YASKAWA SGD7S-****20A Series - Page 358

8.12 Additional Adjustment Functions
8.12.8 Backlash Compensation
8-80
 Related Monitoring Diagrams
The following symbols are used in the related monitoring diagrams.
[A]: Analog monitor
[U]: Monitor mode (Un monitor)
[O]: Output signal
[T]: Trace data
[M]: MECHATROLINK monitor information
Kp


Ｍ
ENC


External
ENC


[M]：TPOS
1
1
[M]：APOS
[M]：LPOS


[M]：PERR
[M]：IPOS
[M]：MPOS
([M]：POS)
[U]: Feedback pulse counter
[M]: FPG count
1
[U] [M]: Input reference pulse
counter
[A] [T]: Speed feedforward
Feedforward
[A] [T]: Position amplier deviation
[A] [T] [M]: Position deviation
[U] [M]: Position deviation
[O] [T]: Near
[A] [T]: Completion of position
reference distribution
[A] [O] [T]: Positioning completion
[A] [T]: Position reference speed
[U] [M]: Input reference pulse
speed
Speed
conversion
Electronic
gear
Backlash
compensation
Deviation
counter
Speed/
current
loop
Speed
conversion
Deviation
counter
Electronic
gear
Output
signal
processing
Electronic
gear
Electronic
gear
Load
Position
reference
Position
reference
lter
Deviation
counter
[M]: Previous
value for LPOS
[M]: PG count
Latch signal
Backlash
compensation
[U] [M]: Fully closed feedback pulse counter
[U] [M]: Feedback pulse counter