Monitoring Operation During Adjustment - YASKAWA Sigma-V Series User Manual

6 Adjustments

6.1.3 Monitoring Operation during Adjustment

6.1.3

Monitoring Operation during Adjustment

Check the operating status of the machine and signal waveform when adjusting the servo gain. Connect a mea-
suring instrument, such as a memory recorder, to connector CN5 analog monitor connector on the SERVO-
PACK to monitor analog signal waveform.
The settings and parameters for monitoring analog signals are described in the following sections.
(1) Connector CN5 for Analog Monitor
To monitor analog signals, connect a measuring instrument with cable (JZSP-CA01-E) to the connector CN5.
Line Color
White
Red
Black (2 lines)
(2) Monitor Signal
The shaded parts in the following diagram indicate analog output signals that can be monitored.
T-REF
V-REF
PULS
Reference
SIGN
Pulse
Multiplier
× n
∗
Available when the fully-closed loop control is being used.
6-6
JZSP-CA01-E
Black
Black
White
Red
CN5
Signal Name
Analog monitor 1
Analog monitor 2
GND
SERVOPACK
CN 1
Speed feedforward
Position reference speed
Speed
conversion
Position loop
+
Electronic
gear
−
1
+
−
Electronic
gear
Error
counter
Position error
Positioning
completed
Completion of position
reference
Connection Example
∗
Measuring instrument is not included.
Torque reference: 1 V/100% rated torque
Motor speed: 1 V/1000 min
Analog monitor GND: 0 V
Torque feedforward
Speed reference
Position
Active gain
amplifier error
+ +
Error
Speed
Kp
counter
loop
−
External encoder speed
Motor rotational
speed
Speed
conversion
+ 1
Error
Electronic
counter
−
gear
CN5
Measuring probe
White
Black
Probe GND
Measuring probe
Red
Black
Probe GND
Factory Setting
-1
Torque
reference
+ +
Current
loop
(U/V/W)
*
CN2
*
Motor - load Speed
position error conversion
Analog
Measuring
instrument*
Analog
M Load
*
External
ENC
ENC
CN31
*
Fully-closed
loop control