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

5.1.3 Monitoring Operation during Adjustment

While adjusting the servo gain, always monitor the operating status of the machine and the signal waveform.
Connect a measurement instrument, such as a memory recorder, to the SERVOPACK to monitor the signal
waveform.
The settings and parameters that are related to monitoring the analog signal are described in the following sec-
tions.
(1) Connecting the Measurement Instrument
Use the external monitor connector (CN5) on the SERVOPACK to connect the measurement instrument. The
devices and cables that are required for connection are listed below.
• Analog monitor unit (model: JUSP-PC001-E)
• Analog monitor unit connection cable (model: JZSP-CF1S06-A3-E)
• Analog monitor cable (model: JZSP-CA01-E)
Connection examples are shown below.
Connection
cable for analog
monitor unit
∗
Measuring instrument is not included.
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.
SERVOPACK
CN6A/CN6B
Torque
reference
Speed
Position reference speed
reference
Speed
conversion
Position loop
Position
reference
Electronic
gear
+
+
-
Error
counter
Analog
monitor
Cable for
unit
analog monitor
Signal Name
Analog monitor 1
Analog monitor 2
GND
Speed feedforward
Position
amplifier error
+
Backlash Error
compensation counter
-
1
Motor rotational
Electronic
speed
gear
Position error
Positioning completed
Completion of position reference
5.1 Type of Adjustments and Basic Adjustment Procedure
M-II
White
Black
Red
Black
Torque reference: 1 V/100% rated torque
Motor speed: 1 V/1000 min
Analog monitor GND: 0 V
Torque feedforward
Speed reference
Torque
Active gain
reference
+ + + +
Speed
Kp
loop
-
Speed
conversion
Measuring probe
Measuring
Probe GND
instrument *
Measuring probe
Probe GND
Factory Setting
-1
MECHA
CN4
Current
M
loop
(U/V/W)
CN2
ENC
Load
5
5-5