8.12 Additional Adjustment Functions
8.12.8 Backlash Compensation
8-79
MECHATROLINK Monitor Information
This section describes the information that is set for the MECHATROLINK monitor information
(monitor 1, monitor 2, monitor 3, and monitor 4) and the backlash compensation operation.
Monitor
Code
Abbreviation Description Unit Remarks
0POS
Reference position in
the reference coordi-
nate system (after the
position reference filter)
Reference
units
−
1 MPOS Reference position
Reference
units
−
2 PERR Position deviation
Reference
units
−
3APOS
Feedback position in
machine coordinate
system
Reference
units
Feedback position with the backlash com-
pensation subtracted
4LPOS
Feedback latch posi-
tion in the machine
coordinate system
Reference
units
Feedback position with the backlash com-
pensation subtracted
5IPOS
Reference position in
the reference coordi-
nate system (before the
position reference filter)
Reference
units
−
6TPOS
Target position in the
reference coordinate
system
Reference
units
−
EOMN1
Option monitor 1
(selected with Pn824)
−−
FOMN2
Option monitor 2
(selected with Pn825)
−−
Parameter Monitor Information Output Unit Remarks
Pn824
Pn825
0003h
Position deviation
(lower 32 bits)
Reference
units
−
0004h
Position deviation
(upper 32 bits)
Reference
units
−
000Ah
PG count
(lower 32 bits)
Reference
units
Count value of the actually driven motor
encoder
000Bh
PG count
(upper 32 bits)
Reference
units
000Ch
FPG count
(lower 32 bits)
Reference
units
Count value of the actually driven external
encoder
000Dh
FPG count
(upper 32 bits)
Reference
units
0017h
Input reference pulse
speed
min
-1
−
0018h Position deviation
Reference
units
−
001Ch
Input reference pulse
counter
Reference
units
−
001Dh
Feedback pulse
counter
Encoder
pulses
−
001Eh
Fully-closed feedback
pulse counter
External
encoder
resolution
−
0080h
Previous value of
latched feedback posi-
tion (LPOS)
Reference
units
Feedback position with the backlash com-
pensation subtracted
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