YASKAWA SGD7S-xxxDA0 series Product Manual page 359

9.12 Additional Adjustment Functions
9.12.8 Backlash Compensation
 Related Monitoring Diagrams
The following symbols are used in the related monitoring diagrams.
[A]: Analog monitor
[E]: EtherCAT monitor Information
[U]: Monitor mode (Un monitor)
[O]: Output signal
[T]: Trace data
[E] Position
demand value
(6062h)
[E] Target
position
(607Ah)
[E] Following
error actual value
(60F4h)
[E] Position actual
value (6064h)
[E] Touch probe
1 position value
(60BAh)
Touch probe 2
position value
(60BCh)
9-76
Position unit
Position
Position multiplier
reference
reference (2701h: 1
filter
or 2701h: 2)
Position unit
+
multiplier Deviation
(2701h:1 counter
−
or 2701h:2)
Position unit
multiplier
(2701h:1
or 2701h:2)
Position unit
multiplier
(2701h:1
or 2701h:2)
[U]: Reference pulse counter
[A] [T]: Position reference speed
Speed
[U]: Input reference pulse speed
conversion
+
Backlash
compensation
+
−
Deviation
counter
Output
signal
processing
Backlash
[U]: Feedback pulse counter
compensation
[U]: Fully closed feedback pulse counter
Latch signal
[A] [T]: Speed feedforward
Feedforward
[A] [T]: Position amplifier deviation
+ Speed/
+
Deviation
Kp
current
counter
−
loop
Speed
[U]: Feedback pulse counter conversion
[A] [T]: Following error actual value (60F4h)
[U]: Position deviation
[A] [O] [T]: Positioning completion
[A] [T]: Compl e ti o n of posi t i o n reference di s tri b uti o n
[O] [T]: Near
Load
M
External
ENC
encoder