YASKAWA SGD7S-****20A Series Product Manual page 358

8.12 Additional Adjustment Functions
8.12.8 Backlash Compensation
 Related Monitoring Diagrams
The following symbols are used in the related monitoring diagrams.
[A]: Analog monitor
[U]: Monitor mode (Un monitor)
[O]: Output signal
[T]: Trace data
[M]: MECHATROLINK monitor information
[M]：IPO
[M]：TPO
[M]：MPO
([M]：PO )
[M]：PERR
[M]：APO
[M]: Previou
value for LPO
[M]：LPO
[M]: PG count
[M]: FPG count
8-80
peed
conver ion
Po ition
Electronic
Po ition
reference
reference
gear
filter

Deviation
counter

1
Electronic
gear
1
Electronic
gear
[U] [M]: Input reference pul e
[A] [T]: peed feedforward
counter
[A] [T]: Po ition reference peed
[U] [M]: Input reference pul e
peed
[A] [T]: Po ition amplifier deviation


Backla h
compen ation
[U]: Feedback pul e counter
1
Electronic


gear
[A] [T] [M]: Po ition deviation
Deviation
counter
[U] [M]: Po ition deviation
[A] [O] [T]: Po itioning completion
Output
[A] [T]: Completion of po ition
ignal
reference di tribution
proce ing
[O] [T]: Near
Backla h
[U] [M]: Feedback pul e counter
compen ation
[U] [M]: Fully clo ed feedback pul e counter
Latch ignal
Feedforward
peed/


Deviation
current
Kp
counter
loop
peed
conver ion
Load
Ｍ
External
ENC
ENC