YASKAWA SGD7S

9.3 Monitoring Machine Operation Status and Signal Waveforms
9.3.1 Items That You Can Monitor
9-8
9.3 Monitoring Machine Operation Status and Signal Waveforms
To monitor waveforms, use the SigmaWin+ trace function or a measuring instrument, such as a
memory recorder.
9.3.1 Items That You Can Monitor
You can use the SigmaWin+ or a measuring instrument to monitor the shaded items in the fol-
lowing block diagram.
• Rotary Servomotors
* This speed is available when fully-closed loop control is being used.
• Linear Servomotors
K
1
(U/V/W)
-
++
-
+
++
T-REF
V-REF
PULS
SIGN
+
-
-
+
1
1
M
Kp
CN31
ENC
CN2
*
*
*
CN１
SERVOPACK
Speed feedforward
Position command speed
Speed
conversion
Position loop
Electronic
gear
Deviation
counter
Motor speed
External encoder speed
Electronic
gear
Electronic
gear
Deviation
counter
Motor - load
position deviation
Speed
conversion
Fully closed*
Deviation
counter
Completion of position
reference distribution
Positioning completion
Position deviation
Speed
loop
Speed
conversion
Current
loop
Load
External
encoder
Reference
pulse input
multiplier  n
Position amplier
deviation
Torque feedforward
Speed reference
Active gain
Torque reference
M
ENC
(U/V/W)
+
+
Kp
+


+
+

Speed feedforward
1
T-REF
V-REF
PULS
SIGN
CN2
CN1
+
SERVOPACK
Force feedforward
Position command speed
Speed
conversion
Position loop
Electronic
gear
Deviation
counter
Completion of position
reference distribution
Positioning completion
Position deviation
Electronic
gear
Position amplier deviation
Deviation
counter
Motor speed
Speed
conversion
Active gain
Current
loop
Load
Speed
loop
Reference
pulse input
multiplier × n
Speed reference
Force reference