Yaskawa Sigma-5 User Manual: Design and Maintenance - Rotary Motors - Manual (Page 265)

8.3 Parameter Settings for Fully-closed Loop Control
8-23
Fully-closed Loop Control
8.3.7 Analog Monitor Signal
The position error between servomotor and load can be monitored with the analog monitor.
8.3.8 Speed Feedback Method during Fully-closed Loop Control
Use Pn22A.3 to select the speed feedback method during fully-closed loop control: Normally, set Pn22A.3 to
0 (Uses motor encoder speed.). Set Pn22A.3 to 1 (Uses external encoder speed.) when connecting a direct
drive motor and high-resolution external encoder.
Note: This parameter cannot be used when Pn002.3 is set to 0.
Parameter Name Meaning
When
Enabled
Classification
Pn006 n. 07
Analog Monitor 1
Signal Selection
Position error between servomotor and load
[0.01 V/1 reference unit]
Factory setting: n.
02
Immediately Setup
Pn007 n. 07
Analog Monitor 2
Signal Selection
Position error between servomotor and load
[0.01 V/1 reference unit]
Factory setting: n.
00
Parameter Meaning When Enabled Classification
Pn22A
n.0
[Factory setting]
Uses motor encoder speed.
After restart Setup
n.1 Uses external encoder speed.
Position
reference
MECHATROLINK
Speed
reference
㧙
ENC
A.d10
Pn22A
㧗
MECHATROLINK
1 monitor data
Speed conversion
Unit conversion
Pn20A
Elec-
tronic
gear
Electronic
gear
Encoder output
pulse
Error
counter
Speed
loop
Alarm
detection
Divider
Machine
Position
control loop
Serial
conversion
Motor
External encoder ޓ
Speed
conversion
Speed feedback
SERVOPACK
46 and 64