YASKAWA E-V Series User Manual page 192

5 Adjustments
5.8.6 Backlash Compensation Function
(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
Code
0
1
2
3
4
5
6
E
F
Parameters
Pn824
Pn825
5-82
Designation Meaning
Reference position in the reference
POS coordinate system (after the position
reference filter)
MPOS Reference position
PERR Position error
Feedback position in the machine
APOS
coordinate system
Feedback latch position in the
LPOS
machine coordinate system
Reference position in the reference
IPOS coordinate system (before the position
reference filter)
Target position in the reference coor-
TPOS
dinate system
Option monitor 1
OMN1
(selected with Pn824)
Option monitor 2
OMN2
(selected with Pn825)
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
Reserved
000DH
0017H Un007: Input reference speed
0018H Un008: Position error amount
001CH Un00C: Input reference counter
001DH Un00D: Feedback pulse counter
Previous value of latched feedback
0080H
position (LPOS)
Unit Remarks
Reference
unit
Reference
unit
Reference
unit
Reference Feedback position with the backlash
unit compensation subtracted
Reference Feedback position with the backlash
unit compensation subtracted
Reference
unit
Reference
unit
–
–
Output Unit Remarks
Reference
unit
Reference
unit
Reference
unit
Count value of the actually driven
motor encoder
Reference
unit
–
-1
Same as monitor mode Un007
min
Reference
Same as monitor mode Un008
unit
Reference
Same as monitor mode Un00C
unit
Encoder
Same as monitor mode Un00D
pulse
Encoder Feedback position with the backlash
pulse compensation subtracted
–
–
–
–
–
–
–
–
–
–