YASKAWA Sigma-V Series User Manual page 204

(5) Monitor Functions (Un Monitoring)
Un No. Displayed Information
Un007 Input reference speed
Un008 Position error amount
Un00C Input reference counter
Un00D Feedback pulse counter
Fully-closed feedback
Un00E
pulse counter
Un013 Feedback pulse counter
(6) MECHATROLINK Monitor Information
This section describes the information that is set for the MECHATROLINK monitoring information (Monitor
1, Monitor 2, Monitor 3, and Monitor 4) and the backlash compensation operation.
Monitor
Designation
Code
0 POS
1 MPOS
2 PERR
3 APOS
4 LPOS
5 IPOS
6 TPOS
E OMN1
F OMN2
Unit
-1
min
Reference unit
Reference unit
Encoder pulse
External encoder
resolution
Reference unit
Meaning
Reference position in the reference
coordinate system (after the position
reference filter)
Reference position
Position error
Feedback position in the machine
coordinate system
Feedback latch position in the
machine coordinate system
Reference position in the reference
coordinate system (before the position
reference filter)
Target position in the reference coor-
dinate system
Option monitor 1
(selected with Pn824)
Option monitor 2
(selected with Pn825)
5.6 Additional Adjustment Function
Specification
Indicates the input reference speed before backlash
compensation.
Displays the position error with respect to the position
reference after backlash compensation.
Displays the input reference counter before backlash
compensation.
Displays the pulse count of the actually driven motor
encoder.
Displays the pulse count of the actually driven external
encoder.
Displays the pulse count of the actually driven encoder
in reference units.
Unit
Reference
unit
Reference
unit
Reference
Valid only during position control
unit
Reference Feedback position with the backlash
unit compensation subtracted
Reference Feedback position with the backlash
unit compensation subtracted
Reference
unit
Reference
unit
–
–
Remarks
–
–
–
–
–
–
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