YASKAWA Sigma-7 SGD7S Series

Displayed Value Unit Specification
Feedback Pulse Counter Encoder pulses Displays the number of
pulses from the actually
driven motor encoder.
Fully-Closed Feedback
Pulse Counter
External encoder resolution Displays the number of
pulses of the actually driven
external encoder.
Feedback Pulse Counter Reference units Displays the number of
pulses from the actually
driven encoder in reference
units.
n Related Monitoring Diagrams
The following symbols are used in the related monitoring diagrams.
[A]: Analog monitor
[P]: PROFINET monitor Information
[U]: Monitor mode (Un monitor)
[O]: Output signal
[T]: Trace data
Deviation
counter
Deviation
counter
Kp
+
-
M
ENC
Speed
conversion
+
-
Speed
conversion
Load
External
encoder
Feedforward
+
+
Speed/
current
loop
[A] [T]: Following error actual value (60F4h)
[U]: Input reference pulse speed
Position
reference
filter
[U]: Feedback pulse counter
[U]: Fully closed feedback pulse counter
[U]: Reference pulse counter
Position
reference
[P] Target
position
(607Ah)
Deviation
counter
+
-
[P] Following
error actual value
(60F4h)
[P] Position
demand value
(6062h)
Latch signal
[A] [T]: Position reference speed
Output
signal
processing
[A] [O] [T]: Positioning completion
[A] [T]: Completion of position reference distribution
[U]: Position deviation
[O] [T]: Near
[A] [T]: Speed feedforward
[A] [T]: Position amplifier deviation
[U]: Feedback pulse counter
Backlash
compensation
Backlash
compensation
[P] Position actual
value (6064h)
Position unit
multiplier
(2301h:1
or 23 01h:2)
Position unit
multiplier
(2301h:1
or 2301h:2)
Position unit
multiplier
(2301h:1
or 2301h:2)
Position unit
multiplier
(2301h: 1
or 2301h: 2)
[P] Touch probe
1 position value
(60BAh)
Touch probe 2
position value
(60BCh)
Fig. 297: Backlash Compensation - Related Monitoring Diagrams
9.14 Manual Tuning
9.14.1 Overview
This section describes manual tuning.
Sigma-7 Series SERVOPACKs
Tuning
Manual Tuning > Overview
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