YASKAWA Sigma-V Series User Manual page 205
Ac servo drives for use with large-capacity models design and maintenance, multi-winding drive unit rotational motor, mechatrolink-ii communications references, servopack, converter, servomotor
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Also See for Sigma-V Series:
- User manual (434 pages) ,
- User manual (167 pages) ,
- User manual (363 pages)
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5 Adjustments
5.6.6 Backlash Compensation Function
Parameters
Pn824
Pn825
Related Monitoring Diagrams
MECHA
[M]: IPOS
[M]: TPOS
Position
reference
[M]: MPOS
([M]: POS)
[M]: PERR
[M]: APOS
[M]: Previous
value for LPOS
[M]: LPOS
[M]: PG count
[M]: FPG count
5-48
Monitor Information
0003H
Position error (lower 32 bits)
0004H
Position error (upper 32 bits)
000AH
Encoder count (lower 32 bits)
000BH
Encoder count (upper 32 bits)
000CH
FPG count (lower 32 bits)
000DH
FPG count (upper 32 bits)
0017H
Un007: Input reference speed
0018H
Un008: Position error amount
001CH
Un00C: Input reference counter
001DH
Un00D: Feedback pulse counter
Un00E: Fully-closed feedback pulse
001EH
counter
Previous value of latched feedback
0080H
position (LPOS)
[U][M]: Un00C
[A][T]: Position
reference speed
Speed
[U][M]: Un007
conversation
Position
Electronic
reference
gear
filter
Error
counter
Electronic
gear
Electronic
gear
Latch
signal
Output Unit
Reference
unit
Reference
unit
Reference
unit
Reference
unit
Reference
unit
Reference
unit
min
Reference
unit
Reference
unit
Encoder
pulse
External
encoder
resolution
Encoder
pulse
[A][T]: Speed feedforward
[A][T]: Position amplifier error
Backlash
compensation
function
[U]: Un013
Electronic
gear
[A][T][M]: Position error
Error
counter
[U][M]: Un008
[A][O][T]: Positioning completed
Output
[A][T]: Completion of
signal
position reference
processing
[O][T]: Position near
Backlash
[U][M]: Un00D
compensation
function
[U][M]: Un00E
Remarks
–
–
Count value of the actually driven
motor encoder
Count value of the actually driven
external encoder
-1
Same as monitor display Un007
Same as monitor display Un008
Same as monitor display Un00C
Same as monitor display Un00D
Same as monitor display Un00E
Feedback position with the backlash
compensation subtracted
<Legend symbols>
[A]: Analog monitoring
[U]: Monitor display
Feedforward
(Un monitoring)
[O]: Output signal
[T]: Trace data object
[M]: MECHATROLINK
monitor information
Speed/
Error
Kp
current
counter
loop
Speed
conversation
Load
External
ENC
ENC
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Table of Contents
Troubleshooting
