Yaskawa Sigma-5 User Manual: Design and Maintenance - Linear Motors - Manual (Page 149)

5.1 Adjustments and Basic Adjustment Procedure
5-5
5
Adjustments
5.1.3 Monitoring Analog Signals
Check the operating status and signal waveform when adjusting the servo gain. Connect a measuring instru-
ment, such as a memory recorder, to connector CN5 on the SERVOPACK to monitor analog signal waveform.
The settings and parameters for monitoring analog signals are described in the following sections.
(1) Monitor Signal
The analog signals that can be monitored are shaded in the following diagram.
The following signals can be monitored by selecting functions of parameters Pn006 and Pn007.
Pn006 is used for analog monitor 1 and Pn007 is used for analog monitor 2.
(CN2)
Motor movement speed
ENC
Speed
conversion
Kp
(U/V/W)
-
+ +
-
+ + +
- +
1
Command
Option Module
M Kp
CN10 Force
feedforward
Speed
feedforward
Position
reference
SERVOPACK
Speed feedforward
Position reference speed
Position
amplifier error
Speed reference
Active gain
Force
reference
Speed
conversion
Electronic
gear
Speed
loop
Current
loop
Electronic
gear
Position loop
Force feedforward
Error
counter
Error
counter
Load
Position Error
Positioning completed
Completion of position
reference
Parameter
Description
Monitor Signal Measurement Gain Remarks
Pn006
Pn007
n.††00 Motor speed 1 V/1000 mm/s Pn007 Factory Setting
n.††01 Speed reference 1 V/1000 mm/s −
n.††02 Force reference 1 V/100% rated force Pn006 Factory Setting
n.††03 Position error 0.05 V/reference unit 0 V at speed/force control
n.††04 Position amplifier error 0.05 V/encoder pulse unit
Position error after elec-
tronic gear conversion
n.††05 Position reference speed 1 V/1000 mm/s −
n.††06 Reserved (Do not change.) − −
n.††07 Reserved (Do not change.) − −
n.††08 Positioning completed
Positioning completed: 5 V
Positioning not completed: 0 V
−
n.††09 Speed feedforward 1 V/1000 mm/s −
n.††0A Force feedforward 1 V/100% rated force −
n.††0B Active gain
1st gain: 1 V
2nd gain: 2 V
−
n.††0C Completion of position reference
Completed: 5 V
Not completed: 0 V
−
n.††0D Reserved (Do not change.) − −