
Reference
units
Reference
units
Reference
units
Reference
units
Reference
units
Reference
units
min
Reference
units
Reference
units
Encoder
pulses
External
encoder
resolution
Reference
units
8.12 Additional Adjustment Functions
8.12.8 Backlash Compensation
Remarks
Feedback position with the backlash com-
pensation subtracted
Feedback position with the backlash com-
pensation subtracted
−
−
Remarks
Count value of the actually driven motor
encoder
Count value of the actually driven external
encoder
-1
Feedback position with the backlash com-
pensation subtracted
−
−
−
−
−
−
−
−
−
−
−
−
−
−
8-79
8