Yaskawa Sigma-5 Large Capacity Users Manual: Design and Maintenance-Rotary Motors-Mechatrolink-II Communication Reference - Manual (Page 172)

5 Adjustments
5.1.3 Monitoring Operation during Adjustment
5-6
The following signals can be monitored by selecting functions with parameters Pn006 and Pn007.
Pn006 is used for analog monitor 1 and Pn007 is used for analog monitor 2.
∗ Refer to 5.8.1 Switching Gain Settings for details.
Parameter
Description
Monitor Signal Unit Remarks
Pn006
Pn007
n. 00
[Pn007
Factory
Setting]
Motor rotating speed 1 V/1000 min -1 −
n. 01 Speed reference 1 V/1000 min -1 −
n. 02
[Pn006
Factory
Setting]
Torque reference 1 V/100% rated torque −
n. 03 Position error 0.05 V/1 reference unit 0 V at speed/torque control
n. 04 Position amplifier error
0.05 V/1 encoder pulse
unit Position error after electronic
gear conversion
n. 05 Position reference speed 1 V/1000 min -1 −
n. 06 Reserved (Do not set.) − −
n. 07 Motor-load position error 0.01 V/1 reference unit −
n. 08 Positioning completed
Positioning completed:
5 V
Positioning not com-
pleted: 0 V
Completion indicated by out-
put voltage.
n. 09 Speed feedforward 1 V/1000 min -1 −
n. 0A Torque feedforward 1 V/100% rated torque −
n. 0B Active gain *
1st gain: 1 V
2nd gain: 2 V Gain type indicated by output
voltage.
n. 0C Completion of position reference
Completed: 5 V
Not completed: 0 V Completion indicated by out-
put voltage.
n. 0D External encoder speed 1 V/1000 min -1 Value at motor shaft