Yaskawa Sigma-5 User Manual: Design and Maintenance - Rotary Motors - Analog Voltage and Pulse Train Reference - Manual (Page 347)

9.3 Parameter Settings for Fully-closed Loop Control
9-21
9
Fu
lly-close
d L
oop
Co
ntro
l
9.3.7 Analog Monitor Signal
The position error between servomotor and load can be monitored with the analog monitor.
9.3.8 Speed Feedback Method during Fully-closed Loop Control
∗ The reference pulse input multiplication switching function is supported by software version 001A or later.
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.
A.d10
ENC
M
Pn22A
Pn20A
Pn200.0 Pn218 Pn20E
Pn210
Pn281
Pn000.1 Pn000.1
Pn216
Pn217
SERVOPACK
Machine
Encoder
output
pulse Serial
conversion
Torque
reference
Speed
reference
Position
reference
Alarm
detection
Speed feedback
Refer-
ence
pulse
form Elec-
tronic
gear
Smoothing
Divider
Error
counter
Position control section
Position feedback
Speed
control
section
Speed
conver-
sion
Current
control
section
Power
amplifier
Current feedback
Servomotor
Speed
conver-
sion
B
A
*
External
encoder
Reference
Pulse
Multiplier
× n
45