YASKAWA SGD7S-xxxDA0 series Product Manual page 406

The following block diagram shows monitoring an external encoder in the Profile Position
Mode.
Target position
(607Ah)
[Pos unit]
Position
Software position
limit function
limit (607Dh)
Profile velocity
(6081h)
[Vel unit]
Velocity
Max profile
limit function
velocity (607Fh)
Profile acceleration
(6083h)
[Acc unit]
Profile deceleration
Acceleration
(6084h)
limit function
Quick stop
deceleration (6085h)
Controlword (6040h)
Quick stop option code (605Ah)
Torque actual value (6077h)
Velocity actual value (606Ch)
Position actual value (6064h)
Output of position
Position window (6067h)
Target reached in
statusword
(6041h)
Position reached
Position window
window
time (6068h)
comparator
Following error actual value (60F4h)
Following error window (6065h)
Following error in
statusword
(6041h)
Following error
Following window
window
time out (6066h)
comparator
External encoder position (60E4h: 1)
Multiplier
Position
[inc]
user unit
(2701h: 1/
2701h: 2)
Multiplier
Velocity
[inc/s]
user unit
(2702h: 1/
2702h: 2)
Position
trajectory
generator
Multiplier
Acceleration
4 2
10 [inc/s ]
user unit
(2703h: 1/
2703h: 2)
Multiplier
Velocity
user unit
(2702h: 2/
Position actual
2702h: 1)
internal value
Position
(6063h)
user unit
(2701h: 2/
limit function
2701h: 1)
+
−
Position demand value
(6062h)
Multiplier
−
Position
user unit
+
(2701h: 2/2701h: 1)
11.4 Monitoring an External Encoder
Position
demand
internal
value
(60FCh)
Position Speed Torque
control control control
11.4.3 Block Diagrams
Machine
Motor
External encoder
Encoder
Serial converter
11-11
11