Yaskawa Sigma-5 User Manual: Design and Maintenance - Rotary Motors - MECHATROLINK-II Communications Reference - Manual (Page 221)

5 Adjustments
5.8.6 Backlash Compensation Function
5-68
Related Monitoring Diagrams
Parameters Monitor Information Output Unit Remarks
Pn824
Pn825
0003H Position error (lower 32 bits)
Reference
unit
–
0004H Position error (upper 32 bits)
Reference
unit
–
000AH Encoder count (lower 32 bits)
Reference
unit
Count value of the actually driven
motor encoder
000BH Encoder count (upper 32 bits)
Reference
unit
000CH FPG count (lower 32 bits)
Reference
unit
Count value of the actually driven
external encoder
000DH FPG count (upper 32 bits)
Reference
unit
0017H Un007: Input reference speed min -1 Same as monitor display Un007
0018H Un008: Position error amount
Reference
unit
Same as monitor display Un008
001CH Un00C: Input reference counter
Reference
unit
Same as monitor display Un00C
001DH Un00D: Feedback pulse counter
Encoder
pulse
Same as monitor display Un00D
001EH
Un00E: Fully-closed feedback pulse
counter
External
encoder
resolution
Same as monitor display Un00E
0080H
Previous value of latched feedback
position (LPOS) Encoder
pulse
Feedback position with the backlash
compensation subtracted
Error
counter
Error
counter
Kp
㧗
Electronic
gear
㧙
㧹
ENC
Speed
conversation
㧗 㧙
Speed
conversation
Load
External
ENC
Feedforward
㧗 㧗 Speed/
current
loop
[A][T][M]: Position error
[U][M]: Un007
Position
reference
filter
[U][M]: Un00D
[U][M]: Un00E
[U][M]: Un00C
Position
reference [M]: TPOS
㧝
Electronic
gear
㧝
Electronic
gear
[M]: APOS
[M]: LPOS
Error
counter
㧗
㧙
[M]: PERR
[M]: IPOS
[M]: MPOS
([M]: POS)
[M]: Previous
value for LPOS
Latch
signal
[A][T]: Position
reference speed
Output
signal
processing
[A][O][T]: Positioning completed
[A][T]: Completion of
position reference
[U][M]: Un008
[O][T]: Position near
[A][T]: Speed feedforward
[A][T]: Position amplifier error
[U]: Un013
<Legend symbols>
[A]: Analog monitoring
[U]: Monitor display
(Un monitoring)
[O]: Outpur signal
[T]: Trace data object
[M]: MECHATROLINK
monitor information
[M]: PG count
[M]: FPG count
Backlash
compensation
function
Backlash
compensation
function
㧝
Electronic
gear
46 and 64