Analog, Pulse train reference – Yaskawa Σ-V Series AC Servo Drives Rotational Motor Analog Voltage Reference User Manual

Page 157

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6 Adjustments

6.1.3 Monitoring Operation during Adjustment

6-6

Pulse Train Reference

The following signals can be monitored by selecting functions with parameters Pn006 and Pn007.

Pn006 is used for analog monitor 1 and Pn007 is used for analog monitor 2.

Refer to

6.8.1 Switching Gain Settings

for details.

Kp

(U/V/W)

-

+

-

+

PULS
SIGN

-

+

M

Kp

ENC

CN2

CN4

CN1

1

SERVOPACK

Position reference speed

Position

amplifier error

Motor rotational

speed

Speed reference

Active gain

Torque

reference

Speed

conversion

Electronic

gear

Speed

loop

Current

loop

Electronic

gear

Position loop

Error

counter

Error

counter

Load

Position error

Positioning completed

Completion of position reference

Speed

conversion

Reference

Pulse

Multiplier

×

n

Analog

Parameter

Description

Monitor Signal

Unit

Remarks

Pn006
Pn007

n.

00

[Pn007

Factory

Setting]

Motor rotating speed

1 V/1000 min

-1

n.

01

Speed reference

1 V/1000 min

-1

n.

02

[Pn006

Factory

Setting]

Torque reference

1 V/100% rated torque

n.

03

Position error

0.05 V/1 reference unit

0 V at speed/torque control

n.

04

Position amplifier error

0.05 V/1 encoder pulse
unit

Position error after electronic
gear conversion

n.

05

Position reference speed

1 V/1000 min

-1

The input reference pulses will
be multiplied by n to output the
position reference speed.

n.

06

n.

07

Reserved (Do not change.)

n.

08

Positioning completed

Positioning completed:
5 V
Positioning not com-
pleted: 0 V

Completion indicated by out-
put voltage.

n.

09

Speed feedforward

1 V/1000 min

-1

n.

0A

Torque feedforward

1 V/100% rated torque

n.

0B

Active gain

*

1st gain: 1 V
2nd gain: 2 V

Gain type indicated by output
voltage.

n.

0C

Completion of position reference

Completed: 5 V
Not completed: 0 V

Completion indicated by out-
put voltage.

n.

0D

Reserved (Do not change.)

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